JP4014830B2 - Product carrying device and product carrying method of die casting machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a product carrying-out apparatus and a product carrying-out method for carrying out a die-cast product cast in a die casting machine.
[0002]
[Prior art]
In order to automate the operation of taking out a cast die-cast product from a mold, a die-cast machine is known that includes a product carry-out device in the vicinity of the die-cast machine body.
This product carry-out device, for example, after opening a mold after casting, inserts a gripping part for gripping the product between the molds, grips a predetermined gripped part of the die-cast product, and moves it outside the mold Carry out the product.
Usually, the gripped portion of the die-cast product is a portion solidified in a runner for casting a molten metal into a mold cavity called a biscuit portion. This part is removed after the die-cast product is carried out.
[0003]
[Problems to be solved by the invention]
By the way, when the die-cast product is gripped by the gripping portion of the product carry-out device as described above, the gripping position changes when the specifications of the die-cast product are changed. For this reason, at the time of die replacement, it is necessary to provide the product carry-out apparatus with carry-out position information for carrying out a die-cast product based on the dimensional information of the die.
The work of giving the carry-out position information to the product carry-out apparatus needs to be performed by actually operating the product carry-out apparatus, which is a troublesome work.
On the other hand, the dimension of the gripped portion of the die-cast product varies depending on the amount of molten metal supplied to the sleeve of the die-cast machine. When the size of the gripped portion changes, there is a possibility that the product cannot be reliably gripped by the gripping portion of the product carry-out device, and the product carry-out operation may not be performed properly.
[0004]
The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to carry out product removal even if the mold is changed in a product carry-out device for carrying out a die-cast machine cast by a die-cast machine. Provided is a product carry-out apparatus and a product carry-out method capable of automatically generating position information and capable of carrying out a product reliably even when the dimensions of a die-cast product change every casting.
[0005]
[Means for Solving the Problems]
  The product carry-out device of the die casting machine of the present invention is provided in a cavity formed between a pair of molds.A plunger is advanced toward the cavity in the communicating sleeve, and is supplied to the sleeve.Molten metalIn the cavityA product carry-out device for carrying out a die-cast product that has been injected, filled and cast, wherein said die-cast productGripped partA transfer means capable of moving the gripper within a predetermined movable range,in frontA delivery position information generating means for automatically generating delivery position information of the gripper for carrying out the die-cast product from the mold, and causing the gripper to grip the die-cast product based on the generated delivery position information. Control means for generating a control command to be carried out of the mold, and outputting the control command to the transfer means;Position detecting means for detecting the position of the plunger;HaveAndThe unloading position information generating meansDimension information of the mold as a casting condition given for each mold, a mold opening amount when the mold is opened, an extrusion amount when the die cast product is extruded from the mold, and a cover of the die cast product Based on the thickness of the gripping part, the gripping position for gripping the gripped part by the gripping part is calculated, the unloading position information is automatically generated based on the calculated gripping position, and the automatically generated unloading After the control command based on the position information is output from the control means to the transfer means and the continuous operation in which the die-cast product is repeatedly cast is started, the plunger moves at the time of blanking every casting. The amount of movement of the plunger when the molten metal calculated based on the position detected by the position detecting means is injected is subtracted from the amount to calculate the thickness of the gripped portion for each casting. The gripping position is calculated using the thickness of the gripped portion for each casting instead of the thickness of the gripped portion as the casting condition, and the carry-out position information is calculated based on the calculated gripping position. Is automatically generated.
[0009]
  A method for carrying out a product of a die casting machine according to the present invention includes a cavity formed between a pair of molds.A plunger is advanced toward the cavity in the communicating sleeve, and is supplied to the sleeve.Molten metalIn the cavityDie-cast products that are injected, filled and castGripped partA product unloading method in a die casting machine that unloads the die-cast product from the mold using a transfer means capable of moving the gripping portion within a predetermined movable range,in frontControl for generating unloading position information of the gripping part for unloading the die-cast product from the mold and causing the gripping part to grip the die-cast product based on the generated unloading position information Generate a command and output it to the transfer means;In the generation of the unloading position information, the dimensional information of the mold as a casting condition given for each mold, the amount of mold opening when the mold is opened, and when the die-cast product is extruded from the mold A gripping position for gripping the gripped portion by the gripping portion is calculated based on the extrusion amount of the die cast product and a thickness of the gripped portion of the die cast product, and the carry-out position information is generated based on the calculated gripping position. Then, after outputting the control command based on the generated carry-out position information to the transfer means and starting continuous operation of repeatedly casting the die-cast product, the position of the plunger is detected for each casting, Based on the detected position, the amount of movement of the plunger when the molten metal is injected is calculated, and the calculated amount of movement is subtracted from the amount of movement of the plunger when idle. , Calculating the thickness of the gripped portion for each casting, calculating the gripping position using the thickness of the gripped portion for each casting instead of the thickness of the gripped portion as the casting condition, The carry-out position information is generated based on the calculated grip position.
[0010]
In the present invention, the transfer position information necessary for the transfer means is automatically generated based on the casting conditions given for each die. For this reason, it is not necessary to give conveyance position information for every mold exchange.
Also, if the amount of molten metal supplied to the sleeve of the die casting machine's injection device varies, the dimension of the gripped portion of the cast die cast product also varies. The unloading position information is generated based on the dimension information of the gripped portion. For this reason, even if the supply amount of the molten metal varies, the product can be securely gripped.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First embodiment
FIG. 1 is a schematic configuration diagram of a die casting machine system to which a product carry-out device according to a first embodiment of the present invention is applied.
As shown in FIG. 1, the die casting machine system 1 includes a die casting machine 2, a product carry-out device 11, a carry-out control device 131, sequence controllers 161 and 191, and a machine controller 192. The product carry-out device 11 is an embodiment of the transfer means of the present invention.
[0012]
FIG. 2 is a diagram illustrating an example of a schematic configuration of the die casting machine 2.
In FIG. 2, the die casting machine 2 includes a base 100, a fixed die plate 91 fixed on the base 100, a fixed mold 92 attached to the fixed die plate 91, and a base 100 facing the fixed die plate 91. A movable die plate 151 movably provided above, a movable die 52 attached to the movable die plate 151 so as to face the fixed die 92, and a fixed die plate 91 and a tie bar between the movable die plate 151. 95, a link housing 121 connected by 95, a toggle mold clamping mechanism 109 for connecting the link housing 121 and the movable die plate 151, and an injection device 120 provided on the back side of the fixed die plate 91.
[0013]
The fixed die plate 91 is fixed to the base 100. The link housing 121 is normally fixed to the tie bar 95, but moves relative to the tie bar 95 when the die height is adjusted when the mold is exchanged. The moving die plate 151 is movably provided on the base.
The link housing 121 and the fixed die plate 91 are connected by a tie bar 95 that penetrates the movable die plate 151, and four tie bars 95 are usually provided.
[0014]
The toggle mold clamping mechanism 109 that connects the link housing 121 and the movable die plate 151 includes two sets of upper and lower link systems 110 in FIG. 2, and only one of the configurations is illustrated in detail. Each link system is composed of a plurality of links. Each link system includes an angled first link 110-1 and a straight link 110-2. One end of the first link 110-1 is pivotally attached to the link housing 121 and the other end is pivotally attached to the crosshead 105. One end of the second link 110-2 is pivotally attached to the first link 110-1 at a position between the pivot housing points of the link housing 121 and the crosshead 105, and the other end is pivotally attached to the moving die plate 151. .
When the crosshead 105 pivotally attached to the first link of the toggle mechanism 109 moves in the direction of the arrow A1 or A2 along the screw shaft 106, the toggle mechanism 109 operates, and the link housing 121 and the movable die plate 151 are moved. Approach or separate.
As will be described later, the screw shaft 106 is driven by a servo motor provided in the link housing 121, and the cross head 105 screwed to the screw shaft 106 moves in the direction of the arrow A1 or A2 by the rotation of the screw shaft 106.
[0015]
As shown in FIG. 3, the toggle mechanism 109 is operated as the crosshead 105 moves in the direction of arrow A2, and the moving die plate 151 moves in a direction away from the link housing 121 (mold closing direction). When the mold 92 and the movable mold 52 are closed, and the crosshead 105 is further moved in the direction of arrow A2, tension is applied to the tie bar 95, and the fixed mold 92 and the movable mold 52 are tightened. Is called.
In a state where the moving mold 52 and the fixed mold 92 are clamped, the injection device 120 injects and fills a molten metal such as an aluminum alloy into a cavity formed by the moving mold 52 and the fixed mold 92, and performs die casting. Mold the product.
[0016]
On the other hand, in order to mold the die-cast product and open the moving mold 52 to take out the die-cast product, the moving die plate 151 is moved by the toggle mechanism 109 as the crosshead 105 moves in the direction of arrow A1, as shown in FIG. The moving mold 52 is opened with respect to the fixed mold 92 by moving in the direction approaching the link housing 121 (the mold opening direction) via the link 110. At this time, the die-cast product in the moving mold 52 is extruded by an extrusion pin described later.
[0017]
4 and 5 are cross-sectional views showing an example of the structure around the fixed mold 92 and the movable mold 52 described above, FIG. 4 shows a mold-clamped state, and FIG. 5 shows a mold-opened state. ing.
As shown in FIG. 4, a cylindrical sleeve 200 is provided on the back side of the fixed mold 92, and this sleeve 200 is formed between the fixed mold 92 and the mold surface of the movable mold 52. It communicates with the cavity C.
[0018]
A plunger tip 201 is fitted in the sleeve 200, and this plunger tip 201 is connected to a plunger rod 202. The plunger rod 202 is connected to a hydraulic cylinder (not shown). By driving the hydraulic cylinder, the plunger tip 201 moves in the sleeve 200.
[0019]
A position detector 250 is provided facing the plunger rod 202.
The position detector 250 detects the amount of movement of the plunger rod 202 and outputs a detection signal 250s to the carry-out control device 131 described later. By detecting the movement amount of the plunger rod 202, the movement amount of the plunger tip 201 can be detected.
[0020]
The moving mold 52 is provided so that the push pin 260 can move. The push pin 260 is provided so as to protrude from the mold surface of the movable mold 52. The push pin 260 is driven by an actuator (not shown) such as a hydraulic cylinder.
[0021]
After the molten metal ML is supplied from the supply port 200a of the sleeve 200 into the sleeve 200, the molten metal ML is injected and filled into the cavity C by moving the plunger tip 201 toward the cavity C. As the molten metal ML injected and filled into the cavity C solidifies, the die-cast product W is cast.
[0022]
As shown in FIG. 4, when the die mold product W is cast in the cavity C and the movable mold 52 is moved and opened as shown in FIG. 5, the die cast product W is moved together with the movable die 52. Moving.
In order to detach the die-cast product W from the moving mold 52, the die-cast product W is pushed out by the extrusion pin 260.
[0023]
At this time, in order to carry out the die-cast product W from the die-casting machine 2, as shown in FIG. 5, the die-cast product W is gripped by the hand unit 12 of the product carry-out device 11 described later.
The gripped portion of the die cast product W is a biscuit portion BS. The biscuit portion BS is a portion formed by the runner 92a of the fixed mold 92 shown in FIG.
The thickness A of the biscuit portion BS is determined by the distance between a portion 52b called a diverter of the moving mold 52 and the tip surface of the plunger tip 201 when injection is completed. The thickness A of the biscuit portion BS is determined at the time of designing the mold, but varies depending on variations in the amount of hot water supplied to the sleeve 200 during actual casting. When the thickness A of the biscuit part BS changes, there is a possibility that the product W cannot be reliably gripped unless the gripping position of the product W by the hand part 12 is changed accordingly.
[0024]
Here, the product gripping position where the hand cast 12 grips the die-cast product W will be described.
4 and 5, B is an injection stroke. The injection stroke is the amount of movement of the plunger tip 201 when the injection of the molten metal ML is completed. The injection stroke B is set for each mold, but the actual value varies depending on the amount of hot water supplied to the sleeve 200.
C is a blank stroke. The idle stroke is the amount of movement of the plunger tip 201 when the molten metal ML is not injected and is idle.
D is a mold opening stroke. The mold opening stroke is the distance between the moving mold 52 and the fixed mold 92 when the mold is opened.
E is the extrusion stroke. The extrusion stroke is the extrusion amount of the extrusion pin 260.
F is a product gripping position. The product gripping position is a distance from the mold mounting surface 91 a to the position of the hand unit 12 with reference to the mold mounting surface 91 a of the fixed die plate 91.
G is the thickness of the fixed mold, and is the thickness of the fixed mold 92.
H is the distance from the injection retreat limit of the plunger tip 201 to the die attachment surface 91A of the fixed die plate 91.
I is the height of the diverter 52b.
[0025]
In each of the above values A to I, the height I of the diverter 52b can be expressed by I = G + HC.
Further, assuming that the center portion in the direction of the thickness A of the biscuit portion BS is gripped by the hand portion 12, the product gripping position F is expressed by the following equation (1).
[0026]
F = D + G-IE-A / 2 (1)
[0027]
Therefore, when each value A to I excluding the product gripping position F is given, the product gripping position F can be obtained from the above equation (1).
[0028]
In FIG. 1, a machine controller 192 controls the operation of the die casting machine 2.
The above values A to I excluding the product gripping position F are casting condition data determined by the specifications of the moving mold 52 and the fixed mold 92. These casting condition data are stored and held in the machine controller 192. That is, the machine controller 192 controls the die casting machine 2 based on these casting condition data.
[0029]
The sequence controller 191 holds a sequence program that defines the casting process of the die cast product W by the die casting machine 2, and outputs a control signal to the machine controller 192 according to this sequence program.
Further, the sequence controller 191 is connected to the sequence controller 161 via a communication line 191a, and data for starting the carry-out operation of the die cast product, data notifying the end of the carry-out operation, etc. to the sequence controller 161 through the communication line 191a. Send and receive various data.
[0030]
The sequence controller 161 holds a sequence program that defines the work of carrying out the die-cast product W by the product carry-out device 11 and the work associated therewith, and outputs a control signal to the product carry-out device 11 according to this sequence program.
In addition, the sequence controller 161 receives various data transmitted from the sequence controller 191 and outputs the data to the product carry-out device 11, or transmits various data input from the product carry-out device 11 to the sequence controller 191.
[0031]
6 to 8 are diagrams showing an example of the configuration of the product carry-out device, where FIG. 6 is a top view, and FIG. 7 is a side view of the product carry-out device 11 shown in FIG. FIG. 8 is a side view of the product carry-out device 11 shown in FIG.
The product carry-out device 11 is installed in the vicinity of the fixed die plate 91 and the movable die plate 151 of the die casting machine 2.
[0032]
The product carry-out device 11 includes a base 24 installed on the base B, a linear motion mechanism 18 provided on the base 24, a first arm 15 held by the linear motion mechanism 18, and a first arm 15. A second arm 14 that is pivotably connected, and a hand portion 12 provided at the tip of the second arm 14 are provided. The hand portion 12 is an embodiment of the grip portion of the present invention.
[0033]
The hand unit 12 releasably holds the die-cast product W cast by the fixed mold 92 and the moving mold 52. The hand portion 12 is driven by an actuator such as a hydraulic or electric motor, for example, and grips the biscuit portion BS of the die cast product W. The biscuit portion BS is an embodiment of the gripped portion of the present invention.
[0034]
The second arm 14 holds the hand portion 12 at one end via the reversing mechanism 13, and the other end is connected to the first arm 15 so as to be able to turn.
The reversing mechanism 13 rotates the posture of the hand unit 12 every 90 °. The reversing mechanism 13 is used to change the posture of the die cast product W held by the hand unit 12.
The second arm 14 is connected to the first arm 15 so as to be rotatable along a horizontal plane, and a servo motor 16 and a speed reducer (not shown) are provided between the second arm 14 and the first arm 15. ing.
The servo motor 16 supplies a rotational force to the second arm 14 via the speed reducer, and turns the second arm 14 relative to the first arm 15.
[0035]
The end of the first arm 15 opposite to the connecting portion with the second arm 14 is held by a linear motion mechanism 18 so as to be rotatable along a horizontal plane.
The first arm 15 is provided with a servo motor 17 and a speed reducer (not shown) between the linear motion mechanism 18 and the first arm 15.
The servo motor 17 supplies a rotational force to the first arm 15 via the speed reducer, and turns the first arm 15 with respect to the linear motion mechanism 18.
[0036]
As shown in FIG. 8, the linear motion mechanism 18 includes a movable member 19 that holds the first arm 15, and two guide rails 20 that guide the movable member 19 so as to be linearly movable in the guide directions indicated by arrows C 1 and C 2. And a ball screw 21 screwed to the movable member 19 and a servo motor 22 that rotationally drives the ball screw 21.
When the servo motor 22 rotates the ball screw 21, the movable member 19 moves linearly in the guide directions C1 and C2 corresponding to the rotation direction of the servo motor 22. As the movable member 19 moves linearly, the first arm 14 and the second arm 14 move linearly. The guide directions C1 and C2 are parallel to the horizontal plane and coincide with the opening and closing directions of the fixed mold 92 and the movable mold 52.
[0037]
Between the linear motion mechanism 18 and the base 24, an elevator mechanism (not shown) for moving the linear motion mechanism 18 in the vertical direction indicated by arrows D1 and D2 in FIG. 8 is provided. The elevating mechanism includes a servo motor 23 installed on the base 24 and a transmission mechanism that converts the rotational force of the servo motor 23 into direct power and transmits it to the linear motion mechanism 18. The transmission mechanism is composed of, for example, a ball screw and a nut screwed into the ball screw.
[0038]
The product carry-out device 11 having the above configuration is a general-purpose so-called scalar robot having four control axes. Basically, the product carry-out device 11 moves and chucks the hand portion 12 to the biscuit portion BS of the die-cast product W existing in the cast moving mold 52, pulls out the die-cast product W, and is shown in FIG. To the transfer location 250.
[0039]
In the product carry-out device 11, the positioning of the hand unit 12 is performed with respect to the turning angle of the first arm 15, the turning angle of the second arm 14 with respect to the first arm 15, the position of the linear motion mechanism 18, This is done by controlling the lift position in the direction.
In the following description, the rotation center of the first arm 15 in the linear motion mechanism 18 is the origin, the direction parallel to the opening and closing directions of the fixed mold 92 and the moving mold 52 is the x axis, and the x axis is perpendicular to the x axis along the horizontal plane. Let the direction be the y-axis. Further, the linear motion direction of the linear motion mechanism 18 is a t-axis, and the elevation direction of the linear motion mechanism 18 is a z-axis. The position of the hand unit 12 can be specified by the positions on the x axis, the y axis, the z axis, and the t axis. Further, the t axis and the x axis are in the same direction.
[0040]
Next, an example of a basic carry-out operation of the die-cast product by the product carry-out device 11 having the above configuration and an operation associated with the carry-out operation will be described with reference to FIG.
FIG. 9 is a diagram for explaining a movement path of the hand unit 12 when the product carry-out device 11 carries out the die-cast product. In FIG. 9, a protective fence 160 is installed around the installation position of the product carry-out device 11.
[0041]
In FIG. 9, the position P <b> 1 is an intermediate standby position of the hand unit 12. The intermediate standby position P1 waits for the hand unit 12 until the fixed mold 92 and the movable mold 52 in the closed state are opened and the hand unit 12 can be inserted between the fixed mold 92 and the movable mold 52. It is a position to make it.
The position P2 is an arm advance limit position. The arm advance limit position P2 defines the position of the hand portion 12 when the hand portion 12 is inserted between the fixed die 92 and the movable die 52 in a state where the fixed die 92 and the movable die 52 are opened. To do. The arm advance limit position P2 differs from the intermediate standby position P1 only in the coordinates in the y-axis direction.
[0042]
The position P3 is a spray start position. The spray start position P3 is a position where the hand unit 12 is moved in order to activate a spray device (not shown) provided for the die casting machine 2 after taking out the die cast product from the movable mold 52. The spray device is activated by moving the hand unit 12 to the spray start position P3. The spray device sprays air onto the fixed mold 92 and the movable mold 52 to clean the mold surface and sprays a release agent onto the mold surface.
[0043]
The position P4 is a drawing position. The drawing position P4 defines the position of the hand portion 12 when the hand portion 12 holds the biscuit portion BS of the die cast product W and then completes the drawing of the die cast product W from the movable mold 52.
[0044]
The position P5 is a discard carry-out position. This discarding and unloading position P5 defines the position of the hand unit 12 for unloading a product to be cast when trial casting is performed in the die casting machine 2. The movement to the discard carry-out position P5 is performed as necessary.
[0045]
The position P6 is a cooling position. The cooling position P6 defines the position of the hand portion 12 for moving the die-cast product W to a cooling device (not shown) for forcibly cooling the cast die-cast product W.
[0046]
The position P7 is a cooling down position. This cooling lowering position P7 defines the lowering position of the hand portion 12 when the die-cast product W is put into the cooling device.
[0047]
The position P8 is a cooling increase position. This cooling rising position P8 defines the rising position of the hand portion 12 for lifting the die-cast product W cooled by the cooling device from the cooling falling position P7 and taking it out.
[0048]
The position P9 is a press position. The press position P9 defines the position of the hand portion 12 for moving the die cast product W to a press device (not shown) that removes the flash generated in the cast die cast product W. The position in the z-axis direction of the press position P9 is the same as the position in the z-axis direction when the die-cast product W is taken out from the moving mold 52.
[0049]
The position P10 is a press lowering position. The press lowering position P10 defines the lowering position of the hand unit 12 for loading the die cast product W held by the hand unit 12 moved to the press position P9 into the press device.
[0050]
The position P11 is a press rising position. This press raising position P11 defines a raising position for raising the hand unit 12 moved to the press lowering position P10.
[0051]
The position P12 is the origin position. The origin position P12 defines the position of the hand unit 12 that is the starting point for the carry-out operation.
[0052]
The position P13 is a carry-out position. The unloading position P13 defines the position of the hand unit 12 for releasing the die-cast product unloaded from the die casting machine 2 from the hand unit 12 and placing it thereon.
[0053]
The position P14 is an intermediate standby position. The intermediate standby position P14 is a carry-out state in which the die cast product is chucked by the hand unit 12 and then the hand unit 12 is pulled out from between the fixed die plate 3 and the movable die plate 4 and then transferred to a predetermined carry-out position. After the cycle is completed, the position of the hand unit 12 for waiting for the next unloading cycle is defined. The intermediate standby position P14 is the same position as the intermediate standby position P1.
[0054]
The position P15 is a forward limit position. The forward limit position P15 defines a position where the hand unit 12 moved to the arm forward limit position P2 is moved toward the die cast product W in order to chuck the die cast product W. The movement of the hand unit 12 to the forward limit position P15 is performed by the linear motion mechanism 18, and the hand unit 12 moves along the t-axis direction.
[0055]
The position P16 is a withdrawal return position. The pull-back position P16 defines a position where the hand unit 12 should move in order to pull out the die-cast product W from the movable mold 52 after the hand unit 12 moved to the forward limit position P15 chucks the die-cast product W. ing. The movement of the hand unit 12 is performed by the linear motion mechanism 18, and the hand unit 12 moves along the t-axis direction.
[0056]
The carry-out work and the work accompanying it are performed by moving the hand unit 12 along the movement route shown in FIG.
[0057]
Next, the configuration of the carry-out control device 131 shown in FIG. 1 will be described.
FIG. 10 is a functional block diagram showing the configuration of the carry-out control device 131.
As shown in FIG. 10, the conveyance control device 131 includes an input / output control unit 132, a control calculation unit 133, an input unit 134, an injection stroke storage unit 135, a casting condition data holding unit 136, and an operation program storage unit. 137, an operation control unit 139, a servo control unit 140, and a servo driver 141.
The transport control device 131 is configured by hardware such as a processor and a memory, and necessary software.
[0058]
The input / output control unit 132 receives a control signal and various data from the sequence controller 161, and outputs them to the control calculation unit 133. Further, the input / output control unit 132 outputs various data input from the control calculation unit 133 to the sequence controller 161.
[0059]
The input unit 134 receives the detection signal 250 s from the position detector 250 that detects the amount of movement of the plunger tip 201 and outputs the detection signal 250 s to the control calculation unit 133.
[0060]
The operation program storage unit 137 stores an operation program 137 for moving the hand unit 12 of the product carry-out device 11 to the positions P1 to P16 described above. The operation program stored in the operation program storage unit 137 describes a carry-out operation in a predetermined programming language, and is executed by the control calculation unit 133.
[0061]
The injection stroke storage unit 135 stores the actual injection stroke B ′ calculated by the control calculation unit 133 based on the detection signal 250s of the position detector 250. This actual injection stroke B ′ is calculated for each injection of the die casting machine 2.
[0062]
The casting condition data holding unit 136 stores casting condition data including the above values A to I. This casting condition data is stored in the machine controller 192, and is input to the control calculation unit 133 through the input / output control unit 132 via the sequence controllers 191 and 161 in response to a request from the carry-out control device 131, The data is written in the data holding unit 136.
[0063]
The position data storage unit 138 stores and holds the coordinate data of the positions P1 to P16 described above for defining the carry-out operation and various operations of the product carry-out device 11. The data of these positions P1 to P16 is provided with basic data in advance, but is corrected by the control calculation unit 133 when the mold is replaced and when the actual injection stroke B ′ fluctuates, as will be described later. .
[0064]
The control calculation unit 133 comprehensively controls the transport control device 131.
Further, the product gripping position F is calculated based on the casting condition data stored in the casting condition data holding unit 136. The positions P1 to P16 stored in the position data storage unit 138 are corrected according to the product gripping position F. That is, the position where the hand unit 12 should be moved is corrected according to the calculated product gripping position F.
The control calculation unit 133 calculates the actual injection stroke B ′ described above, and calculates the product gripping position F using the actual injection stroke B ′ stored in the injection stroke storage unit 135 and the casting condition data. The positions P1 to P16 stored in the position data storage unit 138 are corrected according to the calculated product gripping position F.
Further, the control calculation unit 133 interprets the operation program stored in the operation program storage unit 137 with reference to the position data 138 stored in the position data storage unit 138 and the control signal input from the sequence controller 161, and the product An operation command that defines work to be performed by the carry-out device 11 is output to the operation control unit 139.
A specific processing procedure of the control calculation unit 133 will be described later.
[0065]
The operation control unit 139 generates a command for specifying the movement path and the feed speed to which the hand unit 12 should move in accordance with the operation command that defines the work to be performed by the product carry-out device 11 input from the control calculation unit 133.
Furthermore, a command for each of the servomotors 16, 17, 22, 23 of the product carry-out device 11 is generated from the command for specifying the moving path and the feed speed, and this is output to the servo control unit 140.
Further, the operation control unit 139 receives information such as position information and speed information of each servo motor 16, 17, 22, 23 of the product carry-out device 11 from the servo control unit 140, and outputs this information to the control calculation unit 133. Or information such as the current position and current speed of the hand unit 12 is generated from this information and output to the control calculation unit 133.
[0066]
The servo control unit 140 is provided for each of the servo motors 16, 17, 22, and 23, and controls the servo motors 16, 17, 22, and 23 so as to follow the command input from the operation control unit 139. A command is generated and output to the servo driver 141.
In addition, the servo control unit 140 is sequentially input from the servo driver 141 information such as position information and speed information of each servo motor 16, 17, 22, 23.
[0067]
The servo driver 141 is provided for each servo motor 16, 17, 22, 23, and supplies a drive current corresponding to the control command input from the servo control unit 140 to each servo motor 16, 17, 22, 23. These are driven.
[0068]
Next, a specific processing procedure of the control calculation unit 133 in the product carry-out control device 131 having the above configuration will be described with reference to flowcharts shown in FIGS. 11 and 12.
FIG. 11 is a flowchart for explaining an example of the processing procedure of the control calculation unit 133 when the die of the die casting machine 2 is replaced. FIG. 12 shows the processing procedure of the control calculation unit 133 when the die casting machine 2 is continuously operated. It is a flowchart for demonstrating an example.
[0069]
Initially, the process sequence of the control calculating part 133 at the time of metal mold | die replacement | exchange is demonstrated. When the moving mold 52 and the fixed mold 92 of the die casting machine 2 are replaced, the above-described casting condition data is input to the machine controller 192.
For this reason, the casting condition data memorize | stored in this machine controller 192 are read to the carrying-out control apparatus 131 (step S1).
The read casting condition data is stored in the casting condition data holding unit 136.
[0070]
Next, using the casting condition data stored in the casting condition data holding unit 136, the above-described equation (1) is calculated to calculate the product gripping position F (step S2).
[0071]
Next, based on the calculated product gripping position F, necessary data among the position data P1 to P16 stored in the position data storage unit 138 is corrected (step S3). That is, the positions P2, P4, P15, P16, etc. are corrected so that the hand part 12 of the product carry-out device 11 can grip the biscuit part BS of the product W and the interference between the product W and the mold does not occur. .
[0072]
Next, the operation program stored in the operation program storage unit 137 is executed with reference to the corrected position data P1 to P16 (step S4).
Thereby, the continuous operation of the die casting machine 2 is started, and when the injection is completed, the carry-out operation of the die-cast product W by the product carry-out device 11 is started (step S5).
[0073]
Next, an example of a processing procedure of the control calculation unit 133 when the die casting machine 2 is continuously operated will be described.
First, it is determined whether the injection and filling of the die casting machine 2 that is operating continuously is completed (step S11).
When the injection and filling are not completed, the process waits until the injection and filling is completed. When the injection and filling are completed, the movement position of the plunger tip 201 at that time is detected (step S12). .
[0074]
Next, the actual injection stroke B 'is calculated based on the detected movement position of the plunger tip 201 (step S13).
Furthermore, using this actual injection stroke B ', the actual thickness A' of the biscuit portion BS of the die cast product W is calculated (step S14).
The actual thickness A 'of the biscuit portion BS is obtained by subtracting the actual injection stroke B' from the idle stroke C.
[0075]
Next, the above-described equation (1) is calculated using the actual thickness A ′ instead of the thickness A to calculate the product gripping position F (step S15).
[0076]
Next, based on the calculated product gripping position F, necessary data among the position data P1 to P16 stored in the position data storage unit 138 is corrected in the same manner as at the time of mold replacement (step S16). By this correction, the gripping position of the hand portion 12 of the product carry-out device 11 is optimized according to the supply amount of the molten metal ML for each casting cycle of the die casting machine 2.
[0077]
Next, the operation program stored in the operation program storage unit 137 is executed with reference to the corrected position data P1 to P16 (step S17). Note that the mold opening operation is started while the processes of steps S11 to S17 are performed.
[0078]
When the operation program is executed, the hand unit 12 of the product carry-out device 11 is moved to a position where the die-cast product W can be gripped, and when the die-cast product W is pushed out by the push pin 260, the die-cast product W is gripped. Take it out of the mold. In this state, it is determined whether or not the carry-out work and the above-described work accompanying the carry-out work have been completed (step S18).
If the work has not been completed, wait until it is completed. When the work is completed, it is determined whether or not the continuous operation of the die casting machine 2 is continued. If the continuous operation of the die casting machine 2 is finished, these processes are finished (step S19).
[0079]
As described above, according to the present embodiment, in order to automatically generate information on the product gripping position of the hand portion 12 of the product transport device 11 using the casting condition data necessary for casting of the die casting machine 2, the mold is used. Even if the replacement is performed, it is not necessary to input product gripping position information to the transport control device 131. As a result, it is possible to reduce the number of operations required at the time of mold replacement.
In addition, according to the present embodiment, the product gripping position of the hand portion 12 of the product transport device 11 can be optimized every time the die casting machine 2 is cast, so that the product can be securely gripped even if the amount of molten metal supplied varies. Can do.
[0080]
【The invention's effect】
According to the present invention, it is not necessary to give product carry-out position information to the product carry-out device every time the mold is changed, and the work associated with the mold change can be reduced.
In addition, according to the present invention, the product unloading position information of the product unloading device is optimized for each injection operation of the die casting machine, so that the cast product can be reliably gripped, and the die casting machine system due to a product gripping mistake It is possible to prevent a decrease in the operating rate.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram of a die casting machine system according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an example of a schematic configuration of a die casting machine 2;
FIG. 3 is a view showing a mold open state of the die casting machine 2;
4 is a cross-sectional view showing an example of a structure around a fixed mold 92 and a moving mold 52 in a mold-clamping state. FIG.
FIG. 5 is a cross-sectional view showing an example of the structure around the fixed mold 92 and the movable mold 52 in the mold open state.
6 is a top view showing an example of the configuration of the product carry-out device 11. FIG.
7 is a side view of the product carry-out device 11 shown in FIG. 6 as viewed from the direction of arrow A. FIG.
8 is a side view of the product carry-out device 11 shown in FIG.
FIG. 9 is a diagram for explaining an example of a basic carry-out operation of a die-cast product by the product carry-out device 11 and an operation associated with the carry-out operation.
10 is a functional block diagram showing a configuration of a carry-out control device 131. FIG.
FIG. 11 is a flowchart for explaining an example of a processing procedure of a control calculation unit 133 at the time of die replacement of the die casting machine 2;
FIG. 12 is a flowchart for explaining an example of a processing procedure of the control calculation unit 133 when the die casting machine 2 is continuously operated.
[Explanation of symbols]
1 ... Die casting machine system
2 ... Die casting machine
11 ... Product carry-out device
12 ... Hand part
131 ... carry-out control device
132: Input / output control unit
133 ... Control calculation part
134: Input unit
135 ... Injection stroke storage unit
136 ... Casting condition data storage unit
137 ... Operation program storage unit
138 ... Position data storage unit
139 ... Operation control unit
140. Servo control unit
141: Servo driver
161, 191 ... Sequence controller
192 ... Machine controller
250: Position detector
W ... Die casting products

Claims (2)

A die cast product is formed by advancing a plunger toward the cavity in a sleeve communicating with a cavity formed between a pair of molds, and injecting, filling, and casting the molten metal supplied to the sleeve. A product unloading device for unloading;
A transfer means comprising a gripper capable of gripping a gripped part of the die-cast product , and a transfer means capable of moving the gripper within a predetermined movable range;
And unloading position information generating means for automatically generating a carry-out position information of the grasping portion for unloading the previous SL die casting from the mold,
Control means for generating a control command for causing the gripper to grip the die-cast product and transporting it from the mold based on the generated unloading position information, and outputting the control command to the transfer means;
Have a position detecting means for detecting a position of the plunger,
The unloading position information generating means
Dimension information of the mold as a casting condition given for each mold, a mold opening amount when the mold is opened, an extrusion amount when the die cast product is extruded from the mold, and a cover of the die cast product Based on the thickness of the grip portion, calculate a grip position for gripping the gripped portion by the grip portion, and automatically generate the carry-out position information based on the calculated grip position,
The control command based on the automatically generated carry-out position information is output from the control means to the transfer means, and after the continuous operation in which the die-cast product is repeatedly cast is started, each casting is blanked. Subtract the amount of movement of the plunger when the molten metal calculated based on the position detected by the position detection means is subtracted from the amount of movement of the plunger when The gripping position is calculated using the thickness of the gripped portion for each casting instead of the thickness of the gripped portion as the casting condition, and the unloading is calculated based on the calculated gripping position. A product carry-out device for die casting machines that automatically generates position information . Advancing the plunger toward the cavity in the sleeve which communicates with the cavity formed between the pair of molds, injecting the molten metal supplied to the sleeve in the cavity, the die cast products that are cast by filling A method for carrying out a product in a die casting machine, comprising a gripper capable of gripping a gripped part, and transporting the die-cast product from the mold using transfer means capable of moving the gripper within a predetermined movable range. ,
It generates carry-out position information of the grasping portion for unloading the previous SL die casting from the mold,
Based on the generated carry-out position information, generate a control command for gripping the die-cast product in the gripping part and carrying it out from the mold, and output this to the transfer means,
In generating the unloading position information,
Dimension information of the mold as a casting condition given for each mold, a mold opening amount when the mold is opened, an extrusion amount when the die cast product is extruded from the mold, and a cover of the die cast product Based on the thickness of the gripping part, calculate a gripping position for gripping the gripped part by the gripping part, and based on the calculated gripping position, generate the carry-out position information,
After the control command based on the generated carry-out position information is output to the transfer means and the continuous operation of repeatedly casting the die-cast product is started, the position of the plunger is detected and detected for each casting. Calculate the amount of movement of the plunger when the molten metal is injected based on the position, subtract the calculated amount of movement from the amount of movement of the plunger when idle, And calculating the gripping position using the thickness of the gripped portion for each casting instead of the thickness of the gripped portion as the casting condition, and based on the calculated gripping position A method for carrying out a product of a die casting machine for generating the carry-out position information .

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