JP4845489B2 - Vibration control method for molded product take-out machine - Google Patents

Description

  The present invention relates to a chuck vibration damping method for a molded article take-out machine that takes out a molded article from a molding machine by controlling the movement of a chuck that holds the molded article, and more particularly, a chuck damping method that suppresses chuck vibration when the chuck stops moving About.

  In the molded product take-out machine, the chuck holding the molded product is controlled to move in a desired direction, and the molded product is taken out from the resin molding machine. When the chuck stops moving, there is a problem that the chuck including the arm vibrates due to the inertial force and the positioning accuracy deteriorates. Further, when the chuck vibrates when the movement is stopped, the next operation cannot be executed until the vibration converges to some extent. For this reason, it has the problem that the taking-out time of a molded article becomes long.

  As a method for suppressing vibration of the chuck including the arm, vibration can be suppressed by controlling acceleration at the time of acceleration / deceleration of the chuck (positive acceleration at the time of acceleration and negative acceleration at the time of deceleration). As a specific method, for example, as shown in Patent Document 1, 75% of the acceleration time is calculated from the acceleration start time in the acceleration time from the start of acceleration of the arm, that is, starting to the end of acceleration, that is, reaching a predetermined speed. Alternatively, an acceleration command is issued to the arm drive means so that an acceleration peak comes at the time when about 75% of the time has elapsed, and the deceleration time from the start of deceleration to the end of deceleration, that is, the stop, from the deceleration start time. As a result, vibration is controlled by issuing a deceleration command to the arm driving means so that a negative peak of acceleration comes at the time when 25% or about 25% of the deceleration time has elapsed.

  However, the above-described vibration damping method is predictive control on the premise that the acceleration peak and the deceleration peak are reached when about 75% of the acceleration region and the deceleration region are reached. For this reason, when the chuck weight including the molded product fluctuates, the natural frequency of the chuck fluctuates, and the above-described predictive control has a problem that the vibration of the chuck cannot be reliably controlled. Yes.

That is, the chuck vibration is determined by the steel property of the arm itself, the weight of the chuck including the molded product, and the like. For this reason, when changing the molded product held by the chuck, it is necessary to change to a chuck having a structure different from that of the previous chuck, the weight of the chuck itself changes, and the natural frequency thereof changes. As a result, even if the acceleration peak and the deceleration peak are set so that approximately 75% of the acceleration peak and the deceleration peak have elapsed, the vibration cannot be reliably controlled.
JP 2000-79583 A

The problem to be solved is that when the weight of the chuck changes, the vibration of the chuck when the movement is stopped cannot be reliably controlled. In addition, the vibration intensity of the chuck when the movement is stopped cannot be confirmed.

According to a first aspect of the present invention, in the molded product take-out machine that takes out the molded product from the resin molding machine by controlling the movement of the chuck for holding the molded product by controlling the driving of the electric motor , the chuck is stopped when the movement of the chuck is stopped. Based on the signal from the acceleration sensor provided on the chuck, the natural vibration and amplitude of the chuck are detected and output to the chuck movement control means, and the detected natural vibration data and amplitude data of the chuck are detected during the next chuck movement. when driven controls the electric motor to be checked vibration intensity by amplitude data while damping vibration at the time of the chuck moving stopped based, the vibration state of the chuck based on the natural frequency and the amplitude of the detected chuck If the chuck vibration is large, the acceleration peak and deceleration peak in the acceleration region and deceleration region when moving the chuck While the movement control is performed so that it comes early, when the vibration state of the chuck is small, the movement of the chuck is stopped so that the acceleration peak and the deceleration peak in the acceleration area and the deceleration area when moving the chuck come late. It is characterized by damping the vibration at the time. According to a second aspect of the present invention, in the molded product take-out machine for taking out the molded product from the resin molding machine by controlling the movement of the chuck for holding the molded product by controlling the driving of the electric motor, the chuck is stopped when the movement of the chuck is stopped. Based on the signal from the acceleration sensor provided in the chuck, the chuck's natural vibration and amplitude are detected and output to the chuck movement control means. The next chuck movement is based on the detected chuck's natural vibration data and amplitude data. When controlling the electric motor to control the vibration when stopping chuck movement and making it possible to check the vibration intensity with the amplitude data, the acceleration peak and deceleration at a predetermined point in the acceleration region and the deceleration region according to the amplitude Drive control data for driving and controlling the electric motor to reach a peak is stored in advance in the storage means, and the detected natural vibration of the chuck And it reads the drive control data stored in the storage means drives and controls the electric motor, characterized in that damping vibration at the time of the chuck moving stopped based on minute amplitude.

  In the present invention, when the movement of the chuck is stopped, at least the vibration period and amplitude of the chuck are detected, and the movement of the chuck is controlled based on the data, so that the vibration when the movement of the chuck is stopped can be surely suppressed. . Further, the vibration intensity of the chuck when the movement is stopped can be confirmed based on the detected amplitude data.

The present invention detects the vibration period and amplitude of the chuck based on a signal from the vibration detector at least when the movement of the chuck is stopped, and outputs it to the chuck movement control means. The best mode is to control the movement of the chuck based on the vibration to suppress the vibration when the movement of the chuck is stopped and to check the vibration intensity by the amplitude data.

The present invention will be described below with reference to the drawings showing embodiments.
1 and 2, the molded product take-out machine 1 is fixed on a fixed platen 5 of the resin molding machine 3, and moves in a direction orthogonal to the movement of the first traveling body 9 and the first traveling body 9 that reciprocate on the main body frame 7. The chuck 17 attached to the lower part of the arm 15a of the elevating unit 15 provided in the second traveling body 13 that extends and reciprocates in the longitudinal direction on the front and rear frame 11 provided in the first traveling body 9 is moved to the first traveling body. It has a structure in which the molded product is taken out from the resin molding machine 3 by controlling the movement of the body 9 in the three-dimensional direction of the movement direction, the movement orthogonal direction, and the vertical direction.

  The chuck 17 is moved to a required position by driving and controlling electric motors 12, 14, 16 such as servo motors that reciprocate the first traveling body 9, the second traveling body 13, and the lifting unit 15 in the respective directions. Be controlled. A control means 19 to be described later for driving and controlling these electric motors 12, 14, 16 is provided in a control box 21 disposed on the end of the main body frame 7, the first traveling body 9 or the installation floor of the resin molding machine 3. Be contained. FIG. 1 shows an example in which the resin molding machine 3 is provided on the installation floor.

The movement data of the chuck 17 is performed by a portable operation box 23 connected to the control means 19 in the control box 21. The portable operation box 23 is provided with a display member 23a such as a liquid crystal, displays the movement data of the chuck set by the input means 23b provided in the portable operation box 23, and moves the molded product take-out machine 1. The state is displayed graphically, or the vibration amplitude height (vibration intensity) of the chuck 17 when the movement is stopped detected by an acceleration sensor 25 described later is displayed in a numerical format or an indicator format. The control means 19 is provided with a driver box (not shown) that houses a drive control device that controls the drive of the electric motors 12, 14, 16 in the portable operation box 23 or, for example, in the first traveling body 9. In this case, it may be accommodated in the driver box.

  In this molded product take-out machine 1, for example, when the chuck 17 moves between the molds in the resin molding machine 3 and moves so as to face the mold, the inertial force acting on the chuck 17 is stopped. It vibrates at a natural frequency determined by the rigidity of the main body frame 7, the front and rear frames 11, and the arm 15a, the weight of the chuck 17, and the like. Among them, since the weight and rigidity of the main body frame 7, the front and rear frame 11, and the arm 15 a are constant, the natural frequency and amplitude height of the chuck 17 vary according to the weight change of the chuck 17.

  An acceleration sensor 25 as a vibration detector is attached to the non-holding surface of the chuck 17 or the lower portion of the arm 15a. The figure shows an example in which the acceleration sensor 25 is attached to the non-holding surface of the chuck 17. The acceleration sensor 25 is of a piezo type, a bimorph type, a capacitance type, or a magnetic type, and outputs a vibration detection signal corresponding to the vibration frequency and amplitude height of the chuck 17 including the arm 15a when the movement of the chuck 17 is stopped. Since the acceleration sensor 25 is known, a detailed description thereof will be omitted.

  In FIG. 3, based on a stop instruction signal output when the chuck 17 stops moving, a signal from the acceleration sensor 25 is latched by a latch signal from the CPU 31, and a vibration detection signal corresponding to the vibration frequency and vibration intensity of the chuck 17 is obtained. Is input to the amplifier circuit 27, and the amplifier circuit 27 outputs the vibration detection signal as an amplified signal amplified by a desired gain. A part of the amplified signal from the amplifier circuit 27 is converted into periodic data of a digital signal by the A / D conversion circuit 29 and then input to the CPU 31.

A part of the amplified signal output from the amplifier circuit 27 is input to the amplitude detection circuit 33. The amplitude detection circuit 33 is composed of a plurality of comparators, and each comparator outputs a reference voltage set in advance according to the amplitude height and the voltage of the input amplified signal for each preset sampling period. In comparison, when the amplified signal is equal to or higher than each reference voltage, an amplitude detection signal is output to the CPU 31.

That is, each comparator compares a preset reference voltage with the input amplified signal. When the voltage is lower than the reference voltage, the low signal is compared. When the voltage is higher than the reference voltage, the comparator is HIGH. Output a signal.

  The amplitude detection circuit 33 converts the amplitude detection signal composed of a combination of HIGH and LOW output from each comparator into the amplitude data of the digital signal by the A / D conversion circuit 35 and then inputs it to the CPU 31.

  The CPU 31 calculates the cycle data based on the vibration cycle data of the chuck 17 based on the input cycle data and the clock signal of the CPU 31. The CPU 31 stores the calculated cycle data of the chuck 17 and the input amplitude data in the shift register 37 as serial data. The frequency data and amplitude data stored in the shift register 37 are the period data and amplitude data shifted out from the shift register 37 when storing the next period data and amplitude data input every required time. Transfer to the control means 19 of the molded product take-out machine 1.

  The acceleration sensor 25, the amplification circuit 27, the A / D conversion circuits 29 and 35, the CPU 31, the amplitude detection circuit 33, and the shift register 37 are preferably configured as a one-chip integrated circuit.

  The control means 19 stores the inputted period data and amplitude data in the work area of the storage means, and then, when the chuck 17 is controlled to stop at a predetermined position, the motor 19 is electrically driven based on these data stored in the work area. The motors 12, 14, and 16 are driven and controlled to suppress vibrations when the movement of the chuck 17 is stopped.

Further, the control means 19 uses the amplitude data to store the vibration intensity of the chuck 17 on the display member 23a based on the amplitude data, for example, an indicator method, a numerical method, or a method of selectively lighting the lamp. Display to inform the worker.

As a specific method of damping the chuck 17 when the movement is stopped, when the vibration intensity is large as in the example shown in Patent Document 1, an acceleration peak or a deceleration peak comes early in the acceleration region and the deceleration region. This is realized by controlling the driving of the electric motors 12, 14, and 16.

That is, when the vibration of the chuck 17 when the movement is stopped is large, it takes time for the vibration to converge. Therefore, when the vibration is small so that the acceleration peak and the deceleration peak become faster in the acceleration region and the deceleration region. In order to converge the vibration in a short time, the acceleration peak and the deceleration peak are controlled to be delayed in the acceleration region and the deceleration region. The above-described vibration damping method of Patent Document 1 controls the electric motors 12, 14, and 16 so that the acceleration peak and the deceleration peak are reached when 75% of the acceleration region and the deceleration region are reached regardless of the vibration intensity. Yes.

In the present invention, when the vibration of the chuck 17 is large, the acceleration peak and the deceleration peak are, for example, 70% in the acceleration region and the deceleration region, and conversely, when the vibration is small, the acceleration region and the deceleration region are, for example, The electric motors 12, 14, and 16 are driven and controlled so that the acceleration peak and the deceleration peak come to 80%.

Specifically, the electric motors 12, 14, and 16 are driven so that the work area of the storage means of the control means 19 has an acceleration peak and a deceleration peak at predetermined points in the acceleration area and the deceleration area according to the amplitude height. If a plurality of drive control data for control are stored in advance, the corresponding drive control data is read based on the detected amplitude data, and the electric motors 12, 14, 16 are driven to suppress vibration of the chuck 17. Good.

As another vibration damping method, the natural frequency of the chuck 17 is measured in advance and stored in the storage means of the control means 19, and the torque peak in the acceleration region and the torque peak in the deceleration region of the movement speed pattern of the chuck 17 are stored. The movement speed pattern of the chuck 17 is corrected so that the time difference becomes an integral multiple of the natural frequency, and the electric motors 12, 14, and 16 are driven and controlled based on the corrected speed pattern data, so that the chuck 17 is damped. .

Further, as another vibration damping method, a speed pattern generation program is stored in the storage means of the control means 19 and the vibration of the chuck 17 is suppressed by giving the measured frequency data of the chuck 17. Generate optimal speed pattern data and control vibration.

In this embodiment, vibration is controlled by measuring the vibration period and amplitude width when the movement of the chuck 17 is stopped by the acceleration sensor 25 attached to the back surface of the chuck 17 and controlling the movement of the chuck 17 based on these data. Can do. Further, the vibration intensity can be confirmed by displaying the amplitude of the vibration measured on the display member 23a.

  The gist of the present invention is to measure the vibration cycle and amplitude of the chuck 17 when the movement is stopped by the acceleration sensor 25, and to control the vibration speed by controlling the moving speed of the chuck 17 based on these data. In addition, it can be realized by applying a conventionally known method. Even if the natural frequency is constant, if the movement distance is changed, the vibration intensity changes. However, when the chuck 17 stops moving, the acceleration sensor 25 detects the vibration intensity of the chuck 17 to detect the vibration of the chuck 17. Feedback control can be performed so as to minimize the vibration intensity by correcting the movement speed pattern or the like.

  The vibration period and amplitude of the chuck measured by the acceleration sensor of the present invention are measured, for example, for one cycle or several cycles after the start of driving of the molded product takeout machine, for example, and the chuck is based on the measured vibration period and amplitude data. It is also possible to control the movement of the chuck, or measure the vibration period and amplitude every time the chuck stops moving, and control the movement of the chuck based on these data to suppress the vibration of the chuck when the movement stops. .

  As described above, when the vibration intensity of the chuck 17 is detected only at the start of operation or for the subsequent several cycles, the control means is simplified as compared with the case where the vibration intensity is detected for each operation. Can be reduced.

  In the above description, the chuck 17 is controlled to move in the three-dimensional direction and the molded product is taken out. However, the present invention is not limited to this example, and the chuck can be moved in the two-dimensional direction or swiveled. The structure which moves and takes out a molded article may be sufficient.

  In the above description, a single acceleration sensor 25 detects vibration in the direction in which the chuck 17 approaches the mold, that is, the movement direction of the second traveling body 13. May be configured to detect vibrations in the moving direction of the first traveling body 9 by providing them in a direction orthogonal to each other.

It is explanatory drawing which shows the outline of a molded article extraction machine. It is explanatory drawing which shows the attachment state of the acceleration sensor in a chuck | zipper. It is an electrical block diagram which shows the signal processing outline from an acceleration sensor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mold take-out machine 17 Chuck 19 Control means 23a Display member 25 Acceleration sensor 27 Amplifier circuit 31 CPU
33 Amplitude detection circuit

Claims (3)

In the molded product take-out machine that takes out the molded product from the resin molding machine by controlling the movement of the chuck that holds the molded product by driving and controlling the electric motor ,
When the movement of the chuck is stopped, the chuck's natural vibration and amplitude are detected based on the signal from the acceleration sensor provided on the chuck and output to the chuck movement control means. At the next chuck, the detected chuck's natural vibration When driving the electric motor based on the data and the amplitude data to control the vibration when the chuck movement is stopped and making it possible to confirm the vibration intensity by the amplitude data,
When the vibration of the chuck is large based on the detected natural vibration and amplitude of the chuck, the movement control is performed so that the acceleration peak and the deceleration peak in the acceleration region and the deceleration region when moving the chuck come early. If the vibration state of the chuck is small, the molded product take-out machine that controls the movement so that the acceleration peak and the deceleration peak in the acceleration region and the deceleration region when moving the chuck come later and suppresses the vibration when the chuck movement stops Chuck damping method. In the molded product take-out machine that takes out the molded product from the resin molding machine by controlling the movement of the chuck that holds the molded product by driving and controlling the electric motor,
When the movement of the chuck stops, the inherent vibration and amplitude of the chuck are detected based on the signal from the acceleration sensor provided on the chuck and output to the chuck movement control means, and the detected inherent chuck is detected during the next chuck movement. When driving the electric motor based on the vibration data and the amplitude data to control the vibration when the chuck movement is stopped and making it possible to confirm the vibration intensity by the amplitude data,
Drive control data for driving and controlling the electric motor so as to reach an acceleration peak and a deceleration peak at predetermined points in the acceleration region and the deceleration region according to the amplitude is stored in advance in the storage means, and the detected natural vibration and amplitude of the chuck are stored. A chuck vibration damping method for a molded product take-out machine that reads out drive control data stored in a storage unit and controls vibration of the electric motor to control vibration when the chuck movement is stopped . 3. The method according to claim 1, wherein a plurality of acceleration sensors are arranged so as to be orthogonal to each other, and the natural vibration and amplitude of the chuck in each direction are detected by each acceleration sensor arranged according to the moving direction of the chuck. The chuck vibration damping method for the molded product take-out machine that has been made possible.

Images