Runner chuck and take-out device

Abstract

To provide a runner chuck and take-out device that can quickly pinch with low power consumption.SOLUTION: The runner chuck 20 has a pair of gripping jaws 22, which are oppositely arranged and mounted to be opened and closed, and a magnetic element 33, which can move linearly, and when the magnetic element 33 moves linearly in the downward direction, the magnetic element 33 converts the linear motion to move the gripping jaws 22 in the closing direction, while the magnetic element 33 moves linearly in the upward direction. A link mechanism 24 that moves the gripping jaw 22 in the opening direction by converting its linear motion when the magnetic body 33 moves linearly in the upward direction, a spring member 25 attached to the magnetic body 33 in a compressed state that continues to exert elastic force in the downward direction, and an electromagnet 26 positioned opposite the magnetic body 33 in the upward direction of the magnetic body 33, An electric cylinder 27 to which the electromagnet 26 is attached and which can move the electromagnet 26 linearly in the upward direction.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a runner chuck and an extraction device for removing a runner from a mold.

Background Art

[0002] Conventionally, in a molded product extraction device, when removing a molded product such as an injection molded product from a mold, a runner chuck may be used to remove the runner from the mold. For example, Patent Document 1 describes a runner chuck that sandwiches and removes a runner by air drive.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when the runner chuck is air-driven, it is necessary to provide devices and facilities for generating compressed air or negative pressure, such as an air compressor, a vacuum pump, and an ejector, and attention must also be paid to the handling of air pipes.

[0005]

[0006] To avoid such problems, an electric gripper using a motor may be used instead of air drive. However, the electric gripper has problems such as a large power consumption, for example, continuously consuming power when clamping, and a slow opening and closing operation.

Means for Solving the Problems

[0007] A first means for solving the above problems is a runner chuck used in an extraction device that grips a runner from a mold and extracts the runner. The runner chuck includes a pair of gripping claws that are oppositely arranged and attached so as to be openable and closable, and a magnetic body that is linearly movable. When the magnetic body linearly moves in a first direction, its linear motion is converted to move the gripping claws in a direction in which the gripping claws close. On the other hand, when the magnetic body linearly moves in a second direction, its linear motion is converted to move the gripping claws in a direction in which the gripping claws open. A link mechanism, a spring member attached to the magnetic body in a compressed state that continuously applies an elastic force in the first direction, an electromagnet disposed opposite to the magnetic body on the second direction side of the magnetic body, and the electromagnet is attached, and an electric cylinder capable of linearly moving the electromagnet in the second direction.

[0008] According to the above means, it includes an electric cylinder capable of linearly moving an electromagnet disposed opposite to the magnetic body in a second direction. Thereby, the magnetic body is attracted by the electromagnet, and in this state, the electromagnet is moved in the second direction, so that the gripping claws can be opened by the link mechanism. On the other hand, after the open state is set, by turning off the electromagnet, the adsorption of the magnetic body is released, and by the elastic force of the spring member, the magnetic body can be quickly moved in the first direction, and the gripping claws can be quickly closed.

[0009] In this way, since the reaction force of the spring member and the electric cylinder are used for opening and closing the gripping claws, it is not necessary to provide devices and facilities for generating compressed air or negative pressure, such as an air compressor, a vacuum pump, and an ejector. Further, since the gripping claws are closed by the elastic force of the spring member, it is not necessary to move an electric cylinder or the like when closing, and the power consumption can be reduced.

[0010] A second means for solving the above problems is an ejection device that grips a runner from a mold and ejects the runner, comprising a runner chuck that grips the runner and a control device that controls the operation of the runner chuck. The runner chuck has a pair of gripping claws that are arranged opposite to each other and are attached so as to be openable and closable, and a magnetic body that is linearly movable. When the magnetic body linearly moves in the first direction, its linear motion is converted to move the gripping claws in a direction to close the gripping claws. On the other hand, when the magnetic body linearly moves in the second direction, its linear motion is converted to move the gripping claws in a direction to open the gripping claws. The runner chuck further comprises a link mechanism, a spring member attached to the magnetic body in a compressed state that continuously applies an elastic force in the first direction, an electromagnet arranged opposite to the magnetic body on the second direction side of the magnetic body, and an electric cylinder to which the electromagnet is attached and that can linearly move the electromagnet in the second direction. The control device energizes the electromagnet and the electric cylinder when the electromagnet is at a first position adjacent to the magnetic body and the gripping claws are closed, adsorbs the magnetic body to the electromagnet, and controls the electric cylinder to linearly move the electromagnet along the second direction together with the magnetic body so that the spring member is further compressed, thereby opening the gripping claws by the link mechanism. When the electromagnet and the magnetic body move from the first position to the second position, the control device turns off the power supply to the electromagnet, linearly moves the magnetic body in the first direction by the elastic force of the spring member, and converts the linear motion of the magnetic body by the link mechanism to move the gripping claws in a direction to close the gripping claws.

[0011] According to the above means, an electromagnet arranged opposite to the magnetic body is provided with an electric cylinder that can linearly move in the second direction. Thereby, the magnetic body can be adsorbed by the electromagnet, and in this state, by moving the electromagnet in the second direction, the gripping claws can be opened by the link mechanism. On the other hand, after the open state is set, by turning off the electromagnet, the adsorption of the magnetic body is released, and by the elastic force of the spring member, the magnetic body can be quickly moved in the first direction, and the gripping claws can be quickly set in the closed state.

[0012] Thus, since the reaction force of the spring member and the electric cylinder are utilized for the opening and closing of the gripping claws, there is no need to provide devices and equipment for generating compressed air or negative pressure, such as an air compressor, a vacuum pump, an ejector, etc. Also, due to the elastic force of the spring member, the gripping claws are in the closed state, so there is no need to move an electric cylinder or the like when closing, and the power consumption can be reduced.

[0013] In addition, when opening the gripping claws, potential energy can be stored in the spring member, and after opening, when the adsorption between the electromagnet and the magnetic body is cut off, the gripping claws can be quickly closed by the elastic force of the spring member. Therefore, compared with the case of closing the gripping claws by moving a link mechanism with an electric cylinder, the gripping claws can be closed quickly, and it becomes possible to take out the runner from the mold at high speed. Also, since the elastic force of the spring member is utilized, there is no need to increase the size of the electric cylinder, and the runner chuck can be miniaturized. As a result, it is not necessary to open the mold widely, and the runner can be taken out more quickly.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0015] Hereinafter, embodiments embodying the "runner chuck" and "take-out device" according to the present disclosure will be described with reference to the drawings. In the following embodiments and modifications, parts that are identical or equivalent to each other are denoted by the same reference numerals in the drawings, and the description of the parts with the same reference numerals is incorporated herein. Also, in the description of the embodiments and modifications, not only the combinations of the disclosed configurations but also the combinations of the embodiments and modifications are possible as long as there is no problem with the combinations.

[0016] FIG. 1 shows a take-out device 10. The take-out device 10 is a device for taking out a runner, a molded product, etc. from a mold, and in this embodiment, it takes out a runner. As shown in FIG. 1, the take-out device 10 includes a runner chuck 20 that grips the runner, and a vertical drive unit 40 that moves the runner chuck 20 in the vertical direction. Further, as shown in FIG. 2, the take-out device 10 includes a control device 100 that controls the operations of the runner chuck 20 and the vertical drive unit 40, an information terminal 110 capable of inputting and outputting various information, and the like. Note that the take-out device 10 may be configured to be movable in the horizontal direction by combining the vertical drive unit 40 with a well-known gantry loader or the like.

[0017] As shown in FIG. 1, the vertical drive unit 40 includes a Z-axis guide rail 41 extending in the vertical direction, and a unit tip portion 42 that moves along the Z-axis guide rail 41. The unit tip portion 42 is drivingly connected to the output shaft of a servo motor 43 provided along with the Z-axis guide rail 41 via a belt or the like. That is, the unit tip portion 42 is configured to reciprocate in the vertical direction along the Z-axis guide rail 41 based on the driving force of the servo motor 43. The vertical drive unit 40 moves the runner chuck 20 in the vertical direction at a predetermined timing and inserts it between the opened molds. Note that although the Z-axis guide rail 41 is provided along the vertical direction, it may be provided along another direction, for example, the horizontal direction.

[0018] Next, the configuration of the runner chuck 20 will be described with reference to FIGS. 3 to 4. FIG. 3(a) is a front view of the runner chuck 20, FIG. 3(b) is a side view of the runner chuck 20, and FIG. 4 is a cross-sectional view taken along line A-A in FIG. 3(b). The cross-sectional view taken along line A-A is a longitudinal sectional view of the runner chuck 20. The vertical direction in FIGS. 3 to 4 corresponds to the vertical direction with respect to the installation surface, that is, the vertical direction, and corresponds to the direction in which the Z-axis guide rail 41 extends. Hereinafter, it will be simply referred to as the vertical direction. Also, the downward direction corresponds to the first direction, and the upward direction corresponds to the second direction.

[0019] As shown in the front view of FIG. 3(a), the runner chuck 20 has a main body frame 21 extending in the vertical direction. As shown in FIG. 4, the interior of the main body frame 21 is roughly divided into three compartments. In this embodiment, they are the first compartment 21a, the second compartment 21b, and the third compartment 21c in order from the bottom.

[0020] The runner chuck 20 includes a pair of gripping claws 22 attached to the first compartment 21a of the main body frame 21. The pair of gripping claws 22 are provided to be symmetric with respect to the left and right when viewed from the front (see FIG. 4). As shown in FIG. 4, each gripping claw 22 is formed in a substantially V shape (the shape of the character "く"), with the lower side being the claw portion 22a and the upper side being the connecting portion 22b connected to a link mechanism 24 described later. As shown in FIG. 3(a), the claw portion 22a is attached so as to protrude from the lower end of the main body frame 21, and the connecting portion 22b is attached so as to partially protrude from the main body frame 21 in the left-right direction.

[0021] As shown in FIG. 4, a pair of rotating shafts 23 provided on the main body frame 21 are respectively inserted into the central portion of the pair of gripping claws 22, that is, the portion connecting the claw portion 22a and the connecting portion 22b. Thereby, the gripping claws 22 are rotatably (pivotably) attached about the rotating shafts 23.

[0022] The gripping claws 22 are made of metal, and their claw portions 22a are configured in a plate shape and are arranged such that their surfaces face each other. In the normal state shown in FIG. 4, the pair of gripping claws 22 are in a closed state where the claw portions 22a approach and contact each other. When in the closed state, the connecting portion 22b is such that its tip is separated from the claw portion 22a. On the other hand, as shown in FIG. 5, when the gripping claws 22 are in the open state, while the claw portions 22a are separated from each other, the connecting portions 22b approach each other.

[0023] Also, as shown in the side view of FIG. 3(b), the claw portions 22a of the gripping claws 22 are formed wide so as to protrude from one side (the right side in FIG. 3(b)) of the main body frame 21. Further, a vertically long through-hole 22c penetrating substantially the center of the claw portion 22a is formed in the gripping claws 22.

[0024] As shown in FIG. 4, inside the main body frame 21, there are provided a link mechanism 24 for rotating the gripping claws 22, a spring member 25 attached in a compressed state, an electromagnet 26, and an electric cylinder 27 capable of moving the electromagnet 26. More specifically, the link mechanism 24 is accommodated across the first section 21a to the third section 21c of the main body frame 21, the spring member 25 is accommodated in the second section 21b, and the electromagnet 26 and the electric cylinder 27 are accommodated in the third section 21c. Hereinafter, each component will be described.

[0025] The link mechanism 24 has a long slide shaft 28 that is attached inside the main body frame 21 so as to be slidable (linear motion) in the vertical direction, and a set of link members 29 that are rotatably attached to the lower end of the slide shaft 28. The slide shaft 28 is arranged to penetrate from the first section 21a to the third section 21c. That is, the lower end of the slide shaft 28 protrudes into the first section 21a, and the upper end protrudes into the third section 21c. The set of link members 29 are arranged in the first section 21a.

[0026] As shown in Fig. 4, the slide shaft 28 includes a first slide shaft 28a disposed across the first section 21a and the second section 21b, and a second slide shaft 28b disposed across the second section 21b and the third section 21c. In Fig. 4, the first slide shaft 28a is disposed on the lower side, and the second slide shaft 28b is disposed on the upper side. The upper end of the first slide shaft 28a is screwed into and connected to the lower end of the second slide shaft 28b, thereby forming a single slide shaft 28.

[0027] The first slide shaft 28a is inserted into an insertion hole provided in the partition wall 30 between the first section 21a and the second section 21b, and is slidable in the vertical direction between the first section 21a and the second section 21b. The second slide shaft 28b is inserted into an insertion hole provided in the partition wall 31 between the second section 21b and the third section 21c, and is slidable in the vertical direction between the second section 21b and the third section 21c.

[0028] A flange portion 28c is formed at the lower end of the second slide shaft 28b. The flange portion 28c is formed to have an outer diameter larger than that of the insertion hole provided in the partition wall 30. Therefore, the flange portion 28c linearly moves in the vertical direction in accordance with the linear motion of the slide shaft 28 inside the second section 21b.

[0029] Also, in the second section 21b, a spring washer 32 is attached to the second slide shaft 28b so as to face the above-described flange portion 28c. The spring washer 32 is composed of an annular washer portion 32a and a cylindrical boss portion 32b provided at the center of the washer portion 32a and protruding downward. The second slide shaft 28b is inserted through the spring washer 32, more specifically, the boss portion 32b. The second slide shaft 28b is inserted through the spring washer 32 so as to be movable in the vertical direction with respect to the spring washer 32. The outer diameter of the spring washer 32 is formed larger than that of the insertion hole provided in the partition wall 31. Therefore, the spring washer 32 is not discharged from the second section 21b.

[0030] Further, the link mechanism 24 is provided with a magnetic body 33 at the upper end of the slide shaft 28 (the upper end of the second slide shaft 28b in FIG. 4). Specifically, the upper end of the second slide shaft 28b protrudes into the third section 21c, and the magnetic body 33 is attached to the upper end. The magnetic body 33 is formed in a disk shape and has a screw portion 33a protruding downward from the center of the magnetic body 33. The screw portion 33a is screwed into a screw hole 28d formed at the upper end of the second slide shaft 28b and fixed.

[0031] The outer diameter of this magnetic body 33 is formed larger than the insertion hole provided in the partition wall 31. For this reason, the magnetic body 33 reciprocates in the vertical direction in accordance with the linear motion of the slide shaft 28 inside the third section 21c.

[0032] The lower end of the slide shaft 28 (the lower end of the first slide shaft 28a in FIG. 4) protrudes into the first section 21a, and one end of a set of link members 29 is rotatably attached thereto. And the other end of each link member 29 is rotatably fixed to the end of the connecting portion 22b of the gripping claw 22 (the end on the side opposite to the claw portion 22a).

[0033] And in the link mechanism 24, when the slide shaft 28 moves downward (the first direction) together with the magnetic body 33, the connecting portion 22b of the gripping claw 22 is pushed and expanded by the link member 29. As a result, the claw portions 22a of the gripping claw 22 rotate in the closing direction, and stop at the location where the claw portions 22a of each other come into contact, that is, in the closed state.

[0034] On the other hand, when the slide shaft 28 moves upward (the second direction) together with the magnetic body 33, the connecting portion 22b of the gripping claw 22 is pulled by the link member 29. As a result, the claw portions 22a of the gripping claw 22 rotate in the opening direction.

[0035] In summary, when the magnetic member 33 linearly moves in the first direction (downward direction), the link mechanism 24 converts the linear motion into a rotational motion and rotates the gripping claws 22 in the direction in which the gripping claws 22 close. On the other hand, when the magnetic member 33 linearly moves in the second direction (upward direction), the link mechanism 24 converts the linear motion into a rotational motion and rotates the gripping claws 22 in the direction in which the gripping claws 22 open.

[0036] Next, the spring member 25 will be described. The spring member 25 is a compression coil spring and is arranged so as to surround the second slide shaft 28b of the slide shaft 28, that is, the center of the spring member 25 is arranged so that the second slide shaft 28b can slide. Further, the spring member 25 is arranged in a compressed state between the spring washer 32 and the flange portion 28c formed at the lower end of the second slide shaft 28b. That is, the outer diameter of the spring member 25 is configured to be smaller than the outer diameter of the spring washer 32, the upper end of the spring member 25 contacts the spring washer 32, and the upward elastic force generated by the spring member 25 is received by the spring washer 32. And as shown in FIG. 4, in the normal state, the spring washer 32 contacts the lower surface of the partition wall 31 in a state of receiving the elastic force from the spring member 25, and the upward movement is restricted. That is, the spring washer 32 is locked in the vertical direction by the spring member 25 and the partition wall 31.

[0037] Similarly, the outer diameter of the spring member 25 is configured to be smaller than the outer diameter of the flange portion 28c, the lower end of the spring member 25 contacts the flange portion 28c, and the downward elastic force generated by the spring member 25 is received by the flange portion 28c. And as shown in FIG. 4, in the normal state, the flange portion 28c contacts the upper surface of the partition wall 30 in a state of receiving the elastic force from the spring member 25, and the downward movement is restricted. That is, the flange portion 28c is locked in the vertical direction by the spring member 25 and the partition wall 30. In this normal state, the gripping claws 22 are maintained in the closed state by the elastic force of the spring member 25.

[0038] In addition, in this embodiment, the flange portion 28c and the partition wall 30 were in contact with each other in the normal state, but a slight gap may be formed therebetween. That is, when the claw portions 22a of the gripping claws 22 come into contact with each other, the downward movement of the slide shaft 28 via the link mechanism 24 may be restricted.

[0039] Further, since the magnetic body 33 is fixed to the slide shaft 28, it can be said that the spring member 25 is attached in a compressed state that continuously applies an elastic force downward (first direction) to the magnetic body 33.

[0040] Next, the electromagnet 26 will be described. The electromagnet 26 is accommodated in the third partition 21c so as to be movable in the vertical direction. Further, the electromagnet 26 is disposed above (second direction) the magnetic body 33 so as to face the magnetic body 33. And when the electromagnet 26 is energized when the magnetic body 33 is adjacent to the electromagnet 26, the magnetic body 33 can be attracted by the magnetic force. This electromagnet 26 is connected to the control device 100 and is controlled to be turned on and off by the control device 100.

[0041] Next, the electric cylinder 27 will be described. The electric cylinder 27 is disposed above in the third partition 21c, and the electromagnet 26 is fixed to an output shaft that protrudes downward. And the electric cylinder 27 is configured to linearly move the electromagnet 26 in the vertical direction by moving the output shaft up and down. This electric cylinder 27 is connected to the control device 100 and is driven and controlled by the control device 100. Note that the electric cylinder 27 has a well-known configuration and is composed of, for example, a small motor that rotates at a high speed and a speed reducer that decelerates the rotational force of the small motor and converts it into a linear motion of the output shaft.

[0042] Also, as shown in FIG. 3, a light sensor 34 is provided on the front side (the left side in FIG. 3(b)) of the runner chuck 20. This light sensor 34 is disposed directly above the claw portion 22a. The light sensor 34 is configured to be able to detect whether or not the gripping claw 22 has gripped the runner, and inputs the detection result to the control device 100.

[0043] Note that the light sensor 34 is provided on the side opposite to the side where the gripping claw 22 protrudes from the main body frame 21 (the right side in FIG. 3(b)) (the left side in FIG. 3(b)). That is, the gripping claw 22 is provided so as to protrude from the main body frame 21 on the side opposite to the side where the light sensor 34 is provided.

[0044] Next, the operation of the runner chuck 20 configured as described above will be described with reference to FIGS. 4 to 7. FIG. 7 shows the ejection process performed by the control device 100 at a predetermined timing. The timing of performing the ejection process is arbitrary. For example, it may be performed in synchronization with the opening and closing operation of the mold, or may be performed according to an instruction from the information terminal 110.

[0045] Note that at the start of the ejection process, the state of the runner chuck 20 is the normal state shown in FIG. 4. That is, the gripping claw 22 is in the closed state, the spring member 25 is housed in the second section 21b in the compressed state, the spring washer 32 and the flange portion 28c are in contact with the partition walls 30 and 31 while receiving the elastic force from the spring member 25, and their movement is restricted. Further, the magnetic body 33 is disposed at the lowermost position in the third section 21c in a state of being in contact with the partition wall 31, and the output shaft of the electric cylinder 27 is in an extended state so that the electromagnet 26 is disposed directly above (adjacent to) the magnetic body 33. The lowermost position in the third section 21c corresponds to the first position.

[0046] When the control device 100 performs the take-out process, first, it turns on the electromagnet 26 and the electric cylinder 27 and operates them respectively (step S101). That is, the control device 100 energizes the electromagnet 26 to adsorb the magnetic body 33 by magnetic force. Then, the control device 100 controls the drive of the electric cylinder 27 so as to move the electromagnet 26 upward in a state where the magnetic body 33 is adsorbed.

[0047] By moving the electromagnet 26 upward in this way, as shown in FIG. 5, the magnetic body 33 adsorbed to the electromagnet 26 and the slide shaft 28 also move upward. When the slide shaft 28 moves upward, accordingly, the flange portion 28c also moves upward while compressing the spring member 25. As a result, elastic energy (potential energy due to elastic force) associated with compression is stored in the spring member 25. Note that since the spring washer 32 is restricted from moving upward by the partition wall 31, it remains disposed immediately below the partition wall 31.

[0048] When the slide shaft 28 moves upward, the link mechanism 24 converts the linear motion in the upward (second direction) into a rotational motion and rotates the gripping claws 22 in the direction in which the gripping claws 22 open. As a result, as shown in FIG. 5, the gripping claws 22 are in an open state.

[0049] Summarizing in step S101, when the electromagnet 26 exists at the first position adjacent to the magnetic body 33 and the gripping claws 22 are closed (when in the normal state), the control device 100 energizes the electromagnet 26 and the electric cylinder 27 to adsorb the magnetic body 33 to the electromagnet 26, and controls the electric cylinder 27 so that the electromagnet 26 moves linearly upward (in the second direction) along with the magnetic body 33 so that the spring member 25 is further compressed. Thereby, the link mechanism 24 opens the gripping claws 22. Note that the position of the magnetic body 33 when it is in a completely open state, that is, the position of the magnetic body 33 shown in FIG. 5 corresponds to the second position.

[0050] After the gripping claws 22 are opened, the control device 100 inserts the runner chuck 20 into the mold in the open state (step S102). That is, the control device 100 controls the drive of the vertical drive unit 40 so as to move the runner chuck 20 up and down.

[0051] When the control device 100 places the runner chuck 20 at a predetermined position and a runner to be gripped is disposed between the pair of gripping claws 22, the energization to the electromagnet 26 is turned off (step S103). Thereby, the electromagnet 26 loses its magnetic force, and the adsorption to the magnetic body 33 is released. When the adsorption is released, the slide shaft 28 moves downward together with the magnetic body 33 by the elastic force of the spring member 25. When the slide shaft 28 moves downward, the link mechanism 24 converts the linear motion in the downward (first direction) into a rotational motion and rotates the gripping claws 22 in the direction in which the gripping claws 22 close. As a result, as shown in FIG. 6, the gripping claws 22 are in the closed state, and the runner is gripped.

[0052] Based on the detection result from the optical sensor 34, the control device 100 determines whether or not the runner is gripped by the gripping claws 22 (step S104). If this determination result is affirmative, the control device 100 moves the runner chuck 20 from the mold and moves the runner to a predetermined discharge position (step S105). That is, the control device 100 controls the drive of the vertical drive unit 40 so as to move the runner chuck 20 up and down.

[0053] After that, the control device 100 releases the gripping of the runner by keeping the runner chuck 20 open (step S106). To explain step S106 in detail, the control device 100 first drives the electric cylinder 27 to move the electromagnet 26 downward and make it adjacent to the magnetic body 33. Then, the control device 100 energizes the electromagnet 26 to adsorb the magnetic body 33, and controls the drive of the electric cylinder 27 to move the electromagnet 26 upward in the adsorbed state. As a result, similar to when described in step S101, the gripping claws 22 can be opened and the gripping of the runner can be released. Then, the control device 100 ends the take-out process. When the take-out process is ended, it returns to the normal state until the next take-out process is started. That is, the control device 100 closes the gripping claws 22, and also moves the electromagnet 26 downward by the electric cylinder 27 to make it adjacent to the magnetic body 33.

[0054] On the other hand, when the determination result in step S104 is negative, the control device 100 performs error processing (step S107) and ends the take-out process. The error processing is, for example, processing such as notifying an error message to an external device such as the information terminal 110.

[0055] According to the runner chuck 20 of the above embodiment, the following effects can be obtained.

[0056] The electromagnet 26 disposed opposite to the magnetic body 33 connected to the link mechanism 24 for opening and closing the gripping claws 22 is provided with an electric cylinder 27 capable of linearly moving upward (second direction). As a result, the magnetic body 33 can be adsorbed by the electromagnet 26, and in that state, by moving the electromagnet 26 upward, the gripping claws 22 can be opened by the link mechanism 24. On the other hand, after being opened, by turning off the energization of the electromagnet 26, the adsorption of the magnetic body 33 is released, and due to the elastic force of the spring member 25, the magnetic body 33 can be quickly moved downward (first direction), and the gripping claws 22 can be quickly closed.

[0057] In this way, since the elastic force (reaction force) of the spring member 25 and the electric cylinder 27 are utilized for the opening and closing of the gripping claws 22, it is no longer necessary to provide devices and equipment for generating compressed air or negative pressure, such as an air compressor, a vacuum pump, an ejector, etc. Further, due to the elastic force of the spring member 25, in order to keep the gripping claws 22 in the closed state, it is not necessary to move the electric cylinder 27 or the like when closing, and the power consumption can be reduced.

[0058] According to the above configuration, when the runner chuck 20 opens the gripping claws 22, the electric cylinder 27 compresses the spring member 25 to store elastic energy (potential energy) in the spring member 25. Then, after the open state is achieved, by releasing the adsorption between the electromagnet 26 and the magnetic body 33, an elastic force is generated by the elastic energy stored in the spring member 25, and the gripping claws 22 can be quickly closed by this elastic force. Therefore, compared with the case where the link mechanism 24 is moved by the electric cylinder 27 to close the gripping claws 22, the gripping claws 22 can be quickly closed, and the runner can be taken out from the mold at high speed. Further, since the elastic force (reaction force) of the spring member 25 is utilized, it is not necessary to increase the size of the electric cylinder 27, and the runner chuck 20 can be miniaturized. Thereby, it is not necessary to largely open the mold, and the runner can be taken out more quickly.

[0059] In a state where the energization of the electromagnet 26 is turned off, the link mechanism 24 converts the elastic force generated by the spring member 25 into a force in the direction in which the gripping claws 22 close, and continuously applies a force in the direction in which the gripping claws 22 close. Thereby, even without consuming electric power, the runner can be continuously gripped by the elastic force of the spring member 25.

[0060] Even when the gripping claws 22 come into contact with each other with the energization of the electromagnet 26 turned off, the spring member 25 is attached in a compressed state that continues to apply a downward elastic force to the magnetic member 33 and the slide shaft 28 so that a predetermined force is generated on the contact surfaces of the gripping claws 22. As a result, the runner can be gripped with sufficient force, and the runner can be reliably gripped until the electric cylinder 27 and the electromagnet 26 are energized to open the gripping claws 22.

[0061] The gripping claws 22 are configured to be wider than the main body frame 21 along the axial direction (horizontal direction) orthogonal to the rotational direction. Thereby, when gripping the runner, the contact area with the runner can be widened and the frictional force can be increased. Thereby, the runner can be reliably gripped.

[0062] When the claw portion 22a of the gripping claw 22 is configured to be wide and protrudes also to the side where the optical sensor 34 is provided, it may interfere with detection. Therefore, in the main body frame 21, the claw portion 22a of the gripping claw 22 is provided so as to protrude to the side opposite to the side where the optical sensor 34 is provided. Thereby, the gripping claw 22 can be configured to be wide without interfering with the detection of the optical sensor 34.

[0063] The gripping claw 22 is provided with a through hole 22c that penetrates the contact surface. Thereby, the gripping claw 22 can be thinned out and its weight can be reduced.

[0064] The electric cylinder 27 includes a high-speed rotating small motor and a speed reducer that reduces the rotational force of the small motor and converts it into linear motion. Thereby, the runner chuck 20 can be miniaturized. However, by using the speed reducer, the speed at which the output shaft moves in the vertical direction becomes slow. Therefore, by using the electromagnet 26, the magnetic body 33 is pulled up to the second position (upper position) together with the electromagnet 26, adsorption is released at the second position, and the holding claws 22 are closed by the spring member 25, thereby improving the speed during the closing operation. When the above configuration is adopted, the time for the opening operation becomes longer. However, since time is required to mold the molded product (and the runner) with the mold, the opening operation may be performed using that time, so there are few problems.

[0065] (Modification example) A part of the configuration of the runner chuck 20 in the above embodiment may be changed. Hereinafter, a modification example in which a part of the configuration is changed will be described.

[0066] · After the end of step S106 in the above embodiment, it may be determined based on the detection result of the optical sensor 34 whether the gripping of the runner has been normally released. · In the above embodiment, the arrangement of the optical sensor 34 may be arbitrarily changed. For example, the optical sensor 34 may be arranged on the side opposite to the front (rear side) shown in FIG. 3(a).

[0067] · In the above embodiment, means other than the optical sensor 34 may be used to determine whether the runner is being gripped. For example, it may be determined whether the runner is being gripped by a weight sensor, a camera image, or the like.

[0068] · In the above embodiment, the through hole 22c of the claw portion 22a may not be provided. Also, the shape of the claw portion 22a may be arbitrarily changed. For example, the width dimension may be set such that the claw portion 22a does not protrude from the main body frame 21.

[0069] ·In the above-described embodiment, the gripping claw 22 was rotatably attached, but it may be configured to be slidable in the horizontal direction. That is, in the horizontal direction, it may be closed by moving in the direction in which the claw portion 22a of the gripping claw 22 approaches, and opened by moving in the separating direction. Along with this configuration of the gripping claw 22, the configuration of the link mechanism 24 will also be changed.

Explanation of Signs

[0070] 10…Taking-out device, 20…Runner chuck, 21…Main body frame, 22…Gripping claw, 22a…Claw portion of the gripping claw, 22b…Connecting portion of the gripping claw, 24…Link mechanism, 25…Spring member, 26…Electromagnet, 27…Electric cylinder, 28…Slide shaft of the link mechanism, 28a…First slide shaft, 28b…Second slide shaft, 29…Link member of the link mechanism, 30…Partition wall, 31…Partition wall, 32…Spring washer, 33…Magnetic body, 34…Optical sensor, 40…Vertical drive unit, 100…Control device.

Claims

1. In a runner chuck used in an extraction device for gripping a runner from a mold and extracting the runner, a pair of gripping claws that are arranged opposite to each other and attached so as to be openable and closable, a magnetic body that is linearly movable, and when the magnetic body linearly moves in a first direction, its linear motion is converted to move the gripping claws in a direction in which the gripping claws close, while when the magnetic body linearly moves in a second direction, its linear motion is converted to move the gripping claws in a direction in which the gripping claws open; a link mechanism, a spring member attached to the magnetic body in a compressed state that continuously applies an elastic force in the first direction to the magnetic body, an electromagnet disposed opposite to the magnetic body on the second direction side of the magnetic body, a runner chuck comprising an electromagnet to which the electromagnet is attached and an electric cylinder capable of linearly moving the electromagnet in the second direction.

2. When the electromagnet is present at a first position adjacent to the magnetic body and the gripping claws are closed, when energization to the electromagnet and the electric cylinder is turned on from off, the electromagnet attracts the magnetic body, and the electric cylinder linearly moves the electromagnet along the second direction together with the magnetic body so that the spring member is further compressed, thereby opening the gripping claws in the link mechanism, When the electromagnet moves from the first position to the second position together with the magnetic body, when energization to the electromagnet is turned off, the spring member exerts an elastic force so that the magnetic body linearly moves in the first direction by the positional energy stored in a compressed state, and the link mechanism converts the linear motion of the magnetic body to move the gripping claws in a direction in which the gripping claws close. The runner chuck according to claim 1.

3. In a state where energization to the electromagnet is turned off, the link mechanism converts the elastic force of the spring member into a force in a direction in which the gripping claws close, and continuously applies a force in a direction in which the gripping claws close. The runner chuck according to claim 2.

4. In a state where energization to the electromagnet is turned off, even when the gripping claws come into contact with each other, the spring member is attached in a compressed state so that a predetermined force is generated on the contact surface of the gripping claws. The runner chuck according to claim 3.

5. A main body frame to which the gripping claws are attached and in which the spring member, the electromagnet, and the electric cylinder are incorporated, The runner chuck according to claim 1, wherein the gripping claws are configured to be wider than the main body frame along the axial direction orthogonal to the rotational direction.

6. In a take-out device that grips a runner from a mold and takes out the runner, a runner chuck that grips the runner; a control device that controls the operation of the runner chuck; and the runner chuck includes: The runner chuck includes: a pair of gripping claws that are arranged opposite to each other and are attached so as to be openable and closable; a magnetic body that is linearly movable, and when the magnetic body linearly moves in a first direction, its linear motion is converted to move the gripping claws in a direction to close the gripping claws, while when the magnetic body linearly moves in a second direction, its linear motion is converted to move the gripping claws in a direction to open the gripping claws; a link mechanism; a spring member attached to the magnetic body in a compressed state that continuously applies an elastic force in the first direction; an electromagnet arranged opposite to the magnetic body on the second direction side of the magnetic body; an electric cylinder to which the electromagnet is attached and that can linearly move the electromagnet in the second direction; and the control device includes: The control device: When the electromagnet is present at a first position adjacent to the magnetic body and the gripping claws are closed, energize the electromagnet and the electric cylinder to adsorb the magnetic body to the electromagnet, and control the electric cylinder to linearly move the electromagnet along the second direction together with the magnetic body so that the spring member is further compressed, thereby opening the gripping claws in the link mechanism; When the electromagnet moves from the first position to the second position together with the magnetic body, turn off the power supply to the electromagnet, linearly move the magnetic body in the first direction by the elastic force of the spring member, and convert the linear motion of the magnetic body in the link mechanism to move the gripping claws in a direction to close the gripping claws. A take-out device.

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