Molded part extraction tool and molded part extraction mechanism

Abstract

To provide a molded part extraction tool that can surely detecting whether or not a molded part is held regardless of dimension and shape of the molded part.SOLUTION: A molded part extraction tool 1 comprises: a pressing section 23 in which a detection-side chuck part 11A is connected to a cylinder 60A; a contact section 21 disposed facing the pressing section 23 and coming into contact with a molded part M; a spring 25 interposed between the pressing section 23 and the contact section 21; and an air passage 26 disposed in the pressing section 23, where one end part thereof is connected to a negative pressure generator 70, the other end part thereof opens in a surface facing the contact section 21, and pressure is detected by a vacuum sensor 80. When chuck parts 11A, 11B pinch the molded part M upon being driven by cylinders 60A, 60B, the spring 25 contracts, the pressing section 23 is pressed against the contact section 21, and the opening of the air passage 26 is closed by the contact section 21, whereby negative pressure is generated by the negative pressure generator 70 in the air passage 26 and the negative pressure is detected by the vacuum sensor 80.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a molded product removal jig that holds a molded product in order to remove it from the mold of a molding device and transport it, and a molded product removal device using the same. In particular, the present invention relates to a molded product removal jig that can reliably detect whether or not a molded product is being held, regardless of the dimensions and shape of the molded product, and a molded product removal device using the same. [Background technology]

[0002] As a molded product removal device that removes and transports a molded product molded by an injection molding machine or the like from the mold of a molding device, there are conventionally known suction-type devices that suck and hold the molded product by negative pressure, chuck-type devices that clamp and hold the molded product, etc. In this type of molded product removal device, in order to prevent damage to the mold caused by the mold being clamped while the molded product is left inside the mold, it is sometimes practiced to detect an error in removing the molded product from the mold and notify an operator of the abnormality of the error in removing the molded product.

[0003] For example, a method is known in which a camera or an image system is used to monitor whether or not any molded products remain in the mold to detect removal errors. However, such cameras and image systems are expensive, and because they are precision instruments, they are prone to malfunction. In the case of mass production in which many molded products are molded in one cycle, it is necessary to change the camera angle in various ways and adjust the sensitivity so as not to overlook any remaining molded products, and time is likely to be lost because the movement of the molded product removal conveyance must be stopped until it is confirmed whether or not any molded products remain.

[0004] Furthermore, as in Patent Document 1, there are methods that use optical detectors to detect mistakes when molded products are removed; however, the optical detectors themselves are expensive, and an optical detector must be installed for each resin molded product. This means that the installation of the detectors is time-consuming and expensive, and it is difficult to reduce the size of the detectors, making them unsuitable for removing small molded products.

[0005] Furthermore, as disclosed in Patent Document 2, a method is also known in which a miss-take of a molded product is detected based on the difference in negative pressure of the take-out head before and after the molded product is sucked. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2011-240559 A [Patent Document 2] JP 2003-231130 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, in a system like Patent Document 2 that detects a missed removal of a molded product based on the difference in negative pressure before and after suction when a molded product is sucked by a suction member, the molded product is sucked by a suction cup surface having a negative pressure suction port, so if the peripheral surface that becomes the suction surface of the molded product is curved and has few flat surfaces, if the molded product is small in size, or if there are grooves, burrs, or irregularities on the surface of the molded product, there will be a lot of air leakage, making it difficult to generate a pressure difference before and after suction and holding the molded product that can be detected by the suction pressure sensor, and a missed removal error may not be detected. On the other hand, if the pressure difference before and after holding is increased to a detectable level by increasing the negative pressure, there is a risk that a holding mark due to suction will be left on the molded product or the molded product will be deformed.

[0008] SUMMARY OF THE PRESENT EMBODIMENTS Accordingly, an object of the present invention is to provide a molded product removal tool that can reliably detect whether or not a molded product is being held, regardless of the dimensions and shape of the molded product, and a molded product removal device using the same. [Means for solving the problem]

[0009] The molded product removal jig of the invention of claim 1 is a molded product removal jig having a pair of chuck parts that are moved forward and backward by a drive means to clamp and hold a molded product, at least one of the pair of chuck parts comprises a pressing part connected to the drive means, a contact part arranged opposite to the pressing part and brought into contact with the molded product, an elastic part that applies elastic force between the pressing part and the contact part, and an elastic part that is provided inside the pressing part, one end side of which is connected to an air flow generating means and the other end side of which faces the contact part. and an air passage having an opening on the facing surface and in which a change in air pressure, air volume, or air flow can be detected by a detection means. When the pair of chuck portions clamp the molded product by being driven by the drive means, the pressing portion presses against the abutment portion against the elastic force of the elastic portion, and the opening of the air passage is closed by the abutment portion, causing a change in the air pressure, air volume, or air flow in the air passage, and the change in the air pressure, air volume, or air flow is detected by the detection means.

[0010] The driving means may be anything that can move a pair of chucks, which are capable of clamping a molded product, back and forth in a linear direction, and a cylinder or a motor as an actuator may be used. The pair of chuck parts are disposed facing each other at a predetermined distance, and clamp or release a molded product placed between them by their forward and backward movements, i.e., by their movements toward or away from each other. At least one or both of the pair of chuck parts has a pressing part, a contact part, an elastic part, and an air passage.

[0011] The pressing portion is connected to a driving means, and is usually disposed opposite to the contact portion that contacts the molded article, on the side opposite to the contact side with the molded article. The contact portion is a portion that contacts the molded article, and usually the surface opposite to the side that contacts the molded article faces the pressing portion. The elastic portion may be any portion capable of applying an elastic force between the pressing portion and the contact portion, and may be a spring or a cylinder mechanism.

[0012] The air passage is formed inside the pressing portion, one end of which is connected to an air flow generating means and the other end of which is open. The change in air pressure, air volume or air flow is obtained by opening and closing the opening at the other end, and the change in any of the internal air pressure, air volume or air flow is detected by the detection means. Furthermore, the air flow generating means may be any means capable of generating an air flow in the air passage provided inside the pressing portion, and may, for example, be one which generates an air flow by generating negative pressure or suction, one which generates an air flow by blowing air, or one which generates an air flow by pressurizing compressed air. In any case, it is sufficient if the opening and closing of the air passage opening can cause a change in the air pressure, air volume, or air flow in the air passage. Furthermore, the detection means may be any means capable of detecting the amount of change in air pressure, air volume, or air flow in the air passage caused by the opening and closing of the air passage opening, and sensors such as pressure sensors, air pressure sensors, vacuum sensors, air volume sensors, flow velocity sensors, and flow sensors that convert the pressure, air volume, or air flow to be detected into an electrical quantity, etc. It is not required to directly (pinpoint) detect the air pressure, air volume, or air flow in the air passage, and indirect detection by detecting the air pressure, air volume, or air flow in a duct between the air passage provided in the pressing part and the air flow generating means may be used.

[0013] The pressing portion of the molded product removal jig according to the invention of claim 2 has a pressing buffer material on its front side, and an opening of the air passage is provided in the pressing buffer material. The material of the pressure cushioning material is not particularly limited as long as it has cushioning properties, elasticity, and does not leak air. For example, rubber or the like can be used.

[0014] The contact portion of the molded product removal jig according to the invention as set forth in claim 3 has a cushioning material for clamping on its front side, and the cushioning material for clamping comes into contact with the molded product. The material of the sandwiching cushioning material is not particularly limited as long as it has cushioning properties and elasticity, and for example, rubber or the like can be used.

[0015] In the molded product removal jig of the invention as claimed in claim 4, the elastic portion is formed of a spring interposed between the pressing portion and the abutting portion.

[0016] The air flow generating means of the molded product removal jig according to the invention recited in claim 5 is a negative pressure generating means which generates an air flow by generating negative pressure. The negative pressure generating means may be anything capable of generating negative pressure, such as an ejector that generates a vacuum (negative pressure) by feeding compressed air, or a vacuum pump that draws negative pressure.

[0017] The molded product removal device of the invention of claim 6 comprises a pair of chuck parts for clamping and holding a molded product, at least one of the pair of chuck parts having a contact part to be brought into contact with the molded product, a pressing part disposed opposite the contact part, an elastic part for applying elastic force between the contact part and the pressing part, and an air passage provided inside the pressing part and opening at a surface opposite the contact part, an air flow generating means connected to the air passage, a detection means for detecting a change in air pressure, air volume, or air flow in the air passage, and a molded product removal jig including the pair of chuck parts. The apparatus comprises a chuck section drive means for moving a chuck section back and forth, an arm mechanism section to which the molded product removal jig is attached, and an arm mechanism drive means for driving the arm mechanism section, and when the pair of chuck sections clamp the molded product by being driven by the chuck section drive means, the pressing section is pressed against the abutment section against the elastic force of the elastic section, and the opening of the air passage is blocked by the abutment section, causing a change in air pressure, air volume, or air flow in the air passage, and the amount of change in air pressure, air volume, or air flow is detected by the detection means.

[0018] The pair of chuck portions of the above-mentioned molded product removal jig are positioned opposite each other at a predetermined distance, and by moving them forward and backward, i.e., moving toward or away from each other, they clamp or release the molded product positioned between them. The pressing portion of the molded product removal jig is connected to a chuck drive means and is usually disposed opposite the contact portion that contacts the molded product. The contact portion of the molded product removal jig is the portion that comes into contact with the molded product, and usually the surface opposite to the side that comes into contact with the molded product faces the pressing portion. The elastic portion of the molded product removal jig may be any that can impart elastic force between the pressing portion and the abutting portion, and may be a spring or a cylinder mechanism. The air passage of the above-mentioned molded product removal jig is formed inside the pressing portion, with one end connected to the air flow generating means and the other end open. The opening at the other end is opened and closed to obtain a change in air pressure, air volume or air flow, and the change in any of the internal air pressure, air volume or air flow is detected by the detection means.

[0019] Furthermore, the air flow generating means may be any means capable of generating an air flow in the air passage provided inside the pressing portion, and may, for example, be one which generates an air flow by generating negative pressure or suction, one which generates an air flow by blowing air, or one which generates an air flow by pressurizing compressed air. In any case, it is sufficient if the opening and closing of the air passage opening can cause a change in the air pressure, air volume, or air flow in the air passage. Furthermore, the detection means may be any means capable of detecting the amount of change in air pressure, air volume, or air flow in the air passage caused by the opening and closing of the air passage opening, and sensors such as pressure sensors, air pressure sensors, vacuum sensors, air volume sensors, flow velocity sensors, and flow sensors that convert the pressure, air volume, or air flow to be detected into an electrical quantity, etc. It is not required to directly (pinpoint) detect the air pressure in the air passage, and indirect detection by detecting the air pressure, air volume, or air flow in the duct between the air passage provided in the pressing part and the air flow generating means may be used. The chuck portion driving means may be anything that can move a pair of chuck portions, which are capable of clamping a molded product, back and forth in a linear direction, and a cylinder or a motor or the like may be used as an actuator.

[0020] The arm mechanism may be configured to be capable of moving the molded product removal jig, and may be configured to be movable in any two-dimensional or three-dimensional direction, including left-right, front-back, and up-down, or a robot arm having a link mechanism or the like may be used. The arm mechanism driving means may be anything capable of driving the arm mechanism, and may be a cylinder or a motor as an actuator. Effect of the Invention

[0021] The invention of claim 1 provides a molded product removal jig having a pair of chuck parts that are moved forward and backward by a drive means to clamp and hold a molded product, at least one of the pair of chuck parts comprising a pressing part connected to the drive means, a contact part that is disposed opposite the pressing part and is brought into contact with the molded product, an elastic part that applies elastic force between the pressing part and the contact part, and an elastic part that is provided inside the pressing part and has one end connected to an air flow generating means and the other end connected to the contact part. and an air passage that opens on the opposing surface and in which a change in air pressure, air volume, or air flow can be detected by a detection means. When the pair of chuck portions clamp the molded product by being driven by the driving means, the pressing portion presses against the abutment portion against the elastic force of the elastic portion, and the opening of the air passage is closed by the abutment portion, causing a change in the air pressure, air volume, or air flow in the air passage, and the change in the air pressure, air volume, or air flow is detected by the detection means.

[0022] Therefore, when the pair of chuck portions clamp the molded product by being driven by the driving means, the abutment portion abuts against the molded product, and a force resisting the elastic force is applied to the elastic portion between the pressing portion connected to the driving means and the abutment portion, and as the pressing portion presses against the abutment portion against the elastic force of the elastic portion, the opening of the air passage provided in the pressing portion and opening on the surface opposite the abutment portion is blocked by the abutment portion, causing a change in the air pressure, air volume or air flow in the air passage connected to the air flow generating means, and the amount of change in the air pressure, air volume or air flow is detected by the detection means. On the other hand, when the pair of chucks cannot clamp the molded product, the abutment portion does not abut on the molded product, so that no force against the elastic force of the elastic portion is applied to the elastic portion and the pressing portion does not press against the abutment portion, so that the opening of the air passage provided in the pressing portion is not blocked by the abutment portion and no change in the specified air pressure, air volume, or air flow occurs in the air passage connected to the air flow generating means. Therefore, the detection means cannot detect the specified air pressure, air volume, or air flow change in the air passage, and therefore a molded product is found to have been improperly held.

[0023] Thus, according to the molded product removal jig of the invention of claim 1, when a molded product is clamped by a pair of chucks, the pressing part presses against the contact part against the elastic force of the elastic part between the pressing part connected to the drive means and the contact part contacting the molded product, and the opening of the air passage provided inside the pressing part is closed by the contact part, causing a change in air pressure, air volume, or air flow in the air passage, which is detected, so that it is possible to reliably detect whether or not the molded product is held, regardless of the dimensions and shape of the molded product. That is, the opening of the air passage where the change in air pressure, air volume, or air flow is detected is not closed by the molded product, but is closed by a surface of the contact part contacting the molded product that is different from the contact surface, so air leakage is unlikely to occur there, and the change in air pressure, air volume, or air flow before and after the molded product is held can be increased, so that it is possible to reliably detect whether or not the molded product is held, regardless of the dimensions and shape of the molded product.

[0024] According to the molded product removal jig of the invention of claim 2, the pressing part has a pressing buffer material on its front side, the opening of the air passage is provided in the pressing buffer material, and the pressing buffer material is pressed against the abutting part, so in addition to the effect of claim 1, it is possible to prevent damage caused by the pressing part being pressed against the abutting part. Furthermore, if the buffer material is used, it is possible to absorb variations in the dimensions of the molded product, etc., and improve the adhesion when pressed against the abutting part, thereby increasing the airtightness when the opening of the air passage is closed by the abutting part. Therefore, it is possible to increase the amount of change in air pressure, air volume, or air flow in the air passage, and improve the detection accuracy.

[0025] According to the molded product removal jig of the invention of claim 3, the abutment portion has a clamping cushioning material on its front side, and the clamping cushioning material abuts against the molded product, so in addition to the effect described in claim 1, it is possible to prevent damage to the molded product caused by the abutment portion abutting against the molded product.

[0026] According to the molded product removal jig of the invention of claim 4, the elastic portion is a spring interposed between the pressing portion and the abutment portion, so that in addition to the effect described in claim 1, elastic force can be imparted using inexpensive materials and a simple configuration.

[0027] According to the molded product removal jig of the invention of claim 5, the air flow generating means is a negative pressure generating means that generates an air flow by generating negative pressure, so it is difficult to apply a pressure load to the pressing part that forms the air passage. Therefore, in addition to the effect of claim 1, the pressing part is difficult to damage, and since a pressure-resistant structure is not required, it is possible to reduce costs.

[0028] The invention of claim 6 provides a molded product removal device comprising a pair of chuck parts for clamping and holding a molded product, at least one of the pair of chuck parts having a contact part that is brought into contact with the molded product, a pressing part that is disposed opposite the contact part, an elastic part that applies elastic force between the contact part and the pressing part, and an air passage that is provided inside the pressing part and opens on a surface that faces the contact part; air flow generating means connected to the air passage; detection means for detecting a change in air pressure, air volume, or air flow in the air passage; and a molded product removal jig having a pair of chuck parts. The apparatus comprises a chuck section driving means for moving a chuck section back and forth, an arm mechanism section to which the molded product removal jig is attached, and an arm mechanism driving means for driving the arm mechanism section, and when the pair of chuck sections clamp the molded product by being driven by the chuck section driving means, the pressing section is pressed against the abutment section against the elastic force of the elastic section, and the opening of the air passage is blocked by the abutment section, causing a change in air pressure, air volume, or air flow in the air passage, and the amount of change in air pressure, air volume, or air flow is detected by the detection means.

[0029] Therefore, when the pair of chuck portions of the molded product removal jig are clamped by the chuck portion driving means, the abutment portion abuts against the molded product, and a force resisting the elastic force is applied to the elastic portion between the pressing portion connected to the chuck portion driving means and the abutment portion, and as the pressing portion presses against the abutment portion against the elastic force of the elastic portion, the opening of the air passage provided on the pressing portion and opening on the surface opposite the abutment portion is blocked by the abutment portion, causing a change in the air pressure, air volume or air flow in the air passage connected to the air flow generating means, and the amount of change in the air pressure, air volume or air flow is detected by the detection means. On the other hand, when the pair of chucks cannot clamp the molded product, the abutment portion does not abut on the molded product, so that no force against the elastic force of the elastic portion is applied to the elastic portion and the pressing portion does not press against the abutment portion, so that the opening of the air passage provided in the pressing portion is not blocked by the abutment portion and no change in the specified air pressure, air volume, or air flow occurs in the air passage connected to the air flow generating means. Therefore, the detection means cannot detect the specified air pressure, air volume, or air flow change in the air passage, and therefore a molded product is found to have been improperly held.

[0030] Thus, according to the molded product removal device of the invention of claim 6, when a molded product is clamped by a pair of chucks of the molded product removal jig, the pressing part presses against the abutment part against the elastic force of the elastic part between the pressing part connected to the chuck part drive means and the abutment part abutting the molded product, and the opening of the air passage provided inside the pressing part is closed by the abutment part, causing a change in air pressure, air volume, or air flow in the air passage, which is detected, so that it is possible to reliably detect whether or not the molded product is held, regardless of the dimensions and shape of the molded product. That is, the opening of the air passage where the change in air pressure, air volume, or air flow is detected is not closed by the molded product, but is closed by a surface of the abutment part abutting the molded product that is different from the abutment surface, so that air leakage is unlikely to occur, and the change in air pressure, air volume, or air flow before and after the molded product is held can be increased, so that it is possible to reliably detect whether or not the molded product is held, regardless of the dimensions and shape of the molded product. [Brief description of the drawings]

[0031] [Figure 1] FIG. 1 is a diagram illustrating the overall configuration of a molded product removal jig according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a front explanatory view showing a state before a molded product is clamped by a pair of chucks, illustrating a molded product removal jig according to an embodiment of the present invention. [Diagram 3] FIG. 3 is an explanatory side view showing a state before a molded product is clamped by a pair of chucks, illustrating the molded product removal jig according to the embodiment of the present invention. [Figure 4]FIG. 4 is an explanatory front view illustrating a molded product removal jig according to an embodiment of the present invention, showing a state immediately after a pair of chuck portions come into contact with a molded product. [Diagram 5] FIG. 5 is an explanatory side view illustrating the molded product removal jig according to the embodiment of the present invention, showing the state immediately after a pair of chuck portions come into contact with the molded product. [Figure 6] FIG. 6 is a front side explanatory view illustrating a molded product removal jig according to an embodiment of the present invention, showing a state in which a pair of chuck portions abut against a molded product, a pressing portion presses against the abutting portion, and holding of the molded product is detected. [Figure 7] FIG. 7 is an explanatory side view illustrating a molded product removal jig according to an embodiment of the present invention, showing a state in which a pair of chuck portions abut against a molded product, a pressing portion presses against the abutting portion, and holding of the molded product is detected. [Figure 8] FIG. 8 is an explanatory oblique view illustrating a molded product removal jig according to an embodiment of the present invention, showing a state in which a pair of chuck portions abut against a molded product, a pressing portion presses against the abutment portion, and holding of the molded product is detected. [Figure 9] FIG. 9 is a front explanatory view corresponding to FIG. 4 when the molded product removal jig according to the embodiment of the present invention has misheld the molded product. [Figure 10] FIG. 10 is an explanatory side view corresponding to FIG. 5 when the molded product removal jig according to the embodiment of the present invention has misheld the molded product. [Figure 11] FIG. 11 is an explanatory front view corresponding to FIG. 6 when the molded product removal jig according to the embodiment of the present invention has misheld the molded product. [Figure 12] FIG. 12 is an explanatory side view corresponding to FIG. 7 when the molded product is mis-held by the molded product removal jig according to the embodiment of the present invention. [Figure 13]Figure 13(a) is a schematic explanatory diagram of a molded product removal device using a molded product removal jig relating to an embodiment of the present invention, Figure 13(b) is an explanatory diagram of the state in which the molded product removal jig relating to an embodiment of the present invention enters a mold and removes a molded product, Figure 13(c) is an explanatory diagram of the state in which the molded product removal jig relating to an embodiment of the present invention has removed a molded product from the mold, and Figure 13(d) is an explanatory diagram of the state in which the molded product removal jig relating to an embodiment of the present invention has withdrawn from the mold. [Figure 14] FIG. 14 is a schematic explanatory diagram showing another example of the arm mechanism portion of the molded product removal device using the molded product removal jig according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the embodiments, the same symbols and the same reference numerals in the drawings indicate parts having the same or corresponding functions, and therefore, detailed descriptions thereof will be omitted here.

[0033] [Embodiment Mode] First, a molded product removal jig 1 according to an embodiment of the present invention will be described with reference to FIGS. The molded product removal jig 1 of this embodiment is used in a molded product removal device 100 (see Figures 13 and 14) that performs the operation of removing a molded product M molded by an injection molding device 110 (see Figures 13 and 14), and as shown in Figures 1 to 12, has a pair of chuck portions 11A, 11B that clamp and hold the molded product M, and a pair of cylinders 60A, 60B as driving means for moving the pair of chuck portions 11A, 11B forward and backward, and a negative pressure generating device 70 as air flow generating means is connected to an air passage 26 (26a, 26b) provided in the detection side chuck portion 11A of the pair of chuck portions 11A, 11B, and the vacuum pressure (negative pressure) in the air passage 26 is detected by a vacuum sensor 80 as detection means.

[0034] 1, in the molded product removal jig 1 of this embodiment, a pair of cylinders 60A, 60B are attached to a head surface 51a on one of the front and back surfaces of a head plate 51 made of metal or resin by attachment members 62 such as bolts and nuts, and chuck portions 11A, 11B are attached to the rods 61A, 61B of the cylinders 60A, 60B, thereby attaching the pair of cylinders 60A, 60B and the pair of chuck portions 11A, 11B to the head surface 51a of the head plate 51. The cylinders 60A, 60B may be attached on a pedestal fixed to the head surface 51a of the head plate 51.

[0035] The pair of cylinders 60A, 60B and the pair of chucks 11A, 11B are disposed on the head surface 51a side of the head plate 51 with the detection side chuck 11A connected to the rod 61A of the cylinder 60A and the non-detection side chuck 11B connected to the rod 61B of the cylinder 60B spaced apart by a predetermined distance. A hole 52 is formed in the head plate 51 at a position corresponding to the position between the detection side chuck 11A and the non-detection side chuck 11B spaced apart. As a result, even if the molded product M to be clamped by the pair of chucks 11A, 11B is long or the like, it can be clamped by the pair of chucks 11A, 11B at a desired position of the molded product M by passing it through the hole 52. In addition, the formation of the hole 52 allows the weight of the head plate 51 to be reduced. The head plate 51 is provided on its upper side with bolt holes 53 into which bolts or the like are inserted for mounting the head plate 51 to an arm mechanism 130 of the device 100 for removing a molded product, which will be described later.

[0036] The molded product removal jig 1 is designed such that the number and arrangement of the pair of cylinders 60A, 60B and the pair of chuck portions 11A, 11B on the head plate 51 correspond to the number and arrangement of the molded products M molded by the mold 115 (see Figures 13 and 14) of the injection molding apparatus 110. In this embodiment, a plurality of pairs of cylinders 60A, 60B (four pairs in FIG. 1) are attached to the head plate 51, and a pair of chuck portions 11A, 11B is connected to each pair of cylinders 60A, 60B to provide a plurality of pairs of chuck portions 11A, 11B (four pairs in FIG. 1). In the molded product removal jig 1 shown in FIG. 1, four pairs of cylinders 60A, 60B and pairs of chuck portions 11A, 11B are arranged in two columns on the left and right and two rows on the top and bottom of the paper surface of FIG. 1, but of course, when implementing the present invention, the number and arrangement of the pairs of cylinders 60A, 60B and pairs of chuck portions 11A, 11B are not limited thereto. In addition, the holes 52 provided in the head plate 51 at positions corresponding to between each detection side chuck portion 11A and non-detection side chuck portion 11B are formed in two rows, one on the left and one on the right, on the head plate 51, and in each row, the hole between the upper pair of chuck portions 11A, 11B and the hole between the lower pair of chuck portions 11A, 11B are continuous, forming a long hole, and the lower side (one end side) of the long hole in the longitudinal direction is open.

[0037] The pair of chuck portions 11A, 11B is a detection side chuck portion 11A and a non-detection side chuck portion 11B that are disposed opposite each other, and clamps and holds the molded product M between them. The detection side chuck portion 11A has a contact portion 21 having a clamping pad 21a on its front side as a clamping cushioning material to be placed against the molded product M, a pressing portion 23 arranged opposite the contact portion 21 on the opposite side to the clamping pad 21a side, having a pressure pad 23a on its front side as a pressing cushioning material and having a rod 61A of a cylinder 60A attached to its rear side, a spring 25 as an elastic portion that applies elastic force between the contact portion 21 and the pressing portion 23, and an air passage 26 formed inside the pressing portion 23 and opening at the front side of the pressure pad 23a. The non-detection side chuck portion 11B is provided with a clamping pad 22a on the front side as a clamping cushioning material to be brought into contact with the molded product M, and has a rod 61B of a cylinder 60B attached to the rear side.

[0038] The abutment portion 21 of the detection side chuck portion 11A is the side that contacts and abuts against the molded product M when clamping the molded product M, and consists of a clamping pad 21a that touches the molded product M and a base member 21b to which the clamping pad 21a is attached by adhesive or the like. The clamping pad 21a is a portion that comes into contact with the molded product M when clamping the molded product M, and is fixed to a base member 21b made of metal or the like, and is made of a material that is elastic and has a relatively large frictional resistance, such as rubber, elastomer, or foam material made of silicone or the like, so as not to damage the molded product M and to stably hold it. There is no particular restriction on the shape of the clamping pad, but a rectangular parallelepiped or flat plate-like shape is usually used. The base member 21b is made of metal or the like and is formed in a substantially T-shape consisting of a flat portion 21ba having a flat rear surface against which the pressure pad 23a abuts, and a protruding portion 21bb protruding forward from a longitudinal intermediate portion of the flat portion 21ba and having a clamping pad 21a attached to its front surface. The clamping pad 21a is attached to the front surface of the protruding portion 21bb of this base member 21b, and when the molded product M is clamped between the clamping pads 21a and 22a, the pressure pad 23a is pressed against the flat rear surface of the base member 21ba on the side opposite to the mounting surface side of the clamping pad 21a.

[0039] The non-detection side chuck portion 11B has a clamping pad 22a that comes into contact with the molded product M and a base member 22b to which the clamping pad 22a is attached by adhesion or the like. The clamping pad 22a is a portion that comes into contact with and abuts against the molded product M when clamping the molded product M, and is fixed to a base member 22b made of metal or the like, and similarly to the clamping pad 21a, a material that is elastic and has a relatively large frictional resistance, such as rubber made of silicone or the like, elastomer, or foam material, is used so as not to damage the molded product M and to enable stable holding of the molded product M. There is no particular restriction on the shape of the clamping pad, but generally, a rectangular parallelepiped or flat plate-like shape is used. The base member 22b is, for example, made of metal and has a substantially flat plate shape or a substantially rectangular parallelepiped shape, with the clamping pad 22a fixed to its front side and the rod 61B of the cylinder 60B attached to its rear side.

[0040] The clamping pad 21a of the detection side chuck portion 11A and the clamping pad 22a of the non-detection side chuck portion 11B are arranged opposite each other at a predetermined distance apart, and are driven by cylinders 60A, 60B to approach each other and press (clamp) the molded product M placed between them, thereby clamping the molded product M. In particular, by providing a clamping pad 21a as a clamping cushioning material on the front side of the abutment portion 21 of the detection side chuck portion 11A, and by providing a clamping pad 22a on the front side of the non-detection side chuck portion 11B, when clamping the molded product M, the front sides of the clamping pads 21a, 22a come into contact with the molded product M and easily deform and follow the shape of the molded product M, making it difficult to damage the molded product M and enabling it to be held stably.

[0041] In addition, in Figures 1 to 12, a plurality of clamping pads 22a (two separate ones in Figures 1 to 12) are attached to a common, substantially elongated base member 22b to which the rod 61B of one cylinder 60B is connected, and a plurality of abutment portions 21 (four separate ones in Figures 1 to 12) consisting of a base member 21b and a clamping pad 21a are attached to the plate 23c and base member 23b of a common pressing portion 23 to which the rod 61A of one cylinder 60A is connected, so that a plurality of molded products M are clamped by a pair of chuck portions 11A, 11B. 1 to 12, the detection-side chuck portion 11A has a contact portion 21 made up of a clamping pad 21a and a base member 21b in a number corresponding to the number of molded products M to be removed, whereas the non-detection-side chuck portion 11B has a common, substantially elongated clamping pad 22a that is adapted to contact two adjacent molded products M spaced a predetermined distance apart. That is, the clamping pads 21a of the contact portion 21 of the detection-side chuck portion 11A and the clamping pads 22a of the non-detection-side chuck portion 11B have different numbers and different width dimensions in a direction substantially perpendicular to the clamping direction. However, when implementing the present invention, the clamping pads 22a of the non-detection side chuck portion 11B may be provided in a number corresponding to the number of molded products M, and the width dimensions of the clamping pads 21a, 22a may be designed to be the same, or one approximately elongated clamping pad 22a may be provided in common for three or more adjacent molded products M.

[0042] The pressing part 23 of the detection side chuck part 11A has a pressure pad 23a on its front side, and the rod 61A of the cylinder 60A is attached to the rear side on the opposite side. In this embodiment, the pressing part 23 is composed of a plate 23c to which the rod 61A of the cylinder 60A is attached, a base member 23b disposed on the front side of the plate 23c and having an air passage 26a, and a pressure pad 23a disposed on the front side of the base member 23b and having an air passage 26b.

[0043] The plate 23c of the pressing portion 23 is made of metal or the like and is generally flat or rectangular, with the rod 61A of the cylinder 60A attached to its rear side and the base member 23b fixed to its front side. The base member 23b of the pressing portion 23 is made of metal or the like and is approximately flat or rectangular in shape and thicker than the plate 23c. It is fixed to the front side of the plate 23c and has a hole for the air passage 26a formed therein. The pressure pad 23a of the pressing portion 23 is made of a material having elasticity and relatively high friction resistance, such as rubber, elastomer, or foam material, such as silicone rubber, and is attached to the front surface of the base member 23b by adhesion or the like, and faces the flat rear surface of the base member 21b of the abutting portion 21. The pressure pad 23a is formed, for example, in a substantially circular or rectangular shape, and is located between a pair of flat bolts 27 (described below) attached to the pressing portion 23 and the abutting portion 21. The pressure pad 23a has a hole for an air passage 26b formed therein, which is continuous with the air passage 26a in the base member 23b.

[0044] The air passage 26 provided in the pressing portion 23 is composed of an air passage 26a provided in the base member 23b and an air passage 26b provided in the pressure contact pad 23a. The air passage 26a provided in the base member 23b is formed by drilling in the base member 23b, one end of which is connected to the negative pressure generator 70 and the other end of which is connected to the air passage 26b provided in the pressure pad 23a. In Figures 1 to 12, a plurality of pressure pads 23a (four in Figures 1 to 12) are joined to one plate 23c connected to the rod 61A of one cylinder 60A and to the base member 23b joined thereto, and an air passage 26b is formed in each pressure pad 23a, so that the air passage 26a of the base member 23b is composed of a vertical passage 26aa formed perpendicular to the forward and backward direction of the pressing part 23 and connected to a pipe material (not shown) connected to the negative pressure generating device 70, a main passage 26ab formed at a right angle from the vertical passage 26aa and extending along the length direction of the base member 23b, and a plurality of branch passages 26ac branched from the main passage 26ab toward the air passage 26b of each pressure pad 23a and formed at a right angle to the main passage 26ab, and each branch passage 26ac is connected to the air passage 26b of each pressure pad 23a.

[0045] The air passage 26b provided in the pressure pad 23a joined to the front surface of the base member 23b is formed penetrating the pressure pad 23a in the thickness direction at the approximate center of the pressure pad 23a, with one end connected to the air passage 26a of the base member 23b and the other end opening at the flat front surface of the pressure pad 23a. That is, the surface of the pressure pad 23a facing the contact portion 21 has an opening 26A of the air passage 26.

[0046] Thus, the air passage 26 consisting of the air passage 26a provided in the base member 23b of the pressing portion 23 and the air passage 26b provided in the pressure pad 23a has one end side (vertical portion 26aa of the air passage 26a) connected to the negative pressure generating device 70 via a pipe material not shown, while the opposite end side (air passage 26b) is open at the front surface of the pressure pad 23a, and an opening 26A of the air passage 26 having an approximately circular shape or the like is formed at the front surface of the pressure pad 23a.

[0047] The negative pressure generator 70 as the air flow generating means is connected to the air passage 26 (26a, 26b) provided in the pressing part 23 of the detection side chuck part 11A via a pipe (pipe) not shown, and may be, for example, an ejector that generates a vacuum (negative pressure) by feeding compressed air, or a vacuum pump that sucks negative pressure. For example, in the case of an ejector, compressed air generated by an air compressor (compressor), which is a compressed air supply source, and stored in an air tank is supplied, and the negative pressure (vacuum) is generated by the Venturi action.

[0048] The air passage 26 connected to the negative pressure generating device 70 has its internal air pressure detected by a vacuum sensor 80 serving as detection means. The vacuum sensor 80 detects the air pressure in the air passage 26, in this case the vacuum pressure (negative pressure), and is usually provided midway in the pipe connecting the air passage 26 and the vacuum sensor 80, and directly detects the vacuum pressure (negative pressure) midway in the pipe connecting the air passage 26 and the vacuum sensor 80, thereby indirectly detecting the air pressure or vacuum pressure (negative pressure) in the air passage 26. For example, a strain gauge type (resistive film type) sensor consisting of a diaphragm or a piezoelectric element such as a piezo element, metal element, or ceramic element can be used, but a capacitance type, piezoelectric type, or optical type sensor can also be used. In addition, the negative pressure generating device 70 and the vacuum sensor 80 may be provided in the same number as the pair of chuck portions 11A, 11B, or a configuration may be adopted in which multiple chuck portions 11A are connected to a common (single) negative pressure generating device 70 and vacuum sensor 80.

[0049] In addition, in this embodiment, the abutment portion 21 and the pressing portion 23 of the detection side chuck portion 11A are connected by a plurality of T-shaped flat bolts 27 with heads, and further, a spring 25 is attached around each flat bolt 27 between the abutment portion 21 and the pressing portion 23, thereby interposing the spring 25 between the abutment portion 21 and the pressing portion 23. That is, a pair of T-shaped headed flat bolts 27 are passed through the flat portion 21ba of the base member 21b of the abutment portion 21 in the thickness direction (front-to-back direction) on both sides via the protrusion 21bb, and the flat head 27a of each flat bolt 27 is sandwiched between the rear surface of the clamping pad 21a attached to the front surface of the protrusion 21bb and the front surface of the flat portion 21ba. In addition, a pair of T-shaped headed flat bolts 27, which are passed through the flat portion 21ba, are also passed through the base member 23b and plate 23c of the pressing portion 23 in the thickness direction (front-to-back direction) on both sides (on both sides in the width direction perpendicular to the longitudinal direction of the base member 23b and plate 23c) via the pressure contact pad 23a, and a nut 28 is screwed onto the other end opposite the head 27a of the flat bolt 27 on the rear side of the plate 23c.

[0050] 1 to 12, a plurality of pressure pads 23a are joined to one plate 23c connected to the rod 61A of one cylinder 60A and to a base member 23b joined thereto, and each abutment portion 21 facing each pressure pad 23a is attached to the base member 23b and plate 23c of the pressing portion 23 by a pair of flat bolts 27 and nuts 28. In other words, the plurality of abutment portions 21 are attached to one common base member 23b and plate 23c by a pair of flat bolts 27 and nuts 28, respectively.

[0051] A flat bolt 27 is inserted through the base member 23b and plate 23c of the pressing portion 23 and the flat portion 21ba of the base member 21b of the abutting portion 21 and attached using a nut 28. Around the flat bolt 27, a spring 25 is attached between the base member 23b of the pressing portion 23 and the base member 21b of the abutting portion 21, so that the spring 25 is interposed between the abutting portion 21 and the pressing portion 23. That is, each flat bolt 27 connecting the pressing portion 23 and the abutting portion 21 is passed through the spring 25, and the spring 25 is disposed between the pressing portion 23 and the abutting portion 21. At this time, the spring 25 disposed around the flat bolt 27 is attached in a compressed state between the base member 23b of the pressing portion 23 and the base member 21b of the abutting portion 21. As a result, the pressing portion 23 and the abutment portion 21 are biased in a direction separating them, and the pressure pad 23a provided on the front surface of the pressing portion 23 and the base member 21b of the abutment portion 21 are positioned opposite each other with a predetermined gap between them due to the repulsive force of the spring 25 which biases the pressing portion 23 and the abutment portion 21 in a direction separating them.

[0052] 1 to 12, the through hole (not shown) drilled in the flat portion 21ba of the base member 21b of the contact portion 21 and through which the flat bolt 27 passes is smaller in diameter than the spring 25. Therefore, one end side of the spring 25 attached around the flat bolt 27 contacts the rear surface of the base member 21b of the contact portion 21. On the other hand, the through hole drilled in the base member 23b of the pressing portion 23 and through which the flat bolt 27 passes is formed to have a larger diameter at the front side of the base member 23b than at the rear side, and is larger than the diameter of the spring 25. Therefore, the other end side of the spring 25 attached around the flat bolt 27 enters the inside of the base member 23b of the pressing portion 23 and contacts the step surface 24d at the bottom of the large-diameter through hole 24c inside the base member 23b. Therefore, the spring 25 attached around the flat bolt 27 between the pressing portion 23 and the abutment portion 21 has one end side abutting against the rear surface of the base member 21b of the abutment portion 21, while the other end side abuts against the step surface 24d at the bottom of the through hole 24c through which the flat bolt 27 passes inside the base member 23b of the pressing portion 23, and the spring 25 attached around the flat bolt 27 is positioned between the rear surface of the base member 21b of the abutment portion 21 and the step surface 24d inside the pressing portion 23.

[0053] Thus, in this embodiment, flat bolt nut 27 is attached to pressing portion 23 and abutting portion 21 using nut 28 to connect pressing portion 23 and abutting portion 21, and spring 25 is attached around flat bolt 27 between pressing portion 23 and abutting portion 21, so that spring 25 is interposed between pressing portion 23 and abutting portion 21, and elastic force is applied between pressing portion 23 and abutting portion 21 by spring 25. And, due to the interposition of spring 25 between pressing portion 23 and abutting portion 21, pressure contact pad 23a provided on the front surface of pressing portion 23 and base member 21b of abutting portion 21 face each other with a predetermined gap therebetween.

[0054] Furthermore, the cylinder 60A of the detection side chuck portion 11A and the cylinder 60B of the non-detection side chuck portion 11B are pneumatic cylinders (air cylinders) that perform linear reciprocating motion due to pressure changes of compressed air supplied from a compressor to an internal cylinder chamber, and the tip sides of the rods 61A, 61B are attached to the chuck portions 11A, 11B. That is, the rod 61A of the cylinder 60A on the detection side chuck portion 11A side is connected to the rear side of the plate 23c of the pressing portion 23, and the rod 61B of the cylinder 60B on the non-detection side chuck portion 11B side is connected to the rear side of the base member 22b. Thus, the cylinders 60A, 60B perform an advancing / retreating operation by linearly reciprocating the rods 61A, 61B to move the detection side chuck portion 11A and the non-detection side chuck portion 11B forward and backward in a direction toward and away from each other. These cylinders 60A, 60B are attached and fixed to the head surface 51a side of the head plate 51 by mounting members 62 such as bolts and nuts via a bracket.

[0055] The pair of cylinders 60A, 60B and the pair of chuck portions 11A, 11B connected thereto are positioned so that the molded product M is clamped between the clamping pads 21a, 22a of the pair of chuck portions 11A, 11B by the forward stroke of the rods 61A, 61B of the pair of cylinders 60A, 60B.

[0056] In particular, when the pair of chuck portions 11A and 11B advance toward the molded product M by a predetermined stroke of the rods 61A and 61B of the pair of cylinders 60A and 60B, and the molded product M is sandwiched between the sandwiching pads 21a and 22a of the pair of chuck portions 11A and 11B, the detection side chuck portion 11A has a spring 25 attached thereto for applying a predetermined elastic force between the contact portion 21 and the pressing portion 23, so that the sandwiching pads 21a and 22a of the contact portion 21 are pressed against the detection side chuck portion 11A. After 21a comes into contact with the molded product M, a force is applied to the spring 25 between the abutment portion 21 and the pressing portion 23 in the direction in which the pressing portion 23 approaches the abutment portion 21, causing the spring 25 to contract, and the pressure pad 23a provided on the front surface of the pressing portion 23 approaches the abutment portion 21 and is pressed against the base member 21b of the abutment portion 21, so that the opening 26A of the air path 26b of the pressure pad 23a is designed to be blocked by the base member 21b of the abutment portion 21.

[0057] That is, before the rods 61A, 61B of the cylinders 60A, 60B reach their maximum extension positions, the clamping pads 21a, 22a come into contact with the molded product M, and after the clamping pad 21a of the contact portion 21 comes into contact with the molded product M, the forward movement of the rods 61A, 61B applies a force to the spring 25 between the contact portion 21 and the pressing portion 23 in a direction in which the pressing portion 23 approaches the contact portion 21, causing the spring 25 to contract, and the pressure pad 23a provided on the front surface of the pressing portion 23 approaches the contact portion 21 and comes into pressure contact with the contact portion 21. As a result, the opening 26A of the air passage 26b of the pressure pad 23a is closed by the base member 21b of the contact portion 21.

[0058] In detail, in the molded product removal jig 1 configured as above, when the molded product M to be clamped is positioned between a pair of chuck portions 11A, 11B connected to a pair of cylinders 60A, 60B attached to the head plate 51, and the pair of cylinders 60A, 60B are driven, as shown in Figures 4 and 5, the rods 61A, 61B of the pair of cylinders 60A, 60B are protruded (extended), causing the pair of chuck portions 11A, 11B connected to the rods 61A, 61B to advance (advance) toward the molded product M, and the opposing clamping pads 21a, 22a of the pair of chuck portions 11A, 11B come into contact with the molded product M, clamping the molded product M. That is, the pair of clamping pads 21a, 22a of the pair of chuck portions 11A, 11B are brought closer to each other by the pair of cylinders 60A, 60B, so that the molded product M is clamped between the pair of clamping pads 21a, 22a.

[0059] At this time, the pair of clamping pads 21a, 22a of the pair of chuck portions 11A, 11B come into contact with the molded product M and press the molded product M by the stroke of the rods 61A, 61B of the cylinders 60A, 60B over a predetermined distance. However, since the spring 25 that applies a predetermined elastic force between the contact portion 21 and the pressing portion 23 is attached to the detection side chuck portion 11A, the clamping pads 21a, 22a of the detection side chuck portion 11A do not move. After the pad 21a abuts against the molded product M, a force is applied to the spring 25 between the abutment portion 21 and the pressing portion 23 in the direction in which the pressing portion 23 approaches the abutment portion 21 against its repulsive force (elastic force), so that the spring 25 contracts and the pressure pad 23a provided on the front surface of the pressing portion 23 approaches the abutment portion 21 and presses against the flat rear surface of the base member 21b of the abutment portion 21, being crushed, as shown in Figures 6 to 8. As a result, the opening 26A of the air passage 26b, which opens on the front surface of the pressure pad 23a, is closed by the flat rear surface of the base member 21b of the abutment portion 21.

[0060] Therefore, when the negative pressure generating device 70 connected via a pipe to the air passage 26 (26a, 26b) provided in the base member 23b of the pressing portion 23 of the detection side chuck portion 11A and the pressure contact pad 23a is driven, when the opening 26A of the air passage 26b opening to the front surface of the pressure contact pad 23a is blocked by the base member 21b of the abutment portion 21, the pressure in the air passage 26 connected to the negative pressure generating device 70 decreases and the air passage 26 in principle becomes negative pressure (vacuum).

[0061] On the other hand, when the opposing clamping pads 21a, 22a of the pair of chuck portions 11A, 11B approach each other when the rods 61A, 61B of the pair of cylinders 60A, 60B stroke a predetermined distance but the molded product M is not clamped between them, as shown in Figures 9 to 12, in the detection side chuck portion 11A, the clamping pad 21a does not contact the molded product M, so that no force is applied against the repulsive force (elastic force) of the spring 25 that provides a predetermined elastic force between the abutment portion 21 and the pressing portion 23, and the spring 25 does not contract, so that the pressure pad 23a provided on the front surface of the pressing portion 23 and the base member 21b of the abutment portion 21 remain separated by a predetermined distance, and the pressure pad 23a provided on the front surface of the pressing portion 23 does not press against the flat rear surface of the base member 21b of the abutment portion 21. Therefore, the opening 26A of the air passage 26b opening to the front surface of the pressure pad 23a of the pressing portion 23 remains unblocked by the base member 21b of the contact portion 21, and therefore the air passage 26 connected to the negative pressure generating device 70 does not become negative pressure (vacuum).

[0062] In other words, when the molded product M is clamped between the clamping pad 21a of the abutment portion 21 of the detection side chuck portion 11A and the clamping pad 22a of the non-detection side chuck portion 11B by driving the pair of cylinders 60A, 60B, the spring 25 interposed between the pressing portion 23 and the abutment portion 21 contracts, causing the pressure pad 23a to abut against the base member 21b of the abutment portion 21, and the opening 26A of the pressure pad 23a is blocked by the abutment portion 21, in other words, the opening 26A of the air path 26 of the pressing portion 23 connected to the negative pressure generating device 70 is closed by the abutment portion 21, and in principle the air path 26 is set to a predetermined negative pressure. On the other hand, if the molded product M cannot be clamped between the clamping pad 21a of the abutment portion 21 of the detection side chuck portion 11A and the clamping pad 22a of the non-detection side chuck portion 11B, the spring 25 interposed between the pressing portion 23 and the abutment portion 21 does not contract and the pressure pad 23a does not abut against the base member 21b of the abutment portion 21, so that the opening 26A of the pressure pad 23a is not blocked by the abutment portion 21. In other words, the opening 26A of the air path 26 connected to the negative pressure generating device 70 is not closed by the abutment portion 21, and the air path 26 does not reach the specified negative pressure. Therefore, by detecting the change in air pressure in the air path 26, it can be detected whether or not the molded product M is clamped, and in this embodiment, whether or not the molded product M is clamped is determined by detecting a predetermined negative pressure (vacuum pressure) in the air path 26 by the vacuum sensor 80. In other words, since the failure to detect the predetermined negative pressure in the air path 26 by the vacuum sensor 80 indicates that the molded product M has been clamped incorrectly, the clamping error of the molded product M can be detected.

[0063] In this way, by detecting a predetermined pressure drop in the air path 26 provided in the pressing portion 23, i.e., the negative pressure (vacuum) in the air path 26, with the vacuum sensor 80, it is possible to determine whether or not the molded product M is held between the pair of chuck portions 11A, 11B in the molded product removal jig 1. In other words, when the molded product M is not sandwiched between the pair of chuck portions 11A, 11B, the spring 25 interposed between the pressing portion 23 and the abutment portion 21 contracts, so that the pressure pad 23a does not press against the abutment portion 21, and the opening 26A of the air passage 26b of the pressure pad 23a of the pressing portion 23 remains open, so that the air passage 26 connected to the negative pressure generator 70 does not become negative pressure. On the other hand, when the molded product M is sandwiched between the pair of chuck portions 11A, 11B, the spring 25 interposed between the pressing portion 23 and the abutment portion 21 contracts, so that the pressure pad 23a presses against the abutment portion 21, and the opening 26A of the air passage 26b of the pressure pad 23a is closed by the abutment portion 21, so that the air passage 26 connected to the negative pressure generator 70 becomes negative pressure. Therefore, when the molded product M is held between the pair of chuck portions 11A, 11B, the vacuum sensor 80 detects the vacuum pressure (negative pressure) in the air path 26, whereas when the molded product M is not held between the pair of chuck portions 11A, 11B, the specified negative pressure in the air path 26 is not detected, and therefore it is determined that the molded product M has not been clamped properly.

[0064] In the configuration shown in Figs. 1 to 12, in which a plurality of contact portions 21 are attached to the plate 23c and base member 23b of the pressing portion 23 connected to the rod 61A of a pair of cylinders 60A in the detection side chuck portion 11A using flat bolts 27 and nuts 28, and each contact portion 21 clamps the molded product M between itself and the clamping pad 22a of the non-detection side chuck portion 11B, as shown in Figs. 9 to 12, if any one of the plurality of pressure pads 23a provided on the plate 23c and base member 23b of the pressing portion 23 connected to the rod 61A of one cylinder 60A does not contact the base member 21b of the contact portion 21 and the opening 26A of the air passage 26b of the pressure pad 23a is not blocked by the base member 21b of the contact portion 21, air is allowed to flow in from the opening 26A, and the air passage 26 of the pressing portion 23 does not become negative pressure (vacuum).

[0065] That is, in the detection side chuck portion 11A, independent abutment portions 21 corresponding to the number of molded articles M to be clamped are attached to the plate 23c and base member 23b of the pressing portion 23 so as to face each other, and a spring 25 is interposed between each abutment portion 21 and the base member 23b of the pressing portion 23. If any one of the multiple pressure pads 23a attached to the front surface of the base member 23b of the pressing portion 23 does not clamp the molded article M between the abutment portion 21 facing it and the clamping pad 22a of the non-detection side chuck portion 11B, When the spring 25 interposed between the pressing portion 23 and the abutment portion 21 does not contract and the pressure pad 23a does not abut against the base member 21b of the abutment portion 21, the air passage 26a formed in the base member 23b of the pressing portion 23 is connected to the air passage 26b of the pressure pad 23a facing each abutment portion 21, so that the entire air passage 26a of the base member 23b of the pressing portion 23 and the air passage 26b of each pressure pad 23a are not airtight, and therefore the air passage 26 of the pressing portion 23 does not become negative pressure.

[0066] Therefore, when all of the molded products M corresponding to the number are clamped between the clamping pads 21a of each abutment portion 21 of the detection side chuck portion 11A and the clamping pads 22a of the non-detection side chuck portion 11B by driving the pair of cylinders 60A, 60B, each opening 26A of the air path 26 of the pressing portion 23 connected to the negative pressure generating device 70 is closed by each abutment portion 21, and the air path 26 becomes negative pressure (vacuum). On the other hand, if even one molded product M is not clamped between the clamping pads 21a of each abutment portion 21 of the detection side chuck portion 11A and each clamping pad 22a of the non-detection side chuck portion 11B, the opening 26A of the air path 26 of the pressing portion 23 connected to the negative pressure generating device 70 is not closed by the abutment portion 21, and the air path 26 does not become negative pressure (vacuum).

[0067] Therefore, when all of the specified number of molded products M are held between a pair of chuck portions 11A, 11B, the air path 26 becomes negative pressure, and the negative pressure in the air path 26 is detected by the vacuum sensor 80. However, if there is an error in clamping even one molded product M between the clamping pad 21a of each abutment portion 21 of the detection side chuck portion 11A and each clamping pad 22a of the non-detection side chuck portion 11B, the air path 26 does not become negative pressure, and the specified negative pressure is not detected by the vacuum sensor 80, thereby revealing that a molded product M has been mis-clamped. In this manner, when multiple molded products M are clamped between a pair of chuck portions 11A, 11B, and the presence or absence of the multiple molded products M is collectively determined by detecting the negative pressure in the air path 26 using a common vacuum sensor 80, a smaller number of sensors are required, resulting in reduced costs.

[0068] In particular, in this embodiment, the pressing portion 23 is provided with a pressure pad 23a, which is brought into contact with the contact portion 21. When the pressure pad 23a in contact with the contact portion 21 is pressed by the extension of the rods 61A, 61B of the cylinders 60A, 60B, the pressure pad 23a is compressed between the base member 21b of the contact portion 21 and the base member 23b of the pressing portion 23, improving the degree of contact with the base member 21b and the airtightness. Also, the variations in the dimensions, shape, accuracy, etc. between the molded products M being clamped can be absorbed. This increases the vacuum pressure in the air passage 26, and the detection accuracy can be improved. That is, since the pressure pad 23a that contacts the contact portion 21 is made of a cushioning material such as rubber, it can absorb any variation in size, shape, precision, etc., between the multiple molded products M that are clamped, and by increasing the adhesion of the pressing portion 23 that contacts the contact portion 21 with pressure, it is possible to increase the airtightness when the opening 26A of the air passage 26 is closed by the contact portion 21. Therefore, the amount of pressure change in the air passage 26 can be increased, making it possible to improve the detection precision.

[0069] As described above, according to the molded product removal jig 1 of the present embodiment, of the pair of chuck portions 11A, 11B that clamp and hold the molded product M by driving the pair of cylinders 60A, 60B, the detection side chuck portion 11A has a pressing portion 23 connected to the cylinder 60A, a contact portion 21 that is arranged opposite the pressing portion 23 and contacts the molded product M, a spring 25 that imparts elastic force between the pressing portion 23 and the contact portion 21, and an air passage 26 that is provided inside the pressing portion 23, has one end connected to the negative pressure generator 70 and the other end opened at the surface facing the contact portion 21, and whose pressure is detected by the vacuum sensor 80. When the front surface of the contact portion 21 contacts the molded product M, the spring 25 between the pressing portion 23 and the contact portion 21 contracts, the pressing portion 23 contacts the rear surface of the contact portion 21, and the opening 26A of the air passage 26 provided in the pressing portion 23 is blocked by the contact portion 21, so that the air passage 26 connected to the negative pressure generator 70 becomes negative pressure (vacuum). On the other hand, when the molded product M cannot be clamped by the pair of chuck portions 11A, 11B, the spring 25 between the pressing portion 23 and the contact portion 21 does not contract, the pressing portion 23 and the contact portion 21 remain separated, and the opening 26A of the air passage 26 provided in the pressing portion 23 is not blocked by the contact portion 21, so that the air passage 26 does not become negative pressure (vacuum). Therefore, by detecting a predetermined pressure in the air passage 26 by the vacuum sensor 80, it can be determined whether the molded product M is clamped or not. Therefore, according to the molded product removal jig 1 of this embodiment, it can be used to remove the molded product M and detect removal errors in a molded product removal device 100 that removes the molded product M from the mold 115 of the injection molding device 110 and transports it to a predetermined position.

[0070] Here, the molded product removal apparatus 100 of this embodiment, as shown in Figure 13, is attached to an injection molding apparatus 110 and performs the operation of removing and transporting a molded product M molded by the injection molding apparatus 110, and is equipped with a molded product removal jig 1 having a pair of cylinders 60A, 60B and a pair of chuck portions 11A, 11B, an arm mechanism unit 130 that moves the molded product removal jig 1 between a molded product removal position and a molded product discharge position, and an arm mechanism drive means (not shown) that drives the arm mechanism unit 130.

[0071] The arm mechanism unit 130 is provided with movement mechanisms in each of the X-axis, Y-axis, and Z-axis directions, and has, for example, a base unit 131 fixed on a fixed platen 111 of the injection molding apparatus 110, an X-axis arm unit 132x provided on the base unit 131 and extending in a direction approximately perpendicular to the opening and closing direction of a mold 115 of the injection molding apparatus 110, a Y-axis arm unit 132y attached to the X-axis arm unit 132x and extending in the opening and closing direction of the mold 115, i.e., extending in a direction approximately perpendicular to the X-axis arm unit 132x, and a Z-axis arm unit 132z attached to the Y-axis arm unit 132y and extending in the vertical direction of the mold 115, i.e., extending in a direction approximately perpendicular to the Y-axis arm unit 132y and the X-axis arm unit 131x.

[0072] Base portion 131 is fixed, for example, on fixed platen 111 of injection molding apparatus 110, and X-axis arm portion 132x extending in the width direction of injection molding apparatus 110 (direction perpendicular to the opening / closing direction of mold 115) is installed thereon to support X-axis arm portion 132x. Note that, when implementing the present invention, base portion 131 is not limited to being placed and fixed on fixed platen 111 of injection molding apparatus 110, and may be placed and fixed on a mounting table installed outside injection molding apparatus 110.

[0073] The X-axis arm portion 132x is provided on the base portion 131 and supports the Y-axis arm portion 132y on a rail provided along the longitudinal direction on the upper surface side, for example, and guides the movement of the Y-axis arm portion 132y in the width direction (X-axis direction) of the injection molding apparatus 110.

[0074] The Y-axis arm section 132y is attached to a rail provided on the X-axis arm section 132x, extends in a direction approximately perpendicular to the X-axis arm section 132x, i.e., in the longitudinal direction of the injection molding apparatus 110 (the opening and closing direction of the mold 115), and is freely movable back and forth along the rail of the X-axis arm section 132x in the width direction (X-axis direction) of the injection molding apparatus 110. In addition, the Y-axis arm section 132y supports the Z-axis arm section 132z on a rail provided along the longitudinal direction, for example, on the side or central side, and guides the movement of the Z-axis arm section 132z in the longitudinal direction (Y-axis direction) of the injection molding apparatus 110.

[0075] The Z-axis arm section 132z is attached to the rail of the Y-axis arm section 132y and extends in a direction approximately perpendicular to the Y-axis arm section 132y, i.e., in a direction perpendicular to the longitudinal and width directions of the injection molding apparatus 110 (the up-down direction of the injection molding apparatus 110), and is movable back and forth along the rail of the Y-axis arm section 132y in a direction perpendicular to the longitudinal direction of the injection molding apparatus 110 (the Z-axis direction). That is, the Z-axis arm section 132z is supported by a rail provided along the longitudinal direction of the Y-axis arm section 132y so as to be movable back and forth and up and down. The molded product removal jig 1 is attached to the lower end side of the Z-axis arm section 132z in the longitudinal direction.

[0076] The arm mechanism driving means for driving the arm mechanism unit 130 may be, for example, a motor such as a numerically controllable servo motor, a linear motor, or an electric motor or a hydraulic motor, or a cylinder such as an air cylinder or a hydraulic cylinder. In the molded product removal apparatus 100 of this embodiment, a driving source such as a motor allows the Y-axis arm portion 132y of the arm mechanism portion 130 to move back and forth in the width direction (horizontal direction, X-axis direction) of the injection molding apparatus 110, and the Z-axis arm portion 132y to move back and forth in the longitudinal direction (vertical direction, Y-axis direction) and up and down direction (lifting and lowering direction, Z-axis direction) of the injection molding apparatus 110.

[0077] In addition, in the molded product removal device 100, the drive means of the arm mechanism unit 130 is typically driven and controlled by a drive mechanism control unit such as a servo driver, CPU1, etc., thereby controlling the movement of the molded product removal jig 1 attached to the lower end side of the Z-axis arm unit 132z. Thus, the molded product removing apparatus 100 also includes an arm mechanism driving means for driving the arm mechanism section 130, a negative pressure generating device 70, a vacuum sensor 80, and a driving mechanism control section.

[0078] Here, the operation of removing the molded product M from the mold 115 consisting of the fixed mold 115A and the movable mold 115B of the injection molding device 110 and the operation of detecting the holding of the molded product M by the molded product removal device 100 will be described. In the molded product removal apparatus 100 of this embodiment, in the process of removing a molded product M from a mold 115 of an injection molding apparatus 110, the arm mechanism driving means drives the arm mechanism section 130, causing the molded product removal jig 1, which has been kept waiting above the mold 115, to enter the opened mold 115.

[0079] The molded product removal jig 1, which has entered between the fixed mold 115A and the movable mold 115B, approaches the molded product M that is protruded from and held by the movable mold 115B, and stops moving at a predetermined position where the molded product M is located between the pair of chucks 11A, 11B of the molded product removal jig 1. In this state, by driving the pair of cylinders 60A, 60B of the molded product removal jig 1, the pair of chucks 11A, 11B approach each other with the forward movement of the rods 61A, 61B, and the molded product M is clamped between the pair of chucks 11A, 11B. After the molded product M is clamped between the pair of chucks 11A, 11B of the molded product removal jig 1, the arm mechanism unit 130 is driven by the arm mechanism driving means to lift the molded product removal jig 1 from the mold 115 and transport it to a molded product recovery position.

[0080] The molded product removal jig 1 stopped at the molded product recovery position is driven by the pair of cylinders 60A, 60B, which causes the rods 61A, 61B to retract, causing the pair of chuck portions 11A, 11B to retract in the separating direction, releasing the molded product M that was clamped between the pair of chuck portions 11A, 11B. Thereafter, the arm mechanism portion 130 is driven by the arm mechanism driving means to move the molded product removal jig 1 back to the standby position, and the molded product M is removed and transported repeatedly. The basic operation of the injection molding device 110 is to clamp the mold 115, inject resin into the mold 115, and then open the mold 115 once the resin has cooled. The molded product M is then removed by the molded product removal device 100, after which the mold is clamped again and the next injection molding is performed. This operation is repeated.

[0081] More specifically, first, in the molded product removal device 100, the molded product removal jig 1 attached to the lower end of the Z-axis arm section 132z of the arm mechanism section 130 is made to wait at a predetermined position above the mold 115 (see FIG. 15(a)). When the molding of resin in the injection molding device 110 is completed and a signal indicating that the mold 115 of the injection molding device 110 is opened is output from the control section, the Z-axis arm section 132z of the arm mechanism section 130 is lowered in the Z-axis direction by an arm mechanism driving means such as a motor, whereby the molded product removal jig 1 attached to the lower end of the Z-axis arm section 132z of the arm mechanism section 130 and waiting above the mold 115 is advanced into the opened mold 115, i.e., between the fixed mold 115A and the movable mold 115B (see FIG. 15(b)).

[0082] The molded product removal jig 1 that has been inserted between the opened fixed side mold 115A and movable side mold 115B is lowered by the movement of the Z-axis arm portion 132z of the arm mechanism portion 130 in the Z-axis direction until the side opposite the head surface 51a of the head plate 51 to which the pair of chuck portions 11A, 11B and the pair of cylinders 60A, 60B are attached faces the mold surface side of the movable mold 115B.

[0083] Here, taking an example in which multiple slender cylindrical molded products M with curved peripheral surfaces molded in the mold 115 are clamped by a pair of chuck portions 11A, 11B of the molded product removal jig 1, the head plate 51 of the molded product removal jig 1 attached to the lower end of the Z-axis arm portion 132z of the arm mechanism portion 130 moves downward from above the molded products M supported on the movable mold 115B side as the Z-axis arm portion 132z of the arm mechanism portion 130 moves downward, and the multiple molded products M are passed through holes 52 formed in the head plate 51. With the side of the head plate 51 opposite the head surface 51a facing the mold surface side of the movable mold 115B, the movement of the molded product removal jig 1 is stopped at a predetermined position where the multiple molded products M are positioned between the pair of chuck portions 11A, 11B.

[0084] That is, the molded product M is passed through hole 52 formed at a position corresponding to the space between a pair of chuck portions 11A, 11B arranged on the head surface 51a side of head plate 51 of molded product removal jig 1, and molded product removal jig 1 is positioned at a predetermined clamping position for molded product M so that molded product M is located between the opposing clamping pads 21a, 22a of the pair of chuck portions 11A, 11B of molded product removal jig 1, and the movement of molded product removal jig 1 is stopped when the removal position is reached.

[0085] In particular, as shown in Fig. 1 and the like, the head plate 51 of the molded product removal jig 1 of this embodiment has holes 52 with their lower ends open, i.e., the head plate 51 has holes 52 with their lower ends open, so that, as shown in Figs. 13(a) and 13(b), by only moving (lowering) the head plate 51 in the Z-axis direction from an upper standby position, it is possible to pass a plurality of molded products M through the holes 52 in the vertical direction from the open side of the holes 52 at the lower end, and position each molded product M at a predetermined position of the holes 52 between a pair of chucks 11A and 11B. Therefore, since it is not necessary to move the Z-axis arm part 132z of the arm mechanism part 130 in the Y-axis direction and the Z-axis direction to pass the molded products M through the holes 52, it is possible to omit the movement of the Z-axis arm part 132z of the arm mechanism part 130 in the Y-axis direction, and therefore it is possible to shorten the operation time for removing the molded products M and save energy. However, when implementing the present invention, it is also possible to use an embodiment in which, without opening the lower end of hole 52, the molded product M is passed through hole 52 by moving Z-axis arm portion 132z of arm mechanism portion 130 in the Y-axis and Z-axis directions, thereby positioning molded product M between a pair of chuck portions 11A, 11B.

[0086] For example, in FIG. 1, the molded products M are arranged in 2 columns and 8 rows (or 8 columns and 2 rows) in the mold 115, and the 16 molded products M are positioned between the clamping pad 21a of each abutment portion 21 of the detection side chuck portion 11A and the clamping pad 22a of the non-detection side chuck portion 11B while remaining arranged in 2 columns and 8 rows (8 columns and 2 rows).

[0087] When the pair of cylinders 60A, 60B of the molded product removal jig 1 are driven with the molded product M positioned between the opposing clamping pads 21a, 22a of the pair of chuck portions 11A, 11B of the molded product removal jig 1, the forward movement due to the stroke of the rods 61A, 61B of the pair of cylinders 60A, 60B causes the pair of chuck portions 11A, 11B attached to the rods 61A, 61B to move forward in a direction approaching each other, and the opposing clamping pads 21a, 22a of the pair of chuck portions 11A, 11B clamp the molded product M.

[0088] At this time, in the molded product removal jig 1 of this embodiment, the clamping pads 21a, 22a abut against the molded product M before the rods 61A, 61B of the cylinders 60A, 60B reach their maximum extended position (see Figures 4 and 5), and after the clamping pad 21a of the abutment portion 21 of the detection side chuck portion 11A abuts against the molded product M, an elastic force (expansion force) is applied by the spring 25 between the abutment portion 21 and the pressing portion 23, so that the forward movement of the rods 61A, 61B of the cylinders 60A, 60B applies a force in the direction in which the pressing portion 23 approaches the abutment portion 21 against the elastic force of the spring 25, causing the spring 25 to contract, and the front surface of the pressure pad 23a of the pressing portion 23 is pressed against the rear surface of the abutment portion 21 which is in contact with the molded product M. Then, as the pressure pad 23a of the pressing portion 23 is pressed against the rear surface of the base member 21b of the abutment portion 21, the opening 26A of the air passage 26b, which opens to the front surface of the pressure pad 23a, is blocked by the rear surface of the base member 21b of the abutment portion 21 (see Figures 6 to 8).

[0089] Therefore, when the opening 26A of the air passage 26b, which opens to the front surface of the pressure pad 23a, is blocked by the rear surface of the base member 21b of the abutment portion 21, the air passage 26 becomes negative pressure when the negative pressure generator 70 connected to the air passage 26 provided in the pressing portion 23 of the detection side chuck portion 11A is driven, and the vacuum pressure (negative pressure) in the air passage 26 is detected by the vacuum sensor 80 arranged in the tubing between the negative pressure generator 70 and the air passage 26.

[0090] When the vacuum pressure (negative pressure) in the air passage 26 is detected, the molded product removal jig 1 holding the molded product M is pulled (moved) out of the metal mold 115. In detail, when the vacuum pressure in the air passage 26 reaches the set pressure of the vacuum sensor 80 and the vacuum sensor 80 outputs a detection signal indicating that the vacuum pressure in the air passage 26 has reached the set pressure, this is input to the control unit (CPU 1, etc.), and upon receiving the detection signal output from the control unit, the molded product removal jig 1 holding the molded product M is pulled out of the metal mold 115. That is, when it is detected that the molded product M is being held by the pair of chuck portions 11A, 11B of the molded product removal jig 1, the Z-axis arm portion 132z is retracted in a direction away from the mold surface of the movable mold 115B (Y-axis direction), and the Z-axis arm portion 132z is raised (Z-axis direction), so that the molded product removal jig 1 holding the molded product M between the pair of chuck portions 11A, 11B is moved upward from the mold 115 (see Figures 13(c) and 13(d)).

[0091] When the molded product removal jig 1 has moved above the mold 115, the Y-axis arm section 132y is moved in the X-axis direction along the rails of the X-axis arm section 132x to move the molded product removal jig 1 to a recovery position (release position) for the molded product M and transport the molded product M. At this time, if necessary, the Z-axis arm section 132z is lowered or moved forward or backward to move the molded product to a recovery position where a transport (discharge) device such as a chute or conveyor, a recovery box (recovery pallet, container), etc. are located. Then, in the molded product removal jig 1 which has been moved to the recovery position, the pair of cylinders 60A, 60B connected to the pair of chuck portions 11A, 11B holding the molded product M are driven, and the rods 61A, 61B of the cylinders 60A, 60B are retracted with a stroke in the opposite direction to when the pair of chuck portions 11A, 11B clamp the molded product M, causing the pair of chuck portions 11A, 11B to retract in the direction separating them, thereby releasing the clamping of the molded product M by the clamping pads 21a, 22a. In addition, as a result of the retraction movement of the rods 61A, 61B of the cylinders 60A, 60B, in the detection side chuck portion 11A, as the pressing portion 23 retracts, the contractile force of the spring 25 between the pressing portion 23 and the abutment portion 21 is released, the spring 25 returns to its original state, the pressure contact pad 23a of the pressing portion 23 that was pressing the abutment portion 21 moves away from the abutment portion 21, and the pressure contact pad 23a of the pressing portion 23 and the abutment portion 21 return to their original opposing distance.

[0092] When the clamping of the molded product M by the pair of chuck portions 11A, 11B of the molded product removal jig 1 is detected and the molded product removal jig 1 moves upward from between the molds 115A, 115B, a mold closing signal is output to the injection molding device 110. When the molded product M is released from between the molds 115A, 115B, an extraction completion signal is output, and the mold 115 is closed and the next injection molding is performed. In addition, after the molded product removal jig 1 has completed the release operation of the molded product M, the arm mechanism unit 130 operates to return (move back) the molded product removal jig 1 to a standby position above the mold 115, where it waits until the molding of the next molded product M is completed and the mold 115 is opened, in preparation for the next removal operation.

[0093] On the other hand, if the molded product removal jig 1, which has entered the mold 115 and stopped at a predetermined position, is unable to clamp the molded product M between the opposing clamping pads 21a, 22a of the pair of chuck portions 11A, 11B, even if the rods 61A, 61B of the cylinders 60A, 60B stroke a predetermined distance, the clamping pad 21a of the abutment portion 21 in the detection side chuck portion 11A will not abut against the molded product M. As a result, no force is applied to the spring 25, which provides a predetermined elastic force between the pressing portion 23 and the abutment portion 21, to resist that elastic force (repulsive force). As a result, the spring 25 does not contract, and the pressure pad 23a of the pressing portion 23 does not approach and press against the base member 21b of the abutment portion 21. Therefore, the opening 26A of the air passage 26b of the pressure contact pad 23a is not closed by the base member 21b of the contact portion 21 and remains open, so that the air passage 26 connected to the negative pressure generator 70 does not become negative pressure (see Figs. 9 to 12). Therefore, the vacuum sensor 80 disposed in the tubular material between the negative pressure generator 70 and the air passage 26 does not detect the vacuum pressure (negative pressure) in the air passage 26, and therefore it becomes clear that the molded product M has been improperly clamped, i.e., has been improperly removed.

[0094] When the vacuum pressure (negative pressure) in the air passage 26 is not detected, a notification member such as a buzzer or a warning light notifies the operator of the failure to remove the molded product M. In detail, a detection signal indicating that the vacuum pressure in the air passage 26 does not reach the set pressure is output from the vacuum sensor 80, which is input to the control unit (CPU1, etc.), and the control unit outputs a detection failure signal to a notification member such as a buzzer or a warning light, thereby activating the notification member to sound a buzzer or turn on or blink the warning light to notify the operator of the failure to remove the molded product M. At this time, the removal movement of the molded product removal jig 1 from the mold 115 is put into a suspended state. This makes it possible to remove the molded product M remaining in the mold 115 before the mold 115 is clamped in the next molding cycle. This prevents the mold 115 from being damaged by the remaining molded product M.

[0095] In this manner, in the molded product removal device 100 of this embodiment, if there is an error in clamping the molded product M between the pair of chuck portions 11A, 11B of the molded product removal jig 1, this is detected and the mold 115 is prevented from being clamped while the molded product M remains in the mold 115, thereby preventing damage to the mold 115. That is, if all of the molded products M in the mold 115 are clamped and held by each pair of chucks 11A, 11B of the molded product removal jig 1, the air passage 26 of each detection side chuck 11A will be at negative pressure (vacuum), whereas if even one molded product M is not clamped between the pair of chucks 11A, 11B of the molded product removal jig 1, the air passage 26 of that detection side chuck 11A will not be at negative pressure. Therefore, by detecting whether the air passage 26 is at a predetermined negative pressure with the vacuum sensor 80, it can be detected whether all of the molded products M are clamped, and if even one molded product M is not clamped, the operator is notified of a failure to remove the molded product M.

[0096] This makes it possible to prevent damage, breakage, etc. to the mold 115 caused by the mold 115 being closed for the next molding with the molded article M remaining in the mold 115. In other words, by detecting the negative pressure in the air path 26 in the pressing unit 23 by the vacuum sensor 80, it is possible to detect whether the molded article M has been left behind in the mold 115, thereby making it possible to prevent damage, breakage, etc. to the mold 115 caused by the mold 115 being closed with the molded article M remaining in the mold 115 without being removed from the mold 115.

[0097] In particular, in this embodiment, the molded product M is clamped and held by the pair of chuck portions 11A, 11B. When the molded product M is clamped by the pair of chuck portions 11A, 11B, the abutment portion 21 of the detection side chuck portion 11A abuts against the molded product M, and a force resisting the elastic force of the spring 25 between the abutment portion 21 and the pressing portion 23 connected to the cylinder 60A as a driving means is applied from the pressing portion 23 connected to the cylinder 60A, causing the spring 25 to contract and the pressing portion 23 to press against the abutment portion 21. As a result, the opening 26A of the air passage 26 provided inside the pressing portion 23 is blocked by the abutment portion 21, and negative pressure generated by the negative pressure generator 70 is generated in the air passage 26. On the other hand, when the pair of chuck portions 11A, 11B cannot clamp the molded article M, the abutment portion 21 of the detection side chuck portion 11A does not abut against the molded article M, and therefore the pressing portion 23 connected to the cylinder 60A does not apply a force resisting the elastic force of the spring 25 between the pressing portion 23 connected to the cylinder 60A and the abutment portion 21, and the spring 25 does not contract. Therefore, the pressing portion 23 does not press against the abutment portion 21 and the opening 26A of the air passage 26 of the pressing portion 23 remains open, so that no negative pressure is generated in the air passage 26 of the pressing portion 23.

[0098] Thus, in the molded product removal jig 1 of this embodiment, the molded product M is clamped between the clamping pads 21a, 22a of the pair of chuck portions 11A, 11B, and the detection side chuck portion 11A is provided with a pressing portion 23 on the rear side of the abutment portion 21 that abuts against the molded product M via a spring 25, and detects whether the air path 26 provided in the pressing portion 23 that can abut against the abutment portion 21 is under negative pressure to detect whether the molded product M is being clamped or not. In other words, the opening 26A of the air path 26 connected to the negative pressure generator 70 via a pipe (conduit) is not blocked by the molded product M, but is blocked by the abutment portion 21 abutting against the molded product M. Therefore, even if the peripheral surface of the molded product M has a complex shape such as a curved shape, the size of the molded product M is small, or the molded product M has burrs, regardless of the dimensions and shape of the molded product M, the opening 26A of the air passage 26 connected to the negative pressure generating device 70 via a pipe is closed by the abutment portion 21 abutting against the molded product M. Therefore, when the molded product M is sandwiched between the clamping pads 21a and 22a by the operation of the cylinders 60A and 60B, the rear side of the abutment portion 21 Then, the spring 25 between the pressing portion 23 contracts, and the pressure pad 23a of the pressing portion 23 comes into contact with the flat rear surface of the contact portion 21, and the opening 26A of the air passage 26 of the pressing portion 23 is closed by the contact portion 21. At this time, the flat rear surface of the contact portion 21 and the pressing portion 23 are in pressure contact, so air leakage is unlikely to occur, and a large air pressure difference occurs before and after the molded product M is clamped, and the air passage 26 of the pressing portion 23 becomes a predetermined negative pressure, making it possible to reliably detect whether the molded product M has been clamped or not. This improves the accuracy of detecting incorrect holding of the molded product M.

[0099] In other words, in the conventional device that detects removal errors of a molded product based on the difference in negative pressure before and after suction when a molded product is suctioned with a suction member, the molded product is suctioned with a suction cup surface having a negative pressure suction port. Therefore, if the peripheral surface of the molded product has a complex shape such as a curved shape, if the molded product is small in size, or if the molded product has burrs, it is difficult to adjust the alignment of the suction cup surface, and the negative pressure suction port is likely to shift when the suction member is suctioned to the molded product, which affects the detection, resulting in no difference in negative pressure before and after suction and prone to detection errors. In contrast, in the molded product removal jig 1 of this embodiment, the molded product M is clamped by contact with the surfaces of the clamping pads 21a, 22a, so that adjustment of alignment is easy, and even if there is some misalignment, it has little effect on the opening 26A of the air passage 26 of the pressing portion 23 being blocked by the abutment portion 21. Since it is easy to obtain a predetermined amount of air pressure change in the air passage 26, it is possible to reliably detect whether or not the molded product M has been held, regardless of the dimensions and shape of the molded product M. Therefore, it is possible to detect whether or not a molded article M of various sizes or shapes is being held, and the detection accuracy of whether or not a molded article M is being held is high.

[0100] In addition, the pressure is detected without using optical means, cameras, or image systems, and it is not necessary to install them according to the number of molded products M, so that the cost can be reduced. In particular, when detecting missed removal of molded products using cameras or image systems, they are precision instruments and are prone to malfunction, and it is necessary to change the camera angle in various ways and adjust the sensitivity so as not to overlook any remaining molded products, and time loss is likely to occur because the movement of the molded product removal conveyance must be stopped until the presence or absence of remaining molded products is confirmed. In contrast, in the molded product removal jig 1 of the above embodiment, the detection of whether the molded product M is held is performed by detecting the pressure change of the air path 26 provided in the pressing part 23, so it does not take time to detect whether the molded product M is held, and it is unlikely that the movement of the molded product M is stopped until it is possible to confirm whether the molded product M is held. Therefore, it is possible to improve the productivity of the molded product M and to save energy.

[0101] In particular, in the molded product removal jig 1 of this embodiment, in the pressing portion 23, a plurality of pressure pads 23a are attached to a common plate 23c and base member 23b as pressing cushioning materials, and the molded product M is clamped between the clamping pad 21a of the abutment portion 21 facing each of the plurality of pressure pads 23a and the clamping pad 22a facing it, and since a plurality of molded products M are clamped between a pair of chuck portions 11A, 11B, even if there is variation in the holding position, dimensions and shape of the plurality of molded products M, as well as in the spacing between the pressing portion 23 and the abutment portion 21 and the elastic force of the spring 25 due to the dimensions of the members constituting the molded product removal jig 1, this can be absorbed, air leakage is unlikely to occur, and air pressure changes in the air path 26 can be accurately generated, thereby improving detection accuracy. Furthermore, the pressure pad 23a is unlikely to damage the surface of the base member 21b even when pressed against the rear surface of the base member 21b of the contact portion 21, and is unlikely to wear out, so that the detection accuracy is unlikely to decrease even with long-term use.

[0102] As described above, the molded product removal jig 1 of the above embodiment is a molded product removal jig 1 having a pair of chuck portions 11A, 11B that are moved forward and backward by a pair of cylinders 60A, 60B as driving means and clamp and hold a molded product M. One of the pair of chuck portions 11A, 11B, the detection side chuck portion 11A, comprises a pressing portion 23 connected to the cylinder 60A as driving means, a contact portion 21 that is disposed opposite the pressing portion 23 and contacts the molded product M, a spring 25 as an elastic portion that applies an elastic force between the pressing portion 23 and the contact portion 21, and a load provided inside the pressing portion 23 and one end of which serves as an air flow generating means. The air passage 26 is connected to a negative pressure generator 70, which is a pressure generating means, and has the other end opening at the surface opposite the abutment portion 21, and the amount of change in air pressure is detected by a vacuum sensor 80, which is a detection means.When the pair of chuck portions 11A, 11B clamp the molded product M by driving the pair of cylinders 60A, 60B, which are a driving means, the pressing portion 23 is pressed against the abutment portion 21 against the elastic force of a spring 25, which is an elastic portion, and the opening 26A of the air passage 26 is blocked by the abutment portion 21, causing a change in air pressure (negative pressure) in the air passage 26, and the amount of this air pressure change (negative pressure) is detected by the vacuum sensor 80, which is a detection means.

[0103] Therefore, when the pair of chuck portions 11A, 11B clamp the molded article M by being driven by the pair of cylinders 60A, 60B as driving means, in the detection side chuck portion 11A, the abutment portion 21 abuts against the molded article M, and a force resisting the elastic force of the spring 25 serving as an elastic portion between the pressing portion 23 connected to the cylinder 60A and the abutment portion 21 abutting against the molded article M is applied from the pressing portion 23 connected to the cylinder 60A, and as a result of the pressing portion 23 being pressed against the abutment portion 21 against the elastic force of the spring 25, the opening 26A of the air passage 26 provided in the pressing portion 23 and opening on the surface opposite the abutment portion 21 is blocked by the abutment portion 21, and the air pressure in the air passage 26 connected to the negative pressure generator 70 as air flow generating means changes to negative pressure, and the amount of change in air pressure is detected by the vacuum sensor 80 as detection means. That is, when the opening 26 A of the air passage 26 of the pressing portion 23 is closed by the contact portion 21 , a negative pressure is generated in the air passage 26 by the negative pressure generating device 70 , and the negative pressure is detected by the vacuum sensor 80 .

[0104] On the other hand, when the pair of chucks 11A, 11B cannot clamp the molded product M, the abutting portion 21 of the detection side chuck 11A does not abut against the molded product M, so that the force resisting the elastic force of the spring 25 between the pressing portion 23 and the abutting portion 21 is not applied from the pressing portion 23 connected to the cylinder 60A to the spring 25. Since the pressing portion 23 does not press against the abutting portion 21, the opening 26A of the air passage 26 provided inside the pressing portion 23 is not blocked by the abutting portion 21, and the negative pressure generated by the negative pressure generator 70 is not generated in the air passage 26. That is, a predetermined amount of change in air pressure is not generated in the air passage 26 connected to the negative pressure generator 70. Therefore, since the vacuum sensor 80 does not detect the negative pressure in the air passage 26, that is, since the predetermined amount of change in air pressure in the air passage 26 cannot be detected, it is found that the molded product M has not been held.

[0105] Thus, according to the molded product removal jig 1 of the above embodiment, when the molded product M is clamped by the pair of chuck portions 11A, 11B, the pressing portion 23 is pressed against the abutment portion 21 against the elastic force of the spring 25 between the pressing portion 23 connected to the cylinder 60A and the abutment portion 21 abutting the molded product M, and the opening 26A of the air passage 26 provided in the pressing portion 23 is blocked by the abutment portion 21, causing a change in air pressure in the air passage 26 which is detected.The clamping of the molded product M is determined by detecting the negative pressure in the air passage 26 connected to the negative pressure generator 70 provided in the pressing portion 23 opposite the abutment portion 21, so that it can be reliably detected whether or not the molded product M is held, regardless of the dimensions and shape of the molded product M. In other words, the opening 26A of the air passage 26, where the negative pressure and the change in air pressure are detected, is not closed by the molded product M; rather, the opposite surface of the abutment portion 21 that abuts against the molded product M, which is different from the contact surface, closes the opening 26A of the air passage 26. This makes it difficult for air to leak there, and by making it possible to increase the change in air pressure (pressure difference) before and after the molded product M is held, it is possible to reliably detect whether or not the molded product M is held, regardless of the dimensions and shape of the molded product M. In addition, since the vacuum sensor 80 detects the negative pressure in the air passage 26, that is, detects the pressure, low cost is required. Therefore, the accuracy of detecting a mis-holding of the molded product M can be improved at low cost.

[0106] In particular, when a camera or image system is used to detect a molded product being removed incorrectly, these are precision instruments and prone to malfunction, and time is lost when the movement of the molded product removal conveyance must be stopped until it is confirmed whether or not a molded product remains by adjusting the sensitivity, etc., whereas in the molded product removal jig 1 of the above embodiment, whether or not the molded product M is held is detected by detecting changes in the air pressure in the air passage 26, so it does not take time to detect whether or not the molded product M is held, and it is unlikely that it will be necessary to stop the movement of the molded product removal conveyance until it can be confirmed whether or not the molded product M is held. Therefore, the molding cycle can be shortened, and by shortening the molding cycle, energy can be saved.

[0107] Furthermore, according to the molded product removal jig 1 of the above embodiment, the pressing portion 23 has a pressure pad 23a as a pressing cushioning material on its front side, and the opening 26A of the air passage 23 is provided in the pressure pad 23a as a pressing cushioning material, so that the pressing portion 23 can be pressed against the abutting portion 21 to prevent the abutting portion 21 from being damaged. The cushioning material can absorb variations in the dimensions and shape of the molded product M and improve the adhesion of the pressing portion against the abutting portion 21, thereby increasing the airtightness when the opening 26A of the air passage 26 is closed by the abutting portion 21. This allows the amount of change in air pressure in the air passage 26 to be increased, making it possible to improve detection accuracy.

[0108] That is, in the above embodiment of the molded product removal jig 1, in the pressing portion 23, a plurality of pressure pads 23a are attached to a common plate 23c and base member 23b as pressing cushioning materials, and the molded product M is clamped between the clamping pad 21a of the abutment portion 21 facing each of the plurality of pressure pads 23a and the clamping pad 22a facing thereto, and since a plurality of molded products M are clamped between a pair of chuck portions 11A, 11B, even if there is variation in the holding position, dimensions and shape of the plurality of molded products M, as well as in the spacing between the pressing portion 23 and the abutment portion 21 and the elastic force of the spring 25 due to the dimensions of the members constituting the molded product removal jig 1, this can be absorbed, air leakage is unlikely to occur, and it is possible to accurately generate a change in air pressure in the air path 26, thereby improving detection accuracy.

[0109] Furthermore, according to the molded product removal jig 1 of the above embodiment, the contact portion 21 has the clamping pad 21a as a clamping cushioning material on the front side thereof, and the clamping pad 21a as a clamping cushioning material abuts against the molded product M, thereby preventing the molded product M from being damaged by the contact portion 21 being pressed against the molded product M. In addition, since the molded product M is not held by negative pressure, no suction marks or the like are left behind.

[0110] In addition, according to the molded product removal jig 1 of the above embodiment, the elastic portion is the spring 25 interposed between the pressing portion 23 and the abutment portion 21, so that elastic force can be imparted using inexpensive materials and a simple configuration. In the above embodiment, the spring 25 is fitted into the flat bolt 27 that connects the pressing portion 23 and the abutment portion 21 and is attached around the flat bolt 27, so that the spring 25 is less likely to bend and the spring 25 can have a long life.

[0111] Furthermore, according to the molded product removal jig 1 of the above embodiment, the airflow generating means is the negative pressure generator 70 which generates an airflow by generating negative pressure, so that it is difficult to apply a pressure load to the pressing part 23 which forms the air passage 26. Therefore, the pressing part 23 is difficult to damage, and since a pressure-resistant structure is not required, it is possible to keep costs low.

[0112] The above embodiment includes a molded product removal jig 1 having a pair of chuck portions 11A, 11B for clamping and holding a molded product M, one of the pair of chuck portions 11A, 11B being a detection side chuck portion 11A, the detection side chuck portion 11A having a contact portion 21 that contacts the molded product M, a pressing portion 23 disposed opposite the contact portion 21, a spring 25 as an elastic portion that applies elastic force between the contact portion 21 and the pressing portion 23, and an air passage 26 that is provided inside the pressing portion 23 and opens on the surface opposite the contact portion 21, a negative pressure generator 70 that is a negative pressure generating means as an air flow generating means connected to the air passage 26, a vacuum sensor 80 as a detection means that detects an amount of change in air pressure in the air passage 26, and a detection device that moves the pair of chuck portions 11A, 11B forward and backward. The apparatus is equipped with a pair of cylinders 60A, 60B as chuck section driving means, an arm mechanism section 130 to which a molded product removal jig 1 is attached, and an arm mechanism driving means such as an electric motor that drives the arm mechanism section 130. When the pair of chuck sections 11A, 11B clamp the molded product M by driving them with the pair of cylinders 60A, 60B as chuck section driving means, the pressing section 23 is pressed against the abutment section 21 against the elastic force of the spring 25 as an elastic section, and the opening 26A of the air path 26 is blocked by the abutment section 21, causing an air pressure change (negative pressure) in the air path 26, and the amount of the air pressure change (negative pressure) is detected by a vacuum sensor 80 as a detection means. This can also be considered to be an invention of a molded product removal device 100.

[0113] Therefore, according to the molded product removal apparatus 100 of the above embodiment, when the pair of chuck portions 11A, 11B clamp the molded product M by being driven by the pair of cylinders 60A, 60B as the chuck portion driving means, in the detection side chuck portion 11A, the abutment portion 21 abuts against the molded product M, and a force resisting the elastic force of the spring 25 serving as an elastic portion between the pressing portion 23 connected to the cylinder 60A and the abutment portion 21 abutting against the molded product M is applied from the pressing portion 23 connected to the cylinder 60A, and as a result of the pressing portion 23 being pressed against the abutment portion 21 against the elastic force of the spring 25, the opening 26A of the air passage 26 provided inside the pressing portion 23 is blocked by the abutment portion 21, and the air pressure in the air passage 26 connected to the negative pressure generating device 70 as the air flow generating means changes to negative pressure, and the amount of change in air pressure is detected by the vacuum sensor 80 as the detection means. That is, when the opening 26 A of the air passage 26 of the pressing portion 23 is closed by the contact portion 21 , a negative pressure is generated in the air passage 26 by the negative pressure generating device 70 , and the negative pressure is detected by the vacuum sensor 80 .

[0114] On the other hand, when the pair of chucks 11A, 11B cannot clamp the molded product M, the abutting portion 21 of the detection side chuck 11A does not abut against the molded product M, so that the force resisting the elastic force of the spring 25 between the pressing portion 23 and the abutting portion 21 is not applied from the pressing portion 23 connected to the cylinder 60A to the spring 25. Since the pressing portion 23 does not press against the abutting portion 21, the opening 26A of the air passage 26 provided inside the pressing portion 23 is not blocked by the abutting portion 21, and the negative pressure generated by the negative pressure generator 70 is not generated in the air passage 26. That is, a predetermined amount of change in air pressure is not generated in the air passage 26 connected to the negative pressure generator 70. Therefore, since the vacuum sensor 80 does not detect the negative pressure in the air passage 26, that is, since the predetermined amount of change in air pressure in the air passage 26 cannot be detected, it is found that the molded product M has not been held.

[0115] Thus, according to the molded product removal device 100 of the above embodiment, when the molded product M is clamped by the pair of chuck portions 11A, 11B, the pressing portion 23 is pressed against the abutment portion 21 against the elastic force of the spring 25, which serves as an elastic portion between the pressing portion 23 connected to the cylinder 60A and the abutment portion 21 arranged opposite thereto, and the opening 26A of the air passage 26 provided in the pressing portion 23 is blocked by the abutment portion 21, causing a change in air pressure in the air passage 26 which is detected.The clamping of the molded product M is determined by detecting the negative pressure in the air passage 26 which is connected to the negative pressure generating device 70 and is provided in the pressing portion 23 opposite the abutment portion 21, so that it can be reliably detected whether or not the molded product M is held, regardless of the dimensions and shape of the molded product M. In other words, the opening 26A of the air passage 26, where the negative pressure and the change in air pressure are detected, is not closed by the molded product M; rather, the opposite surface of the abutment portion 21 that abuts against the molded product M, which is different from the contact surface, closes the opening 26A of the air passage 26. This makes it difficult for air to leak there, and by making it possible to increase the change in air pressure (pressure difference) before and after the molded product M is held, it is possible to reliably detect whether or not the molded product M is held, regardless of the dimensions and shape of the molded product M. In addition, since the vacuum sensor 80 detects the negative pressure in the air passage 26, that is, detects the pressure, low cost is required. Therefore, the accuracy of detecting a mis-holding of the molded product M can be improved at low cost.

[0116] In particular, when a camera or image system is used to detect a missed molded product removal, malfunctions are likely to occur because they are precision instruments, and time loss is likely to occur because the movement of removing and conveying the molded product must be stopped until it is confirmed whether or not a molded product remains due to sensitivity adjustments, etc., whereas in the molded product removal device 100 of the above embodiment, detection of whether or not the molded product M is held is performed by detecting changes in air pressure in the air path 26, so it does not take time to detect whether or not the molded product M is held, and it is unlikely that there is a need to stop the movement of removing and conveying the molded product M until it can be confirmed whether or not the molded product M is held. Therefore, the molding cycle can be shortened, and by shortening the molding cycle, energy can be saved.

[0117] According to the molded product removal device 100 of the embodiment, the pressing portion 23 of the molded product removal jig 1 has a pressure pad 23a as a pressing cushioning material on the front side thereof, and the opening 26A of the air passage 23 is provided on the pressure pad 23a as a pressing cushioning material, so that the contact portion 21 can be prevented from being damaged by the pressing portion 23 against the contact portion 21. The cushioning material can absorb variations in dimensions, etc., and can improve the adhesion of the pressure contact against the contact portion 21, thereby improving the airtightness when the opening 26A of the air passage 26 is closed by the contact portion 21. This allows the pressure change amount of the air passage 26 to be increased, and the detection accuracy can be improved.

[0118] That is, in the above embodiment of the molded product removal device 100, in the pressing portion 23 of the molded product removal jig 1, a plurality of pressure pads 23a are attached to a common plate 23c and base member 23b as pressing cushioning materials, and the molded product M is clamped between the clamping pad 21a of the abutment portion 21 facing each of the plurality of pressure pads 23a and the clamping pad 22a facing it, and since a plurality of molded products M are clamped between a pair of chuck portions 11A, 11B, even if there is variation in the holding position, dimensions and shape of the plurality of molded products M, as well as in the spacing between the pressing portion 23 and the abutment portion 21 and the elastic force of the spring 25 due to the dimensions of the members constituting the molded product removal jig 1, it is possible to absorb this, making it difficult for air leakage to occur, and it is possible to accurately generate a change in air pressure in the air path 26, thereby improving detection accuracy.

[0119] Furthermore, according to the above embodiment of the molded product removal device 100, the abutment portion 21 of the molded product removal jig 1 has a clamping pad 21a on its front side as a clamping cushioning material, and the clamping pad 21a as a clamping cushioning material abuts against the molded product M, thereby preventing the molded product M from being damaged by the abutment portion 21 being pressed against the molded product M.

[0120] In addition, according to the above embodiment of the molded product removal device 100, the elastic part of the molded product removal jig 1 is the spring 25 interposed between the pressing part 23 and the abutment part 21, so that elastic force can be imparted using inexpensive materials and a simple configuration. Furthermore, according to the above embodiment of the molded product removal device 100, the spring 25 of the molded product removal jig 1 is inserted into the flat bolt 27 that connects the pressing portion 23 and the abutment portion 21 and is attached around the flat bolt 27, making the spring 25 less likely to bend and enabling the spring 25 to last longer.

[0121] Furthermore, according to the molded product removing apparatus 100 of the above embodiment, the airflow generating means is the negative pressure generating device 70 which generates an airflow by generating negative pressure, so that it is difficult to apply a pressure load to the pressing part 23 which forms the air passage 26. Therefore, the pressing part 23 is difficult to be damaged, and since a pressure-resistant structure is not required, it is possible to reduce costs.

[0122] Incidentally, in the molded product removing apparatus 100 of the above embodiment, the amount of physical change in the air passage 26 due to the opening and closing of the opening 26A of the air passage 26 of the pressing unit 23 is captured as a change in negative pressure as air pressure, and the change in air pressure in the air passage 26, i.e., the change to negative pressure, is detected by the vacuum sensor 80 as pressure detection means, but when implementing the present invention, the detection may be made by another air pressure sensor as long as it can detect the change in air pressure, without being limited to the vacuum sensor 80. Also, instead of the change in air pressure, the change in air flow may be detected by a flow sensor or flow velocity sensor, or the change in air volume may be detected by an air volume sensor. In other words, when a pair of chuck portions 11A, 11B clamp the molded product M by driving means such as a pair of cylinders 60A, 60B, the pressing portion 23 is pressed against the abutment portion 21 against the elastic force of the spring 25, which is an elastic portion, and the opening 26A of the air passage 26 is blocked by the abutment portion 21, causing a change in the air pressure, air volume, or air flow in the air passage 26.The change in the air pressure, air volume, or air flow can be detected by a detection means such as a vacuum sensor, air pressure sensor, flow sensor, flow velocity sensor, air volume sensor, etc.

[0123] In the molded product removal device 100 of the above embodiment, the hole 52 through which the molded product M passes is open at the lower side in the length direction in the head plate 51 of the molded product removal jig 1, so that the head surface 51a of the head plate 51 is kept vertical from the standby position, and the multiple molded products M supported by the movable mold 115B can be clamped by the pair of chucks 11A, 11B only by moving in the vertical direction. Therefore, it is possible to shorten the operation time for removing the molded products M and save energy. In addition, the molded products M clamped by the pair of chucks 11A, 11B are transported from the mold 115 to the recovery position, and the pair of chucks 11A, 11B are released, so that the molded products M can be dropped from the lower open side of the hole 52 of the head plate 51, and there is no risk of the molded products M coming into contact with the base member 51 and being scratched or damaged.

[0124] However, when implementing the present invention, the head surface 51a that clamps the molded product M with the molded product removal jig 1 may be attached to the Z-axis arm portion 132z so as to be freely inverted and rotatable between a vertical position and a downward position, as necessary. For example, when releasing the molded product M from the pair of chuck portions 11A, 11B at the release position of the molded product M, the pair of chuck portions 11A, 11B may be released by inverting or rotating the head surface 51a so that it faces downward from the vertical state with respect to the recovery surface side.

[0125] Furthermore, in the above embodiment of the molded product removal apparatus 100, the arm mechanism unit 130 is configured so that the molded product removal jig 1 can be moved in three dimensions, that is, left and right, front and rear, and up and down, by the X-axis arm unit 132x, the Y-axis arm unit 132y, and the Z-axis arm unit 132z as shown in FIG. 13. However, the arm mechanism unit 130 may not only be of a traverse type, but also of a side entry type which removes the molded product M from the side of the mold 115, or of a swivel type which removes the molded product M from the mold 115 by swiveling the arm, or may be of an arm mechanism which is movable in two dimensions, and further, as shown in FIG. 14, a multi-joint type robot arm may be used. In the case of the articulated robot arm 130, a molded product removal jig 1 is attached to its tip, and by driving the robot arm, the molded product removal jig 1 is brought face to face with the mold surface of the movable mold 115B holding the molded product M and moved to a predetermined position, so that the molded product M can be clamped by the pair of chuck portions 11A, 11B of the molded product removal jig 1.

[0126] In addition, in the molded product removal device 100 of the above embodiment, the number and arrangement of the pair of cylinders 60A, 60B and the pair of chucks 11A, 11B on the head plate 51 of the molded product removal jig 1 are designed in accordance with the number and arrangement of the molded products M molded in the mold 115, and even if there are multiple molded products M molded in the mold 115, they are removed all at once. That is, the positional relationship of the multiple molded products M held by the molded product removal jig 1 is the same as when they were molded in the mold 115, and they are transported to the recovery position. Therefore, unlike the case where the molded products M are removed one by one by a manipulator-like robot hand or the like, the product removal work can be completed in a short time. However, when implementing the present invention, the molded products M molded in the mold 115 may be removed one by one.

[0127] In the above embodiment, an air cylinder is used as the driving means for driving the pair of chuck portions 11A, 11B. Pneumatic actuators such as air cylinders are suitable because they are lightweight, have a simple structure, are easy to handle, and use air pressure as the driving source, so as not to pollute the surrounding environment. However, when implementing the present invention, other fluid actuators such as hydraulic cylinders, electromagnetic actuators, etc. may also be used as long as they are means for linearly reciprocatingly driving the chuck portions 11A, 11B. In the above description, the injection molding machine 110 is assumed to be one that performs mold opening and closing operations, but it may be either a vertical type or a horizontal type. Furthermore, the head plate 51 described above is provided with a pair of chuck portions 11A, 11B, but when implementing the present invention, it may be used in combination with a suction type.

[0128] In addition, in the above embodiment, the detection side chuck portion 11A of the pair of chuck portions 11A, 11B is described as being composed of the abutment portion 21, the spring 25 as an elastic portion, and the pressing portion 23 provided with the air passage 26, but in implementing the present invention, the other chuck portion 11B may also have the same configuration as the detection side chuck portion 11A, and the other chuck portion 11B may also detect the clamping of the molded product M by detecting the amount of change in the air pressure, air volume, or air flow in the air passage 26 using a vacuum sensor 80 or the like as a detection means. This makes it possible to improve the accuracy of detecting errors in removing the molded product M.

[0129] In the above embodiment, a pair of cylinders 60A, 60B and a pair of chuck portions 11A, 11B connected thereto are described as clamping and holding a plurality of molded products M together. However, when implementing the present invention, the number of pairs of cylinders 60A, 60B and pairs of chuck portions 11A, 11B connected thereto may correspond to the number of molded products M.

[0130] In addition, when implementing the present invention, the configuration, shape, quantity, material, size, connection relationship, etc. of the molded product removal jig 1 and other parts of the molded product removal device 100 using it are not limited to the above embodiment. [Explanation of symbols]

[0131] 1 Molding removal jig 11A, 11B Chuck part 21 Contact part 21a Clamping pad (clamping cushioning material) 23 Pressing section 23a Pressure pad (pressure cushioning material) 25 Spring (elastic part) 26 Airway 26A aperture 60A, 60B Cylinder (chuck driving means) 70 Negative pressure generator 80 Vacuum Sensor 100 Molded product removal device 130 Arm mechanism

Claims

1. A molded product removal jig having a pair of chuck parts that are moved forward and backward by a driving means to clamp and hold a molded product, At least one of the pair of chuck portions is A pressing portion connected to the driving means; a contact portion disposed opposite the pressing portion and contacting the molded product; an elastic portion that applies an elastic force between the pressing portion and the abutting portion; an air passage provided inside the pressing portion, one end of which is connected to an air flow generating means and the other end of which is open on a surface facing the abutting portion, and in which a change in air pressure, air volume, or air flow is detected by a detection means; Equipped with When the pair of chuck portions clamp the molded product by being driven by the driving means, the pressing portion is pressed against the abutment portion against the elastic force of the elastic portion, and the opening of the air passage is blocked by the abutment portion, causing a change in air pressure, air volume, or air flow in the air passage, and the amount of change in air pressure, air volume, or air flow is detected by the detection means.

2. 2. The molded product removal jig according to claim 1, wherein the pressing portion has a pressing buffer material on a front side thereof, and an opening of the air passage is provided in the pressing buffer material.

3. 2. The molded product removal jig according to claim 1, wherein the contact portion has a cushioning material for clamping on a front side thereof, the cushioning material for clamping being brought into contact with the molded product.

4. 2. The jig for removing a molded product according to claim 1, wherein the elastic portion is a spring interposed between the pressing portion and the contact portion.

5. 2. The molded product removal jig according to claim 1, wherein the air flow generating means is a negative pressure generating means which generates an air flow by generating a negative pressure.

6. a molded product removal jig comprising a pair of chuck portions for clamping and holding a molded product, at least one of the pair of chuck portions having a contact portion that is brought into contact with the molded product, a pressing portion disposed opposite the contact portion, an elastic portion that imparts elastic force between the contact portion and the pressing portion, and an air passage provided inside the pressing portion and opening at a surface opposite the contact portion; an air flow generating means connected to the air passage; A detection means for detecting a change in air pressure, air volume, or air flow in the air passage; a chuck portion driving means for moving the pair of chuck portions forward and backward; an arm mechanism to which the molded product removal jig is attached; an arm mechanism driving means for driving the arm mechanism; Equipped with When the pair of chuck portions clamp the molded product by being driven by the chuck portion driving means, the pressing portion is pressed against the abutment portion against the elastic force of the elastic portion, and the opening of the air passage is blocked by the abutment portion, thereby causing a change in air pressure, air volume, or air flow in the air passage, and the amount of change in air pressure, air volume, or air flow is detected by the detection means.

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