Parts control device for controlling parts in an injection molding machine, and an injection molding machine equipped with the part control device

Abstract

The present invention relates to a part steering device for steering parts in a working or processing machine, in particular an injection molding machine. The part steering device has a basic linear axis (T) extending outside or inside a steering space (HR) of the steering device. 1 ) and the basic linear axis (T 1 A multi-axis device (9) capable of translational movement on the basic linear axis (T 1 ) and the principal rotation axis (R 1 ), which is oriented parallel thereto and which is connected to the main rotation axis (R 1 ) connected to the secondary rotating shaft (R 2 ) and a secondary rotation axis (R ) that pivotally guides the second robot arm (12) through the maneuvering space (HR). 2 ), and the secondary rotation axis (R 2 ) and a vertical linear axis (T 2 ) and the vertical linear axis (T 2 ) and a gripping device (5) for the part to be manipulated (BT), connected to the

Description

[Technical field]

[0001] The present invention claims priority from German patent application DE 102019205940.6, the contents of which are incorporated herein by reference.

[0002] The present invention relates to a part steering device for steering a part in a work machine or processing machine such as an injection molding machine, and to an injection molding machine equipped with the part steering device. [Background technology]

[0003] The prior art problems inherent in the present invention are explained in more detail using the example of an injection molding machine. Currently common manipulating devices for removing parts in injection molding machines, as also currently used by the applicant, are generally based on four-axis linear robots with three translational axes and at least one, but up to three, rotational axes. Such a manipulating device, also known as a gantry robot for feeding a machine tool with a number of tools and a number of workpieces, for example from DE 10 20 04 133 A1, is shown in FIG. 8 in an application in which the manipulating device 1' is installed on the fixed tool clamping plate 2 of an injection molding machine. Of this injection molding machine, only the movable clamping plate 3 of the clamping device is shown without toggle levers, and of the injection device, only the nozzle connection 4 of the plasticizing cylinder is shown. In the following, both in the description of the prior art and in the present invention, the corresponding axes are referred to as "T" axes. X " and "R X " - T: translation axis, R: rotation axis, x: position of the axis in the kinetic chain. Thus, for example, the four-axis device described above has the axis T 1 T 2 T 3 R 1 The translational axes serve to change the position of the gripping tool 5' which manipulates the part BT in space, while one or more rotational axes R 1 have the function of changing its orientation, for example removing a part BT that is positioned upright in an open injection molding machine and placing it on a horizontal carrier 6'. These steering devices are arranged above the injection molding machine and have a cubic working space.

[0004] The above-mentioned type of steering system has various disadvantages. For example, the three translational axes T 1 T 2 T 3 are generally designed as open guides with so-called loss lubrication, which entails a high risk of contamination of the tools and the parts produced there. This applies in particular to the two axes of the manipulating devices 1' which are located directly above and / or periodically in the tool and part placement area. To realise at least five degrees of freedom of these manipulating devices, two additional rotation axes R 1 R 2 are required, and they are the three linear axes T 1 T 2 T 3 At the end of the kinetic chain, i.e. the third translation axis T 3 Therefore, these two rotation axes R 1 R 2 is the third translation axis T in the gravitational field. 3 This results in a high energy input with a correspondingly unfavourable energy balance.

[0005] Furthermore, the placement of one or more rotational axes on a third linear axis results in an increased tendency for vibration due to the pendulum effect which must be counteracted by a reduced load on the third translational axis.

[0006] In such a linear robot, the second translation axis T 2 is the first translation axis T 1 a rigid boom movable on the third translation axis T 3 is designed as a vertically moving rigid boom, there is a considerable risk of collision with this boom 7', especially for vertically long parts, when the parts are removed from the open injection moulding tool. Such a collision situation of the hatched elongated part BT and this boom 7' is shown in Fig. 8.

[0007] Furthermore, the limited cubic robot workspace of this manipulator 1' remains unchanged and therefore does not expand when further rotational degrees of freedom are added, since only the orientation of the gripping tool changes with these rotational degrees of freedom.

[0008] In another prior art given by the obvious prior use of the manipulating device "AQS-P 120 Rotating Arm Robot" of Automations- und Qualitaetssysteme AG, Bendererstrasse 33, 9494 Schaan, FL, a kinematic chain is formed from a translational axis, a rotary axis rotatably arranged thereon, a second translational axis arranged thereon perpendicular to the first translational axis, and at least two further rotary axes on the second translational axis. 1 R 1 T 2 R 2 R 3 As shown by:

[0009] Here, the same inconvenience occurs in the first mentioned device T 1 T 2 T 3 R 1 occurs with respect to the translation axis T 2 Two parallel rotation axes R in front and behind 1 and R 2 The second translation axis T 2 The substitution of the perpendicular translation axis T 2 Second rotation axis R on the top 2 This arrangement has the effect that a relatively high mass must again be moved, which has a detrimental effect on the vibration behavior, energy balance and component load-bearing capacity of the device. 2 Rotation of itself only causes a change in the orientation of the gripping tool, not a change in its position in space.

[0010] Further steering devices, particularly for use in molding machines, are shown in the documents DE 10 200 45 336 A1 and DE 10 200 45 336 B1. In these known devices, the horizontal translation base axis T -1 , and two rotation axes R oriented parallel to it.1 and R 2 and translational vertical axis T 2 In the first mentioned document, the axis order is T 1 R 1 R 2 T 2 In the second mentioned paper, T 1 T 2 R 1 R 2 Both designs have two rotation axes R 1 R 2 are forcibly coupled about a horizontal axis for positioning and orientation of the object to be grasped, so that no real separate degrees of freedom are created by the two rotation axes in this respect. In addition, the maneuvering space that can be covered by these maneuvers is severely limited to the cantilever side of the boom that can be pivoted about the rotation axis.

[0011] Another known steering device, known in principle from DE 199 0 04 13 56 A1, is based, for example, on the so-called SCARA robot, in which a parallel axis of rotation R 1 and R 2 is a translation axis T that can move parallel to these axes. -1 and at least one further axis of rotation R thereon. 3 In this case, the translation axis T 1 A third rotary axis R requires the use of circular guides and ball screws for the movement of these two axes. 3 , and these guide and drive elements are well suited for axial loads, but are mechanically sensitive to radial loads and shocks, especially those that occur during part handling in injection molding tools. -1 The mechanical stiffness, stroke distance and speeds feasible or required for such applications are likely to be insufficient for use in an injection molding machine.

[0012] For further prior art, see US Pat. No. 5,399,633, in which the linear vertical axis of a SCARA robot is driven by a chain mechanism instead of the usual design with a ball screw.

[0013] In the SCARA robot known from US Pat. No. 6,299,546, the first arm of the robot can be lengthened or shortened as desired by means of a linkage, so that the arms of the SCARA robot can have different lengths.

[0014] The steering devices according to the two aforementioned documents do not provide any starting point for improving upon the problems described in connection with part steering in injection molding machines.

[0015] The discussion of the prior art should be concluded with regard to the possibility of using complex six-axis industrial robots for part manipulation. These have a spherical workspace and offer a large payload range. However, in order to have a workspace comparable to that of linear robots, these robots must be relatively large in terms of their range, which correspondingly makes it difficult to adapt these devices to small work machines (SGMs). Moreover, their operation requires a high level of training so that their application is usually justified for complex tasks.

[0016] The application of such industrial robots - sometimes with fewer axes - in the form of a grinding machine for railway wagons is shown, for example, in US Pat. No. 5,399,436. 1 Three rotation axes R that can be moved on 1 R 2 R 3 The present publication discloses a manipulating device for a workpiece using a manipulation arm having a linear vertical axis. Since this device does not have a linear vertical axis, the boom, which is movably driven by a rotary axis, must also be relatively long for a sufficiently high maneuvering space. This in turn leads to higher design efforts for the weight of the arm to be maintained by control and, if necessary, to a loss of load-bearing capacity of the manipulating device.

[0017] Finally, US Pat. No. 5,999,363 discloses a shaft T 1 The lifting table is easily accessible under the cross member with two rotation axes R 1 R 2 is the translation axis T 11 shows a pallet-laying robot suspended from a cross-piece. However, such a configuration cannot in principle be used to steer a workpiece to be removed from, for example, an injection molding machine, since the space below the cross-piece is occupied by the injection molding machine mold plate. [Prior art documents] [Patent documents]

[0018] [Patent Document 1] DE4127446A1 [Patent Document 2] DE102014014265A1 [Patent Document 3] US2012 / 0294961A1 [Patent Document 4] US5802201A [Patent Document 5] CN108544482A1 [Patent Document 6] US2017 / 0239810A1 [Patent Document 7] WO2018 / 235430A1 [Patent Document 8] Japanese Patent Application Publication No. 4-115885 [Patent Document 9] DE3907331A1 Summary of the Invention [Problem to be solved by the invention]

[0019] Considering the above-mentioned problems of the prior art, the present invention is based on the object of providing a part steering device for part steering in a working or processing machine, which is improved without substantial additional mechanical effort for a wide range of properties such as lower sensitivity to lubricant contamination, lower risk of collision during part removal, greater flexibility during part removal, higher maximum load capacity and energy efficiency, larger working space, etc. [Means for solving the problem]

[0020] This object is achieved by a part steering device having the features set forth in claim 1. The object of the invention therefore has in its basic concept the following: - a main linear axis extending outside or inside the control space of the control device, - a multi-axis device (multi-axis arrangement) capable of translational movement on said basic linear axis, --the main axis of rotation (first axis of rotation) perpendicular to the basic linear axis, a secondary rotation shaft oriented parallel thereto and connected to the primary rotation shaft via the first robot arm, the secondary rotation shaft guiding the second robot arm pivotably through the maneuvering space; and -- a multi-axis device having a vertical linear axis concentric with a secondary rotation axis and connected to a second robot arm; and - a gripping device for the part to be manipulated, connected to a vertical linear axis;

[0021] In the first introduced axial nomenclature, the device according to the invention is T 1 R 1 R 2 T 2 Here, the first described device T 1 T 2 T 3 R 1 The second translation axis T 2 are two rotation axes R that are arranged in parallel and at a distance from each other on the first robot arm. 1 R 2 Furthermore, the device T according to the invention 1 R 1 R 2 T 2 The second translation axis T perpendicular to 2 The arrangement of the rotation axis R 2 The first robot arm is then moved concentrically to the second robot arm, where the translation axis can execute a generally circular movement around the second rotation axis. Thus, a change in orientation of the gripping tool combined with the change in position is possible. This obviates the need to use a mechanically sensitive ball screw as the combined axis-rotation axis for the change in orientation of the gripping tool, as is the case with the SCARA robot described at the beginning.

[0022] In the device according to the invention, the second axis of rotation R 2 A second linear axis T extends across the maneuvering space. 2 Since only the lubricant is guided through the grooves, the number of open lubrication points therein is thereby reduced by a ratio of 2:1 compared to the prior art, and thus the risk of contamination is considerably reduced.

[0023] The first discussed kinetic chain T 1 T 2 T 3 R 1 and T 1 R 1 T 2 R 2 R 3 For the purposes of the present invention, the translation axis T 2 Rotation axis R in front of 2 The arrangement of does not increase the tendency to oscillate due to the pendulum effect mentioned above, and therefore the translation axis T 2 There is no reduction in maximum payload at 1000km / h. This results in an improved energy balance.

[0024] Vertical linear axis T 2 Due to the eccentric connection of the gripping tools to the steering device according to the invention, there are no collision contours in the structures supporting the gripping tools, so that their steering is not hindered, particularly in the case of long vertical parts.

[0025] A further advantage of the shaft concept according to the invention is the extension of the working space thus obtained, which is e.g. 1 T 2 T 3 R 1 With respect to the linear axis T 1 It may extend in an oval shape around the entirety, and the working space may be extended laterally and further rearward without having to increase the basic dimensions of the robot structure.

[0026] From the above description, it can be seen that several advantages over the prior art maneuvering robot concepts are 1 R 1 R 2 T 2It is clear that this can be realized by the part steering device according to the invention using

[0027] Further preferred embodiments of the part steering device according to the invention are given in the dependent claims. For example, the basic linear axis T 1 extends horizontally and, in the application of the steering device for removing parts from the injection molding machine, the basic linear axis T 1 can be arranged in various configurations with respect to the working space of the injection molding machine, for example perpendicular or parallel to the clamping direction of the injection molding machine, on the operator side or on the non-operator side thereof and on the fixed tool clamping plate or in the area of ​​the movable tool clamping plate. This ensures an optimal adaptation of the maneuvering space to the spatial conditions in the production hall and the accessibility of the maneuvering space between the open tool clamping plate and its side for placing the part to be removed from the mold.

[0028] In a preferred further development of the object of the invention, the effective length of the first robot arm is a multiple of the effective length of the second robot arm, in particular at least three times, preferably in particular four times and particularly preferably five times, such that a relatively large area can be covered by the maneuvering device in connection with the movement possibilities of the first rotation axis along the first translation axis.

[0029] Advantageously, a vertical linear axis T connected to the second robot arm 2 further comprises a guide fixedly attached to the second robot arm, on which the vertical guide crosspiece is movably mounted, which prevents the risk of collision of the part held in the gripping tool with structures of the manipulating device.

[0030] In order to realize five degrees of freedom in the control device according to the present invention, the kinematic chain T according to the prior art is 1 T 2 T 3 R 1 and T 1 R 1 T 2 R 2 R 3Instead, it is enough to add a pivot axis at the lower end of the vertical linear axis. Every time it moves in the gravitational field, this pivot axis simply moves with it, again lending itself to improved energy balance.

[0031] Finally, the invention relates to an injection molding machine comprising an injection unit, a clamping device with a fixed tool clamping plate and a movable tool clamping plate, and a steering device according to the invention as described above.

[0032] Further features, details and advantages of the invention will become apparent from the following description of exemplary embodiments with reference to the accompanying drawings. [Brief description of the drawings]

[0033] [Figure 1] FIG. 2 is a schematic perspective view of a part steering device. [Diagram 2] FIG. 2 is a plan view of an open tool clamp plate of an injection molding machine with associated part handling devices in an exemplary assembly situation. [Diagram 3] FIG. 3 is a side view of the part steering device according to FIG. 2; [Figure 4] FIG. 3 is a plan view of the part steering device according to FIG. 2; [Diagram 5] FIG. 1 is a side view of an injection molding machine having an associated part handling device during a part removal process. [Figure 6] FIG. 2 is a schematic plan view of a flight control system with a theoretical workspace depicted. [Figure 7] FIG. 3 is a compilation of plan views similar to FIG. 2 of various relative positions of the steering device with respect to the injection molding machine. [Figure 8] FIG. 6 is a side view similar to FIG. 5, but with a part steering device according to the prior art. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] As can be seen from FIG. 1, the illustrated steering device 1 is aligned along a horizontal basic linear axis T 1A type of SCARA robot is installed there as a multi-axis machine 9, which can be moved translationally in the direction of this axis. The movement drive (not shown) is effected, for example, via an electric motor-gear unit in combination with a toothed belt or a toothed rack or directly by a linear motor in the longitudinal guide 8. The multi-axis machine 9 has a first vertical main rotation axis R 1 The robot has a base head 10 in which a drive unit for the robot is housed. 1 at a distance f from, and also perpendicular to, the main axis of rotation R 1 The secondary rotation axis R is parallel to 2 which in turn pivotably guides, by means of a corresponding drive, a second robot arm 12 through a maneuvering space HR, the horizontal extent of which is indicated by oblique lines in FIG.

[0035] The vertical linear axis T can be discussed in more detail in relation to Figure 3. 2 is connected to the second robot arm 12 at an eccentricity e. A gripping tool 5 for parts, not shown in more detail in FIG. 1, is connected to the second robot arm 12 at an eccentricity e. 3 Through the vertical linear axis T 2 is connected to the lower end 13 of the

[0036] With the aid of the maneuvering device 1 shown in FIG. 1, the part is manipulated in a maneuvering space HR in a gravitational field g by a gripping tool 5 with a suitable program-assisted path control, for example to remove an injection molded part from an open mold and place it on a support such as a carrier 6′ according to FIG. 8.

[0037] In Figures 2 to 5 the steering device 1 is shown in a realistic embodiment and application. It is connected via a socket 14 to a fixed clamping plate 2 of an injection molding machine, which is also depicted in Figures 2 and 5. Here, the basic linear axis T 1extends parallel to the plane of the clamping plate 2, i.e. in the clamping direction SR, intersecting the clamping plates 2, 3. In the corresponding longitudinal guide 8, the base head 10 is guided for longitudinal movement by a corresponding drive motor 15. On the base head 10, a first robot arm 11 is guided by a drive motor 16 about the main rotation axis R 1 The robot arm 11 is installed so as to rotate around a secondary rotation axis R. 2 is arranged, whereby the second robot arm 12 is pivotably driven via a further drive motor 17. The effective length L 11 is the effective length L of the second robot arm 12 12 This corresponds to about five times the

[0038] Vertical linear axis T 2 is arranged at the free end of the second robot arm 12. As can be seen in particular from FIG. 3, this vertical linear axis T 2 The guide 18 is fixed to the second robot arm 12 and is aligned along a linear axis T 2 The vertical guide cross member 20 is guided.

[0039] Finally, the lower end 13 of this cross member 20 is provided with a pivot axis R 3 is provided so that the gripping tool 5 can be swiveled about a horizontal axis in order to change the orientation of the part held by it.

[0040] As becomes clear from figure 5, for example a part BT which projects very far in the vertical direction can be gripped with the aid of the gripping tool 5 and moved upwards outside the intermediate space between the clamping plates 2, 3 without risk of collision, since the parts of the steering device 1 do not project beyond the front side of the guide crosspiece 20. In general, as shown in figures 2 and 4 by two different positions of the multi-axis device 9, the steering space HR, which is shown in figure 2 as outlined by oblique lines, is provided with a basic linear axis T in the X-direction. 1 and rotation direction α 1 ,α 2 Two rotation axes R in 1 ,R 2By suitable control of the gripping tool 5 this handling space also extends - in contrast to the handling space in the handling device 1 ′ according to the prior art - laterally of the main linear axis and behind the longitudinal guide 8 .

[0041] In figure 6, a view similar to figure 2 is shown, but without the fixed clamping plate of the injection moulding machine. In this case, the steering space HR behind the longitudinal guide 8 is located around it. This represents the maximum theoretical steering space HR of the steering device 1 shown.

[0042] In figures 7A-E different installation variants of a steering device 1 according to the invention for an injection moulding machine with its fixed and movable clamping plates 2,3 are shown.

[0043] Partial view A corresponds to Figure 2. Here the part is placed on the non-operator side of the machine, BGS.

[0044] In partial view B, the entire apparatus is mirrored around the central axis of the injection molding machine when the longitudinal guides 8 are arranged transverse to the clamping direction SR, so that the part is placed on the operator side BS of the injection molding machine. In this apparatus, the machine operator 21 shown in the drawing is protected by suitable means such as a grille enclosure.

[0045] In the device according to sub-figure C, the longitudinal guide 8 is located on the non-operator side BGS parallel to the clamping direction SR of the injection molding machine. Eventually, the space constraints with respect to width are met.

[0046] In the partial views D and E, the longitudinal guide 8 of the steering device 1 is respectively raised transversely to the clamping direction SR in the area of ​​the open movable clamping plate 3, and the steering space HR extends to the non-operator side BGS (FIG. 7D) or to the operator side BS (FIG. 7E). In the latter case, a protective measure is again provided for the machine operator 21.

[0047] For completeness, see also Figure 7F, where the prior art piloting device 1' shown in Figure 8 is depicted with its significantly smaller piloting space HR' with the significantly larger space requirements of a multi-axis device.

[0048] In summary, a number of advantages can be stated for the illustrated steering device 1, especially when used in plastic injection molding machines: - Optimized part removal using small injection molding machines and low hole heights - No interference contours above the plasticizer with the same personnel safety -Higher maximum payload on the vertical axis (e.g. >20%) - Greater flexibility due to lateral and rear part steering - Smaller dead zones of the control system due to the vertical arrangement of the drive motors 15, 16, 17 -Larger working space due to axial overlap according to the invention (e.g. >46%) -Axis T 1 R 1 Higher dynamics due to the superposition of vector velocities in the X direction by -The number of axes with open linear guides is significantly reduced with a proportionally corresponding reduction in the risk of contamination of the tool and part placement areas -Higher energy efficiency due to lower material input and less mass moving periodically in the gravitational field g [Explanation of symbols]

[0049] 5 Gripping device 9 Multi-axis device 11 First Robot Arm 12 Second Robot Arm BT Parts to be controlled HR Maneuvering Space R 1 Main Rotating Axis R 2 Sub-rotation shaft T 1 Basic linear axis T 2 vertical linear axis

Claims

1. 1. A part steering device for steering a part in an injection molding machine, comprising: - a principal linear axis (T) extending outside or inside the piloting space (HR) of said piloting device １ ), - Said basic linear axis (T １ A multi-axis device (9) capable of translation on a --The basic linear axis (T １ ) and the main rotation axis (R １ ), - oriented parallel to it, via a first robot arm (11) said main rotation axis (R １ ) connected to the secondary rotating shaft (R ２ ) and a secondary rotation axis (R ) for pivotably guiding a second robot arm (12) through said maneuvering space (HR). ２ ), and -- the secondary rotating shaft (R ２ A vertical linear axis (T) connected to the second robot arm (12) eccentrically with respect to the ２ ) a multi-axis device (9), - said vertical linear axis (T ２ a gripping device (5) for the part to be steered (BT), connected to the The gripping device (5) is arranged to move along the vertical linear axis (T ２ ) and a pivot shaft (R ３ ) by the vertical linear axis (T ２ ) to provide five degrees of freedom for the control device; and A part handling device, characterized in that the effective length (L 11 ) of the first robot arm (11) is at least three times the effective length (L 12 ) of the second robot arm (12).

2. The piloting space (HR) is aligned with the basic linear axis (T １ 2. The control device of claim 1, wherein the control device extends at least partially in an elliptical shape around the axis of the steering wheel.

3. The basic linear axis (T １ 3. A control device as claimed in claim 1 or 2, characterized in that the first and second steering members extend horizontally.

4. The basic linear axis (T １ 4. The control device according to claim 1, wherein the clamping direction (SR) is transversely or parallel to the clamping direction (SR) on the operator or non-operator side of the injection molding machine, in particular connectable to a fixed clamping plate (2) thereof or arranged in the adjustment range of a movable clamping plate (3).

5. The vertical linear axis (T ２ 5. A control device according to claim 1, characterized in that the second robot arm (12) has a guide (18) fixedly attached to the second robot arm (12) and a vertical guide crosspiece (20) is movably mounted on said guide.

6. The pivot rotation axis (R ３ The gripping device (5) having the vertical linear axis (T ２ 6. The steering device according to claim 1, wherein the steering wheel is arranged at a lower end (13) of the steering wheel.

7. - an injection device, and a clamping device with fixed and movable tool clamping plates (2, 3), In an injection molding machine having - An injection moulding machine, characterized in that it comprises a steering device (1) according to one or more of the claims 1 to 6.

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