Molded product removal machine

Abstract

The present invention provides an impact damper for equipment that suppresses vibrations early on when the structure of the equipment to be vibration-controlled reaches a stopping position from a state where it is translating in the translational direction. [Solution] The system comprises a collision body 4, a support structure 5 that supports the collision body 4 so that it can swing in the translational direction and in the opposite direction, and a collision target 6 positioned on the side opposite to the translational direction relative to the collision body when it is at rest. The collision target 6 is in contact with the collision body 4 when the collision body 4 is at rest. The support structure 5 allows the collision body to move in the translational direction while accumulating energy due to the inertial force acting on the collision body 4 from the initial state when the mounting frame 2 is translating in the translational direction until it reaches the stopping position. After the mounting frame 2 reaches the stopping position, the accumulated energy is released to move the collision body in the opposite direction, causing the collision body 4 to collide with the collision target 6.

Description

Technical Field

[0004]

[0001] The present invention is machine relates to a molded product take-out machine equipped with a skillful impact damper.

Background Art

[0002] Japanese Patent Application Laid-Open No. 2003-266359 (Patent Document 1) discloses an invention in which vibration damping means is provided on a transfer arm. Specifically, a passive damper is provided on the transfer arm. Further, Japanese Patent Application Laid-Open No. 53-131658 (Patent Document 2) discloses a technique of attaching a special damping device near the tip of an arm in order to absorb an impact during an emergency stop or the like. Furthermore, Japanese Patent Application Laid-Open No. 2004-223798 (Patent Document 3) and Japanese Patent No. 4151894 (Patent Document 4) disclose a technique of providing a dynamic vibration absorber that generates vibrations to cancel residual vibrations of a movable body at the time of movement stop in at least either a chuck or a movable body that moves the chuck in a molded product take-out machine.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, in a molded product remover, reducing vibrations generated when removing molded products early on can shorten the removal time, making vibration reduction in molded product removers a crucial issue. Reducing vibrations in other processes is not a major problem. However, the inventions described in Patent Documents 1 and 2 both gradually reduce vibrations in order to address vibrations whose timing, direction, and other specifics cannot be specifically identified. Similarly, the dynamic vibration absorbers described in Patent Documents 3 and 4 also attempt to reduce residual vibrations generated in all directions on the arm, and when the mold and removal head are replaced, the dynamic vibration absorber used is replaced according to the change in conditions. Thus, while the inventions described in Patent Documents 1 to 4 can reduce vibrations in most of the operation processes of the removal arm of a molded product remover, they cannot reduce vibrations generated in specific processes early on to shorten the operating time of the equipment.

[0005] The object of the present invention is an impact damper for equipment that suppresses vibrations generated in a structure when the structure of the equipment to be vibration-damped reaches a stopping position from a state where it is translating in the translational direction. Pa The objective is to provide a molded product removal machine that can be used. [Means for solving the problem]

[0006] The subject of improvement in this invention is: This molded product removal machine has an impact damper for equipment attached to the removal head as a structure or to the mounting frame on which the removal head is mounted, in order to suppress vibrations of the removal head that occur after the removal head, which removes a molded product from the mold of the molding machine, moves in the translational direction toward the molded product and then moves to a stopped state. Book In this invention, the impact damper d for equipment comprises at least a collision body, a support structure that supports the collision body so that it can swing in the translational direction and in the opposite direction to the translational direction, and a collision target positioned on the side opposite to the translational direction with respect to the collision body when it is in a stationary state.

[0007] The support structure is configured to allow the impactor to move in the translational direction, accumulating energy due to the inertial force acting on it from the initial state where the structure is moving in the translational direction until it reaches the stopping position. After the structure reaches the stopping position, the accumulated energy is released to move the impactor in the opposite direction, causing the impactor to collide with the object to be impacted. The object to be impacted is in contact with the impactor when the impactor is at rest. When the impactor first collides with the object to be impacted, the impactor collides with the impactor at a velocity obtained from the release of energy.

[0008] Comparing cases where initial vibrations are significantly suppressed with cases where they are only slightly suppressed, a large difference in the subsequent vibration suppression effect is observed. Use In impact dampers for equipment, the impactor is allowed to move in the translational direction while accumulating energy due to the inertial force acting on it until it reaches the stopping position, starting from the initial state where the structure is moving in the translational direction. After the structure reaches the stopping position, the impactor moves in the opposite direction by releasing the accumulated energy, causing it to collide with the object being hit. This suppresses the initial vibration simply by utilizing the energy of the inertial force. In particular, since the object being hit is in contact with the impactor when the impactor is stationary, the velocity at which the impactor collides with the object using the energy of the inertial force becomes faster than conventional methods that utilize the energy of the inertial force as much as possible. As a result, the damping effect from the initial collision is greater than with conventional technology, and vibrations can be suppressed earlier. This method allows for early suppression of vibrations during the molded product removal process, significantly shortening the cycle time of the molded product removal machine.

[0009] The simplest support structure is one that incorporates a potential energy storage mechanism that accumulates energy due to inertial force through potential energy. In this case, in order to maximize the accumulation of potential energy, the position of the impacting body needs to be as high as possible, so the dimensions of the support structure become large, but the structure itself becomes the simplest.

[0010] The potential energy storage mechanism may be a long member (such as a string or plate) with one end suspended from a structure and the other end fixed to an impacting body, where the position of the impacting body changes due to inertial force.

[0011] While a potential energy storage mechanism alone would increase the dimensions of the support structure, the support structure may also be equipped with a potential energy storage mechanism that stores a portion of the energy due to inertial force using potential energy, and an energy release mechanism that stores the remaining energy due to inertial force and releases the remaining stored energy after the structure reaches its stopping position. With this structure, since energy due to inertial force is also stored in the energy release mechanism, the position of the impacting body can be lowered in the potential energy storage mechanism, making it possible to reduce the dimensions of the support structure.

[0012] The support structure consists of a spring member that deforms due to inertial force, with one end suspended from the structure and the impacting body fixed to the other end, and the spring member may be configured to serve as both a potential energy storage mechanism and an energy release mechanism. With this structure, the potential energy storage mechanism and the energy release mechanism can be configured simply.

[0013] The support structure may include a sliding mechanism that supports the impacting body so that it can slide in the direction opposite to the translational direction. If the sliding mechanism consists of a sliding rail whose height increases in the direction of translation and a rail fitting recess provided on the impacting body that slides the impacting body along the sliding rail, then the sliding mechanism also serves as a potential energy storage mechanism.

[0014] Furthermore, the support structure may be configured such that one end is fixed to the structure and the other end is fixed to the impacting body, and that a compression spring member is used to store energy when compressed, and a sliding mechanism supports the impacting body so that it can slide in the translational direction and the opposite direction, and also serves as a potential energy storage mechanism, and the sliding mechanism also serves as a potential energy storage mechanism, and the compression spring member serves as an energy release mechanism. ru. [Brief explanation of the drawing]

[0015] [Figure 1]The perspective view which shows the state which attached the impact damper for equipment to the attachment frame with which the take-out head of the molded product take-out machine which takes out a molded product from the fixed die of the mold of a molding machine was equipped in order to suppress the initial vibration which generates in the attachment frame. [Figure 2] (A) And (B) are a side view of the impact damper for equipment in the state which was attached to the attachment frame, an enlarged perspective view, and a side view of the impact damper for equipment which drew a part of the casing as transparent. [Figure 3] (A) thru (D) are figures which display the change of the impact damper for equipment of the 1st Embodiment according to the elapse of time. [Figure 4] (A) thru (C) are figures which display the change of the impact damper for equipment of the 1st Embodiment according to the elapse of time. [Figure 5] It is a figure which shows the attenuation state of the vibration of an attachment frame. [Figure 6] (A) And (B) are a schematic perspective view and a side view which show the structure of the impact damper for equipment of the 2nd Embodiment which implements this invention only with a position energy storage mechanism, with a part being transparent. [Figure 7] (A) And (B) are a schematic perspective view and a side view which show the structure of the impact damper for equipment of the 3rd Embodiment which implements this invention only with a position energy storage mechanism, with a part being transparent.

MODE FOR CARRYING OUT THE INVENTION

[0016] The preferred embodiment of the present invention is described below with reference to the drawings TheAn example of a molded product extraction machine will be described in detail. FIG. 1 is a perspective view showing a state in which an impact damper 3 for equipment of the first embodiment is attached to an attachment frame 2 to which an extraction head 1 of a molded product extraction machine for extracting a molded product from a fixed mold M1 of a molding machine M is attached. In this embodiment, the impact damper 3 for equipment is disposed between a main body 2A of the attachment frame 2 and an extraction head attachment portion 2B. Therefore, in this embodiment, the attachment frame 2 is a structure to be vibration-suppressed. In the state of FIG. 1, the extraction head 1 is inserted between the fixed mold M1 and the movable mold M2 and shows a stationary state. When the extraction head 1 moves forward toward the molded product in the fixed mold M1 and then transitions to a stopped state from the state of FIG. 1, the impact damper 3 for equipment operates to suppress vibrations generated in the extraction head 1.

[0017] FIGS. 2(A) and (B) are a side view of the impact damper 3 for equipment attached to the attachment frame 2, an enlarged perspective view, and a side view of the impact damper 3 for equipment in which a part of a metal casing 31 is drawn as transparent. The casing 31 has a pair of side wall portions 32 and 33 located on both sides in the translation direction, a top plate portion 34 connecting the upper ends of the pair of side wall portions 32 and 33, and a bottom wall portion 35 connecting the lower ends of the pair of side wall portions 32 and 33, and both side portions in a direction orthogonal to the translation direction are open. Inside the casing 31, a columnar metal collision body 4 is supported via a support structure 5 that supports the collision body 4 so as to be swingable in the translation direction and in a direction opposite to the translation direction. The support structure 5 has a structure including a spring member 51 formed of a leaf spring having one end fixed to the top plate portion 34 of the casing 31 and the other end fixed to the collision body 4. In this state, the collision body 4 is suspended from the spring member 51. The fixed position of the top plate portion 34 at one end of the spring member 51 is shifted to the side opposite to the translation direction from the center line extending in the vertical direction of the attachment frame.

[0018] In this embodiment, the part to be hit 6 is provided on the side wall portion 32 located on the side opposite to the translational direction relative to the stationary collision body 4. A stopper 7 is provided on the other side wall portion 33 facing the side wall portion 32 to limit the range of motion of the collision body 4. Theoretically, the stopper 7 may be omitted. In this embodiment, the part to be hit 6 is in contact with the collision body 4 when the collision body 4 is stationary. In this specification, the term "contact state" includes not only a state of complete contact, but also a state in which the collision body 4 is in close proximity to the part to be hit 6 without contact.

[0019] The support structure 5 used in this embodiment is configured to allow the impacting body 4 to move in the translational direction while accumulating energy due to the inertial force acting on it from the initial state in which the extraction head 1 attached to the mounting frame 2 is moving in the translational direction until it reaches the stopping position. After the mounting frame 2 reaches the stopping position, the accumulated energy is released to move the impacting body 4 in the opposite direction, causing the impacting body 4 to collide with the part to be impacted 6.

[0020] Figures 3(A) to (D) and 4(A) to (C) show the changes in the impact damper 3 for equipment of this embodiment over time. Figure 5 shows the vibration damping state of the mounting frame (robot arm) 2. The "0" and "1" shown in Figure 5 indicate the timing corresponding to the "state of 0" and "state of 1" shown in Figures 3 and 4. In Figures 3(B) to (D) and 4(A) and (B), the figures in the background show the state before the change. For example, the figure in the background shown in Figure 3(B) is the same as the figure in Figure 3(A).

[0021] The state in Figure 3(A) shows the state from when the extraction head 1 is initially moving in the translational direction to when it reaches the stopping position (state "0" in Figure 5). That is, before reaching the state in Figure 3(A), the impacting body 4 moves in the translational direction, with the energy from the inertial force acting on it causing the impacting body 4 to rise, converting a portion of the inertial force into potential energy and storing the remainder of the inertial force in the spring member 51. From state "0" to state "1" [Figures 3(B) and (C)], the impacting body 4 moves as if chasing the mounting frame 2. State "1" in Figures 3(D) and 4(A) is the state immediately after the mounting frame 2 has swung out to its limit. As shown in Figure 3(D), when the mounting frame 2 swings in the opposite direction, the impacting body 4 also begins to return in the same opposite direction (from state "1" to state "2" in Figure 5), and during this period, as shown in Figure 4(B), the impacting body 4 collides with the part to be hit 6. This collision suppresses the initial vibration. Looking at the vibration amplitude in "State 2" in Figure 5, the vibration amplitude when the equipment impact damper 3 is installed is smaller than the vibration amplitude when the equipment impact damper 3 is not installed. As can be seen in "State 3" and "State 4" shown in Figure 5, this vibration suppression effect in the initial vibration produces a large damping effect on the subsequent amplitude decay. It should be noted that collisions between the impacting body 4 and the part to be impacted 6 also occur between "State 3" and "State 4". After that, with the equipment impact damper 3, no collisions occur between the impacting body 4 and the part to be impacted 6, and the vibration converges due to self-damping.

[0022] Figure 5 shows that the most effective way to suppress vibrations early is to increase the amount of suppression of the initial vibration (vibration from state 0 to state 1) (the amount of suppression from state 1 to state 2). Comparing the case where the initial vibration is significantly suppressed (data with damper installed in Figure 5) with the case where the initial vibration is only slightly suppressed (data without damper installed in Figure 5), there is a large difference in the subsequent vibration suppression effect. In the impact damper 3 for equipment of this embodiment, the support structure 5 raises the position of the impacting body 4 with the energy from the inertial force acting on the impacting body 4 from the state where the extraction head 1 is initially moving in the translational direction until it reaches the stopping position, that is, until it reaches the state in Figure 3(A). It allows the impacting body 4 to move in the translational direction while converting a portion of the inertial force into potential energy and accumulating more of it than conventionally in the spring member 51, and then uses the energy of the inertial force to suppress the initial vibration (initial vibration). In this embodiment, as shown in Figure 2(A), when the impacting body 4 is at rest, it is in contact with the part to be impacted 6. Therefore, the velocity at which the impacting body 4 collides with the part to be impacted 6 due to the energy of inertial force becomes the maximum velocity obtained by making maximum use of the energy of inertial force. As a result, the damping effect due to the initial collision is maximized, and vibration is suppressed early. It should be noted that even when the impacting body 4 is at rest and is in close proximity to the part to be impacted 6 without contact, the velocity will be close to the maximum velocity, so the initial vibration suppression effect will occur, and the present invention also includes such conditions.

[0023] The support structure 5 may also be modified by replacing the spring member 51 with a simple string (long member). In this structure, the string (long member) is equipped with a potential energy storage mechanism that stores energy due to inertial force as potential energy. Therefore, the configuration of the support structure 5 is the simplest. In this case, in order to store the maximum potential energy, the position of the impacting body 4 needs to be as high as possible, so the dimensions of the support structure become larger, but the structure becomes the simplest. However, if the potential energy storage mechanism consists only of a string (long member), the dimensions of the support structure 5 become large. Therefore, in this embodiment, the support structure 5 is configured with a spring member 51 made of a leaf spring, so that it is equipped with a potential energy storage mechanism that stores a portion of the energy due to inertial force using potential energy, and an energy release mechanism that stores the remaining energy due to inertial force and releases the remaining energy after the extraction head 1 reaches the stopping position. As a result, according to this embodiment, since energy due to inertial force is also stored in the energy release mechanism, the position of the impacting body 4 can be lowered in the potential energy storage mechanism, and the overall dimensions of the support structure 5 are reduced.

[0024] Figures 6(A) and (B) are schematic perspective and side views showing the structure of an impact damper 3' for equipment in a second embodiment of the present invention, which is implemented using only a potential energy storage mechanism, with a portion of the structure being transparent. In this embodiment, the support structure 5' includes a sliding mechanism consisting of an inclined slide rail 5'A provided on the bottom wall portion 35 of the casing 31 and a sliding rail fitting recess 5'B provided on the bottom of the impact body 4. A bearing structure is arranged between the slide rail 5'A and the rail fitting recess 5'B to allow for smooth sliding. The inclined slide rail 5'A has a structure in which its height increases as it moves in the translational direction. In this example, the inclined structure using the slide rail 5'A constitutes the potential energy storage mechanism. In this example, the potential energy of the impact body 4 increases as the impact body 4 moves along the slide rail 5'A due to the inertial force when the mounting frame (not shown) on which the impact damper 3' for equipment is mounted moves in the translational direction. When the mounting frame 2 swings in the opposite direction after stopping its translational movement, the impacting body 4 also begins to return in the same opposite direction, and during this period, the impacting body 4 collides with the part to be impacted 6. This collision suppresses the initial vibration. In this embodiment, if a compression spring member 51' made of a coil spring is arranged, this compression spring member 51' becomes an energy release mechanism that stores the remaining inertial force. In this way, similar to the first embodiment, this embodiment can be made into a structure that has both a potential energy storage mechanism and an energy release mechanism.

[0025] Figures 7(A) and (B) are schematic perspective and side views showing the structure of an impact damper 3'' for equipment according to a third embodiment of the present invention, with a portion of it being transparent. In this embodiment, the support structure 5'' includes a slide mechanism consisting of a slide rail 5''A horizontally provided on the bottom wall portion 35 of the casing 31 and a rail fitting recess 5''B provided on the impact body 4 that slidably fits with the slide rail 5''A. A bearing structure is arranged between the slide rail 5''A and the rail fitting recess 5''B to allow for smooth sliding. The support structure 5'' also includes a compression spring member 51'', one end of which is fixed to the side wall portion 32'' of the casing 31'' and the other end of which is fixed to the impact body 4, and which stores energy when compressed. In this embodiment, the slide mechanism and the compression spring member 51'' constitute an energy release mechanism. In this example, the energy stored in the compression spring member 51'' increases as the impact body 4 moves along the slide rail 5''A due to the inertial force when the mounting frame (not shown), to which the equipment impact damper 3' is attached, moves in the translational direction. When the mounting frame 2 swings in the opposite direction after the translational movement stops, the impact body 4 also begins to return in the same opposite direction, and during this period the impact body 4 collides with the part to be impacted 6. This collision suppresses the initial vibration.

[0026] In each of the embodiments described above, the mounting frame 2 is the structure to be vibration-suppressed, but of course, the equipment impact damper may also be attached to the extraction head itself so that the extraction head itself is the structure to be vibration-controlled. 。 [Industrial applicability]

[0027] According to the present invention, vibrations generated in a structure when the structure of the equipment to be vibration-controlled reaches a stopping position from a state where it is translating in the translational direction are suppressed at an early stage. A molded product removal machine equipped with an impact damper for equipment. We can provide it. [Explanation of symbols]

[0028] 1... Removal head 2…Mounting frame 3…Impact damper for equipment 31…Casing 31... Side wall section 32, 33... Side wall section 34... Top panel 35...Bottom wall 4…Collision object 5...Support structure 5'A, 5''A... slide rail 5'B, 5''B... Rail fitting recess 51... Spring component 51', 51''... Compression spring component 6…Collided part 7... Stopper M... Mold M1... Fixed mold M2…Movable mold

Claims

1. A molded product removal machine, wherein an impact damper for equipment is attached to the removal head as a structure or to the mounting frame on which the removal head is mounted, in order to suppress vibrations of the removal head that occur after the removal head of the molded product removal machine, which removes a molded product from the mold of the molding machine, has been translated in the translational direction toward the molded product and has come to a stop state, The impact damper for the aforementioned equipment, The collision body and, A support structure that supports the collision body so that it can move in the translational direction and in the direction opposite to the translational direction, The collision target is positioned on the side opposite to the translational direction relative to the stationary collision body, The support structure is configured to allow the impacting body to move in the translational direction while accumulating energy due to the inertial force acting on the impacting body from the initial state in which the structure is translating in the translational direction until it reaches the stopping position, and after the structure reaches the stopping position, to move the impacting body in the opposite direction by releasing the accumulated energy, causing the impacting body to collide with the object to be hit. The part that is hit is in contact with the impacting body when the impacting body is in the stationary state. A molded product removal machine characterized in that, when the impacting body first collides with the part to be impacted, the impacting body collides with the part to be impacted at a velocity obtained by the release of the energy.

2. The molded product removal machine according to claim 1, wherein the support structure is provided with a potential energy storage mechanism that stores the energy due to the inertial force by the potential energy.

3. The molded product removal machine according to claim 2, wherein the potential energy storage mechanism is a long member having one end suspended from the structure and the impacting body fixed to the other end, and the position of the impacting body changes due to the inertial force.

4. A molded product removal machine according to claim 1, comprising: a potential energy storage mechanism that stores a portion of the energy due to the inertial force by means of potential energy; and an energy release mechanism that stores the remaining energy due to the inertial force and releases the remaining stored energy after the structure has reached a stopping position.

5. The support structure consists of a spring member that is suspended at one end from the structure and has the impacting body fixed to the other end, and deforms due to the inertial force. The molded product removal machine according to claim 4, wherein the spring member is configured to serve as both the potential energy storage mechanism and the energy release mechanism.

6. The support structure includes a sliding mechanism that supports the impacting body so that it can slide in the translational direction and the opposite direction. The aforementioned sliding mechanism consists of a slide rail whose height increases in the translational direction and a rail fitting recess provided on the collision body that slides the collision body along the slide rail. The molded product removal machine according to claim 4, wherein the sliding mechanism is configured to also serve as the potential energy storage mechanism.

7. The support structure comprises a compression spring member, one end of which is fixed to the structure and the other end of which is fixed to the impact body, and which stores energy when compressed. The collision body is supported so as to be slidable in the translational direction and the opposite direction, and the sliding mechanism serves as the potential energy storage mechanism, The sliding mechanism is configured to also serve as the potential energy storage mechanism. The molded product removal machine according to claim 4, wherein the compression spring member is the energy release mechanism.

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