JPH06297517A - Vertical type injection molding machine - Google Patents

Abstract

PURPOSE:To enhance reliability and to contrive cost reduction through common use of an operation panel and a CRT or the like, and to contrive space conservation by providing a robot controller which takes out moldings after molding is finished and controls a numerical control robot having at least two axes. CONSTITUTION:A communication interface 212 is a circuit which performs delivery of a signal to keep the period of a robot for taking out moldings. The communication interface incorporates the communication circuit for the other outside CPU. A robot controller 213 is a control circuit which controls the robot for taking out moldings. The robot controller 213 is equipped with a deviation counter circuit for counting the position of an encoder, a motor driving circuit having a current feedback circuit and a communication interface for communicating with the communication interface 212 like a general servo- control circuit for keeping a control function of a numerical control robot having at least two axes. The robot controller performs control for taking out moldings by communication with a CPU 200.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a vertical injection molding machine.

[0002]

2. Description of the Related Art In a vertical injection molding machine, a molded product take-out device is essential.

[0003]

Therefore, it is necessary to provide wiring for connecting the vertical injection molding machine and the molded product take-out device, and since the body, operation panel, CRT, etc. are provided in each, reliability is lacking. There was a problem that space was taken.

An object of the present invention is to provide a vertical injection molding machine which has improved reliability, reduced cost, and space saving.

[0005]

A vertical injection molding machine of the present invention has a robot controller for controlling a numerically controlled robot having two or more axes, which takes out a molded product after completion of molding.

[0006]

As described above, since the robot controller for controlling the numerically controlled robot having two or more axes is provided, the reliability is improved, and the operation panel and the CRT panel are commonly used to reduce the cost and space.

[0007]

Embodiments of the present invention will now be described with reference to the drawings.

As shown in FIG. 4, the vertical injection molding machine of this embodiment (hereinafter referred to as "molding machine") has a mold clamping device 1, a cylinder device 2 and an injection device 3 arranged on a vertical line, and The robot also includes a molded product take-out robot 4, and the detailed structure and control device of each of the devices 1, 2, 3, 4 will be sequentially described below.

First, the mold clamping device 1 will be described.

As shown in FIGS. 1 and 2, four tie bars 5 extending in the vertical direction (vertical direction) are integrally projectingly provided on the upper surface of a pedestal 4a of this molding machine. A fixed platen 9 having a fixed die (upper die) 7 of a die 6 described later is fixedly supported on the upper end of the. A movable platen 10 having a movable mold (lower mold) 8 of a mold is vertically moved while being guided by four tie bars 5 by a mold clamping air cylinder 12 described later. An abutting member 31 is located below the movable platen 10,
The abutting member 31 is supported by the gantry 4a via the abutting member support stay 30, and when the movable platen 10 descends, the abutting member 31 penetrates the movable platen 10. In addition, the movable platen 10 is integrally provided with a detection piece 13 described below for position detection.

A bracket 25 is integrally projectingly provided on the pedestal 4a, and a rear end portion of the mold clamping air cylinder 12 as a drive source of the movable platen 10 is provided on the bracket 25 with a mold clamping air cylinder support pin 27. It is rotatably supported via. A toggle link mechanism 29 is coupled to the rod 26a of the mold clamping air cylinder 12 via a coupling member 28, and both ends of the toggle link mechanism 29 are rotatably coupled to the movable platen 10 and the mount 4a, respectively. . When the rod 26a of the mold clamping air cylinder 12 is retracted, the toggle link mechanism 29 extends, whereby the movable platen 10 rises along the four tie bars 5 and the mold 6
Is closed and clamped (states of FIGS. 1 and 2). On the other hand, when the rod 26a of the mold clamping air cylinder 12 is projected, the toggle link mechanism 29 is bent, the movable platen 10 is lowered along the four tie bars 5, and the mold 6 is opened (see FIG. 4). Status).

Here, the detailed structure of the mold 6 is shown in FIG.
Will be described with reference to. 6 (A), (B), and (C) show the mold 6 in a mold closed state, a mold opening state, and a completely mold opened state, respectively.
This mold 6 is a known hot runner type,
The fixed mold 7 includes a fixed side mounting plate 14 fixed to a fixed platen 9 (see FIGS. 1 and 2) and a fixed side mold plate 15.
The movable die 8 is fixed to the movable platen 10 (see FIG. 1 and FIG. 2), and the movable side mounting plate 18 having the through hole 17 is formed. Three rectangular parallelepiped spacer blocks 19
And the movable side mold plate 20 and the like. A projecting plate 21 is provided between the two spacer blocks 19 so as to be movable in the vertical direction. The projecting plate 21 has an upper surface for penetrating the movable side mold plate 20 and projecting a molded product 22. 2 of the projecting pins 23 are integrally projected. A compression coil spring 24 provided between the two spacer blocks 19 is wound around each of the projecting pins 23, so that the projecting plate 21 is urged downward by the two compression coil springs 24. .

When the die 6 is opened by the toggle link mechanism 29 (see FIGS. 1 and 2) described above, FIG.
As shown in FIG. 3, the abutting member 31 described above is used to move the movable platen 10 (see FIGS. 1 and 2) and the movable side mounting plate 18.
2 through the through hole 17 of the
The projecting plate 2 against the spring force of the two compression coil springs 24.
By pushing up 1, the two projecting pins 23 project from the cavity bottom surface of the movable side mold plate 20 and the molded product 22
Is configured to stick out and hold.

Returning to FIGS. 1 and 2, the description will be continued. The first sensor support stay 32 projecting from the gantry 4a has a first, a second, and a third sensor 33 in order from above.
a, 33b, 33c are fixedly supported, and the first, second
When the movable platen 10 reaches the position immediately before the completion of mold closing, the detection pieces 13 of the movable platen 10 cause the first sensor 33 to detect the respective positions of the third sensors 33a, 33b, and 33c.
When the movable platen 10 is in the mold closing or mold opening midway position, the detection piece 13 of the movable platen 10 is detected.
Is detected by the second sensor 33b, and when the movable platen 10 reaches the mold opening completion position, the detection piece 13 of the movable platen 10 is set to be detected by the third sensor 33c. Further, two direct-acting piston type shock absorbers 34, 35 are fixedly supported on the gantry 4a, and each shock absorber 34, 35 has the same structure and extends in the vertical direction. Up,
The movable platen 10 is located below both sides of the platen 10.

The air supply circuit for the mold clamping air cylinder 12 will be described.

FIG. 7 is a circuit diagram of the air supply circuit in the mold open state. As shown in FIG. 7, the mold opening side port 12b of the mold clamping air cylinder 12 having the rod 26a and the piston 26b, and the air pressure source 101. 3 position 5 having a two-way valve 102 having a solenoid 102a and two solenoids 103a and 103b from the air pressure source 101 side.
Port-all port block type first 4-way valve 1
03 are sequentially arranged. Also, the mold clamping air cylinder 1
A pressure switching circuit is arranged between the second mold clamping side port 12a and the first four-way valve 103, and this pressure switching circuit is of a 2-position 5-port type having two solenoids 104a and 104b. A circuit in which the second four-way valve 104, the speed controller 105a and the low pressure regulator 106 are connected in series, and the speed controller 10
5b and a circuit in which the high-voltage regulator 107 is directly connected and a circuit in which the high-voltage regulator 107 is directly connected are connected in series. The respective solenoids 103a, 103b of the first and second four-way valves 103, 104 described above,
104a and 104b are energized (driven) at a predetermined timing described later by a control device described later.

In the air supply circuit described above, when the mold is clamped, one solenoid 104b of the second four-way valve 104 is previously energized to switch to the high pressure regulator 107 side, that is, the mold clamping pressure is changed to the high pressure side. Set to. Then, one solenoid 103b of the first four-way valve 103
Is switched on by energizing, the pressurized air is supplied from the mold clamping side port 12a into the mold clamping air cylinder 12, and the mold 6 is closed at high speed and smoothly. When the detection piece 13 of the movable platen 10 is detected by the second sensor 33b during the mold closing, the control device energizes the other solenoid 104a of the second four-way valve 104, and the low pressure regulator 1
06, that is, the mold clamping pressure is set to the low pressure side, and the mold 6 is closed at a low pressure. When the detection piece 13 of the movable platen 10 is detected by the first sensor 33a, one solenoid 104b is energized again to switch to the high pressure regulator 107b side, and the mold clamping is completed. When the mold is closed by the low pressure, the mold 6 is prevented from being damaged due to foreign matter entering the mold parting surface. When opening the mold, first
The other solenoid 103a of the four-way valve 103 is energized.

Next, the cylinder device 2 will be described.

As shown in FIGS. 1, 2 and 3, the lower ends of two air cylinders 36 are fixed to the upper surface of the end of the fixed platen 9, and the rods 36a of each air cylinder 36 are respectively connected to the lower ends. The lower base 39 is connected via the lower base connecting member 38, and each air cylinder 36
The lower base 39 is raised or lowered by projecting or retracting the rods 36a.

On the lower surface of the central portion of the lower base 39, a heating barrel (barrel) 42 having a cylinder head 41 having an open type nozzle 40 at the lower end portion (tip portion) is provided via a heating barrel mounting member 43. It is fixed, and a screw 44 is inserted in the heating cylinder 42. As shown in detail in FIG. 8, the screw 44 is provided with a backflow prevention ring 47 for preventing the backflow of the screw head 45 and the molten resin 46 at the tip thereof, and the screw 44 is moved up and down and rotated by different driving means described later. It is what is done.

Returning to FIGS. 1, 2 and 3, three band heaters 48a for heating the heating cylinder 42 are mounted on the outer peripheral surface of the heating cylinder 42, respectively. A band heater 48b is also attached to the cylinder head 41 of the cylinder 42. Each band heater 48a,
Heating cylinder 42 and cylinder head 41 wound by 48b
The temperature of each part of is detected by four thermocouples 49. As shown in FIG. 9, a hopper 51 is connected to the upper end of the heating cylinder 42 through a connecting member 42a integrally provided on the heating cylinder 42 and a chute 50 which is a pipe member in order, and the shutter 51a. The molding material (pellet) 51b falling from the hopper 51 when the is opened is supplied into the upper end portion of the heating cylinder 42 via the chute 50. Further, by closing the shutter 51a, the supply of the molding material into the heating cylinder 42 is shut off. The molding material supplied into the heating cylinder 42 is transferred to the lower portion of the screw 44 while being melted by the heat from the heating cylinder 42 and the shearing action of the rotating screw 44 and the heating cylinder 42. When the amount of the molten resin accumulated in the lower portion of the screw 44 reaches a predetermined amount, the screw 44 is quickly moved downward by the driving means described later, whereby the molten resin is preliminarily clamped by the nozzle 40 (see FIG. 3). The mold 6 is injected into the mold 6 (see FIGS. 1 and 2).

A drain rod 52 is formed near the lower end of the chute 50, that is, in the vicinity of the connection to the heating cylinder 42, and a tubular closing member 53 for closing the drain rod 52 is slid on the outer peripheral surface of the chute 50. It is fitted freely. When the closing member 53 is moved obliquely upward along the chute 50 as shown by an arrow A when changing the molding material or changing the color, the drain roller 52 is opened, and unnecessary molding in the chute 50 is performed. The material can be efficiently discharged through the drain 52.

Next, the injection device 3 will be described.

The injection device 3 melts the molding material by rotating the screw 44 and applies a back pressure to the molten resin, and the tip portion of the cylinder device 2, that is, the screw 44.
Is a drive device for injecting the measured molten resin into a mold that has been clamped in advance, by measuring such that the resin is transferred to the lower part of the mold or by lowering (advancing) the screw 44.

As shown in FIGS. 2 and 3, on the upper surface of the end portion of the lower base 39, two guide shafts 54 extending in the vertical direction at predetermined intervals are provided in a protruding manner. A screw holder 58, which will be described later, is supported on the guide shaft 54 so as to be vertically movable. That is, the screw holder 58 has a protrusion 58a having guide holes on both sides thereof.
Since each of the guide shafts 54 is inserted into each of the protrusions 58a, the screw holding body 58 is guided by the two guide shafts 54 and is movable in the vertical direction (vertical direction). The upper base 7 is attached to the upper end of each guide shaft 54.
3 is fixed.

The upper end of the screw 44 described above is integrally connected to the lower end of the screw extension shaft 56 by a screw fixing pin 55 so as not to rotate. An intermediate portion of the screw extension shaft 56 is rotatably supported by a screw holder 58 via a pair of bearings 59. Further, a first toothed pulley 56a is fitted into the lower end portion of the screw extension shaft 56 and is fixed by a key.

The metering motor 60 (servo motor) is integrally fixed to the screw holder 58 via a metering motor holding stay 61, and the rotational force of the metering motor 60 is transferred to the first via the first belt 62. By being transmitted to the toothed pulley 56a, the screw 44 and the screw 44
Is configured to be rotated.

An upper stopper member 64 and a lower stopper member 65 are fixed to the upper and lower portions of each of the two guide shafts 54 with screws, respectively. The two upper stopper members 64 and the two lower stopper members 65 are used. The upper limit position and the lower limit position of the screw holder 58 are regulated.

Further, one lower stopper member 65 is provided with an origin sensor 66a and a lower limit sensor 66b via a second sensor support stay 63, respectively. The origin sensor 66a is for detecting the origin of the screw holder 58. The lower limit sensor 66b is provided below the origin sensor 66a and detects the lower limit of the screw holder 58. The origin sensor 66a and the lower limit sensor 66b are used to find the origin of the injection device 3 (described later).
Is used when.

On the other hand, on the upper surface of the fixed platen 9, two injection device guide shafts 8 extending in parallel with each air cylinder 36 are provided.
0 is provided integrally. This injection device guide shaft 8
Reference numeral 0 penetrates the guide member 81 fixed to the upper base 73 and the lower base 39, and the guide member 81 supports the guide member 81 so that the guide member 81 can move in the vertical direction. The body 58, and thus the injection device 3 is configured to ascend or descend while being guided by each injection device guide shaft 80. Based on this configuration, during normal injection molding, by pulling in the rods 36a of both air cylinders 36, the cylinder device 2 is moved to the mold 6 side against the reaction force of the molten resin in the mold 6. By pressing, the cylinder device 2 is not separated from the mold 6 by the reaction force. Further, when the mold 6 is replaced with the change of the molded product as the target product, the rods 36a of both air cylinders 36 are made to project respectively, and the injection device 3 is raised to heat the injection device 3. Since a large space can be formed between the cylinder 42 and the mold 6, replacement work of the mold 6 becomes easy.

A load cell 67, which will be described later, is fitted and inserted into the upper end portion of the screw holding body 58.
Is for detecting the reaction force of the molten resin in the mold 6.

The detailed structure of the load cell section will be described with reference to FIG. At the center of the load cell 67, a T-shaped connector plate 68 in a side view having a threaded portion at the center is fixed by being screwed and evenly spaced from the upper surface of the load cell 67. The lower end of a ball screw 70 is integrally fixed to the connector plate 68 via a mounting plate 69. Further, at both ends of the connector plate 68, the pins 71 of the guide pull-out 72 which integrally have the pins 71 are provided.
Respectively pass through, and the lower ends of the pins 71 are inserted into the two holes of the screw holder 58, respectively.

Referring again to FIGS. 1, 2 and 3, based on these configurations, the (upward) reaction force applied to the screw 44 is transmitted via the screw extension shaft 56 and the screw holding body 58 to the load cell 67. Is transmitted to the lower surface of the outer peripheral portion of the load cell 67, a flexural force is generated in the load cell 67, and the flexural force is converted into a voltage signal.
The reaction force applied to can be measured.

A ball nut 75 is rotatably supported at the center of the upper base 73 via a pair of bearings 74. The ball screw 70 is screwed into the ball nut 75, and a second toothed pulley 76 for transmitting a rotational force is fixed by a screw, and the second toothed pulley 76 is fixed. Has a second belt 77
The rotational force of the injection motor 78 (servo motor) is transmitted via the. As a result, the rotational force of the injection motor 78 is converted into a rectilinear force by the ball screw mechanism, and the screw holder 5
8 and thus the screw 44 can be moved up and down. Here, the injection motor 78 is the injection motor holding stay 7.
It is integrally fixed to the upper base 73 via 9.

Next, the molded product take-out robot 4 will be described.

As shown in FIG. 4, a robot body 82 is fixedly supported on a stationary platen 9 as a molding machine body, and an arm 83 is attached to the robot body 82. The arm 83 is moved vertically and horizontally with respect to the robot main body 82 by a drive unit (not shown), and a hand 84 for work handling is attached to the tip end of the arm 83. This hand 84
Is 2 when the arm 83 is in the pickup position L.
The molded product 22 (see FIG. 6) on the protruding pin 23 (see FIG. 6) of the book.
(Refer to FIG. 4), the picked molded product 22 is opened when the arm 83 is at the work opening position N, and the arm 83 is picked up at the pickup position L during injection molding.
And a standby position M, which is an intermediate position between the workpiece opening position N and the workpiece opening position N. The robot main body 82 is provided with a standby position sensor 85. The standby position sensor 85 is for detecting whether or not the arm 83 is at the standby position M at the time of starting the molding.

On the side of the molding machine of this embodiment, the molded product 2 picked by the above-described molded product take-out robot 4 is used.
An external stocker 112, which is an external component storage device that stores 2 in line, is arranged.

The external stocker 112 accommodates a molded product 22 (see FIG. 6) molded by a molding machine on a tape,
The operation of the external stocker 112 and the operation of the molding machine are for facilitating the assembly of the molded product 22 by an automatic machine or the like.
Synchronization is established through an optical communication circuit composed of 17 and a phototransistor 218 and an optical communication interface 216.

FIG. 5 shows the external stocker 112. FIG. 5 (A) is a schematic perspective view thereof, and FIG. 5 (B) is a detailed perspective view of the essential parts of FIG. 5 (A), that is, a cover for the molded product holding tape 94. It is a perspective view of the hanging part of the tape 96. less than,
The detailed structure of the external stocker 112 will be described.

The frame 92 as the main body of the external stocker is provided with a plurality of casters 93 and can be easily moved on the floor in all directions. The take-up driven roller 95 supported by the frame body 92 is provided with a molded product holding tape 94 in which a large number of recesses 94a matching the shape of the molded product 22 are formed at predetermined intervals (pitch P) in the longitudinal direction. A cover tape 96 is pre-wound and is wound around the cover tape roller 97 on which the smart body 92 is supported. Further, the winding driving roller 108 is in contact with the driving roller 111 on the outer peripheral surface thereof, and the driving motor 11 is driven by the winding motor 110.
1 is rotated, the friction force between the winding drive roller 108 and the drive roller 111 causes the winding drive roller 108 to rotate.
Rotates. The sprocket 98 is rotated by the sprocket drive motor 99 by the pitch P.

When the external stocker 112 is used, one end of the molded product holding tape 94 is attached to the sprocket 9
8 and then fixed to the winding drive roller 108, and one end of the cover tape 96 is fixed to the cover guide 109.
And is fixed to one end of the (empty) molded product holding tape 94. Then, when the sprocket driving motor 99 and the winding motor 110 are driven, the molded product holding tape 94 is sent to the winding driving roller 108 side by the pitch P and the cover tape 96 is applied, and at the same time, the winding driving roller 1
It is wound on 08. At this time, the sprocket drive motor 9
By making the winding speed of the winding motor 110 faster than the feeding speed of 9, the slack of the molded product holding tape 94 can be prevented. When the molded product holding tape 94 is wound around the winding drive roller 108, the robot hand 84 (FIG. 4) is provided in the handling zone (hatched portion in the drawing) 113 which is a position immediately before the cover tape 96 is applied to the molded product holding tape 94. And FIG. 5)).
(See FIG. 6) is placed in the recess 94a of the molded product holding tape 94.

By repeating such operations a number of times, a large number of molded products 22 are lined up and stored in the molded product holding tape 94. In this way, by combining the molding machine, the molded product take-out robot 4 and the external stocker 112, molding,
It is possible to continuously and automatically take out the molded products and arrange and store the molded products.

Next, the control device in this embodiment will be described in detail with reference to FIGS. 11 to 33.

FIG. 11 is a block diagram showing the entire control device.

The CPU 200 controls the entire control device.
A control program for controlling all operations of the molding machine of this embodiment is stored in advance in the ROM 201. The RAM 202 stores information necessary for the molding machine, for example, molding conditions, the servo gain constants of the injection motor 78, the metering motor 60, etc., which are input and corrected by the user. Retained so as not to be lost. CRT21
0 is used to display information about the molding machine to the user. The keyboard 211 is used by the user to input data and give instructions to the control device. CRT2
10 and keyboard 211 are CP in interface 209
It is connected to U200. The digital input interface 203 includes sensors 33a, 33 for detecting the state of an external sensor, for example, the position of the detection piece 13 of the movable platen 10.
This is a circuit for fetching the on / off states of b and 33c into the CPU 200. Digital output interface 204
Is a circuit for controlling ON / OFF of the solenoid valves 102 to 104. The motor interfaces 205 and 207 are drive circuits for feedback controlling the injection motor 78 and the metering motor 60, respectively, and have a deviation counter for counting the position of an encoder (not shown) and a current feedback circuit like a general servo control circuit. It consists of a motor drive circuit. The thermocouple interface 207 is connected to the thermocouple 49 urged to the cylinder device 2 and enables the temperature of the cylinder device 2 to be taken into the CPU 200. A solid state relay (SSR) interface 208 enables the CPU 200 to turn on / off the SSR that turns on / off a heater driving circuit (not shown) for driving the band heaters 48a and 48b. The interrupt circuit 219 generates an interrupt to the CPU 200 at regular time intervals (for example, 5 msec), and thereby C
The PU 200 executes a program for controlling the servo motors 78, 60 and a temperature control for the band heaters 48a, 48b,
It is possible to perform motor servo control and temperature PID control. The communication interface 212 is a circuit (for example, RS232c) that delivers and receives a signal for synchronizing with the molded product take-out robot 4, and also includes a communication circuit with another external CPU. The robot controller 213 is a control circuit for controlling the molded product take-out robot 4. Two
Like a general servo control circuit for having a numerical control robot control function of more than axes, it communicates with a motor drive circuit having a deviation counter circuit for counting the position of an encoder (not shown) and a current feedback circuit, and a communication interface 212. Has a communication interface (not shown) for
It controls to take out the molded product by communicating with U200. The load cell amplifier 215 amplifies the output signal of the load cell 67 and enables it to be taken into the CPU 200. The load cell interface 214 is composed of an A / D converter circuit that takes the output of the load cell amplifier 215 into the CPU 200. The operation panel 221 has operation buttons for manual / automatic mode switching, molding start, emergency stop, etc.
It is a manual operation device equipped with an in-operation display, an abnormality display LED, and the like. The operation panel interface 220 is a circuit for inputting a switch state of the operation panel 221 and displaying an LED. The optical communication interface 216 is an input / output circuit for driving a light-emitting diode 217 for optical communication, which is a non-contact communication means for synchronizing with the external stocker 112 that houses a molded product, and a phototransistor 218 for light reception. . The timer circuit 222 is a circuit used by the CPU 200 for time management of the molding process.

FIG. 12 is a block diagram showing the entire operation panel 221.

Reference numeral 223 denotes an LED indicating the operating state,
An LED 24 indicates an abnormal state. A select switch 225 selects an operation mode, and selects each of "off", "manual", "1 cycle", and "automatic" modes. 226 is a push switch, which is an injection u in the off mode.
It functions as a raising switch and a mold opening switch in the manual mode. A push switch 227 functions as an injection u lowering switch in the OFF mode, a mold closing switch in the manual mode, one cycle, and a molding switch in the automatic mode. Two
A push switch 28 functions as a purge switch in the manual mode. A push switch 229 functions as an operation stop switch in the manual, one-cycle, and automatic modes, and as an abnormal reset switch in abnormal states in all modes. 230 is an emergency stop switch.

FIG. 13 is a flow chart showing the operation of the entire molding machine of this embodiment, and FIG. 14 is a flow chart showing the mode selection (step 302) processing in FIG. First, the power-up process at the time of turning on the power is performed (step 301), then the operation mode is determined by the mode selection switch 225 (step 302), and each mode shown in FIGS. 15 to 18 (off mode 306, manual mode 30).
7, 1 cycle mode 308, automatic mode 309). In each mode 306 to 309, each switch 226
.. to 229 are performed. When the processing in each mode ends, the abnormality flag is confirmed (step 303), and if the abnormality flag is not set, step 3
Returning to 02, if the abnormality flag is set, the content of the abnormality is C
It is displayed on the RT 210 (step 304). Thereafter, an abnormality process is performed by the operator, it is determined whether the abnormality reset switch 229 is pressed (step 305), and if it is pressed, the process returns to step 302.

FIGS. 15, 16, 17, and 18 are flow charts showing the operation of the molding machine of this embodiment in the cutting mode 306, the 1-cycle mode 308, the manual mode 307, and the automatic mode 309, respectively.

In the off mode 306, the operation is determined by the operation switches 226 and 227, and the operation switch 2
If 26 is selected, the injection unit raising operation is performed (step 310), and if the operation switch 227 is selected, the injection unit lowering operation is performed (step 31).
1). In the manual mode 307, the operation switch 22
If the operation switch 226 is selected, the mold opening operation is performed (step 312), and if the operation switch 227 is selected, the mold closing operation is performed (step 313). If the operation switch 228 is selected, the purge operation is performed (step 31
4). In the 1-cycle mode 308, the operation is determined by the operation switch 227, and if the operation switch 227 is selected, the molding operation is performed (step 31).
5). In the automatic mode 309, the operation switch 22
When the operation is determined by 7, and the operation switch 227 is selected, the continuous molding operation is performed (step 316).

FIG. 19 is a flow chart showing the molding operation in the molding machine of this embodiment.

First, the mold closing step 317 is performed, and the injection step 3
18, weighing / cooling step 319, suckback step 32
0, the mold opening step 321, and the take-out step 322 in this order,
Finish the molding operation.

FIG. 20 is a flow chart showing the continuous molding operation in the molding machine of this embodiment.

First, the mold closing step 323 is performed, and the injection step 3
24, weighing / cooling step 325, suck back step 32
6, the mold opening process 327 and the take-out process 328 are performed in this order, and in the end check process 329, the mode selection switch 22
It is confirmed whether or not 5 is the automatic mode, and if it is the automatic mode, the process returns to the mold closing step 323, and if it is not the automatic mode, the continuous molding step ends.

Next, the control program stored in the ROM 201 will be described.

The programs in the ROM 201 are roughly divided into a sequence control program and a servo control program, and the sequence control program includes the CRT 210 and the operation panel 221.
A user's instruction to the molding machine is input and judged, and a molding sequence (molding, purging, mold opening, mold closing, etc., described later) is executed. The servo control program is the interrupt circuit 219.
Is called every fixed time (for example, 1 msec),
The speed of the injection motor 78 and the metering motor 60, pressure feedback control, and temperature control using the band heaters 48a and 48b are performed. Note that a publicly known PID algorithm is used for each control algorithm, and thus description thereof will be omitted.

Next, how each servo control program is executed in the interrupt control program will be described.

When the power is turned on, the CPU 200 stores the ROM
The sequence control program on 201 is executed, and the memory check in the power-up process described below is executed. At this time, when the interrupt circuit 219 waits for a certain period of time, the interrupt becomes C
The execution of the sequence control program is interrupted by the PU 200, and the interrupt program of FIG. 21 is executed.

First, it is checked whether the value of the information (hereinafter referred to as "servo flag") set at a predetermined position in the RAM 202 is 1 (step 400), and if it is 1, the injection motor 7
8 servo control program (step 40
1), set the value of the servo flag to 2 (step 50
2) The servo control program is ended, and the CPU 200 continues to execute the sequence control program from the interrupted continuation. The interrupt circuit 219 again after 1 msec.
Then, the CPU 200 is interrupted and the servo control program is executed. Since the value of the servo flag is 2 this time, the metering motor control program is executed (steps 403 and 404), and the servo flag is set to 3 (step 405). After 1 msec again, the interrupt circuit 219 interrupts the CPU 200, and the servo control program is executed. Since the value of the servo flag is 3 this time, the temperature control program is executed (steps 406 and 407) and the servo flag is set to 1 (step 408). The interrupt circuit 219
The first interrupt of sets the servo flag to 1 (step 409).

The CPU 200 manages the execution of the sequence as described above while controlling the injection motor 78 and the metering motor 6.
0, the temperature adjustment control is executed as if the three programs were executed simultaneously with the sequence control (to be exact, every 3 msec).

FIG. 22 is a flow chart showing the power-up process in the molding machine of this embodiment.

First, when the power is turned on, the contents of the RAM 202 backed up in the memory are subjected to a memory check (step 410), and if there is an abnormality as a result, a predetermined abnormality processing is performed (steps 411, 4).
12). If the data is normal, band heaters 48a, 48
b for temperature control using the SSR interface 208, thermocouple 49, thermocouple interface 207, ROM
It is started by the temperature PID control program stored in advance in 201 (step 413), and the confirmation is continued for each band heater 48a, 48b until the preset target temperature is reached (step 414).
When all the band heaters 48a and 48b have reached the target temperature, the screw cold rotation prohibition timer that starts rotation of the screw 44 is started until the band heaters 48a and 48b have a predetermined temperature at a predetermined time (step 415). ). Next, the elapse of the timer is waited for (step 416), and the power-up process is ended when the time has elapsed.

FIG. 23 is a flow chart showing the origin finding step in the molding machine of this embodiment.

First, the counter indicating the number of home search operations is cleared to 0 (step 420). Next, whether or not the mold 6 is in the open state is confirmed by the signal of the third sensor 33c (step 421). If it is not in the open state, CRT2
If the mold is not opened in 10, the fact that the origin search cannot be executed is displayed (step 422) and the process ends. If the mold is open, the injection motor 78 is driven at a predetermined speed to move the screw 44 downward (injection operation) (step 423). Next, wait until the lower limit sensor 66b is turned on (step 424), and when it is turned on, the value of the deviation counter (not shown) in the motor interface 205 at that time is stored in a predetermined position in the RAM 202 as the lower limit sensor position (step 425). . Then, this time, the metering motor 60 is rotated in the metering direction at a predetermined speed (step 426), and the injection motor 78 is rotated by the screw 44.
Is operated at a predetermined speed so as to rise (step 427). After confirming that the origin sensor 66a is turned on (step 428), the injection motor 78 is driven by the Z-phase detection circuit (not shown) in the motor interface 205.
Of the Z phase is confirmed (step 429), and if confirmed, the value of the deviation counter at that time is stored at a predetermined position in the RAM 202 as the origin position (step 430).
After saving, the injection motor 78 and the metering motor 60 are stopped (steps 431, 432). Next, the counter value is incremented by +1 (step 433), and it is confirmed whether or not the counter value is 2, that is, whether or not the home search operation has been completed twice (step 434). This process is repeated once more, and if completed, the value of the deviation counter of the second process is used as the origin finding result to perform the position control data calculation described later (step 435) and necessary for the molding operation. , The position data of the encoder of the injection motor 78 is obtained, and the origin finding process is completed.

FIG. 24 shows position control data calculation (step 4
It is a flow chart of 35).

First, based on the lower limit sensor position (encoder value of the injection motor 78) obtained in the origin finding process and the measured amount (mm) input from the keyboard 211 via the RAM 202 or the interface 209 in advance, the measurement is completed. The position (= measurement amount (mm) × pulse number per 1 mm + lower limit sensor position) is calculated as the encoder value of the injection motor 78 (step 440). Next, using this measurement complete position and the suck back amount (mm) previously input from the keyboard 211 via the RAM 202 or the interface 209, the suck back complete position (= suck back amount (mm) x number of pulses per mm + (Measurement complete position-acceleration / deceleration time movement amount) is calculated as the encoder value of the injection motor 78 as in step 440 (step 441).

In step 442, the upper limit abnormal position of the screw 44 upon completion of injection, the lower limit abnormal position of the screw 44 upon completion of injection in step 443, the upper limit position of the screw 44 in step 444, and the step 445 in step 445. Set the lower limit position of the screw 44 to step 440.
Similarly to the above, the value is calculated as the encoder value of the injection motor 78 by the following formula.

Injection completion position upper limit abnormal position = injection completion position upper limit abnormal setting value (mm) x number of pulses per mm + lower limit sensor position (pulse) Injection completion position lower limit abnormal position = injection completion position lower limit abnormal setting value (mm) × Number of pulses per 1 mm + lower limit sensor position (pulse) Upper limit position = screw position upper limit abnormal setting value (pulse) + lower limit sensor position (pulse) Lower limit position = screw position lower limit abnormal setting value (pulse) + lower limit sensor position (Pulse) FIG. 25 is a flowchart of the purging process in the molding machine of this embodiment.

First, the injection motor 78 is started with a predetermined speed pattern (for example, uniform acceleration) (step 450). Next, the screw 44 is pushed down until the lower limit sensor 66b is turned on (step 45).
1). When the lower limit sensor 66b is turned on, the injection motor 78 is stopped (step 452). Next, the weighing motor 60
Rotate at a predetermined speed (step 45
3) Then, the injection motor 78 starts back pressure control by pressure feedback from the load cell 67 (step 454) to start the metering operation. Next, since this molding machine is an open nozzle type, the molten material drips from the tip of the nozzle in the measurement control during the purging process. In particular, when back pressure is applied, it is easy to sag. Therefore, when the injection device 3 is pushed down by the back pressure and the lower limit sensor 66b is turned on, the back pressure control of the injection motor 78 is stopped (steps 455, 4).
56), after waiting for a predetermined time (step 457), applying back pressure starts (step 454). If the lower limit sensor 66b is not turned on, the value of a deviation counter (not shown) in the motor interface 205 is read to check whether it has reached a value corresponding to a predetermined measurement value (step 458). If not, return to 455, If it has reached, a suck back process to be described later is performed (step 459), and it is checked whether or not there is an instruction to stop the operation panel 221 (step 460). If there is, the purge process is ended, and if not, the process returns to step 450 and is repeated.

FIG. 26 is a flow chart showing the measuring process in the molding machine of this embodiment.

First, the injection motor 78 is driven to start pressure feedback (back pressure control) using the load cell 67 with a predetermined back pressure value as a target value (step 470). Next, the rotation of the metering motor 60 is started (step 471). Next, it is checked whether or not the lower limit sensor 66b is turned on (step 472). If the lower limit sensor 66b is turned on, the back pressure control is stopped (step 473), and after waiting for a certain time (step 474), the back pressure control is restarted (step). 475). If the lower limit sensor 66b is off, it is checked whether the origin sensor 66a is on (step 476). If it is off, the process returns to step 472. When the metering progresses, the screw 44 rises, the injection device 3 rises, and the origin sensor 66a turns on, the value of a deviation counter (not shown) in the motor interface 205 of the injection motor 78 at that time is read and the counter value stored in the origin finding process is read. It is checked whether the difference is within a predetermined range (step 477), and if not, a predetermined abnormality process (step 478) is performed. If there is no abnormality, the measurement is further advanced, the injection device 3 is retracted, that is, the injection motor 78 is rotated, and the above-mentioned encoder value is waited until it reaches a value corresponding to a predetermined measurement amount (step 479). When it reaches, the metering motor 60 is stopped (step 480),
The injection motor 78 is stopped (step 481) and the weighing process is ended. FIG. 27 is a flowchart of the suck back process in the molding machine of this embodiment.

In the open-nozzle type molding machine, it is necessary to pull up the screw 44 after the end of measurement in order to prevent liquid dripping from the tip of the screw head 45. Therefore, the main molding machine also pulls up the injection motor 78 according to a predetermined pattern after completion of the measuring process.

First, the injection motor 78 is started in the pulling direction at a predetermined speed (step 4).
85). Next, it is checked whether or not the value of a deviation counter (not shown) in the motor interface 205 has reached a value corresponding to the above-mentioned movement amount by checking whether it has been raised by a predetermined movement amount (step 486). Is servo-locked (step 487), and the suck back process is completed.

FIG. 28 is a flow chart of the injection process in the molding machine of this embodiment.

First, the screw 44 is driven at a predetermined speed pattern.
Is driven by the injection motor 78 to fill the mold 6 with the material, and the screw 44 advances at a constant speed at the end of the filling process (step 490). Therefore, the pressure value of the load cell 67 is monitored using the load cell interface 214 (step 491), and if the set pressure 1 is not reached, wait until it is reached, and at that point, the screw 44 that has been advanced at a constant speed by the speed feedback control is loaded. Switch to pressure feedback control based on the pressure value of 67 and set pressure 1
Is controlled to be a constant value (step 492), and the pressure value is kept constant for a predetermined pressure holding time 1 (step 493). When the holding pressure time 1 has passed, the target pressure value is switched to the holding pressure value 2 (step 494), and the pressure value is kept constant for the holding pressure time 2 (step 495). When the holding pressure time 2 has passed, the process proceeds to the pressure reducing process (step 49).
6). In this case, if the pressure value is suddenly lowered at the end of injection, the screw 44 retracts more than necessary due to spring back, which causes problems such as entrainment of air during metering. Gradually lower to a pressure value according to a predetermined pattern,
When the pressure reaches the back pressure value, the injection process ends.

FIG. 29 is a flow chart of the mold opening process in the molding machine of this embodiment.

First, the solenoid 103a of the first four-way valve 103 is energized (step 500). This allows
Pressurized air from the air source 101 is supplied from the mold opening side port 12b into the mold clamping air cylinder 12, and the mold opening of the mold 6 is started. Next, it is checked whether the detection piece 13 of the movable platen 10 moves to the second sensor 33b and the second sensor 33b outputs a signal (ON) (step 501).
If it is on, the mold clamping intermediate sensor flag is turned off (step 5
03), if it is off, it is checked whether or not the cycle time is exceeded (step 502). If it is not over, the process returns to step 501, and if it is over, abnormal processing is performed (step 506). After step 503, it is checked whether or not the detection piece 13 of the movable platen 10 moves to the third sensor 33c and the third sensor 33c outputs a signal (on) (step 504). This means that the opening is completed, and if it is not on, it is checked whether the cycle time has been exceeded (step 505). If it is not over, the process returns to step 504, and if it is over, abnormal processing is performed (step 506).

30 and 31 are flow charts of the take-out process in the molding machine of this embodiment.

First, whether or not to use the external stocker 112 is determined based on the contents of the RAM 202 preset by the user (step 510). If it is not used, the normal extraction described later is performed (step 537). Next, when the external stocker 112 is used, the operation time-out timer of the external stocker 112 is started (step 511). Then, the stocker status output is read from the optical communication circuit, and it is checked whether the value is an odd number (step 512). If the value is an even number, it means that the hardware is abnormal. A comment is displayed and a warning lamp is turned on) (step 513), and the process ends. If it is not an odd number in step 512, it is checked whether the stocker status output value is 5 (step 514) and if it is 5, a predetermined remaining warning is issued (step 5).
15) and proceeds to step 521. If it is not 5 in step 514, it is checked whether the stocker status output value is 3 (step 515).
The process goes to T210 (step 516) and proceeds to step 518. If it is not 3 in step 516, it is checked whether the stocker status output value is 1 (step 518), and if it is 1, the process proceeds to step 521. It is checked whether the stocker time is over (step 519), and if it is over, abnormality processing is performed (step 520). Otherwise, return to step 512. Next, the timer for the operation time-out of the molded product take-out robot 4 is started (step 5).
21). Next, it is checked whether or not the molded product take-out robot 4 is ready (whether it is in the retracted position) by checking whether the standby position sensor 85 is on (step 522). If not ready, it is checked whether the time is over (step 523). For example, abnormal processing is performed (step 524). Otherwise, return to step 522. If the preparation is completed in step 522, a start command is issued to the molded product ejection robot 4 via the communication interface 212 (step 52).
5). Next, the molded product take-out robot 4 is checked for an error (step 526), and if it is an error, a predetermined abnormality process is performed (step 527). If not, it is checked whether the time is over (step 528). If not, the standby position sensor 85 determines whether or not the molded product take-out robot 4 has taken the molded product to the mold closing possible position by the operation programmed in the robot controller 213. The state is checked (step 530). If the standby position sensor 85 is off, the process returns to step 526 because it is not yet done. If the standby position sensor 85 is on, the take-out is completed, so a take-out completion signal of the molding machine is output (step 531). Next, the operation time-over timer of the external stocker 112 is started (step 532). Next, it is checked whether the external stocker 112 is in the feeding operation by reading the stocker status output from the optical communication circuit to see if the value is 3 (step 533). If it is not being fed, it is checked whether the time is over (step 534). If so, the abnormality processing is performed (step 535). Otherwise, it returns to step 533. If it is being fed in step 533, the molding machine status output is set to 1 (step 536), and the take-out process is ended. Note that the odd / even statuses and the output values 1, 2, 3 and the like are merely examples, and can be realized by using other numerical values.

FIG. 32 is a flow chart of the normal take-out process in the molding machine of this embodiment.

First, the operation time-out timer of the molded product take-out robot 4 is started (step 54).
0). Next, it is checked whether or not the molded product take-out robot 4 is ready (whether it is in the retracted position) by checking whether the standby position sensor 85 is on (step 541), and if not ready, it is checked whether the time is over (step 542). If it is over, abnormality processing is performed (step 543). Otherwise, the process returns to step 541. If preparation is completed in step 541, a start command is issued to the molded product ejection robot 4 via the communication interface 212 (step 54).
4). Next, the molded product take-out robot 4 is checked for an error (step 545), and if there is an error, a predetermined abnormality process is performed (step 546). If not, it is checked whether the time is over (step 547), and if it is not over, it is determined whether or not the molded product take-out robot 4 has taken the molded product 22 to the mold closing position by the operation programmed in the robot controller 213. Check from the state of the standby position sensor 85 (step 549),
If the standby position sensor 85 is off, it is still in Step 54.
Return to 5. If the standby position sensor 85 is on, the normal take-out process is completed.

FIG. 33 is a flow chart of the mold clamping process in the molding machine of this embodiment.

When the mold clamping operation is started, one solenoid 104b of the second four-way valve 104 is energized to switch to the high pressure regulator 107 side, that is, the mold clamping pressure is set to the high pressure side. The solenoid 103b of the four-way valve 103 of No. 1 is energized (step 550). Then,
The pressurized air from the pressurized air source 101 is supplied into the mold clamping air cylinder 12 from the mold clamping side port 12a, and the mold clamping of the mold 6 is started. Next, a timer (not shown) is activated to start counting the mold clamping time (step 551). next,
It is checked whether the mold clamping intermediate sensor flag is ON, that is, whether the detection piece 13 of the movable platen 10 is already between the first sensor (mold clamping sensor) 33a and the second sensor (mold clamping intermediate sensor) 33b ( Step 552), both sensors 3
If there is between 3a and 33b, the other solenoid 104a of the second four-way valve 104 is energized, and the low pressure regulator 106
To the low voltage side, that is, to the low voltage side (step 55
9). If the mold clamping intermediate sensor flag is off, the mold clamping sensor,
That is, it is checked whether or not a signal is output (ON) from the first sensor 33a (step 553). At first, since the detection piece 13 of the movable platen 10 is not yet at the position of the first sensor 33a, it is further checked whether or not a signal is output (ON) from the second sensor 33b (step 55).
4) If it is output, the mold clamping intermediate sensor flag is turned on (step 555), and the mold clamping pressure is switched to the low pressure side (step 559). When the detection piece 13 of the movable platen 10 is not present at the position of the second sensor 33b and after the mold clamping pressure is switched to the low pressure side in step 559, it is checked whether or not the mold clamping time exceeds a predetermined time (step 55).
6). If the mold clamping time exceeds the predetermined time, it is determined that foreign matter has entered the mold partitioning surface, and abnormal processing is performed (step 557). If the mold clamping time has not exceeded the predetermined time, the process returns to step 553, and if the detection piece 13 of the movable platen 10 has not reached the first sensor 33a, the above-described processing is repeated, and the detection piece 13 has the first sensor 33a. Is reached, the solenoid 104b of the second four-way valve 104 is energized to switch to the high pressure regulator 107 side, that is, the mold clamping pressure is switched to the high pressure side, and the solenoid 103b of the first four-way valve 103 is reached. Is energized (step 558).

Next, the operation of the molding machine of this embodiment will be described mainly with reference to FIGS. First, preparation for molding such as cleaning of the mold 6 and supply of the molding material (pellet) 51b to the hopper 51 (see FIG. 9) is performed in advance.

When the molding preparation is completed and the power is turned on,
The temperature of each band heater 48a, 48b is controlled, and the origin sensor 66a and the lower limit sensor 66b are used to detect the protrusion 58a of the screw holder 58 to perform origin origin. The position of the screw holder 58 at the end of the home search, and thus the position of the screw 44, becomes the home position. Then, based on the operation of the air supply circuit (see FIG. 7) described above, the mold is closed by the two-stage pressure control. Then, each rod 3 of the two air cylinders 36 of the injection device 3
By injecting 6a respectively, the injection device 3 is lowered, and the nozzle 40 (see FIG. 8) of the heating cylinder 42 is pressed against the fixed mold (upper mold) 7 side.

The screw 44 is advanced to the most advanced position (most lowered position) by the injection motor 78, and the metering motor 60 is activated to rotate the screw 44. Hopper 51
The molding material supplied from the inside through the chute 50 into the heating cylinder 42 is transferred to the tip end portion thereof by the rotation of the screw 44. At this time, the molding material in the heating cylinder 42 is heated from the outer circumference by the band heaters 48a, and at the same time, frictional heat is generated due to the kneading action of the screw 44 and the heating cylinder 42, so that heat is generated internally. The temperature rises. While the screw 44 is rotating, the screw 44 is pushed back upward by the reaction force of the molten resin 46 (see FIG. 8) transferred to and stored in the tip portion of the screw 44, and the reaction force is detected by the load cell 67. However, by controlling the injection motor 78 so that the reaction force becomes a predetermined value,
The required injection amount can be obtained by preventing the mixture of air etc. (measurement). After the measurement, the rotation of the screw 44 is stopped, and further, in order to prevent the resin dripping from the nozzle 40, the injection motor 78
Raise the screw 44 slightly by (suck back).

After the suck back, the screw 44 is rapidly advanced (lowered) by the injection motor 78, and the molten resin 46 at the tip of the screw 44 is injected from the nozzle 40 into the mold 6 clamped at high speed ( Injection operation). After that, the screw 44 is stopped by the injection motor 78, and the holding pressure for holding the injection pressure is performed. After cooling the mold 6 for a required time, the mold 6 is opened. Immediately before the completion of the mold opening, the abutting member 31 supported by the gantry 4a abuts the projecting plate 21 (see FIG. 6) of the mold 6 so that the two projecting pins 23
(See FIG. 6) protrudes from the bottom surface of the cavity of the movable mold 8,
The molded product 22 (see FIG. 6) is projected and held.

When the mold opening is completed, the arm 83 of the molded product take-out robot 4 located at the standby position M moves in the horizontal direction and stops at the pickup position L, and its hand 84 projects two. After picking the molded product 22 on the pin 21, and after moving the arm 83 to the work opening position N, the hand 84 holds the molded product 22 and the molded product holding tape 94.
Place it in the upper recess 94a. Thereafter, the above-described injection molding, picking up (picking) of the molded product, and storage are continuously performed, and when the above-described operation is continuously repeated for a plurality of cycles, molding in which a large number of molded products 22 are stored. The product holding tape 94 is obtained.

[0089]

As described above, the present invention has a robot controller for controlling a numerically controlled robot having two or more axes, so that the reliability is improved, and the operation panel, CRT, etc. are made common to reduce the cost and save the cost. There is an effect that space can be measured.

[Brief description of drawings]

FIG. 1 is a schematic front view of a mold 6 of an embodiment of a vertical injection molding machine of the present invention in a mold closed state.

FIG. 2 is a schematic side view of the vertical injection molding machine of FIG.

3 is a vertical cross-sectional view showing details of an injection device 3 and a cylinder device 2 of the vertical injection molding machine of FIG.

4 is a diagram showing a state in which a molded product take-out robot 4 and an external stocker 212 are installed in the vertical injection molding machine of FIG.

5A is an enlarged perspective view showing a detailed structure of an external stocker 112 in FIG. 4, and FIG. 5B is a perspective view showing a molded product holding tape 94 and a cover tape 96.

6A and 6B are vertical cross-sectional views of the mold 6, where FIG. 6A shows a state in which the mold 6 is closed and FIG. 6B shows a state in which the mold 6 is being opened. FIG. 6C shows a state in which the mold 6 is completely opened.

7 is a circuit diagram of an air supply circuit of the mold clamping air cylinder 12. FIG.

8 is an enlarged vertical sectional view of a tip portion (screw head portion) of the injection device 3 shown in FIG.

9 is an enlarged view of the molding material supply unit shown in FIGS. 1 and 2. FIG.

FIG. 10 is an enlarged view of the load cell unit shown in FIG.

FIG. 11 is an overall configuration diagram of a control device in the present embodiment.

FIG. 12 is a configuration diagram showing an entire operation panel 221.

FIG. 13 is a flow chart showing the operation of the entire molding machine of this embodiment.

FIG. 14 is a flowchart showing a process of mode selection in FIG.

FIG. 15 is a flow chart showing the operation of the molding machine of the present embodiment in a cutting mode 306.

FIG. 16 is a flowchart showing the operation of the molding machine of this embodiment in the 1-cycle mode 308.

FIG. 17 is a flowchart showing the operation of the molding machine of this embodiment in the manual mode 307.

FIG. 18 is a flowchart showing the operation of the molding machine of this embodiment in the automatic mode 309.

FIG. 19 is a flowchart showing a molding operation in the molding machine of this embodiment.

FIG. 20 is a flowchart showing a continuous molding operation in the molding machine of this embodiment.

FIG. 21 is a flowchart of an interrupt program.

FIG. 22 is a flowchart showing a power-up process.

FIG. 23 is a flowchart showing an origin finding step.

FIG. 24 is a flowchart of position control data calculation.

FIG. 25 is a flowchart showing a purging process.

FIG. 26 is a flowchart showing a weighing process.

FIG. 27 is a flowchart showing a suck back process.

FIG. 28 is a flowchart showing an injection step.

FIG. 29 is a flowchart showing a mold opening process.

FIG. 30 is a flowchart showing a take-out step.

FIG. 31 is a flowchart showing a take-out step.

FIG. 32 is a flowchart showing a normal take-out step.

FIG. 33 is a flowchart showing a mold clamping process.

[Explanation of symbols]

1 Mold clamping device 2 Cylinder device 3 Injection device 4 Mold ejection robot 4a Frame 5 Tie bar 6 Mold 7 Fixed mold (upper mold) 8 Movable mold (lower mold) 9 Fixed platen 10 Movable platen 12 Mold clamping air cylinder 12a Mold clamping Side port 12b Model open side port 13 Detecting piece 14 Fixed side mounting plate 15 Fixed side template 16 Hot tip pushing 17 Through hole 18 Movable side mounting plate 19 Spacer block 20 Movable side template 21 Projection plate 22 Molded product 23 Projection pin 24 Compression Coil Spring 25 Bracket 26 Mold Closing Air Cylinder 26a Rod 26b Piston 27 Mold Closing Air Cylinder Support Pin 28 Connecting Member 29 Toggle Link Mechanism 30 Abutting Member Support Stay 31 Abutting Member 32 First Sensor Support Stay 33a First Sensor 33b Second sensor 33c Third sensor Service 34,35 Shock absorber 36 Air cylinder 36a Rod 38 Lower base connecting member 39 Lower base 40 Nozzle 41 Cylinder head 42 Heating cylinder (barrel) 42a Connecting member 43 Heating cylinder mounting member 44 Screw 45 Screw head 46 Molten resin 47 Backflow prevention ring 48a, 48b Band heater 49 Thermocouple 50 Chute 51 Hopper 51a Shutter 51b Molding material 52 Drainro 53 Closing member 54 Guide shaft 55 Screw fixing pin 56 Screw extension shaft 56a First toothed pulley 57 Guide rod 58 Screw retainer 58a Projection part 59 bearing 60 metering motor 61 metering motor holding stay 62 first belt 63 second sensor support stay 64 upper stopper member 65 lower stopper member 66a origin sensor 66b lower limit set Support 67 Load cell 68 Connect plate 69 Mounting plate 70 Ball screw 71 Pin 72 Guide plate 73 Upper base 74 Bearing 75 Ball nut 76 Second toothed pulley 77 Second belt 78 Injection motor 79 Stay injection motor holding stay 80 Injection device guide shaft 81 guide member 82 robot body 83 arm 84 hand 85 standby position sensor 92 frame 93 caster 94 molded product holding tape (embossing tape) 94a recess 95 take-up driven roller 96 cover tape 97 cover tape roller 98 sprocket 99 sprocket drive motor 101 Air pressure source 102 2-way valve 102a, 103a, 103b, 104a, 104b
Solenoid 103 First 4-way valve 104 Second 4-way valve 105a, 105b Speed controller 106 Low pressure regulator 107 High pressure regulator 108 Winding drive roller 109 Cover guide 110 Winding motor 111 Drive roller 112 External stocker 113 Handling zone 200 CPU 201 ROM 202 RAM 203 Digital input interface 204 Digital output interface 205 Motor interface 206 Motor interface 207 Thermocouple interface 208 SSR interface 209 Interface 210 CRT 211 Keyboard 212 Communication interface 213 Robot controller 214 Load cell interface 215 Load cell amplifier 216 Optical communication interface 17 Light-Emitting Diode for Optical Communication 218 Phototransistor for Optical Communication 219 Interrupt Circuit 220 Operation Panel Interface 221 Operation Panel 222 Timer Circuit 223 to 230 Switch 301 to 329 Step 400 to 409 Step 410 to 416 Step 420 to 435 Step 440 to 445 Step 450 ~ 460 steps 470-481 steps 485-487 steps 490-496 steps 500-506 steps 510-537 steps 540-549 steps 550-558 steps

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tadanobu Miyazaki 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc.

Claims (1)

[Claims] 1. A vertical injection molding machine having a robot controller for controlling a numerically controlled robot having two or more axes, which takes out a molded product after completion of molding in the vertical injection molding machine.