CN113692334B - Robot system and method for manufacturing molded article - Google Patents
Robot system and method for manufacturing molded article Download PDFInfo
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- CN113692334B CN113692334B CN202080028544.2A CN202080028544A CN113692334B CN 113692334 B CN113692334 B CN 113692334B CN 202080028544 A CN202080028544 A CN 202080028544A CN 113692334 B CN113692334 B CN 113692334B
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Abstract
提供一种可有效除去成型品的毛刺的机器人系统。根据本发明可提供一种机器人系统，其具备机器人臂、机器人手、保持机构、以及分割机构，上述机器人手安装于上述机器人臂，上述保持机构设于上述机器人手，且以保持成型体的方式构成，上述成型体具备成型体本体，以及设于该成型体本体周围的毛刺，上述分割机构构成为，在上述保持机构保持上述成型体的状态下，分割上述毛刺与上述成型体本体。
A robot system is provided that can effectively remove burrs from molded products. According to the present invention, a robot system is provided, which includes a robot arm, a robot hand, a holding mechanism, and a separation mechanism, wherein the robot hand is mounted on the robot arm, the holding mechanism is provided on the robot hand and is configured to hold a molded product, the molded product includes a molded product body and burrs provided around the molded product body, and the separation mechanism is configured to separate the burrs from the molded product body while the holding mechanism holds the molded product.
Description
Technical Field
The present invention relates to a robot system that can be used for removing burrs from a molded body, and a method for manufacturing a molded product using the robot system.
Background
In patent document 1, a robot arm is driven to take out a molded body from a mold, and the molded body is fixed to a holding device for deburring in this state.
Prior art literature
Patent document
Patent document 1: japanese patent laid-open No. 2015-160422
Disclosure of Invention
(Problem to be solved by the invention)
In the method of patent document 1, since the molded body taken out from the mold is temporarily fixed to the holding device for deburring, deburring is performed in this state, and the number of operators required for deburring increases.
The present invention has been made in view of such circumstances, and provides a robot system capable of effectively removing burrs of a molded product.
(Means for solving the problems)
According to the present invention, there is provided a robot system including a robot arm, a robot hand attached to the robot arm, a holding mechanism provided to the robot hand and configured to hold a molded body, the molded body including a molded body and burrs provided around the molded body, and a dividing mechanism configured to divide the burrs and the molded body in a state where the holding mechanism holds the molded body.
The present invention is configured to divide the burrs from the molded body in a state where the molded body is held by the holding mechanism, and therefore, the burrs can be effectively removed.
Various embodiments of the present invention are illustrated below. The embodiments shown below can be combined with each other.
Preferably, the robot system described above is configured such that the holding means includes a body holding means for holding the molded body.
Preferably, the robot system as described above, wherein the dividing means includes a burr removing means having an abutting body, and the body holding means is configured to divide the burr and the molded body by causing the burr to collide with the abutting body in a state where the molded body is held.
Preferably, in the robot system, the burr removing mechanism includes a pair of the contact bodies, a size of an opening between the pair of contact bodies is variable, and the opening is set to be in a state in which the molded body can pass through the opening and the burr collides with the contact body, so that the burr collides with the contact body.
Preferably, the robot system is configured such that the dividing mechanism includes at least one protruding mechanism, the protruding mechanism includes a protruding portion, and the robot system is configured to divide the burr and the molded body by moving the abutting body from the holding surface toward the opposing surface in a state where the protruding portion abuts against the opposing surface opposing the holding surface of the molded body held by the body holding mechanism.
Preferably, the robot system further includes a tilting member having a tilting surface, the tilting surface is disposed below the burr removing mechanism, and the burrs separated by the burr removing mechanism are transported while sliding along the tilting surface.
Preferably, in the robot system, the protruding means is disposed below the inclined surface, and the protruding portion protrudes from the inclined surface through a through hole provided in the inclined surface.
Preferably, in the robot system, the burr includes a burr body and a thin portion, the thin portion has a smaller wall thickness than the burr body and is provided along an edge of the molded body, the dividing mechanism includes at least one projecting mechanism including a projecting portion, and the projecting portion is configured to divide the burr body and the molded body by damaging the thin portion with the tip end by abutting the tip end of the projecting portion against the thin portion in a state where the molded body is held by the holding mechanism.
Preferably, the robot system as described above, wherein the dividing mechanism includes a plurality of the projecting mechanisms, and the plurality of projecting mechanisms are arranged at intervals along an edge of the molded body.
Preferably, the robot system is configured such that the holding mechanism includes a burr holding mechanism that holds the burr body.
Preferably, the robot system includes a 1 st die and a2 nd die which are openable and closable, wherein the 1 st die and the 2 nd die are configured to mold a parison to form the molded article, and the holding mechanism holds the molded article in a state where the molded article is held in the 1 st die after the molded article is formed.
Preferably, the robot system described above is such that the 1 st die is more easily engaged with the molded article than the 2 nd die.
Drawings
Fig. 1 is a longitudinal sectional view showing a state in which a parison 3 is arranged between opened molds 1,2 in embodiment 1 of the present invention.
Fig. 2 shows the state after the molds 1,2 are closed to mold the parison 3 from the state of fig. 1.
In fig. 3, fig. 3A is an enlarged view of the area a in fig. 1, and fig. 3B is an enlarged view of the area a in fig. 2.
Fig. 4 shows the state from fig. 2 after opening the molds 1, 2.
Fig. 5 shows a state after the molded body 4 is held by the holding mechanism 6a of the robot hand 6 from the state of fig. 4.
Fig. 6 shows the state of fig. 5 after the molded article 4 is removed from the molds 1, 2.
Fig. 7 is a view showing the shape and arrangement of the body holding mechanism 6a1, the projecting mechanism 6b1, and the molded body 4 in detail in a section corresponding to the section A-A in fig. 6.
Fig. 8 shows a state from fig. 6, in which the tip of the protruding portion 6b11 is brought into contact with the thin portion 4b2, and the thin portion 4b2 is damaged.
Fig. 9 is a view showing a state after the thin portion 4b2 is damaged in the partial region 4b21 of the thin portion 4b2, and corresponds to fig. 7.
Fig. 10 shows a state immediately before the molded body 4a and the burr body 4b1 are divided by the burr removing mechanism 8 from the state of fig. 8.
Fig. 11 shows a state after the molded body 4a and the burr body 4b1 are divided by the burr removing mechanism 8 from the state of fig. 10.
Fig. 12 is a view corresponding to fig. 6 in embodiment 2 of the present invention.
Fig. 13 is a view corresponding to fig. 4 in embodiment 3 of the present invention.
Fig. 14 is a view corresponding to fig. 5 in embodiment 3 of the present invention.
Fig. 15 is a view corresponding to fig. 6 in embodiment 3 of the present invention.
Fig. 16 is a view corresponding to fig. 8 in embodiment 3 of the present invention.
Fig. 17 is a view corresponding to fig. 2 in embodiment 4 of the present invention.
Fig. 18 is a view corresponding to fig. 4 in embodiment 4 of the present invention.
Fig. 19 is a view corresponding to fig. 6 in embodiment 5 of the present invention.
Fig. 20 is a view corresponding to fig. 8 in embodiment 5 of the present invention.
Fig. 21 is a view corresponding to fig. 6 in embodiment 6 of the present invention.
Fig. 22 is a diagram showing a state immediately before the thin portion 4b2 is damaged in embodiment 6 of the present invention.
Fig. 23 is a view corresponding to fig. 8 in embodiment 6 of the present invention.
Fig. 24 is a view corresponding to fig. 8 in embodiment 7 of the present invention.
Fig. 25 is a diagram showing a state in which molded body 4 is arranged between burr removing mechanism 8 and inclined member 13 in embodiment 8 of the present invention.
Fig. 26 shows a state where the opening 8b is reduced from the state of fig. 25 and the protruding portion 9a1 is brought into contact with the opposing surface 4a 1.
Fig. 27 is a view showing a state in which the abutting body 8a collides with the burr 4b from the state in fig. 26, and the burr 4b is split from the molded body 4 a.
Detailed Description
Hereinafter, embodiments of the present invention will be described. Various features shown in the embodiments shown below may be combined with each other. Each feature is independently established.
1. Embodiment 1
A method for producing a molded article according to embodiment 1 of the present invention will be described with reference to fig. 1 to 11. In addition, the shape and arrangement of the body holding mechanism 6a1, the protruding mechanism 6b1, and the molded body 4 are schematically shown for convenience of illustration in other figures than the detailed illustration of the shape and arrangement of the body holding mechanism 6a1, the protruding mechanism 6b1, and the molded body 4 in fig. 7 and 9. Therefore, the above-described configuration and arrangement in fig. 7 and 9 do not completely match those of the other drawings.
The method for producing a molded article according to the present embodiment includes: a molding step, a holding step, and a dividing step. The dividing step is preferably followed by a full-circle dividing step.
This manufacturing method can be implemented using the robot system 11 shown in fig. 4 and 10. The robot system 11 includes: a robot arm 7, a robot hand 6, a holding mechanism 6a, and a dividing mechanism 6b. The holding mechanism 6a is provided in the robot hand 6. The dividing mechanism 6b includes a protruding mechanism 6b1 and a burr removing mechanism 8. The protruding mechanism 6b1 is provided on the robot hand 6, and the burr removing mechanism 8 is separated from the robot hand 6.
1-1 Molding Process
As shown in fig. 1 to 4, in the molding step, the parison 3 is molded using the 1 st mold and the 2 nd mold 1,2 which can be opened and closed, to form the molded article 4.
First, as shown in fig. 1, a molten resin is extruded from a die gap provided in a die 5 to form a parison 3, and the parison is placed between a1 st die and a 2 nd dies 1, 2. The molten resin may be formed by melt-kneading a raw material resin. The raw material resin is, for example, a thermoplastic resin such as polyolefin, and examples of the polyolefin include: low density polyethylene, linear low density polyethylene, high density polyethylene, polypropylene, ethylene-propylene copolymers and mixtures thereof. The molten resin may or may not have a blowing agent added. When the foaming agent is added to the molten resin, the parison 3 is a foamed parison. The parison 3 may be cylindrical or sheet-like.
The molds 1,2 each have a cavity 1a,2a and a pressing portion 1b,2b provided along the edge thereof. As shown in fig. 3A, the mold 1 is provided with an undercut structure portion 1c. The undercut structure is a structure that forms an engagement structure between the molded body and the mold, and is, for example, an inverted cone shape. The undercut structure portion 1c may be provided in the cavity 1a or may be provided outside the pressing portion 1 b. The undercut structure portion 1c is preferably provided in a portion (for example, a pocket portion provided in an opening portion in the case where the molded article is a pipe) removed after molding in the molded body 4a or the burr body 4b1. This is because the molded product as the final product does not leave the engagement portion 4c molded by the undercut structure portion 1c (see fig. 6).
As shown in fig. 2, the molds 1,2 are closed in a state where the parison 3 is arranged between the molds 1,2, and the parison 3 in the cavities 1a,2a is molded in this state, whereby a molded article 4 is obtained. The molding method of the parison 3 includes: blow molding, vacuum forming, and the like.
As shown in fig. 6, the molded body 4 includes a molded body 4a as a product (molded article) and burrs 4b provided around the molded body. The shape of the molded body 4a follows the shape of the inner surfaces of the cavities 1a, 2a. The molded body 4a is preferably a hollow body. The interior of the hollow body can be air (such as a pipeline) or can be filled with a filler (such as a sandwich board) such as a foaming body. The burr 4b includes a burr body 4b1 and a thin-walled portion 4b2. The thin wall portion 4b2 has a smaller wall thickness than the burr body 4b1. The thin portion 4b2 is provided along the edge of the molded body 4 a.
The thin portion 4b2 is a portion formed by compressing the parison 3 with the pressing portions 1b,2b so that the thickness thereof becomes extremely thin. The part of the parison 3 that is located outside the pressing portions 1b,2b is a burr body 4b1.
The higher the pressure at the time of closing the die molds 1,2, the smaller the wall thickness of the thin portion 4b2, and the thin portion 4b2 is damaged by a dividing mechanism described later, so that the burr body 4b1 and the molded body 4a are easily divided. The thickness of the thin portion 4b2 is, for example, 0.001 to 0.5mm, specifically, for example, 0.001, 0.01, 0.05, 0.1, 0.2, 0.3, 0.4, 0.5mm, and may be in a range between any two values exemplified herein.
After shaping the parison 3, the shaped body 4 can be removed by opening the molds 1,2, as shown in fig. 4. Since the undercut structure portion 1c is provided in the cavity 1a, the molded body 4a is engaged with the mold 1 as shown in fig. 3B, and the molded body 4 is not easily separated from the mold 1. In contrast, since there is no undercut structure in the mold 2, the molded body 4 can be smoothly separated from the mold 2. As a result, the mold 1 is more likely to engage with the mold 4 than the mold 2, and when the molds 1,2 are opened after molding, the mold 4 moves together with the mold 1 in a state of being engaged with the mold 1 as shown in fig. 4.
1-2 Robot hand 6
The holding step and the dividing step are performed by using a robot hand 6 shown in fig. 4. The robot hand 6 is mounted on the robot arm 7 in use. The robot arm 7 has a function of moving the robot hand 6. The robot arm 7 may have as many axes as necessary to perform various steps included in the method of the present embodiment, and preferably has 6 or more axes.
The robot hand 6 includes a holding mechanism 6a and a protruding mechanism 6b1 on a base 6 c. The holding mechanism 6a is configured to hold the molded body 4. The protruding mechanism 6b1 is configured to be damaged at least at 1 of the thin portion 4b2 in a state where the molded body 4 is held by the holding mechanism 6a, thereby dividing the burr body 4b1 from the molded body 4a.
The holding mechanism 6a includes a body holding mechanism 6a1 that holds the molded body 4 a. The body holding mechanism 6a1 of the present embodiment is an adsorption sheet having a function of holding (adsorbing) the molded body 4a by adsorption force, but may be a member for holding the molded body 4a by other constitution.
The protruding mechanism 6b1 includes a protruding portion 6b11 and an actuator 6b12 that drives the protruding portion 6b 11. The actuator 6b12 is configured to change the position of the tip of the protruding portion 6b 11. The protruding portion 6b11 is configured such that the tip of the protruding portion 6b11 is brought into contact with the thin portion 4b2 by driving the actuator 6b12, and the thin portion 4b2 is damaged, thereby dividing the burr body 4b1 and the molded body 4a. The thin portion 4b2 may be damaged by strongly colliding the tip of the protruding portion 6b11 with the thin portion 4b2, or may be damaged by strongly pressing the tip of the protruding portion 6b11 against the thin portion 4b 2. In addition, when the tip of the protruding portion 6b11 is sharp, the thin portion 4b2 can be damaged by tearing the thin portion 4b2 with the tip of the protruding portion 6b 11.
The protruding mechanism 6b1 is constituted by, for example, a cylinder mechanism. The cross-sectional shape of the tip of the protruding portion 6b11 is not particularly limited, and may be a circular shape or another shape. The front end of the protruding portion 6b11 may be flat, curved, or sharp.
As shown in fig. 7, the molded body 4 of the present embodiment is configured such that burrs 4b are provided around a substantially L-shaped molded body 4 a. The body holding mechanism 6a1 is provided at a plurality of places (2 places), and the protruding mechanism 6b1 is also provided at a plurality of places (5 places). The plurality of protruding mechanisms 6b1 are arranged along the edge of the molded body 4a at intervals. Specifically, 2 protruding mechanisms 6b1 are disposed near the end of one side of the L, 2 protruding mechanisms 6b1 are disposed near the end of the other side of the L, and the remaining 1 protruding mechanism 6b1 is disposed inside the L-shaped corner. Whichever is provided at a position where the tip of the protruding portion 6b11 touches the thin portion 4b 2.
1-3 Holding procedure
In the holding step, the holding mechanism 6a holds the molded body 4. Specifically, as shown in fig. 4, the robot hand 6 is moved between the opened molds 1,2, and as shown in fig. 5, the body holding mechanism 6a1 is brought into contact with the molded body 4a to suction-hold the molded body 4a.
Next, in a state where the holding mechanism 6a holds the molded body 4, the molded body 4 is taken out from the molds 1,2 by moving the robot hand 6 as shown in fig. 6. At this time, the engagement portion 4c formed by the undercut structure portion 1c is elastically deformed, so that it is disengaged from the undercut structure portion 1c. Since the burr body 4b1 is connected to the die 5 in the state of fig. 5, the burr body 4b1 is torn off from the die 5 or the burr body 4b1 is cut using a cutting mechanism not shown, so that it becomes the state shown in fig. 6.
1-4 Dividing procedure
From the state of fig. 6, the actuator 6b12 is driven to bring the tip of the protruding portion 6b11 into contact with the thin portion 4b2, and as shown in fig. 8, the burr body 4b1 and the molded body 4a are separated by damage to the thin portion 4b2 at least at 1 of the thin portion 4b 2. As shown in fig. 9, since the protruding mechanism 6b1 of the present embodiment is provided at 5, the protruding portion 6b11 at 5 touches the region 4b21 near the portion of the thin portion 4b2, and the thin portion 4b2 is damaged.
As shown in fig. 9, the molded body 4a of the partial region 4b22 of the thin portion 4b2 is connected to the burr body 4b1 in a state after the dividing step.
Here, the dividing step is followed by a whole-circumference dividing step of dividing the molded body 4a and the burr body 4b1 over the whole circumference of the molded body 4 a.
1-5 Full circle dividing procedure
As shown in fig. 10, the whole-circumference dividing step divides the molded body 4a and the burr body 4b1 over the whole circumference of the molded body 4a by the burr removing mechanism 8.
As shown in fig. 10, the burr removing mechanism 8 is preferably provided with a pair of contact bodies 8a. An opening (gap) 8b is provided between the pair of contact bodies 8a. The pair of contact bodies 8a is configured to be able to change the size of the opening 8b.
The present step can be performed by the following method. First, as shown in fig. 10, the opening 8b is enlarged so that the entire molded body 4 can pass through the opening 8b in a state where the molded body 4 is positioned on the right side of the burr removing mechanism 8, and the molded body 4 is moved so that the entire molded body 4 passes through the opening 8b, and the molded body 4 is positioned on the left side of the burr removing mechanism 8. After that, the reduced opening 8b is in a state where the molded body 4a can pass but the burr body 4b1 cannot pass as shown in fig. 10.
Next, the molded body 4 is relatively moved with respect to the burr removing mechanism 8, so that the burr body 4b1 is brought into contact with the contact body 8a and the molded body 4a passes through the opening 8b. In fig. 10, the molded body 4 is moved rightward with respect to the burr removing mechanism 8. As described above, the thin portion 4b2 of the entire periphery of the molded body 4a is damaged, and only the molded body 4a passes through the opening 8b, and the molded body 4a and the burr body 4b1 of the entire periphery of the molded body 4a are divided as shown in fig. 11. In the dividing step, since the partial region 4b21 of the thin portion 4b2 is damaged, the damaged portion becomes a starting point, and the residual region 4b22 of the thin portion 4b2 is easily damaged.
In this step, only the molded body 4, only the burr removing mechanism 8, or both of them may be moved.
1-6 Post-process
As shown in fig. 11, the molded body 4a separated from the burr body 4b1 in the whole-circumference dividing step is connected to the remains 4b23 of the damaged thin-walled portion 4b 2. The debris 4b23 is appropriately removed by using a cutter or the like, or unnecessary portions (for example, a bag portion formed in an opening portion in the case of a duct) as a molded product are removed, whereby a molded product can be obtained.
2. Embodiment 2
Embodiment 2 of the present invention will be described with reference to fig. 12. The present embodiment is similar to embodiment 1, and the main difference is the difference in the dividing process. The differences are mainly described below.
In embodiment 1, the tip of the protruding portion 6b11 is brought into contact with the thin portion 4b2 from the state of fig. 6, but in this method, the molded body 4a may be separated from the holding mechanism 6a due to the impact when the protruding portion 6b11 is touched.
In the dividing step of the present embodiment, the burr body 4b1 and the molded body 4a are divided in a state where the opposing surface 4a1 opposing the holding surface 4a3 of the molded body 4 held by the holding mechanism 6a is in contact with the contact member 12 separated from the robot hand 6. That is, in this state, the protruding portion 6b11 is brought into contact with the thin portion 4b2.
According to this method, the molded body 4a can be prevented from being separated from the holding mechanism 6a by the impact at the time of touching the protruding portion 6b 11.
3. Embodiment 3
Embodiment 3 of the present invention will be described with reference to fig. 13 to 16. The present embodiment is similar to embodiment 1, and the main difference is the difference in the constitution of the robot hand 6. The differences are mainly described below.
The holding mechanism 6a of the present embodiment includes a burr holding mechanism 6a2 that holds the burr body 4b 1. As an example, the burr retaining mechanism 6a2 includes a clamp portion 6a21 that retains the burr body 4b1, and an actuator 6a22 that drives the clamp portion 6a21. The actuator 6a22 is configured to displace the clamping portion 6a21 or to open and close the clamping portion 6a21 when the clamping portion 6a21 clamps the burr body 4b 1. The molded body 4a is provided with 1 burr retaining mechanism 6a2 at an upper position and a lower position of the molded body 4 a.
The robot hand 6 includes a base 6d. The base 6c and the base 6d are connected by an actuator 6e, and the distance therebetween can be changed. The burr retaining mechanism 6a2 is provided on the base 6d. The robot arm 7 is coupled to the base 6d.
In the holding step of the present embodiment, as shown in fig. 13, the molded body 4 is held by holding the burr body 4b1 between the molds 1,2 in which the robot hand 6 is moved to the open state, by the burr holding mechanism 6a2 as shown in fig. 14. The molded body 4 may be removed from the molds 1,2 in this state, or the molded body 4a may be sucked and held by bringing the body holding mechanism 6a1 into contact with the molded body 4a. The molded body 4a may be held by the body holding mechanism 6a1 before the burr body 4b1 is clamped by the burr holding mechanism 6a 2.
Next, the molded body 4 is taken out from the molds 1,2 by moving the robot hand 6 as shown in fig. 15 in a state where the molded body 4 is held by the holding mechanism 6 a. The molded body 4a may be held by the body holding mechanism 6a1 before the molded body 4 is taken out of the mold, and the burr holding mechanism 6a2 may clamp the burr body 4b1 after the molded body 4 is taken out of the mold.
Next, in the dividing step, as in embodiment 1, the actuator 6b12 is driven so that the tip of the protruding portion 6b11 touches the thin portion 4b2 as shown in fig. 16. As described above, the thin portion 4b2 can be damaged at least 1 point of the thin portion 4b2 as shown in fig. 16.
In the present embodiment, since the tip of the protruding portion 6b11 is brought into contact with the thin portion 4b2 in a state where the burr holding mechanism 6a2 holds the burr body 4b1, the force applied by the protruding portion 6b11 is easily concentrated on the thin portion 4b2, and the thin portion 4b2 is easily damaged. When the tip of the protruding portion 6b11 touches the thin portion 4b2, the holding portion 6a21 is preferably moved in the opposite direction to the protruding portion 6b 11. As described above, the thin portion 4b2 is easily damaged due to the strong force applied to the thin portion 4b 2.
4. Embodiment 4
Embodiment 4 of the present invention will be described with reference to fig. 17 to 18. The present embodiment is similar to embodiment 1, with the main differences being the difference in the structure of the mold 1 and the provision of the burr holding mechanism 10. The differences are mainly described below.
The upper and lower sides of the dies 1,2 of the present embodiment are each provided with a burr holding mechanism 10, and the burr holding mechanism 10 has a function of holding the burr body 4b 1. The burr holding mechanism 10 may be attached to the robot hand 6 or may be a mechanism separate from the robot hand 6. The burr retaining mechanism 10 may also be provided on one of the upper and lower sides of the mold 1, 2.
In the present embodiment, as shown in fig. 17, the burr body 4b1 is clamped by the burr clamping mechanism 10 in a state where the molds 1,2 are closed. As shown in fig. 18, when the molds 1,2 are opened, the burr holding mechanism 10 is moved together with the mold 1. According to this structure, the molded body 4 can be moved together with the mold 1 without providing the undercut structure portion 1c to the mold 1.
Instead of moving the burr holding mechanism 10 together with the mold 1, the molded body 4 may be positioned between the molds 1,2, and the molded body 4 in this state may be held by the holding mechanism 6 a. When held by the holding mechanism 6a, the molded article 4 can be pressed against the mold 1. Further, the burr holding mechanism 10 may be configured to hold the molded body 4 and take it out of the molds 1, 2. At this time, the holding mechanism 6a holds the molded body 4 after being taken out from the molds 1, 2.
5. Embodiment 5
Embodiment 5 of the present invention will be described with reference to fig. 19 to 20. The present embodiment is similar to embodiment 1, and the main difference is the difference in the constitution of the dividing mechanism 6 b. The differences are mainly described below.
In the present embodiment, as shown in fig. 19, the dividing mechanism 6b includes at least one protruding mechanism 9a, and the protruding mechanism 9a is provided on a base 9b separated from the robot hand 6. The protruding mechanism 9a includes a protruding portion 9a1 and an actuator 9a2 for driving the protruding portion 9a1, and the thin portion 4b2 can be damaged by the same action as the protruding mechanism 6b 1. For example, the protruding mechanism 9a is configured as shown in fig. 7 in the same manner as the protruding mechanism 6b 1.
In the holding step of the present embodiment, as in embodiment 1, the molded body 4 is taken out of the molds 1,2 by moving the robot hand 6 in a state where the molded body 4 is held by the holding mechanism 6a as shown in fig. 5. Thereafter, as shown in fig. 19, the molded body 4 is moved to a position where the tip of the protruding portion 9a1 faces the thin portion 4b 2.
In the dividing step of the present embodiment, as shown in fig. 20, the actuator 9a2 is driven to bring the tip of the protruding portion 9a1 into contact with the thin portion 4b 2. As described above, the thin portion 4b2 can be damaged at least 1 of the thin portion 4b2 as shown in fig. 20.
6. Embodiment 6
Embodiment 6 of the present invention will be described with reference to fig. 21 to 23. The protruding mechanism 9a of the present embodiment is similar to embodiment 5, and the burr removing mechanism 8 is similar to embodiment 1. The differences are mainly described below.
In embodiment 1, the molded body 4a and the burr body 4b1 are separated by performing the full-circle dividing step after the dividing step damages a part of the thin-walled portion 4b2, but the present embodiment may separate the molded body 4a and the burr body 4b1 in one step.
In the present embodiment, the dividing mechanism 6b includes a protruding mechanism 9a and a burr removing mechanism 8 as shown in fig. 21.
The present step can be performed by the following method. First, the molded body 4 and the burr removal mechanism 8 are arranged as shown in fig. 21 by the same method as in embodiment 1.
Next, when the protruding portion 9a1 and the abutting body 8a are relatively moved from the state of fig. 21 toward the direction in which the protruding portion 9a1 faces the opening 8b, the tip of the protruding portion 9a1 abuts against the thin portion 4b2 and the abutting body 8a abuts against the burr body 4b1 as shown in fig. 22.
When the protruding portion 9a1 and the contact body 8a are moved further relatively from the state of fig. 22, the thin portion 4b2 is damaged over the entire periphery of the molded body 4a, and the molded body 4a and the burr body 4b1 are separated as shown in fig. 23. In one example, the thin portion 4b2 is damaged at the tip of the protruding portion 9a1, and the damaged portion becomes a starting point, and then other portions are damaged.
The relative movement between the protruding portion 9a1 and the contact body 8a may be performed by moving only the contact body 8a, or by moving only the protruding portion 9a1, or by moving both. As a method for moving the protruding portion 9a1, the entire protruding mechanism 9a may be moved, or the actuator 9a2 may be driven to move only the protruding portion 9a 1.
7. Embodiment 7
Embodiment 7 of the present invention will be described with reference to fig. 24. The present embodiment is similar to embodiment 6, with the main difference being the difference in the position of the protruding mechanism 9 a. The differences are mainly described below.
In the present embodiment, as shown in fig. 24, the tip of the protruding mechanism 9a is in contact with the edge 4a2 of the molded body 4a or is disposed in a very close position. At this time, when the molded body 4a and the burr body 4b1 are separated, most or all of the thin portion 4b2 is connected to the burr body 4b1, and the thin portion 4b2 is hardly or not left in the molded body 4a at all. In this case, the subsequent step of removing the thin portion 4b2 from the molded body 4a can be omitted.
8. Embodiment 8
Embodiment 8 of the present invention will be described with reference to fig. 25 to 27. The present embodiment is similar to embodiment 7, and the main difference is the difference in the constitution of the dividing mechanism 6 b. The differences are mainly described below.
In the robot system 11 of the present embodiment, the dividing mechanism 6b includes the projecting mechanism 9a and the burr removing mechanism 8. An inclined member 13 having an inclined surface 13a is disposed below the burr removing mechanism 8. The inclined surface 13a is provided with a through hole 13b. The protruding mechanism 9a is disposed below the inclined surface 13 a. The protruding portion 9a1 may protrude from the inclined surface 13a through the through hole 13b. Preferably, a plurality of protruding mechanisms 9a are provided, and the plurality of protruding mechanisms 9a are disposed at positions apart from each other.
The dividing step of the present embodiment can be performed by the following method.
First, as shown in fig. 4 to 6 and 25, the holding mechanism 6a holds the molded body 4 by the same method as in embodiment 1. Specifically, the body holding mechanism 6a1 holds the molded body 4a on the holding surface 4a 3.
Next, as shown in fig. 25, in a state where the opening 8b between the pair of contact bodies 8a is sufficiently large, the molded body 4 is moved so that the molded body 4 passes through the opening 8b, and the burr 4b is disposed at a position lower than the contact body 8 a.
Next, as shown in fig. 26, the protruding portion 9a1 is extended so that the tip of the protruding portion 9a1 abuts against the opposing surface 4a1 opposing the holding surface 4a 3. As described above, the molded body 4a can be prevented from being separated from the body holding mechanism 6a1 when the burr 4b collides with the contact body 8a 1. The opening 8b is sized to allow the molded body 4a to pass therethrough and the burr 4b collides with the contact body 8a.
In this state, as shown in fig. 27, the contact body 8a is moved from the holding surface 4a3 toward the opposing surface 4a1 (in the arrow X direction in fig. 26). As described above, the burr 4b collides with the contact body 8a1, and the burr 4b is divided from the molded body 4 a. The divided burrs fall on the inclined surface 13a, and slide along the inclined surface 13a to be transported to the conveyor 14 disposed downstream of the inclined surface 13 a. The burrs 4b placed on the conveyor 14 are transported to a burr grinder (not shown), and are crushed by the burr grinder and recycled. In this case, the burr 4b slides off the inclined surface 13a when the protruding portion 9a1 is retracted after the dividing step so as not to protrude beyond the inclined surface 13a, although the burr 4b may be caught by the protruding portion 9a1 (the burr 4b is always caught by the protruding portion 9a1 when it is located on the entire periphery of the molded body 4 a).
After the burrs 4b are removed, the molded body 4a is still held by the body holding mechanism 6a1, and in this state, the robot arm 7 moves the molded body 4a to a place where the next process is performed. For example, when the molded product is a pipe, the next step is a bag cutting step, and therefore the molded body 4a is moved to a place where a bag cutting mechanism is provided.
After the burr 4b is divided, the protruding means 9a and the burr removing means 8 return to the state shown in fig. 25, and the next molded body 4 is processed.
In the above embodiment, the abutting body 8a is moved downward from the state of fig. 26 to collide the burr 4b with the abutting body 8a1, but the molded body 4 may be moved upward from the state of fig. 26 to collide the burr 4b with the abutting body 8a1, or the abutting body 8a and the molded body 4 may be moved to approach each other.
In the above embodiment, as shown in fig. 26, the abutting body 8a may be moved downward from a state where the burr 4b is positioned below the abutting body 8a1, but the abutting body 8a1 may be moved upward from a state where the burr 4b is positioned above the abutting body 8a1, or the molded body 4 may be moved downward. At this time, the size of the opening 8b may be invariable, and one abutment 8a may be used instead of a pair of abutments 8a, and the abutment 8a may have an opening having a size that allows the molded body 4a to pass through and the burr 4b to collide with the abutment 8 a. In addition, since the force is not easily applied to the direction in which the molded body 4a is separated from the body holding mechanism 6a1 at this time, the protruding mechanism 9a can be omitted.
9. Other embodiments
The present invention can also be implemented in the following manner.
The actuator of the protruding mechanism 6b1,9a may be omitted.
(Symbol description)
1:1 St die, 1a: cavity, 1b: compression part, 1c: undercut structure, 2: 2 nd die, 2a: cavity, 2b: compression part, 3: parison, 4: molded body, 4a: molded body, 4a1: opposing surface, 4a2: edge, 4a3: holding surface, 4b: burr, 4b1: burr body, 4b2: thin wall portion, 4b21: region, 4b22: region, 4b23: debris, 4c: engagement portion, 5: die head, 6: robot hand, 6a: holding mechanism, 6a1: body holding mechanism, 6a2: burr retaining mechanism, 6a21: clamping portion, 6a22: actuator, 6b: dividing mechanism, 6b1: protruding mechanism, 6b11: protrusion, 6b12: actuator, 6c: base, 6d: base, 6e: actuator, 7: robot arm, 8: burr removal mechanism, 8a: abutment, 8b: opening, 9a: protruding mechanism, 9a1: protrusion, 9a2: actuator, 9b: base, 10: burr fixture, 11: robot system, 12: abutment member, 13: tilting member, 13a: inclined surface, 13b: through holes, 14: and a conveyor.
Claims (11)
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019-099391 | 2019-05-28 | ||
| JP2019099391 | 2019-05-28 | ||
| JP2019124784A JP7244758B2 (en) | 2019-05-28 | 2019-07-03 | Robot system, manufacturing method of molded products |
| JP2019-124784 | 2019-07-03 | ||
| PCT/JP2020/020253 WO2020241478A1 (en) | 2019-05-28 | 2020-05-22 | Robot system, and method for manufacturing molded article |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113692334A CN113692334A (en) | 2021-11-23 |
| CN113692334B true CN113692334B (en) | 2024-06-04 |
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| CN202080028544.2A Active CN113692334B (en) | 2019-05-28 | 2020-05-22 | Robot system and method for manufacturing molded article |
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| JP (1) | JP7244758B2 (en) |
| CN (1) | CN113692334B (en) |
| TW (1) | TWI864004B (en) |
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| CN112793125B (en) * | 2020-12-17 | 2022-07-15 | 杭州恒新塑业有限公司 | Polymer packaging container processing device and processing technology applying same |
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Also Published As
| Publication number | Publication date |
|---|---|
| TWI864004B (en) | 2024-12-01 |
| TW202043009A (en) | 2020-12-01 |
| CN113692334A (en) | 2021-11-23 |
| JP7244758B2 (en) | 2023-03-23 |
| JP2020196115A (en) | 2020-12-10 |
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