CN114311558B - 成型品取出系统的示教方法以及成型品取出系统 - Google Patents

成型品取出系统的示教方法以及成型品取出系统

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Publication number
CN114311558B
CN114311558B CN202111147605.XA CN202111147605A CN114311558B CN 114311558 B CN114311558 B CN 114311558B CN 202111147605 A CN202111147605 A CN 202111147605A CN 114311558 B CN114311558 B CN 114311558B
Authority
CN
China
Prior art keywords
image
frame
mold
molded article
virtual
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111147605.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN114311558A (zh
Inventor
渡边文武
安藤一贵
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yushin Co
Original Assignee
Yushin Precision Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yushin Precision Equipment Co Ltd filed Critical Yushin Precision Equipment Co Ltd
Publication of CN114311558A publication Critical patent/CN114311558A/zh
Application granted granted Critical
Publication of CN114311558B publication Critical patent/CN114311558B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C33/00—Moulds or cores; Details thereof or accessories therefor
    • B29C33/44—Moulds or cores; Details thereof or accessories therefor with means for, or specially constructed to facilitate, the removal of articles, e.g. of undercut articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C45/4225—Take-off members or carriers for the moulded articles, e.g. grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/24—Use of tools
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C37/00—Component parts, details, accessories or auxiliary operations, not covered by group B29C33/00 or B29C35/00
    • B29C2037/90—Measuring, controlling or regulating
    • B29C2037/906—Measuring, controlling or regulating using visualisation means or linked accessories, e.g. screens, printers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C2045/4266—Robot grippers movable along three orthogonal axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
    • B29C2045/7633—Take out or gripping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76451—Measurement means
    • B29C2945/76461—Optical, e.g. laser
    • B29C2945/76464—Optical, e.g. laser cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76655—Location of control
    • B29C2945/76792—Auxiliary devices
    • B29C2945/76795—Auxiliary devices robots, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76822—Phase or stage of control
    • B29C2945/76899—Removing or handling ejected articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76929—Controlling method
    • B29C2945/76939—Using stored or historical data sets
    • B29C2945/76949—Using stored or historical data sets using a learning system, i.e. the system accumulates experience from previous occurrences, e.g. adaptive control

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Business, Economics & Management (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Educational Technology (AREA)
  • Educational Administration (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Moulds For Moulding Plastics Or The Like (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)
  • Closed-Circuit Television Systems (AREA)
CN202111147605.XA 2020-09-30 2021-09-28 成型品取出系统的示教方法以及成型品取出系统 Active CN114311558B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-164907 2020-09-30
JP2020164907A JP7534907B2 (ja) 2020-09-30 2020-09-30 成形品取出システムのティーチング方法及び成形品取出機

Publications (2)

Publication Number Publication Date
CN114311558A CN114311558A (zh) 2022-04-12
CN114311558B true CN114311558B (zh) 2026-01-02

Family

ID=77998897

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111147605.XA Active CN114311558B (zh) 2020-09-30 2021-09-28 成型品取出系统的示教方法以及成型品取出系统

Country Status (4)

Country Link
US (1) US20220097261A1 (https=)
EP (1) EP3978217B1 (https=)
JP (1) JP7534907B2 (https=)
CN (1) CN114311558B (https=)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104908038A (zh) * 2014-03-12 2015-09-16 发那科株式会社 对工件的取出工序进行仿真的机器人仿真装置
CN108527362A (zh) * 2017-03-03 2018-09-14 株式会社基恩士 机器人设置设备、机器人设置方法和计算机可读记录介质

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4523392B2 (ja) * 2004-11-30 2010-08-11 株式会社ユーシン精機 取出機の手動操作装置
JP2006350602A (ja) 2005-06-15 2006-12-28 Yushin Precision Equipment Co Ltd 操作端末装置
JP4823752B2 (ja) 2006-04-21 2011-11-24 株式会社タイテック 成形品取り出し機
JP6236721B2 (ja) * 2013-02-12 2017-11-29 藤垣　元治 形状計測装置および形状計測方法
JP6382918B2 (ja) * 2016-12-02 2018-08-29 ファナック株式会社 成形機および成形品取出し装置を備える成形システム
CN108161931A (zh) * 2016-12-07 2018-06-15 广州映博智能科技有限公司 基于视觉的工件自动识别及智能抓取系统
JP6995633B2 (ja) 2017-01-16 2022-01-14 株式会社ユーシン精機 成形品取出システム
JP6450790B2 (ja) * 2017-03-02 2019-01-09 ファナック株式会社 表示システムおよび表示方法
JP6859183B2 (ja) * 2017-05-16 2021-04-14 株式会社ユーシン精機 成形品取出機
US11348257B2 (en) * 2018-01-29 2022-05-31 Philipp K. Lang Augmented reality guidance for orthopedic and other surgical procedures
US20220079675A1 (en) * 2018-11-16 2022-03-17 Philipp K. Lang Augmented Reality Guidance for Surgical Procedures with Adjustment of Scale, Convergence and Focal Plane or Focal Point of Virtual Data

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104908038A (zh) * 2014-03-12 2015-09-16 发那科株式会社 对工件的取出工序进行仿真的机器人仿真装置
CN108527362A (zh) * 2017-03-03 2018-09-14 株式会社基恩士 机器人设置设备、机器人设置方法和计算机可读记录介质

Also Published As

Publication number Publication date
JP2022056910A (ja) 2022-04-11
US20220097261A1 (en) 2022-03-31
EP3978217A1 (en) 2022-04-06
CN114311558A (zh) 2022-04-12
EP3978217B1 (en) 2023-03-29
JP7534907B2 (ja) 2024-08-15

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