EP3959041A1 - BAUTEIL-HANDHABUNGSVORRICHTUNG ZUM BAUTEILHANDLING UND DAMIT AUSGERÜSTETE SPRITZGIEßMASCHINE - Google Patents
BAUTEIL-HANDHABUNGSVORRICHTUNG ZUM BAUTEILHANDLING UND DAMIT AUSGERÜSTETE SPRITZGIEßMASCHINEInfo
- Publication number
- EP3959041A1 EP3959041A1 EP20722223.3A EP20722223A EP3959041A1 EP 3959041 A1 EP3959041 A1 EP 3959041A1 EP 20722223 A EP20722223 A EP 20722223A EP 3959041 A1 EP3959041 A1 EP 3959041A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- axis
- handling
- robot arm
- linear axis
- rotation
- 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.)
- Pending
Links
- 238000001746 injection moulding Methods 0.000 title claims abstract description 36
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 9
- 230000008901 benefit Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 5
- 238000011109 contamination Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000036961 partial effect Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
-
- 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
Definitions
- Component handling device for component handling and injection molding machine equipped with it
- the invention relates to a component handling device for component handling in working or processing machines, such as, for example, in injection molding machines, and an injection molding machine equipped therewith.
- the problems of the prior art on which the invention is based will be explained in more detail using the example of an injection molding machine.
- the usual handling devices for removing components from injection molding machines are usually based on 4-axis linear robots that have three translatory and at least one, but also up to three rotary axes .
- Such a handling s device as it is also known, for example, as a portal robot for the supply of machine tools with work and workpieces from DE 41 27 446 A1, is shown in FIG. 8 in an application in which the handling s device 1 'is on the fixed tool platen 2 of an injection molding machine is saddled up.
- the translational axes are used to change the position of the gripping tool 5 'for the handling component BT in space, the rotary axis (s) R 1 its change in orientation, for example for removing the component BT positioned upright in the open injection molding tool and storing it a horizontal beam 6 '.
- These handling devices are built above the injection molding machine and have a cubic work space
- the aforementioned type of handling device has various disadvantages.
- the three translational axes T 1 T 2 T 3 are usually designed as open guides with so-called loss lubrication, which carries a high risk of contamination of the tool or the components manufactured therein brings itself. This applies above all to the axes of the handling device 1 ′ located cyclically directly above and / or in the tool and component storage area.
- two additional axes of rotation R 'R 2 are required, which are arranged at the end of the kinematic chain of the three linear axes T 1 T 2 T 3 , ie on the third translational axis T 3 .
- These two rotation axes R 3 R 2 must therefore be moved with each movement of the third translatory axis T 3 in the earth's gravity field, which leads to a high energy use with a correspondingly unfavorable energy balance.
- the arrangement of the rotational axis (s) on the third linear axis leads to an increased tendency to vibrate due to a pen- deleffect, which may have to be counteracted by reducing the payload on the third translational axis.
- the second translational axis T 2 is designed as a rigid, on the first translational axis T 1 displaceable Auser 7 ', on which the third translational axis T 3 moves vertically, there is a long time in particular in the vertical direction Components have a considerable risk of collision with this boom 7 'when the components are removed from the open injection molding tool.
- Such a collision situation between the hatched, elongated construction part BT with this boom 7 ' is shown in FIG.
- the limited cubic robot workspace of this handling s device 1 remains unchanged by adding further rotational degrees of freedom, so it cannot be increased because these rotational degrees of freedom only change the orientation of the gripping tool.
- Both constructions have in common that the two rotary axes R 'R 2 are forcibly coupled around a horizontal axis to compensate for the position and orientation of the object to be gripped, so as far as no real separate degrees of freedom are created by the two axes of rotation.
- the handling space that can be covered by these handling devices is severely limited to the projection side of the boom that can pivot about the axes of rotation.
- Another known handling device is based on a so-called SCARA robot, in which two successive, parallel len rotary axes R 1 and R 2 a parallel to this axis ver slidable translational axis T 1 and at least one further rotation axis R 3 follow.
- the translational axis T 1 is centric to the third axis of rotation R 3 , which makes the use of round guides and ball screw spindles necessary for the movement of these two axes and these guide and drive elements are well suited for axial loads, but are mechanically sensitive Radial loads and impacts, such as those that occur particularly when handling components in injection molding tools.
- the mechanical stiffnesses, travel paths and speeds that can be achieved or required for the axis T 1 are probably not sufficient, especially when used in injection molding machines.
- the first arm of the robot can be lengthened or shortened as required by using connecting pieces. This means that the arms of the SCARA robot have different lengths.
- JP 04115885 A discloses a handling system for workpieces with a manipulation arm having three rotary axes R 'R 2 R' movable on a linear axis T 1 . Since this device does not have a linear vertical axis, the cantilever arms, which are movably driven by the axes of rotation, must be made comparatively long for a sufficiently large handling space. This in turn leads to a higher construction effort for the weights of the arms to be controlled and, if necessary, losses in the load-bearing capacity of the handling s device.
- DE 39 07 331 A1 shows a palletizing robot in which hanging on a translational axis T 1 two rotary axes R 'R 2 are connected to easily reach a lifting table placed underneath the cross member with the axis T 1 for palletizing printed products to be able to.
- Such a construction is used to handle workpieces, for example from an injection molding machine can not be used, as the space under the crossbeam is occupied by the mold plates of the injection molding machine.
- the invention is based on the object of a component handling
- Lubricant contamination lower risk of collision when removing components, greater flexibility when removing components, higher payload and energy efficiency, larger working space and much more is improved.
- a vertical linear axis connected to the second robot arm eccentrically to the secondary axis of rotation, as well as - A gripping device connected to the vertical linear axis for a component to be handled.
- the second rotary axis R 2 only leads the second linear axis T 2 over the handling area, the number of open lubrication points there is in a ratio of 2 to 1 compared to the prior art, and thus the risk of contamination is considerable reduced.
- the tendency to oscillate in the subject matter of the invention is due to the arrangement of the axis of rotation R 2 in front of the translational axis T 2 in the kinematic chain by the mentioned pendulum effect not increased and there is therefore no reduction in the payload on the translatory axis T 2 . This brings an improved energy balance with it.
- Another advantage of the axis conception according to the invention lies in the expansion of the working area which, for example, compared to the kinematic chain T'T ⁇ T 'R 1 can extend oval-shaped around the entire linear axis T 1 , whereby the working area laterally and also to the rear is expanded without the basic dimensions of the robot structure having to increase.
- the basic linear axis T 1 expediently runs horizontally, whereby in the application of the handling s device for the removal of components from an injection molding machine, the basic linear axis T 1 can be arranged in different arrangements to the workspace of the injection molding machine, such as transverse or parallel for the closing direction of the injection molding machine, on the operating or opposite side as well as on the fixed or in the area of the movable mold clamping plate. So is an optimal adaptability of the handling area to the spatial conditions in a workshop and accessibility of the handling area between the open mold clamping plates and to the side of it for storing the components removed from the mold.
- the effective length of the first robot arm can be a multiple, in particular at least three times, preferably at least four times, particularly preferably at least five times the effective length of the second robot arm. Due to this length, in connection with the displaceability of the first rotary axis along the first translatory axis, a comparatively large area can be covered by the handling device.
- the vertical linear axis T 2 connected to the second robot arm can also have a guide which is fixedly attached to the second robot arm and in which a vertical guide cross member is displaceably mounted. This effectively prevents a risk of collision between a component held on the gripping tool and a structure of the handling device.
- the invention in contrast to the prior art kinematic chains T 1 T 2 T 3 R 1 and T 1 R 1 T 2 R 2 R 3, the addition of a swiveling axis of rotation is sufficient at the lower end of the vertical linear axis. With every movement of the latter in the earth's gravitational field, only this axis of rotation has to be moved, which in turn benefits an improved energy balance.
- the invention finally relates to an injection molding machine comprising an injection unit, a clamping unit with a fixed and a movable mold clamping plate and a handling device according to the invention discussed above.
- Fig. 1 is a perspective schematic representation of a component
- Fig. 2 is a plan view of the open tool clamping plates an injection molding machine with saddle-mounted component handling s device in an exemplary philosophicalsi situation
- FIG. 3 and 4 a side view and top view of the component handling device according to FIG. 2,
- Fig. 5 is a side view of an injection molding machine with attached component handling s device during the component removal process
- Fig. 6 is a schematic plan view of a handling s Vorrich device with drawn theoretical work space
- FIG. 7 shows a compilation of top views analogous to FIG. 2 of various relative positions of handling s. direction to injection molding machine
- FIG. 8 shows a side view analogous to FIG. 5 with a component
- the handling device 1 shown comprises a horizontal base linear axis T 1 which is formed by a longitudinal guide 8.
- a type of SCARA robot is set up thereon as a multi-axis arrangement 9 so as to be translationally displaceable in the direction of this axis.
- the shift drive takes place, for example, via electric motor-gear units in combination with toothed belts or racks or directly via linear motors in the longitudinal guide 8.
- the multi-axis arrangement 9 comprises a base head 10 in which the drive for a first vertical main axis of rotation R 1 is housed is.
- a likewise vertical and thus parallel to the main axis of rotation R 1 running secondary axis of rotation R 2 is connected, which in turn can be pivoted by a corresponding drive via a second robot arm 12 in Fig. 1 in its horizontal extent indicated by hatched handling space HR leads.
- a vertical linear axis T 2 to be discussed in more detail with reference to FIG. 3 is connected to the second robot arm 12 with an eccentricity e, at the lower end 13 of which via a third, horizontal swivel-rotation axis R 3 a gripping tool 5 for a in FIG. 1 not shown construction part is connected.
- a component can by means of the gripping tool 5 through a correspondingly programmed assisted path control can be maneuvered within the handling room HR in the gravity field g, for example to remove an injection molded component from an open mold and place it on a base, such as the carrier 6 'according to FIG.
- the handling s device 1 is shown in a realistic design and application. It is saddled via a base 14 on the fixed platen 2 of the injection molding machine shown in FIGS. 2 and 5, the base fine axis T 1 running parallel to the platen 2 plane, ie transversely to the closing direction SR platen 2, 3.
- the base head 10 is guided longitudinally displaceably by means of a corresponding drive motor 15.
- the first robot arm 11 is mounted to pivot about the main axis of rotation R 1 by means of a drive motor 16.
- the secondary axis of rotation R 2 is arranged, with which the second robot arm 12 is pivotably driven via a further drive motor 17.
- the effective catch Fn of the first robot arm 11 corresponds approximately to five times the effective catch Ln of the second robot arm 12.
- the vertical fine axis T 2 is arranged at the free end of the second robot arm 12.
- the guide 18 of this fine axis T 2 with its drive motor 19 is fixedly arranged on the second robot arm 12 and guides the vertical guide cross member 20 of the fine axis T 2 .
- the pivot axis of rotation R 3 is finally attached, with the help of which the gripping tool 5 is pivotable about a horizontal axis to change the orientation of a component held by it.
- a component BT that is very projecting in the vertical direction can, for example, be gripped with the aid of the gripping tool 5 and moved upwards out of the space between the clamping plates 2, 3 without the risk of collision, since there is no part of the handling via the front of the guide cross-member 20 s device 1 protrudes.
- FIG. 6 shows a representation analogous to FIG. 2 without the fixed clamping plate of an injection molding machine, the handling space HR then being guided around the rear of the longitudinal guide 8. This represents the maximum theoretical handling space HR of the handling device 1 shown.
- FIG. 7 A to E different arrangement s variants of the fiction, contemporary handling s device 1 relative to an injection molding machine with its fixed and movable platen 2, 3 are shown.
- Partial image A corresponds to FIG. 2.
- the components are deposited on the opposite side of the machine, BGS.
- partial image B the entire arrangement with the arrangement of the longitudinal guide 8 is transverse to the closing direction SR about the central axis of the injection molding machine mirrored so that the components are deposited on the operating side BS of the injection molding machine.
- the machine operator 21 indicated in the drawing is protected in this arrangement by appropriate measures, such as a grid housing or the like.
- the longitudinal guide 8 is positioned parallel to the closing direction SR of the injection molding machine on the opposite side of the operator BGS. This means that space requirements that are narrow in terms of width can be met.
- the longitudinal guide 8 of the handling device 1 transversely to the closing direction SR in each case in the area of the open, movable platen 3 is elevated over this so that the handling space HR is either on the opposite side BGS (Fig. 7 D) or the operating side BS (Fig. 7 E) is sufficient. In the latter case, protective measures are again provided for the machine operator 21.
- FIG. 7 F in which the handling device 1 according to the prior art shown in FIG. 8 is shown with its significantly smaller handling space HR ‘with a significantly larger space requirement of the multi-axis arrangement.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
- Manipulator (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019205940.6A DE102019205940A1 (de) | 2019-04-25 | 2019-04-25 | Bauteil-Handhabungsvorrichtung zum Bauteilhandling und damit ausgerüstete Spritzgießmaschine |
PCT/EP2020/059925 WO2020216613A1 (de) | 2019-04-25 | 2020-04-07 | BAUTEIL-HANDHABUNGSVORRICHTUNG ZUM BAUTEILHANDLING UND DAMIT AUSGERÜSTETE SPRITZGIEßMASCHINE |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3959041A1 true EP3959041A1 (de) | 2022-03-02 |
Family
ID=70470977
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20722223.3A Pending EP3959041A1 (de) | 2019-04-25 | 2020-04-07 | BAUTEIL-HANDHABUNGSVORRICHTUNG ZUM BAUTEILHANDLING UND DAMIT AUSGERÜSTETE SPRITZGIEßMASCHINE |
Country Status (8)
Country | Link |
---|---|
US (1) | US20220177237A1 (de) |
EP (1) | EP3959041A1 (de) |
JP (1) | JP2022530120A (de) |
CN (1) | CN114364491A (de) |
CA (1) | CA3138003A1 (de) |
DE (1) | DE102019205940A1 (de) |
MX (1) | MX2021012806A (de) |
WO (1) | WO2020216613A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112495648B (zh) * | 2020-12-14 | 2021-11-30 | 邵帅 | 一种工厂大型钢材涂层装置 |
DE102022125563A1 (de) | 2022-10-04 | 2024-04-04 | J.Schmalz Gmbh | Handhabungsvorrichtung |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6126111A (ja) * | 1984-07-16 | 1986-02-05 | Shin Meiwa Ind Co Ltd | 産業用ロボツト |
DE8704440U1 (de) * | 1987-03-25 | 1987-07-23 | I. Penkert Metallbearbeitungs-GmbH, 8501 Allersberg | Handhabungsmaschine für eine Vielzahl von selbsttätig ausführbaren Arbeitsschritten, insbesondere mit modularem Aufbau |
DE3907331A1 (de) * | 1988-12-31 | 1990-07-05 | System Gmbh | Palettierroboter |
JPH03239487A (ja) * | 1990-02-19 | 1991-10-25 | Canon Inc | 視覚を備えた自動組立装置 |
JPH04115885A (ja) * | 1990-09-06 | 1992-04-16 | Mitsubishi Electric Corp | 走行ロボット及び走行ロボット付装置 |
DE4127446C2 (de) * | 1991-08-16 | 1995-05-11 | Mannesmann Ag | Portalroboter zur mehrdimensionalen Bewegung von Teilen |
JPH05293780A (ja) * | 1992-02-06 | 1993-11-09 | Daikin Ind Ltd | 直交座標型産業用ロボット |
CH687370A5 (de) * | 1993-06-15 | 1996-11-29 | Robotec Consulting Ag | Knickarmvorrichtung fuer Handhabungsautomaten und Industrieroboter. |
US5802201A (en) * | 1996-02-09 | 1998-09-01 | The Trustees Of Columbia University In The City Of New York | Robot system with vision apparatus and transparent grippers |
JP3196111B2 (ja) * | 1997-08-21 | 2001-08-06 | 日精樹脂工業株式会社 | 射出成形機のロボット機構 |
JP5354614B2 (ja) * | 2011-05-19 | 2013-11-27 | 株式会社スター精機 | 樹脂成形品取出し機 |
AT514707B1 (de) * | 2013-09-27 | 2015-03-15 | Engel Austria Gmbh | Handlingvorrichtung für eine Formgebungsmaschine |
WO2016103304A1 (ja) * | 2014-12-26 | 2016-06-30 | 川崎重工業株式会社 | 生産システム |
ITUB20160906A1 (it) * | 2016-02-19 | 2017-08-19 | Comau Spa | Robot industriale multi-asse |
CN106175934B (zh) * | 2016-06-29 | 2019-04-30 | 微创(上海)医疗机器人有限公司 | 手术机器人及其机械臂 |
DE102016119470B4 (de) * | 2016-10-12 | 2021-11-11 | Klaus-Dieter Klement Verwaltungs Gmbh | Handhabungseinrichtung |
DE102016119619B4 (de) * | 2016-10-14 | 2020-06-10 | Marco Systemanalyse Und Entwicklung Gmbh | Dosierroboter |
JP6637928B2 (ja) * | 2017-06-21 | 2020-01-29 | 株式会社大気社 | 自動研磨システム |
CN108381530A (zh) * | 2018-04-25 | 2018-08-10 | 佛山市顺德区晶睿机电科技有限公司 | 一种玻璃板上下料机械手臂 |
CN108544482A (zh) * | 2018-05-29 | 2018-09-18 | 上海达野智能科技有限公司 | Scara机器人 |
-
2019
- 2019-04-25 DE DE102019205940.6A patent/DE102019205940A1/de active Pending
-
2020
- 2020-04-07 MX MX2021012806A patent/MX2021012806A/es unknown
- 2020-04-07 US US17/594,384 patent/US20220177237A1/en active Pending
- 2020-04-07 CA CA3138003A patent/CA3138003A1/en active Pending
- 2020-04-07 JP JP2021563315A patent/JP2022530120A/ja active Pending
- 2020-04-07 EP EP20722223.3A patent/EP3959041A1/de active Pending
- 2020-04-07 WO PCT/EP2020/059925 patent/WO2020216613A1/de unknown
- 2020-04-07 CN CN202080031302.9A patent/CN114364491A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
US20220177237A1 (en) | 2022-06-09 |
JP2022530120A (ja) | 2022-06-27 |
MX2021012806A (es) | 2021-11-12 |
DE102019205940A1 (de) | 2020-10-29 |
CN114364491A (zh) | 2022-04-15 |
WO2020216613A1 (de) | 2020-10-29 |
CA3138003A1 (en) | 2020-10-29 |
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