JP2015160422A - Deburring device for synthetic resin molding equipped with robot arm - Google Patents

Abstract

PROBLEM TO BE SOLVED: To develop a deburring device which does not cause entanglement of burr, separated by using a robot arm, with a holding arm.SOLUTION: A deburring device includes a holding part holding a molding, at least one holding arm which fixes the molding held in the holding part, a robot arm holding burr of a fixed molding and a controller. The controller starts an operation of separating burr from the molding along the contour line of the molding by controlling continuously operations of the holding arm and the robot arm. When the separation part between the molding and burr approaches the holding arm, the robot arm is moved in the opposite direction so that the tensile force of the robot arm acting on burr is weakened temporarily, and the holding arm is retreated from the movement path for burr to release fixation by the holding arm, leading to resumption of the separation operation of the robot arm.

Description

  Embodiments described herein relate generally to a deburring device for a synthetic resin molded product using a robot arm.

  In the case of producing a molded product using a synthetic resin or the like as a raw material, a so-called burr is formed in which a part of the resin raw material protrudes from the gap between the mating surfaces of the molds and is cured. Usually, burrs are cut one by one using a cutter knife or the like manually in the finishing process (deburring operation). The shape of the burrs varies depending on the shape of the molded product, and the skill of the worker is required to cut the burrs accurately in a short time. For this reason, it takes a lot of time to develop human resources, and labor costs increase. Therefore, several deburring devices using a robot arm have been proposed in order to reduce the work burden on workers.

  The robot arm is an articulated device that can be moved by imitating a human manual operation, and usually the tip of the robot arm can be exchanged according to its use.

  As a deburring device using a robot arm, for example, a method of punching and cutting at once with a continuous blade mold formed along the contour of a molded product, or mechanically cutting a burr with a cutter knife along the contour of the molded product. A method for cutting and removing, and a method for separating and removing a burr portion by cutting along a contour of a molded product body with a laser are known.

  However, in these deburring methods, the burr after cutting is accumulated around the work table and the robot arm. Then, in order to remove accumulated burrs, it is necessary to stop the machine and remove burrs manually by humans at regular intervals.

  In view of this, there has been proposed an apparatus capable of continuously performing processing from taking out a molded product from a mold to deburring using a robot arm.

JP 2001-18238 A

  Since the shape of the generated burr varies depending on the shape of the molded product, the shape of the burr to be cut out becomes complicated when the contour of the molded product is complicated. Further, the resin that is the material of the molded product has flexibility. For this reason, the burr | flash isolate | separated from a molded product tends to get entangled with the robot arm or the fixed stand for deburring. Then, there is a risk that the machine will stop due to entanglement of burrs.

  Therefore, in the deburring process using the robot arm, it is desired to develop a deburring device that can separate the separated burrs from the molded product without involving the arm that fixes the molded product, regardless of the shape of the burrs. ing.

  A deburring device according to an embodiment includes a holding table that holds a molded product, at least one gripping arm that fixes the molded product placed on the holding table, and a robot that holds a burr of the fixed molded product. An arm and a control unit are provided. A control part isolate | separates a burr | flash from a molded article along the outline of a molded article by carrying out operation control of the holding arm and robot arm continuously. At this time, the control unit starts the operation of operating the robot arm holding the burr to separate the burr from the molded product along the contour line. When the separation part between the molded product and the burr approaches the gripping arm, the robot arm is operated in the opposite direction so as to temporarily weaken the pulling force of the robot arm acting on the burr, and the gripping arm is Are removed from the movement path, the fixation by the gripping arm is released, and the separation operation by the robot arm is resumed.

  In the present specification and claims, the separation part means a point on the contour line where the burr and the molded product are separated when the burr is cut from the molded product along the contour line. .

FIG. 1 is a perspective view showing the deburring holding device in a state where the molded product of the embodiment is placed. FIG. 2 is an operation explanatory view showing how a molded product is transferred by the robot arm to the deburring holding device of FIG. FIG. 3 is an operation explanatory view showing a state in which a molded product is placed on the deburring holding device of FIG. 1 by a robot arm. FIG. 4 is an operation explanatory view showing a state in which the deburring operation is started after the molded product is placed on the deburring holding device of FIG. 1 by the robot arm. FIG. 5 is an operation explanatory diagram showing how the burrs are separated from the molded product in the deburring operation of FIG. 6 is a plan view of a state in which a molded product placed on the deburring holding device of FIG. 1 is fixed by a gripping arm as viewed from above. FIG. 7 is a front view of a molded product fixed to the deburring holding device of FIG. 1 with a gripping arm. FIG. 8 is a block diagram illustrating a controller of the deburring device according to the embodiment.

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

  As shown in FIG. 2, the deburring device 100 according to the embodiment takes out the molded product 2 from a mold (not shown) and a deburring holding device 10 that holds the molded product 2, and deburring the holding device 10. And a robot arm 3 for separating the burr 1 from the fixed molded product 2.

  As shown in FIG. 1, the deburring holding device 10 is provided with a holding portion 5 on a work table 4 for holding a molded product 2 with a burr 1. The work table 4 is provided with gripping arms 7a, 7b, and 7c for fixing and releasing the molded product 2 placed on the holding unit 5.

  The holding unit 5 includes a rectangular frame 50 fixed to the work table 4 and a fixed mold 51 that holds the molded product 2 that closes the opening of the frame 50. The fixed mold 51 of the holding unit 5 is for preventing horizontal displacement and deformation of the molded product 2 placed thereon.

  Specifically, for example, the molded product 2 molded by blow molding is softened at a high temperature immediately after being taken out from the mold, and is gradually cured by being cooled by the outside air. For this reason, the molded product 2 immediately after being taken out from the mold may be deformed by an external pressure. In order to prevent this, a female die of the molded product 2 whose size is adjusted in consideration of the shrinkage rate due to cooling of the molded product 2 after being taken out from the mold is provided in the holding portion 5 as a fixed mold 51. The fixed mold 51 in the present embodiment is a female mold of the molded product 2, but it is not necessary to be a complete female mold of the molded product 2 as long as horizontal displacement and deformation can be prevented. What is necessary is just to have the unevenness | corrugation required for holding the goods 2. FIG.

  The gripping arms 7a, 7b, and 7c have operation rods 13a, 13b, and 13c, and have pressing portions 6a, 6b, and 6c at the tips of the operation rods 13a, 13b, and 13c. The gripping arms 7a, 7b, and 7c hold and hold the molded product 2 from above with the pressing portions 6a, 6b, and 6c, and restrict the movement of the molded product 2 in the gravity direction in the deburring operation. That is, the molded product 2 is prevented from being detached from the fixed mold 51 together with the burr 1 pulled by the robot arm 3.

  In the embodiment, the gripping arms 7 a, 7 b, and 7 c are arranged side by side in the longitudinal direction of the work table 4. The arrangement of the gripping arms 7a, 7b, 7c is not limited to this, and can be appropriately changed according to the shape and size of the molded product 2.

  For example, when the holding unit 5 has a member that sucks and fixes the molded product 2 by a suction device (not shown), the gripping arm is an auxiliary fixing means for the molded product 2. If this is the case, the molded product 2 is prevented from being displaced by fixing the molded product 2 using one gripping arm and a suction device. In addition, by combining the gripping arm and the suction device, the suction force by the suction device can be set weaker than when the molded product 2 is fixed only by the suction device, and the molded product 2 is deformed by suction. Can be suppressed.

  The holding parts 6a, 6b, 6c, for example, reliably move the molded product 2 in the direction of gravity so as not to deform the hot soft molded product 2 taken out of the mold by blow molding. What can be regulated is preferable. Therefore, the contact portions between the pressing portions 6 a, 6 b, 6 c and the molded product 2 are processed into a shape that meshes with the irregularities on the surface of the molded product 2. Further, as the material of the pressing portions 6a, 6b, 6c, a resin that can be easily processed according to the shape of the molded product 2 and does not damage the molded product 2 is preferable.

  Further, as shown in FIG. 1, the gripping arms 7 a, 7 b, and 7 c are pivotally supported by a pivotal support portion 12 of a gripping arm base 11 that is fixed to the work table 4. The gripping arms 7a, 7b, and 7c are provided with operating rods 13a, 13b, and 13c, and pressing portions 6a, 6b, and 6c at their tips. As shown in FIG. 8, the operation rods 13a, 13b, and 13c are connected at their base ends to the actuators 201, 202, and 203, respectively.

  Actuators 201, 202, and 203 have gripping arms 7a, 7b, and 7c, a fixed position for fixing the molded product 2 in which the operation rods 13a, 13b, and 13c and the work table 4 are substantially parallel, and the pivot portion 12 as an axis. It can be moved between the release position for releasing the fixation of the molded product 2 rotated 90 degrees upward. In the present embodiment, the actuators 201, 202, and 203 are shown as drive means, but examples of the actuator used include a motor, a hydraulic mechanism, and an air compressor.

  As shown in FIG. 2, the robot arm 3 includes a hand part 31 that can be exchanged according to the shape of the object to be grasped and the type of work, an arm part 32 for operating the hand part 31 to an arbitrary position, 31 and a base 33 that supports the arm 32. As the robot arm 3, a 6-axis vertical articulated industrial robot was used. The hand unit 31 includes, for example, a handling tool, a knife tool, a burr processing tool, and the like depending on the application.

  Next, the control unit 200 of the deburring device according to the present embodiment will be described.

  As shown in the block diagram of FIG. 8, the actuators 201 to 206 for driving the grip arms 7 a, 7 b, 7 c and driving the robot arm 3 are controlled by the control unit 200.

  The control unit 200 drives the robot arm 3 to take out the molded product 2 from the mold (not shown), and uses the hand unit 31 (handling tool) to put the molded product 2 to the deburring holding device 10. Transport. In addition, the control part 200 makes the holding | maintenance part 6a, 6b, 6c of the holding arms 7a, 7b, 7c stand by in a release position in the state where the molded article 2 is not mounted on the holding part 5 (FIG. 2).

  As shown in FIG. 3, when the molded product 2 is placed on the holding unit 5, the control unit 200 rotates the operation rods 13 a, 13 b, and 13 c about the pivotal support unit 12, and the holding units 6 a, 6 b, 6c is moved in the direction of the holding part 5, and the gripping arms 7a, 7b, 7c are moved to a fixing position where the molded product 2 is fixed.

  Thereafter, the control unit 200 controls the actuators 204, 205, and 206 to press the molded product 2 placed on the holding unit 5 using the hand unit 31 (knife tool) attached to the robot arm 3. Cuts 9a and 9b are made in the short direction of the burr 1 between the portion 6a and the pressing portion 6b (FIG. 6). Here, the holding part 6a side of the burr 1 having the breaks 9a and 9b as a boundary is referred to as a burr piece 1a, and the other burr piece is referred to as a burr piece 1b.

  Further, the control unit 200 uses the hand portion 31 (knife tool) to make a cut along the contour line 9 c between the burr 1 and the molded product 2. At this time, the gripping arms 7a, 7b, and 7c in the fixed position do not have a break at the place where the hand portion 31 hits and the knife tool does not reach, but there is no problem in separating the burr 1. Note that, depending on the type of mold used, there is a molded product in which the burr 1 is easily removed at the time of removal from the mold. In such a case, the operation of making a cut along the contour line 9c is unnecessary.

  The control unit 200 controls the actuators 204, 205, and 206 to make a cut in the contour line 9c, and then replaces the hand portion 31 of the robot arm 3 with a burr processing tool (FIG. 4). In the present embodiment, the tool of the hand portion 31 of the robot arm 3 is exchanged by the control portion 200 by selecting the necessary tool of the hand portion 31 according to each step of the deburring operation and automatically replacing it.

  As shown in FIG. 8, the actuator 204 drives the hand portion 31. By the actuator 204, the hand portion 31 can be rotated about the longitudinal axis of the arm portion 32 and can move up and down in the direction of gravity. In addition, a tool attached to the hand portion 31 can be used to move the object.

  The actuator 205 drives the arm portion 32. The actuator 205 rotates the joints 35 and 36 of the arm portion 32 to drive the arm portion 32 up and down in the gravity direction and in the front-rear direction.

  The actuator 206 drives the base 33. The actuator 206 drives the arm 32 so as to draw an arc around the longitudinal axis of the base 33 by rotating the base 33 about the axis extending in the direction of gravity.

  The control unit 200 grips the burr piece 1a on the left side as viewed from the robot arm 3 side of the cut 9b of the burr 1 with the replaced hand unit 31 (burr processing tool). In a state where the burr piece 1a is gripped, the control unit 200 drives the actuators 204 and 205 to operate the hand unit 31 (burr processing tool), the arm unit 32, and the joint 34 therebetween, and thereby the hand unit 31 (burr processing). The tool is rotated approximately 90 degrees (FIG. 4). The burr piece 1a is separated from the molded product 2 upward by the operation of the hand portion 31 (burr processing tool).

  FIG. 7 is a front view of the holding unit 5 in a state where the molded product 2 is fixed. The control unit 200 drives the robot arm 3 (not shown here) diagonally to the left and separates the burr 1 from the molded product 2. When attention is paid to the separation of the burr 1 from the molded product 2, the separation part 9 d is a gripping arm fixed to the work table 4 along the outline 9 c between the burr piece 1 a and the molded product 2 from the cut 9 b. It moves toward the cut 9a on the side of the table 11, and the burr piece 1a is separated (see FIGS. 5 and 6).

  At this time, the control unit 200 separates the burr piece 1a from the molded product 2 while applying a constant tension (tensile force) to the burr piece 1a using the hand part 31 (burr processing tool) of the robot arm 3. .

  Then, as shown in FIG. 5, the control unit 200 temporarily stops the separation work of the burr piece 1a of the robot arm 3 when the separation part 9d between the molded product 2 and the burr piece 1a approaches the operation rod 13a. .

  Thereafter, the control unit 200 temporarily lowers the robot arm 3 in the reverse direction (lowers the robot arm 3 toward the work table 4) in order to weaken the tension (pulling force) of the robot arm 3 acting on the burr piece 1a. Make it work.

  As a result, the burr piece 1a gripped by the hand portion 31 (burr processing tool) of the robot arm 3 is loosened, and the loose burr piece 1a is returned to almost the same position as before separation.

  After loosening the burr piece 1a as described above, the control unit 200 drives the actuator 201 to move the grip arm 7a to the release position. That is, the fixation of the molded product 2 by the grip arm 7a is once released.

  By releasing the fixation of the molded product 2 by the gripping arm 7a, the operating rod 13a that has hindered the separation of the burr piece 1a is separated from the burr piece 1a, so that the movement path of the burr piece 1a is secured.

  In this state, the control unit 200 resumes the separation work of the burr piece 1a from the molded product 2. Specifically, the control unit 200 separates the burr piece 1a along the contour line 9c from the separation site 9d near the grip arm base 11 of the grip arm 7a to the cut 9a (see FIG. 6).

  When the separation part 9d of the burr piece 1a reaches the cut 9a, the burr piece 1a is completely separated from the molded product 2. The burr piece 1a separated from the molded product 2 is put into, for example, a crusher (not shown) by the robot arm 3.

  Note that the hand part 31 (burr processing tool) holding the burr piece 1a may be rotated by the joint 34 in the same direction as the movement direction of the robot arm 3 and pulled so as to involve the burr piece 1a. Thereby, the excess burr piece 1a is wound up and the length of the burr piece 1a is shortened. Therefore, the possibility that the burr piece 1a is entangled with the gripping arms 7a, 7b, 7c can be further reduced.

  Subsequently, a separation operation of the other burr piece 1b from the molded product 2 will be described. After separating the burr piece 1a from the molded product 2, the control unit 200 moves the gripping arm 7a to a fixed position. Thereafter, the hand portion 31 (burr processing tool) of the robot arm 3 grips the vicinity of the cut 9b of the burr piece 1b. Then, the robot arm 3 is driven by the same method as the burr piece 1a, and the separation portion 9d is moved along the contour line 9c.

  When the separation part 9d approaches the operation rod 13c, the control unit 200 temporarily stops the separation work of the burr piece 1b. After the separation work of the burr piece 1b is stopped, the control unit 200 moves the robot arm 3 in the reverse direction (the robot arm 3 is moved to the work table) in order to temporarily weaken the tension of the robot arm 3 acting on the burr piece 1b. 4).

  As a result, the burr piece 1b held by the hand portion 31 (burr processing tool) of the robot arm 3 is loosened, and the burr piece 1b is returned to substantially the same position as before separation.

  The control unit 200 moves the gripping arm 7c to the release position after returning the position of the burr piece 1b to substantially the same position as before separation. By releasing the fixation of the molded product 2 by the gripping arm 7c, the operating rod 13c that has hindered the separation of the burr piece 1b is separated from the burr piece 1b, thereby securing the movement path of the burr piece 1b.

  In this state, the control unit 200 resumes the separation work of the burr piece 1b. Specifically, the operation of separating the burr piece 1b along the contour line 9c from the separation part 9d near the grip arm base 11 of the grip arm 7c to the cut 9a is resumed (see FIG. 6).

  The control unit 200 moves the hand portion 31 (burr processing tool) holding the burr piece 1b toward the cut 9a. Alternatively, the position of the hand portion 31 of the robot arm 3 is raised so that the tension of the burr piece 1b is increased. When the separation part 9d of the burr piece 1b reaches the cut 9a, the burr piece 1b is completely separated from the molded product 2. The burr piece 1b separated from the molded product 2 is put into a pulverizer (not shown) by the robot arm 3.

  Here, in the separation work of the burr piece 1b, the grip arm 7b may interfere with the separation work of the burr piece 1b, or the burr piece 1b may be entangled with the grip arm 7b. In such a case, the control unit 200 may move the gripping arm 7b to the release position and separate the burr piece 1b when the separation portion 9d approaches the operating rod 13b of the gripping arm 7b.

  Whether the gripping arm 7c is kept in the release position or the fixed position when the gripping arm 7b is moved to the release position depends on the size of the molded product 2, the situation in which it is fixed, the burr 1 Can be selected as appropriate depending on the ease of separation of the burrs and the ease of entanglement of the burr 1.

  In this way, during the series of separation operations of the burr pieces 1a and 1b by the robot arm 3 shown in the present embodiment, the tension of the burr pieces 1a and 1b by the robot arm 3 is once relaxed, and the burr pieces 1a and 1b are temporarily released. By incorporating the control for securing the movement path, the burr pieces 1a and 1b are not entangled with the gripping arm 7a and the pressing portions 6a, 6b and 6c at the tip thereof.

  In addition, even when entangled, the tension of the burr pieces 1a and 1b is loosened, so that the pressing parts 6a, 6b and 6c due to the entangled burr pieces 1a and 1b can be prevented from being broken and damaged, and the molded product 2 does not come off the holding part 5.

  In particular, in blow molding, since the molded product 2 is contracted and cured from the moment it is taken out from the mold, temperature management and time management are important in order to keep the product quality constant. That is, if deburring can be performed at a constant pace with a constant cooling speed, the lot difference of the final product is reduced.

  Therefore, by providing the blow molding deburring apparatus 100 with control by the control unit 200, the burr 1 is not entangled with the gripping arms 7a, 7b, 7c. Can be reduced.

  Further, in the work of separating the burr 1 from the molded product 2 of the embodiment, two cuts 9a and 9b are provided, but the number of cuts depends on the shape of the molded product 2 and the workability of the robot arm 3. It is determined as appropriate in consideration. For example, providing a large number of cuts is useful because it is not necessary to cut the burr 1 after separation into a pulverizer by hand according to the size of the inlet of the pulverizer.

  Although the deburring holding device 10 is described as being fixed to the floor in the present embodiment, for example, the work table 4 may be movable. For example, the movable work table 4 is formed by connecting the back surface of the top plate 41 of the work table 4 to the hand of the robot arm similar to the robot arm 3 and the robot 2 and the molded product 2 fixed to the holding unit 5. The thing which can move relatively with the 3 hand part 31 is considered (not shown).

  The controller 200 controls the operation of the movable work table 4. The control unit 200 controls the relative relationship between the robot arm 3 and the movable work table 4 by adjusting the operation of the robot arm 3 and the angle of the work table 4 in the separation work of the burr 1. Thus, by adjusting the movement path of the burr 1 of the molded product 2 held on the movable work table 4, the burr 1 can be prevented from becoming entangled even in the molded product 2 having a complicated shape. 2 can be separated.

  In addition, although the molded product 2 of this embodiment has been described as a manufactured product molded by blow molding, the molding method is not limited to this.

DESCRIPTION OF SYMBOLS 1 ... Burr, 1a ... Burr piece, 1b ... Burr piece, 2 ... Molded article, 3 ... Robot arm, 31 ... Hand part, 32 ... Arm part, 33 ... Base part, 34, 35, 36 ... Joint, 4 ... Worktable 41 ... Top plate, 5 ... Holding part, 50 ... Frame, 51 ... Fixed mold, 6a ... Holding part, 6b ... Holding part, 6c ... Holding part, 7a ... Holding arm, 7b ... Holding arm, 7c ... Holding arm , 9a ... cut, 9b ... cut, 9c ... contour, 10 ... deburring holding device, 11 ... gripping arm base, 12 ... pivotal support, 13a, 13b, 13c ... operating rod, 100 ... deburring device, 200 ... Control unit 201-206 ... actuator

Claims (3)

A holding part for holding a molded product;
At least one gripping arm for fixing the molded product held by the holding unit;
A robot arm for gripping burrs of the fixed molded product;
A control unit for controlling the operation of the gripping arm and the robot arm and separating the burr from the molded product along a contour line of the molded product,
The control unit operates the robot arm that grips the burr to start the operation of separating the burr from the molded product along the contour line, and a separation portion between the molded product and the burr. When the robot arm approaches the grip arm, the robot arm is operated in the reverse direction so as to temporarily weaken the pulling force of the robot arm acting on the burr, and the grip arm is retracted from the movement path of the burr. The deburring device is characterized in that the fixing by the gripping arm is released and the separation operation by the robot arm is resumed.   2. The deburring device according to claim 1, further comprising a knife tool for making at least one notch in the burr before starting the separation operation by the robot arm.   The deburring apparatus according to claim 1, wherein the molded product is molded by blow molding.

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