JP2018089850A - 成形機および成形品取出し装置を備える成形システム - Google Patents
成形機および成形品取出し装置を備える成形システム Download PDFInfo
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- JP2018089850A JP2018089850A JP2016234899A JP2016234899A JP2018089850A JP 2018089850 A JP2018089850 A JP 2018089850A JP 2016234899 A JP2016234899 A JP 2016234899A JP 2016234899 A JP2016234899 A JP 2016234899A JP 2018089850 A JP2018089850 A JP 2018089850A
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- 238000000465 moulding Methods 0.000 title claims abstract description 57
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000005259 measurement Methods 0.000 claims description 39
- 238000012937 correction Methods 0.000 claims description 13
- 238000003384 imaging method Methods 0.000 claims description 10
- 238000003780 insertion Methods 0.000 claims description 7
- 230000037431 insertion Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 17
- 239000012636 effector Substances 0.000 description 45
- 238000009434 installation Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 11
- 238000007493 shaping process Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 238000010191 image analysis Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- B29C37/0003—Discharging moulded articles from the mould
- B29C37/0007—Discharging moulded articles from the mould using means operable from outside the mould for moving between mould parts, e.g. robots
-
- 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
- B29C43/00—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor
- B29C43/32—Component parts, details or accessories; Auxiliary operations
- B29C43/50—Removing moulded 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
- B29C43/00—Compression moulding, i.e. applying external pressure to flow the moulding material; Apparatus therefor
- B29C43/32—Component parts, details or accessories; Auxiliary operations
- B29C43/58—Measuring, controlling or regulating
-
- 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
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating 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
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/14008—Inserting articles into the mould
- B29C45/14032—Transferring the inserts from a storage space inside the mould to the mould cavity
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
Abstract
Description
12 成形機
14 ロボット
16 計測部
18,72 ロボット制御装置
22 金型
44,74 CPU
54 マスタワーク
Claims (6)
- 金型が設置された成形機と、
前記金型に取り付けられたマスタワークを取り出し可能な成形品取出し装置と、
前記成形品取出し装置が前記金型に取り付けられた前記マスタワークを取り出したときに該成形品取出し装置が保持している該マスタワークの位置を基準位置として計測し、該基準位置を計測した後に、前記成形品取出し装置が前記金型に取り付けられた前記マスタワークを取り出したときに該成形品取出し装置が保持している該マスタワークの位置を検出位置として計測する計測部と、
前記計測部が計測した前記基準位置と前記検出位置との差をずれ量として算出するずれ量算出部と、
前記ずれ量算出部が算出した前記ずれ量に基づいて、前記成形機が前記金型で成形した成形品に対して前記成形品取出し装置が作業を行うときの該成形品における作業位置を補正する補正部と、を備える、成形システム。 - 前記成形品取出し装置は、前記計測部が前記基準位置を計測した後に、前記金型に取り付けられた前記マスタワークを取り出す動作を繰り返し実行し、
前記計測部は、前記成形品取出し装置が前記金型に取り付けられた前記マスタワークを取り出す毎に、前記検出位置を計測し、
前記ずれ量算出部は、前記計測部が前記検出位置を計測する毎に、前記ずれ量を算出し、
前記成形システムは、
前記ずれ量算出部が算出した第1の前記ずれ量と、該第1のずれ量の前に前記ずれ量算出部が算出した第2の前記ずれ量との差であるずれ量差を算出するずれ量差算出部と、
前記ずれ量差算出部が算出した前記ずれ量差が、予め定められた閾値以下であるか否かを判定する判定部と、をさらに備える、請求項1に記載の成形システム。 - 前記補正部は、前記作業位置として、前記成形品取出し装置が前記金型内の前記成形品を取り出すときの取り出し位置を、前記ずれ量に基づいて補正する、請求項1または2に記載の成形システム。
- 前記補正部は、前記作業位置として、前記成形品取出し装置が前記金型内の前記成形品にインサート部品を挿入するときの挿入位置を、前記ずれ量に基づいて補正する、請求項1〜3のいずれか1項に記載の成形システム。
- 前記成形品取出し装置は、ロボットである、請求項1〜4のいずれか1項に記載の成形システム。
- 前記計測部は、前記マスタワークを撮像可能な撮像部を有する、請求項1〜5のいずれか1項に記載の成形システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016234899A JP6382918B2 (ja) | 2016-12-02 | 2016-12-02 | 成形機および成形品取出し装置を備える成形システム |
DE102017012348.9A DE102017012348B3 (de) | 2016-12-02 | 2017-11-29 | Mit einer Formungsmaschine und einer Formproduktentnahmevorrichtung versehenes Formungssystem |
DE102017128332.3A DE102017128332B4 (de) | 2016-12-02 | 2017-11-29 | Mit einer Formungsmaschine und einer Formproduktentnahmevorrichtung versehenes Formungssystem |
US15/825,451 US10343318B2 (en) | 2016-12-02 | 2017-11-29 | Molding system provided with molding machine and molded article removal device |
CN201711247272.1A CN108145928B (zh) | 2016-12-02 | 2017-12-01 | 成型系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016234899A JP6382918B2 (ja) | 2016-12-02 | 2016-12-02 | 成形機および成形品取出し装置を備える成形システム |
Publications (2)
Publication Number | Publication Date |
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JP2018089850A true JP2018089850A (ja) | 2018-06-14 |
JP6382918B2 JP6382918B2 (ja) | 2018-08-29 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016234899A Active JP6382918B2 (ja) | 2016-12-02 | 2016-12-02 | 成形機および成形品取出し装置を備える成形システム |
Country Status (4)
Country | Link |
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US (1) | US10343318B2 (ja) |
JP (1) | JP6382918B2 (ja) |
CN (1) | CN108145928B (ja) |
DE (2) | DE102017012348B3 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021014049A (ja) * | 2019-07-11 | 2021-02-12 | ファナック株式会社 | 射出成形システム |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114918977B (zh) * | 2022-06-20 | 2023-10-13 | 一汽丰田发动机(长春)有限公司 | 一种机械手坐标调整标准件及取件位置确认的作业方法 |
Citations (4)
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JPH06198687A (ja) * | 1993-01-05 | 1994-07-19 | Mitsubishi Heavy Ind Ltd | 射出成形機の成形品取出し装置 |
JPH1016022A (ja) * | 1996-07-04 | 1998-01-20 | Mitsubishi Plastics Ind Ltd | 射出成形方法 |
JP2004106079A (ja) * | 2002-09-17 | 2004-04-08 | Amada Co Ltd | ワーク位置決め装置 |
JP2010000589A (ja) * | 2008-06-23 | 2010-01-07 | Fuji Electric Holdings Co Ltd | ロボットシステム |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS6198687A (ja) | 1984-10-22 | 1986-05-16 | ヤマハ発動機株式会社 | 軸駆動式自動二輪車のブレ−キ装置 |
JPH0210589A (ja) * | 1988-06-28 | 1990-01-16 | Pioneer Electron Corp | テープレコーダ |
JP3030554B1 (ja) * | 1999-05-13 | 2000-04-10 | 株式会社ユーシン精機 | 成形品の取出装置 |
DE60014524T2 (de) * | 1999-07-29 | 2005-02-03 | Victor Company of Japan, Ltd., Yokohama | Führungsstruktur zum Regeln der Fahrrichtung eines Schwenkarms |
JP3881940B2 (ja) * | 2002-08-07 | 2007-02-14 | ファナック株式会社 | 干渉回避制御装置 |
US7364423B2 (en) * | 2005-05-24 | 2008-04-29 | Husky Injection Molding Systems Ltd. | Article moving apparatus configured for a molding machine |
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 |
KR101073223B1 (ko) | 2009-11-18 | 2011-10-12 | 주식회사 엘지화학 | 리튬 이차전지용 음극 합제 및 이를 사용한 리튬 이차전지 |
JP5866398B2 (ja) * | 2013-05-15 | 2016-02-17 | 東芝機械株式会社 | 成形システム及び成形品の製造方法 |
JP6465615B2 (ja) * | 2014-10-22 | 2019-02-06 | 株式会社ユーシン精機 | 成形品取出機 |
-
2016
- 2016-12-02 JP JP2016234899A patent/JP6382918B2/ja active Active
-
2017
- 2017-11-29 DE DE102017012348.9A patent/DE102017012348B3/de active Active
- 2017-11-29 DE DE102017128332.3A patent/DE102017128332B4/de not_active Expired - Fee Related
- 2017-11-29 US US15/825,451 patent/US10343318B2/en active Active
- 2017-12-01 CN CN201711247272.1A patent/CN108145928B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06198687A (ja) * | 1993-01-05 | 1994-07-19 | Mitsubishi Heavy Ind Ltd | 射出成形機の成形品取出し装置 |
JPH1016022A (ja) * | 1996-07-04 | 1998-01-20 | Mitsubishi Plastics Ind Ltd | 射出成形方法 |
JP2004106079A (ja) * | 2002-09-17 | 2004-04-08 | Amada Co Ltd | ワーク位置決め装置 |
JP2010000589A (ja) * | 2008-06-23 | 2010-01-07 | Fuji Electric Holdings Co Ltd | ロボットシステム |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021014049A (ja) * | 2019-07-11 | 2021-02-12 | ファナック株式会社 | 射出成形システム |
JP7269121B2 (ja) | 2019-07-11 | 2023-05-08 | ファナック株式会社 | 射出成形システム |
Also Published As
Publication number | Publication date |
---|---|
DE102017128332A1 (de) | 2018-06-07 |
US20180154565A1 (en) | 2018-06-07 |
US10343318B2 (en) | 2019-07-09 |
CN108145928B (zh) | 2019-10-01 |
DE102017128332B4 (de) | 2020-11-05 |
JP6382918B2 (ja) | 2018-08-29 |
DE102017012348B3 (de) | 2021-02-18 |
CN108145928A (zh) | 2018-06-12 |
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