JP2018095521A - Processing system, processing method and robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a processing system effective for improving the quality of a molded product by polishing a mold prior to reuse of the mold with which molding is performed.SOLUTION: A processing system 1 comprises: a first device which performs molding by a mold 12 including a molding face 14 coming into contact with a molding object; and a second device 20 which polishes a molding face 14. The second device 20 includes: a tool 40 for polishing the molding face 14; a robot 50 including an articulated arm 70; and a controller 100 configured to perform first control for controlling the robot 50 so that the mold 12 and the tool 40 are relatively displaced by the articulated arm 70 in a state in which the tool 40 or the mold 12 after molding is held at a tip part 76 of the articulated arm 70 and the tool 40 is brought into contact with the molding face 14 of the mold 12.SELECTED DRAWING: Figure 3

Description

  The present disclosure relates to a machining system, a machining method, and a robot system.

  In Patent Document 1, as a processing method that replaces the molding process, a step of preparing an original glass plate, a step of elastically deforming the original glass plate, and heating and plastically deforming the original glass plate in an elastically deformed state are performed. A method of providing a curved surface shape is disclosed.

International Publication No. 2015/015842

  An object of the present disclosure is to provide a processing system, a processing method, and a robot system that are effective in improving the quality of a molded product.

  A processing system according to one aspect of the present disclosure includes a first device that performs a molding process using a mold that includes a molding surface that contacts a molding object, and a second device that polishes the molding surface. A tool that polishes the surface, a robot including an articulated arm, a tool or a mold after molding is held at the tip of the articulated arm, and the tool is in contact with the molding surface of the mold. And a controller configured to execute a first control for controlling the robot so that the tool is relatively displaced by the articulated arm.

  A processing method according to another aspect of the present disclosure includes performing a molding process using a mold including a molding surface that contacts a molding object, and using a robot having an articulated arm to polish a molding surface or a tool after the molding process. Holding the mold at the tip of the articulated arm and controlling the robot so that the mold and the tool are relatively displaced by the articulated arm while the tool is in contact with the molding surface of the mold; ,including.

  A robot system according to another aspect of the present disclosure includes a tool for polishing a molding surface of a mold for molding including a molding surface that contacts a molding object, a robot including an articulated arm, and a tool or a mold after molding. Is held at the tip of the articulated arm, and the robot is controlled so that the mold and the tool are relatively displaced by the articulated arm while the tool is in contact with the molding surface of the mold. A controller configured to perform the control.

  According to the present disclosure, it is possible to provide a processing system, a processing method, and a robot system that are effective for improving the quality of a molded product.

It is a top view which shows the structure of a processing system typically. It is a schematic diagram which shows the outline | summary of the shaping | molding process in a 1st apparatus. It is a schematic diagram which shows the structure of a 2nd apparatus. It is a block diagram which illustrates the hardware constitutions of a controller. It is a flowchart which shows the process sequence by a process system. It is a flowchart which shows a mold polishing control procedure. It is a schematic diagram which shows the state which has arrange | positioned the type | mold to the holding | maintenance part by the articulated arm. It is a schematic diagram which shows the state which has displaced the tool with the articulated arm. It is a schematic diagram which shows the state which has displaced the type | mold by the articulated arm.

  Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same functions are denoted by the same reference numerals, and redundant description is omitted.

[Processing system]
The processing system 1 according to the present embodiment is a system that performs a molding process using a mold and polishes the mold prior to reuse of the mold. “Polishing” includes at least one of scraping off the deposit on the molding surface by polishing, scraping off the surface layer portion of the molding surface, and wiping off the deposit on the molding surface. The processing system 1 processes, for example, a cover glass for a portable terminal by the molding process.

  As shown in FIG. 1, the processing system 1 includes a first device 10, a second device 20 (robot system), and a third device 30. The first apparatus 10 performs a molding process using a mold including a molding surface that comes into contact with a molding object. The second device 20 polishes the molding surface of the mold. The third apparatus 30 conveys the mold after the molding process from the first apparatus 10 to the second apparatus 20, and conveys the polished mold from the second apparatus 20 to the first apparatus 10.

  For example, the third device 30 includes a transport unit 31 and a transport unit 32. The transport unit 31 transports the mold from the first device 10 to the second device 20. The transport unit 32 transports the mold from the second device 20 to the first device 10. Specific examples of the transport units 31 and 32 include a belt conveyor, a circulating conveyor, an automatic transport vehicle, and the like.

(First device)
As shown in FIG. 2, the first device 10 performs a molding process using a pair of molds 11 and 12, for example. The molding object W is, for example, a glass plate.

  The mold 11 has a convex molding surface 14. For example, the mold 11 has a planar end surface 13 and a molding surface 14 projecting from the end surface 13. More specifically, the mold 11 has a rectangular parallelepiped outer shape, and one surface thereof is the end surface 13. The molding surface 14 includes a planar top portion 14a and a curved peripheral portion 14b surrounding the top portion 14a and connected to the end surface 13. The top part 14a and the peripheral part 14b are smoothly connected. The molding surface 14 is in contact with one surface (surface Wa in the drawing) of the molding object W.

  The mold 12 has a concave molding surface 16. For example, the mold 12 has a planar end surface 15 and a molding surface 16 that is recessed with respect to the end surface 15. More specifically, the mold 12 has a rectangular parallelepiped outer shape, and one surface thereof is the end surface 15. The molding surface 16 includes a planar bottom portion 16a and a curved peripheral portion 16b that surrounds the bottom portion 16a and is connected to the end surface 15. The bottom part 16a and the peripheral part 16b are smoothly connected. The end surface 15 faces the end surface 13 of the mold 11. The molding surface 16 faces the molding surface 14 of the mold 11 and is in contact with one surface of the molding object W (a surface Wb on the opposite side of the surface Wa).

  The molds 11 and 12 may be made of a material containing glassy carbon, for example. The molds 11 and 12 may be arranged in any manner as long as the end surfaces 13 and 15 face each other and the molding surfaces 14 and 16 face each other. For example, the mold 12 may be disposed on the mold 11. In this case, the molding object W is arranged on the mold 11 so that the surface Wa faces the molding surface 14. The mold 11 may be disposed on the mold 12. In this case, the molding object W is disposed on the mold 12 so that the surface Wb faces the molding surface 16. In the following description, it is assumed that the mold 12 is disposed on the mold 11.

  The first apparatus 10 performs the molding process of the molding object W by the following procedure, for example. First, the first apparatus 10 arranges the molding target W on the mold 11 so that the surface Wa of the molding target W is in contact with the top portion 14a of the molding surface 14 (see FIG. 2A).

  Next, the first apparatus 10 lowers the mold 12 and brings it closer to the mold 11 in a state where the bottom portion 16a of the molding surface 16 is opposed to the surface Wb of the molding target W (see FIG. 2B).

  Next, the first apparatus 10 heats the molds 11 and 12 to a temperature at which the molding object W can be softened in a state where the mold 12 is pressurized to the mold 11 side (or the mold 11 is pressed to the mold 12 side). To do. As the molding object W is softened, the molds 11 and 12 approach each other. Thereby, the molding object W is molded so that the surface Wa follows the molding surface 14 and the surface Wb follows the molding surface 16 (see FIG. 2C).

  Next, the first apparatus 10 cools the molds 11 and 12 to a temperature at which the molding object W can be cured, and separates the molds 11 and 12 from the molding object W (see FIG. 2D). Thus, the molding process of the molding object W is completed.

(Second device)
As shown in FIG. 3, the second apparatus 20 includes a tool 40 for polishing the molding surfaces 14 and 16 and a robot 50 including an articulated arm 70. Hereinafter, a more specific configuration of the second device 20 will be exemplified.

  The robot 50 is a so-called vertical articulated robot, and has a serial link type articulated arm 70. For example, the articulated arm 70 includes a base 71, a turning portion 72, arms 73, 74, and 75, a tip portion 76, and actuators 77A, 77B, 77C, 77D, 77E, and 77F.

  The base 71 is fixed to an installation surface facing upward (vertically upward). The turning unit 72 is provided on the base 71 and can turn around a vertical axis Ax1.

  One end portion of the arm 73 is connected to the turning portion 72, and can swing around an axis Ax2 passing through the connecting portion. The axis Ax2 intersects (for example, orthogonal) to the axis Ax1. Note that the intersection includes a twist relationship. The same applies to the following.

  One end of the arm 74 is connected to the tip of the arm 73 (the end on the opposite side of the swivel unit 72) and can swing around an axis Ax3 parallel to the axis Ax2. The distal end portion of the arm 74 (the end portion on the opposite side of the arm 73) can pivot with respect to the base end portion (the end portion on the arm 73 side) of the arm 75. That is, the distal end portion of the arm 74 can turn around the axis Ax4 along the direction in which the arm 74 extends.

  One end of the arm 75 is connected to the tip of the arm 74, and can swing around an axis Ax5 passing through the connection. The axis Ax5 intersects (for example, orthogonal to) the axis Ax4.

  The distal end portion 76 is provided at the distal end portion of the arm 75 (the end portion on the opposite side of the arm 74), and can turn around an axis Ax6 that intersects (for example, is orthogonal to) the axis Ax5.

  Actuators 77A, 77B, 77C, 77D, 77E, and 77F drive the movable portion of articulated arm 70 using an electric motor or the like as a power source. Specifically, the actuator 77A turns the turning portion 72 around the axis Ax1. The actuator 77B swings the arm 73 about the axis Ax2. The actuator 77C swings the arm 74 around the axis Ax3. The actuator 77D rotates the tip of the arm 74 around the axis Ax4. The actuator 77E swings the arm 75 around the axis Ax5. The actuator 77F rotates the tip 76 around the axis Ax6.

  The distal end portion 76 has a hand 80 for holding and releasing the molds 11 and 12. For example, the hand 80 includes at least two finger portions 81 and 82 and an actuator 83. The finger parts 81 and 82 are gripped by sandwiching the molds 11 and 12. The actuator 83 uses the electric motor or the like as a power source to drive the finger portions 81 and 82 so as to grip and release the molds 11 and 12.

  The above-described configuration is merely an example, and the multi-joint arm 70 may be configured in any way as long as the tip portion can be adjusted to a desired position / posture.

  The tool 40 is held at the tip 76 of the articulated arm 70. For example, the tool 40 is attached to the hand 80. The tool 40 includes a drive unit 41 and a polishing unit 42. The polishing unit 42 is a polishing tool such as a buff or a grindstone. The drive unit 41 incorporates an electric motor or the like and rotates the polishing unit 42.

  The second device 20 may further include a holding unit 60 that holds the molds 11 and 12 in place. The holding part 60 holds the molds 11 and 12 so that the top part 14a of the molding surface 14 or the bottom part 16a of the molding surface 16 is inclined toward the base 71 side.

  As an example, the holding unit 60 includes a main body 61 and a support 62. The main body 61 supports the molds 11 and 12 from the opposite side of the end surfaces 13 and 15. The main body 61 has a base 63 and at least one convex portion 64. The base 63 includes a support surface 63 a that is in contact with the opposite surfaces of the end surfaces 13 and 15 of the molds 11 and 12. The convex portion 64 protrudes from the support surface 63a and contacts the side surfaces of the molds 11 and 12 (surfaces surrounding the end surfaces 13 and 15). Thereby, the type | molds 11 and 12 are hold | maintained in the fixed position on the support surface 63a.

  The support 62 is fixed around the base 71 of the robot 50 and supports the base 63 from below. For example, the support column 62 supports the base 63 so that the support surface 63a is inclined toward the base 71 side. Thereby, the end surfaces 13 and 15 incline toward the base 71 side, and the top portion 14a of the molding surface 14 or the bottom portion 16a of the molding surface 16 inclines toward the base 71 side. In addition, that the support surface 63a, the end surfaces 13 and 15, the top part 14a, and the bottom part 16a incline toward the base 71 side means that these normal vectors incline toward the base 71 side (for example, diagonally upward on the base 71 side).

  The controller 100 holds the tool 40 or the molds 11 and 12 after the molding process at the distal end portion 76 of the articulated arm 70 and keeps the tool 40 in contact with the molding surfaces 14 and 16 of the molds 11 and 12. The first control for controlling the robot 50 so as to relatively displace the molds 11 and 12 and the tool 40 by the articulated arm 70 is executed.

  In the first control, the controller 100 may hold the tool 40 at the distal end portion 76 of the articulated arm 70 and control the robot 50 so that the tool 40 is displaced by the articulated arm 70.

  The controller 100 holds the molds 11 and 12 after the molding process at the distal end portion 76 of the articulated arm 70, and controls the robot 50 so that the molds 11 and 12 are arranged on the holding unit 60 by the articulated arm 70. In the first control, the tool 40 is held at the distal end portion 76 of the articulated arm 70 and the molding surfaces 14 and 16 of the molds 11 and 12 disposed in the holding portion 60 are subjected to the second control. The robot 50 may be controlled so that the tool 40 is displaced by the articulated arm 70 in a state where the tool 40 is in contact.

  As an example, the controller 100 includes a first control unit 111, a second control unit 112, a menu storage unit 113, and a type information acquisition unit 114 as functional components (hereinafter referred to as “functional blocks”). And a menu setting unit 115.

  The first control unit 111 executes the first control. The second control unit 112 executes the second control. For example, the second control unit 112 includes an arrangement control unit 116 and a return control unit 117. The placement control unit 116 holds the molds 11 and 12 after being processed, which are transported by the transport unit 31, at the tip 76 of the articulated arm 70, and the molds 11 and 12 are disposed at the holding unit 60 by the articulated arm 70. Then, the robot 50 is controlled. The return control unit 117 holds the molds 11 and 12 disposed and polished on the holding unit 60 at the tip 76 of the articulated arm 70, and arranges the molds 11 and 12 on the transport unit 32 by the articulated arm 70. Thus, the robot 50 is controlled.

The menu storage unit 113 stores a plurality of control menus set for each type of the molds 11 and 12. The control menu is data for specifying control contents in the first control unit 111 and the second control unit 112 according to the types of the molds 11 and 12, and is generated in advance by teaching by an operator or the like. For example, the control menu includes the following contents.
i) Positions of finger parts 81 and 82 when gripping and releasing the molds 11 and 12 ii) Positions and postures of molds 11 and 12 when placed on the holding part 60 iii) Contact with the molding surfaces 14 and 16 The position / posture iv of the tool 40 when moving the tool 40 The range in which the tool 40 is displaced while being in contact with the molding surfaces 14 and 16

  The type information acquisition unit 114 acquires information on the types 11 and 12. For example, the mold information acquisition unit 114 acquires information on the conveyance status of the molds 11 and 12 by the conveyance unit 31 from the third device 30 by wired or wireless communication, and acquires information on the types of the molds 11 and 12 by wired or wireless communication. To obtain from the first device 10. The information on the types of the molds 11 and 12 may be any information as long as the information can identify the types of the molds 11 and 12 such as the names or management numbers of the molds 11 and 12.

  The menu setting unit 115 sets the control menu based on the information acquired by the type information acquisition unit 114. For example, the menu setting unit 115 selects a control menu corresponding to the type of the molds 11 and 12 from the plurality of control menus stored in the menu storage unit 113, and selects them from the first control unit 111 and the second control unit 112. Set as the control menu.

  FIG. 4 is a block diagram illustrating a hardware configuration of the controller 100. As shown in FIG. 4, the controller 100 includes a circuit 120. The circuit 120 includes one or more processors 121, a memory 122, a storage 123, an input / output port 124, drivers 125A, 125B, 125C, and the like. 125D, 125E, 125F, and 125G.

  The storage 123 stores a program for configuring each functional block of the controller 100. The storage 123 may be anything that can be read by a computer. Specific examples include a hard disk, a nonvolatile semiconductor memory, a magnetic disk, and an optical disk. The memory 122 temporarily stores the program loaded from the storage 123, the calculation result of the processor 121, and the like. The processor 121 configures each functional block by executing a program in cooperation with the memory 122.

  The input / output port 124 inputs / outputs electrical signals to / from the tool 40 in response to a command from the processor 121. The drivers 125A, 125B, 125C, 125D, 125E, 125F, and 125G drive the actuators 77A, 77B, 77C, 77D, 77E, and 77F and the actuator 83, respectively, in response to commands from the processor 121.

  Note that the hardware configuration of the controller 100 is not necessarily limited to the configuration of each functional block by a program. For example, at least a part of the functional block of the controller 100 may be configured by a dedicated logic circuit or an ASIC (Application Specific Integrated Circuit) in which the logic circuit is integrated.

[Processing method]
Subsequently, as an example of the processing method, a molding processing procedure executed by the processing system 1 will be described.

  As shown in FIG. 5, the processing system 1 first executes step S01. In step S <b> 01, the first device 10 performs the molding process of the molding object W using the molds 11 and 12.

  Next, the processing system 1 executes Step S02. In step S02, the conveyance unit 31 of the third device 30 conveys the molds 11 and 12 after the molding process in step S01 from the first device 10 to the second device 20.

  Next, the processing system 1 executes Step S03. In step S03, the second apparatus 20 polishes the molding surfaces 14 and 16 of the molds 11 and 12 conveyed in step S02.

  Next, the processing system 1 executes Step S04. In step S04, the conveyance unit 32 of the third device 30 conveys the molds 11 and 12 polished in step S03 from the second device 20 to the first device 10.

  Next, the machining system 1 checks whether or not there is a machining stop command (step S05), and if it is determined that there is no stop command, the processing returns to step S01. Thereafter, until there is a processing stop command, the molding is performed by the first device 10 and the molds 11 and 12 after the molding are polished by the second device 20 are alternately repeated. If it is determined in step S05 that there is a machining stop command, the machining system 1 completes the molding process.

  The processing system 1 does not necessarily have to alternately perform the molding process by the first device 10 and the polishing of the molds 11 and 12 after the molding process by the second device 20. For example, the processing system 1 may execute polishing of the molds 11 and 12 by the second apparatus 20 after performing the molding process using the same molds 11 and 12 a plurality of times in the first apparatus 10. .

  Subsequently, the contents of step S03 will be described in more detail. FIG. 6 is a flowchart showing a control procedure executed by the controller 100 in step S03.

  As shown in FIG. 6, the controller 100 first executes step S11. In step S <b> 11, the mold information acquisition unit 114 acquires information on the conveyance status of the molds 11 and 12 by the conveyance unit 31 from the third apparatus 30 and waits for completion of conveyance of the molds 11 and 12 by the conveyance unit 31.

  Next, the controller 100 performs step S12. In step S <b> 12, the mold information acquisition unit 114 acquires information on the types of the molds 11 and 12 conveyed by the conveyance unit 31 from the first apparatus 10.

  Next, the controller 100 performs step S13. In step S13, the menu setting unit 115 sets the control menu in the first control unit 111 and the second control unit 112 based on the information acquired in step S12.

For example, the menu setting unit 115 selects a control menu corresponding to the type of the molds 11 and 12 among the control menus stored in advance in the menu storage unit 113, and selects them from the first control unit 111 and the second control unit 112. Set as the control menu in. Thereby, for example, the following contents are set according to the types of the molds 11 and 12.
i) Positions of finger parts 81 and 82 when gripping and releasing the molds 11 and 12 ii) Positions and postures of molds 11 and 12 when placed on the holding part 60 iii) Contact with the molding surfaces 14 and 16 The position / posture iv of the tool 40 when moving the tool 40 The range in which the tool 40 is displaced while being in contact with the molding surfaces 14 and 16

  Next, the controller 100 performs step S14. In step S <b> 14, the arrangement control unit 116 holds the molds 11 and 12 after the molding process at the distal end portion 76 of the articulated arm 70, and arranges the molds 11 and 12 on the holding unit 60 by the articulated arm 70. The robot 50 is controlled. For example, the arrangement control unit 116 arranges the tip 76 at the positions of the molds 11 and 12 on the transport unit 31, holds the molds 11 and 12 by the finger parts 81 and 82 of the hand 80, The robot 50 is controlled so as to sequentially execute the steps 11 and 12 on the holding unit 60 by the articulated arm 70 and the release of the gripping of the molds 11 and 12 by the hand 80. FIG. 7 shows a state in which the robot 50 holds the mold 12 with the hand 80 and the mold 12 is arranged on the holding unit 60 with the articulated arm 70.

  In step S14, the arrangement control unit 116 controls the robot 50 according to the control menu set in step S13. Thereby, the hand 80 can be operated according to the shape and size of the molds 11 and 12, and the molds 11 and 12 can be gripped appropriately. Further, the articulated arm 70 can be operated according to the shape and size of the mold 11 and the mold 12, and the molds 11 and 12 can be arranged at appropriate positions in the holding unit 60.

  Returning to FIG. 6, the controller 100 next executes step S15. In step S <b> 15, the first control unit 111 controls the tool 40 so as to start the rotational driving of the polishing unit 42 by the driving unit 41.

  Next, the controller 100 performs step S16. In step S <b> 16, the first control unit 111 holds the tool 40 on the distal end portion 76 of the multi-joint arm 70 and brings the tool 40 into contact with the molding surfaces 14 and 16 of the molds 11 and 12 disposed on the holding unit 60. The robot 50 is controlled. For example, the first control unit 111 moves the polishing unit 42 of the tool 40 held at the tip 76 by the articulated arm 70 so as to contact the molding surfaces 14 and 16 of the molds 11 and 12 arranged on the holding unit 60. The robot 50 is controlled. FIG. 8A shows a state where the robot 50 makes the polishing portion 42 contact the molding surface 16 of the mold 12 arranged in the holding portion 60.

  In the present embodiment, the tool 40 is held in advance by the tip 76 (attached to the hand 80), but is not limited thereto. For example, the tool 40 may be disposed at a predetermined position around the base portion 71 without being held by the distal end portion 76, and the first control unit 111 is operated by the finger portions 81 and 82 of the hand 80. The robot 50 may be controlled to hold the tool 40 (hold the tool 40 at the tip 76).

  Returning to FIG. 6, the controller 100 next executes step S <b> 17. In step S <b> 17, the first control unit 111 displaces the tool 40 with the multi-joint arm 70 in a state where the tool 40 is in contact with the molding surfaces 14 and 16 of the molds 11 and 12 arranged in the holding unit 60. Thus, the robot 50 is controlled. As a result, the molds 11 and 12 and the tool 40 are relatively displaced. For example, the first control unit 111 controls the robot 50 so that the tool 40 is displaced by the articulated arm 70 while maintaining the state where the polishing unit 42 is in contact with the molding surfaces 14 and 16 (FIG. 8B). reference).

  Next, the controller 100 performs step S18. In step S18, the first control unit 111 controls the robot 50 so as to continue to displace the tool 40 until the polishing unit 42 moves to the entire range. The “total range” is, for example, all of the “range in which the tool 40 is displaced while being in contact with the molding surfaces 14 and 16” set as a part of the control menu in step S13.

  Next, the controller 100 performs step S19. In step S <b> 19, the first control unit 111 controls the robot 50 so that the polished portion 42 of the tool 40 is detached from the molding surfaces 14 and 16 by the articulated arm 70.

  In steps S16 to S19, the first control unit 111 controls the robot 50 according to the control menu set in step S13. Thereby, the polishing part 42 can be moved according to the shape, size, and position of the molding surfaces 14 and 16, and the molding surfaces 14 and 16 can be polished appropriately.

  Next, the controller 100 performs step S20. In step S <b> 20, the first control unit 111 controls the tool 40 so as to stop the rotational driving of the polishing unit 42 by the driving unit 41.

  Next, the controller 100 performs step S21. In step S <b> 21, the return control unit 117 controls the robot 50 so that the molds 11 and 12 are placed on the transport unit 32 of the third device 30 by the articulated arm 70. For example, the return control unit 117 arranges the tip 76 at the positions of the molds 11 and 12 arranged in the holding unit 60 and holds the molds 11 and 12 by the finger parts 81 and 82 of the hand 80. The robot 50 is controlled so that the molds 11 and 12 are arranged on the transport unit 32 by the articulated arm 70 and the gripping of the molds 11 and 12 by the hand 80 is sequentially performed.

  In step S21, the return control unit 117 controls the robot 50 according to the control menu set in step S13. Thereby, the hand 80 can be operated according to the shape and size of the molds 11 and 12, and the molds 11 and 12 can be gripped appropriately. Further, the articulated arm 70 can be operated according to the shape and size of the mold 11 and the mold 12, and the molds 11 and 12 can be arranged at appropriate positions in the transport unit 32.

[Effect of this embodiment]
The processing system 1 includes a first device 10 that performs a molding process using molds 11 and 12 including molding surfaces 14 and 16 that are in contact with the molding object W, and a second device 20 that polishes the molding surfaces 14 and 16. The second apparatus 20 holds the tool 40 for polishing the molding surfaces 14 and 16, the robot 50 including the articulated arm 70, and the tool 40 or the molds 11 and 12 after the molding process at the distal end portion 76 of the articulated arm 70. The robot 50 is controlled so that the molds 11 and 12 and the tool 40 are relatively displaced by the articulated arm 70 in a state where the tools 40 are in contact with the molding surfaces 14 and 16 of the molds 11 and 12. And a controller 100 configured to execute the first control.

  According to the processing system 1, in addition to the first device 10 that performs the molding process, the second device 20 that polishes the molding surfaces 14, 16 is provided, so that the molding surface 14, 16 can be trimmed. Since the second apparatus 20 is configured to relatively displace the molds 11 and 12 and the tool 40 by the robot 50 including the articulated arm 70, the position and posture of the tool 40 with respect to the molds 11 and 12 can be freely set. The wide range of the molding surfaces 14 and 16 can be polished under stable conditions. Therefore, it is effective for improving the quality of the molded product.

  The second device 20 further includes a holding unit 60 that holds the molds 11 and 12 in place. The controller 100 holds the molds 11 and 12 after the molding process at the distal end portion 76 of the articulated arm 70, and The second control for controlling the robot 50 is further performed so that the molds 11 and 12 are arranged on the holding unit 60 by the articulated arm 70. In the first control, the tool 40 is moved to the tip of the articulated arm 70. The robot 50 is held so that the tool 40 is displaced by the articulated arm 70 in a state where the tool 40 is in contact with the molding surfaces 14 and 16 of the molds 11 and 12 arranged in the holding unit 60. You may control.

  In this case, the positions of the molds 11 and 12 in the first control are stabilized by arranging the molds 11 and 12 in the holding unit 60 by the second control. For this reason, the molding surfaces 14 and 16 can be polished under more stable conditions. Therefore, it is further effective for improving the quality of the molded product.

  The molds 11 and 12 have concave or convex molding surfaces 14 and 16, and the holding part 60 is a mold so that the bottom part 16 a or the top part 14 a of the molding surfaces 14 and 16 is inclined toward the base 71 side of the articulated arm 70. 11 and 12 may be held. In this case, the tool 76 is spread over a wide range of the molding surfaces 14 and 16 without causing the tip 76 of the articulated arm 70 to wrap around the back side of the holding unit 60 (the back side when the base 71 side of the articulated arm 70 is the front side). Since 40 can be arranged, the articulated arm 70 can be easily downsized.

  The molds 11 and 12 after the molding process are transferred from the first device 10 to the second device 20, and the polished molds 11 and 12 (the molds 11 and 12 whose molding surfaces 14 and 16 are polished in the second device 20) are transferred. You may further provide the 3rd apparatus 30 conveyed from the 2nd apparatus 20 to the 1st apparatus 10. FIG. In this case, the efficiency of the molding process can be improved by automating the conveyance of the molds 11 and 12 between the first apparatus 10 and the second apparatus 20.

  Although the embodiment has been described above, the present invention is not necessarily limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention. The controller 100 only has to control the robot 50 so that the molds 11 and 12 and the tool 40 are relatively displaced by the articulated arm 70 in the first control, so that the tool 40 is displaced by the articulated arm 70. Instead, the robot 50 may be controlled so that the molds 11 and 12 are displaced by the articulated arm 70.

  FIG. 9 is a schematic view illustrating the case where the molds 11 and 12 are displaced by the articulated arm 70 in the first control. In the example of FIG. 9, the tool 40 is fixed around the base 71 with the polished portion 42 facing up. The controller 100 holds the molds 11 and 12 at the distal end portion 76 of the articulated arm 70 and displaces the molds 11 and 12 by the articulated arm 70 in a state where the molding surfaces 14 and 16 are in contact with the polished portion 42. Thus, the robot 50 is controlled.

  The processing system 1 may be configured to polish the molding object W after the molding process with the second device 20 in addition to polishing the molds 11 and 12 after the molding process with the second device 20. For example, the transport unit 31 of the third device 30 may be configured to transport the molded object W after the molding process from the first apparatus 10 to the second apparatus 20 in addition to the molds 11 and 12 after the molding process. . The controller 100 of the second apparatus 20 holds the tool 40 or the molding object W after molding processing at the tip 76 of the articulated arm 70, and the tool 40 is placed on one side (surfaces Wa and Wb) of the molding object W. The third control for controlling the robot 50 so as to relatively displace the molding object W and the tool 40 by the multi-joint arm 70 in a state where they are in contact with each other may be further executed. . The controller 100 holds the molding object W after the molding process at the tip 76 of the articulated arm 70 (for example, grips the molding object W with the hand 80), and holds the molding object W with the articulated arm 70. In the third control, the tool 40 is held at the distal end portion 76 of the articulated arm 70, and is arranged at the holding portion 60. The robot 50 may be controlled so that the tool 40 is displaced by the articulated arm 70 in a state where the tool 40 is in contact with one surface of the molding object W.

  The processing system 1 may not include the third device 30. In this case, the second device 20 executes to remove the molds 11 and 12 or the molding object W after the molding process from the first device 10 and to return the polished molds 11 and 12 to the first device 10. May be. Specifically, the articulated arm 70 takes out the molds 11 and 12 or the molding object W after molding from the first apparatus 10 and returns the polished molds 11 and 12 to the first apparatus 10. You may arrange | position in the position which can be performed. The controller 100 holds the molds 11, 12 or the molding object W after the molding process at the tip 76 of the articulated arm 70, and the molds 11, 12 or the molding object W are held by the articulated arm 70 in the first device 10. The robot 50 is controlled so as to be removed from the mold, and the polished molds 11 and 12 are held at the tip 76 of the articulated arm 70, and the molds 11 and 12 are returned to the first device 10 by the articulated arm 70. Further, the robot 50 may be further controlled. Moreover, you may entrust an operator to take out the molds 11 and 12 or the molding object W after the molding process from the first apparatus 10 and to return the polished molds 11 and 12 to the first apparatus 10.

  DESCRIPTION OF SYMBOLS 1 ... Processing system, 10 ... 1st apparatus, 20 ... 2nd apparatus, 30 ... 3rd apparatus, 11,12 ... type | mold, W ... Molding object, 14,16 ... Molding surface, 40 ... Tool, 70 ... Articulated Arm, 50 ... Robot, 76 ... Tip, 60 ... Holding part, 100 ... Controller.

Claims (9)

A first device that performs molding processing using a mold that includes a molding surface that contacts a molding object;
A second device for polishing the molding surface,
The second device is
A tool for polishing the molding surface;
A robot including an articulated arm;
The tool or the mold after molding is held at the tip of the articulated arm, and the mold and the tool are relatively moved by the articulated arm in a state where the tool is in contact with the molding surface of the mold. And a controller configured to execute a first control for controlling the robot to be displaced in a mechanical manner.   2. The processing system according to claim 1, wherein in the first control, the controller holds the tool at a distal end portion of the articulated arm and controls the robot so that the tool is displaced by the articulated arm. The second apparatus further includes a holding unit that holds the mold in place.
The controller is
The mold after the molding process is held at the tip of the articulated arm, and the robot is further configured to execute a second control for controlling the robot so that the mold is arranged on the holding unit by the articulated arm. ,
In the first control, the tool is held at the tip of the articulated arm, and the tool is brought into contact with the molding surface of the mold disposed on the holding unit, and the tool is moved to the articulated joint. The processing system according to claim 2, wherein the robot is controlled to be displaced by an arm. The mold has a concave or convex molding surface,
The processing system according to claim 3, wherein the holding unit holds the mold such that a bottom portion or a top portion of the molding surface is inclined toward a base side of the articulated arm.   5. The apparatus further comprises a third device that conveys the mold after molding from the first device to the second device, and conveys the polished mold from the second device to the first device. The processing system according to any one of the above. The molding object is a glass plate,
The processing system according to claim 1, wherein the mold includes the molding surface in contact with one surface of the glass plate.   The processing system according to claim 6, wherein the material of the mold includes glassy carbon. Performing a molding process with a mold including a molding surface in contact with the molding object;
Using a robot having an articulated arm, holding the tool for polishing the molding surface or the mold after molding processing at the tip of the articulated arm, with the tool in contact with the molding surface of the mold And controlling the robot so that the mold and the tool are relatively displaced by the articulated arm. A tool for polishing the molding surface of a mold for molding processing including a molding surface that contacts a molding object;
A robot including an articulated arm;
The tool or the mold after molding is held at the tip of the articulated arm, and the mold and the tool are relatively moved by the articulated arm in a state where the tool is in contact with the molding surface of the mold. And a controller configured to execute a first control for controlling the robot so as to be displaced.

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