JP2022055735A - Kneaded product transfer device and manufacturing apparatus for fiber-reinforced resin molded product - Google Patents

Abstract

To accurately mold a resin molded body of a complicated shape.SOLUTION: A kneaded product transfer device (10) that transfers a kneaded product (K2), which comprises resin and fiber kneaded together, from transport means (4) to a molding die (80) includes: a mounting table (60) provided between the transport means (4) and a molding apparatus (8) having the molding die; a first transfer robot (5) that three-dimensionally arranges a plurality of kneaded products on the mounting table so as to have a predetermined shape according to a shape of a final molded product by repeatedly grasping and placing the kneaded product on the mounting table; and a second transfer robot (7) that grips the plurality of kneaded products placed on the mounting table in a predetermined shape at once and puts them into the molding die.SELECTED DRAWING: Figure 1

Description

The present invention relates to a transfer device for a kneaded product obtained by kneading a resin and a fiber, and a device for manufacturing a fiber-reinforced resin molded product.

In recent years, the LFT-D (Long Fiber Thermoplastics -Direct) method has been adopted as a molding method for producing a composite material in which a resin such as a thermoplastic resin and a fiber such as carbon fiber are kneaded. A method for producing a composite material by the LFT-D method is disclosed in, for example, Japanese Patent Application Laid-Open No. 2013-173330 (Patent Document 1).

In Patent Document 1, a continuous fiber material and a thermoplastic resin material are introduced into the cylinder of a kneader (extruder), and the thermoplastic resin material is cut while cutting the continuous fiber material by the rotation of a screw arranged in the cylinder. Disclosed is a method of producing a kneaded material by kneading the kneaded material, extruding the kneaded material to the outside of the cylinder, and pressing the kneaded material in the molding die in a subsequent step to produce a fiber-reinforced resin molded body. ..

Further, in Japanese Patent Application Laid-Open No. 2018-144287 (Patent Document 2), a positioning means for positioning a fiber-reinforced resin molded body manufacturing apparatus into a pattern for putting a kneaded product after cutting into a molding die is included, and the X is provided by the positioning means. A configuration is disclosed in which a plurality of (for example, two) kneaded products positioned in the direction and the Y direction are picked up at one time by a robot hand as a transfer device.

Japanese Unexamined Patent Publication No. 2013-1733330 Japanese Unexamined Patent Publication No. 2018-144287

In the fiber-reinforced resin material manufacturing apparatus as disclosed in Patent Document 1, there is not yet a practical technique for molding a fiber-reinforced resin material having a complicated shape.

Further, in Patent Document 2, a plurality of kneaded products are positioned in a predetermined pattern before the molding process in the molding die, and the plurality of positioned kneaded products are charged into the molding die at once. Although the molding accuracy is improved as compared with the case where the resin molded bodies are molded one by one into a molding die, there is room for improvement in order to accurately mold a resin molded body having a complicated shape.

The present invention has been made to solve the above-mentioned problems, and an object thereof is a kneaded material transfer device capable of accurately molding a resin molded body having a complicated shape, and a fiber reinforced resin. It is to provide the manufacturing apparatus of a molded body.

The transfer device for a kneaded product according to a certain aspect of the present invention is a transfer device for transferring a kneaded product obtained by kneading a resin and a fiber from a transfer means to a molding die, and is a transfer device having a transfer means and a molding die. By repeatedly grasping and placing the kneaded material on the mounting table provided between the mounting table, a plurality of kneaded materials are three-dimensionally placed on the mounting table so as to have a predetermined shape according to the shape of the final molded product. It is provided with a first transfer robot arranged in the above, and a second transfer robot that holds a plurality of kneaded materials arranged on the mounting table at one time in a predetermined shape and puts them into a molding die.

Preferably, the transfer device for the kneaded material is a heating device for heating the kneaded material placed on the mounting table from above, and the mounting table and the heating device in conjunction with the operation of the first transfer robot. Further provided with a movement control means for relatively reciprocating the device.

Preferably, the mounting table has a mounting surface corresponding to the undulating shape of the molding die. The mounting table may be provided with a slip stopper that constitutes a mounting surface.

The kneaded material transfer device may further include a photographing means capable of photographing the kneaded material to be gripped by the first transfer robot or the second transfer robot. In this case, the first transfer robot or the second transfer robot can adjust the gripping position of the kneaded material based on the imaging result by the imaging means.

The apparatus for producing a fiber-reinforced resin molded product according to another aspect of the present invention is arranged on the upstream side of the above-mentioned kneaded product transfer device and the transfer device, cuts the kneaded material discharged from the kneading device, and after cutting. It is provided with a cutting device for sending the kneaded material to the downstream side and a molding device for pressure molding a plurality of kneaded products arranged on the downstream side of the transfer device and arranged in a molding die by a second transfer robot.

Preferably, the cutting device cuts the kneaded material of a plurality of sizes while weighing the kneaded material discharged from the kneading device, and the first transfer robot grips the kneaded material in conjunction with the cutting timing by the cutting device. The grip is reciprocated.

According to the present invention, a resin molded body having a complicated shape can be molded with high accuracy.

It is a figure which shows typically the structure of the manufacturing apparatus of the fiber reinforced resin molded article which concerns on embodiment of this invention. It is a top view which shows typically the structure of the transfer apparatus of the kneaded material which concerns on embodiment of this invention. It is a top view which shows typically the operation of the 1st transfer robot in embodiment of this invention. It is a top view which shows typically the operation of the 2nd transfer robot in embodiment of this invention. It is a perspective view which shows typically the structural example of the slip stopper in embodiment of this invention.

Embodiments of the present invention will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are designated by the same reference numerals and the description thereof will not be repeated.

<Outlined configuration of manufacturing equipment for fiber reinforced resin molded product>
With reference to FIG. 1, first, a schematic configuration of a fiber-reinforced resin molded product manufacturing apparatus 1 according to an embodiment of the present invention will be described. As shown in FIG. 1, the fiber-reinforced resin molded body manufacturing apparatus 1 is a kneading apparatus 2 for kneading fibers and a thermoplastic resin, and a cutting apparatus for cutting a continuous-shaped kneading material K1 discharged from the kneading apparatus 2. 3. It is provided with a transfer device 10 for transferring the kneaded product K2 after cutting to the mold 80, and a molding device 8 having the mold 80. In the drawings, the kneading material K1 and the kneaded material K2 are shown by hatching.

(Kneading device)
The kneading device 2 is a device for producing a kneaded product as a molded body material in which fibers are mixed with a thermoplastic resin. In the kneading device 2, for example, the first kneader 21 for kneading the thermoplastic resin and the fibers and the thermoplastic resin introduced in the first kneader 21 are kneaded with the fibers in the first kneader 21. Prior to this, it includes a second kneader 22 that kneads and melts, and a fiber supply unit (not shown) that supplies fibers to the first kneader 21. The kneading material K1 discharged from the first kneader 21 is sent to the cutting device 3.

(Cutting device)
The cutting device 3 includes a conveyor 31 that receives the kneading material K1 discharged from the first kneader 21 from below and conveys it in one direction, a cutting blade 33 that cuts the kneading material K1 conveyed by the conveyor 31, and a cutting blade. It is composed of a conveyor 32 that conveys the kneaded product K2 after being cut by 33 in one direction.

A heating device 36 for suppressing the cooling of the kneading material K1 and the kneaded material K2 is provided on the transport paths of the conveyors 31 and 32. The heating device 36 is provided below and above the transport surface (upper surface) of the conveyors 31 and 32, respectively. The heating device 36 is composed of, for example, an infrared heater. The same applies to the heating device shown below.

The cutting device 3 further includes a load cell (weight detecting means) 34 attached to the conveyor 31 on the upstream side, and a control means (not shown) that controls the cutting blade 33 based on the detection signal of the load cell 34. As a result, the cutting device 3 can cut while measuring the kneading material K1 discharged from the first kneading machine 21. The weight of the kneaded product K2 is predetermined according to the cutting order, and the cutting device 3 cuts the kneaded material K1 each time when the weight reaches the predetermined weight, and the kneaded material of a plurality of sizes (weights) is kneaded. Send K2 to the downstream side.

(Transfer device)
The transfer device 10 is continuously provided on the conveyor 32 of the cutting device 3, and is provided between the transfer conveyor 4 for transporting the kneaded material K2 after cutting in one direction, and the transfer conveyor 4 and the molding device 8. The pedestal 60, the first transfer robot 5 that grips the kneaded material K2 on the transfer conveyor 4 and places it on the pedestal 60, and the kneaded material K2 arranged on the pedestal 60 are put (inserted) into the mold 80. ) The second transfer robot 7 and the like.

The first transfer robot 5 repeatedly grips the kneaded material K2 on the transfer conveyor 4 and places it on the mounting table 60. In the present embodiment, the first transfer robot 5 reciprocates the grip portion 51 for gripping the kneaded material K2 in conjunction with the cutting timing by the cutting device 3. As a result, the first transfer robot 5 three-dimensionally arranges a plurality of kneaded products K2 on the mounting table 60 so as to have a predetermined shape according to the shape of the final molded product. That is, the premolded product K3 corresponding to the shape of the final molded product (shape of the mold 80) is formed on the mounting table 60. The second transfer robot 7 is arranged on the downstream side of the first transfer robot 5, and a plurality of kneaded products K2 (preformed products K3) arranged on the mounting table 60 are once held in a predetermined shape. And put it in the mold 80.

A heating device 41 is also provided on the transfer path of the kneaded material K2 by the transfer conveyor 4. The heating device 41 is provided below the transfer surface of the transfer conveyor 4. The transfer conveyor 4 is not essential, and the first transfer robot 5 may pick up the kneaded material K2 directly from the conveyor 32 which is the transfer means on the cutting device 3 side.

The detailed configuration and operation of the transfer device 10 will be described later.

(Molding equipment)
The molding apparatus 8 is located on the downstream side of the transfer apparatus 10, and the kneaded product K2 arranged in the mold 80 is pressure-molded to produce a fiber-reinforced resin molded product as a final molded product (product). The mold 80 is a molding die, and is composed of a lower die 81 on which the kneaded product K2 is placed and an upper die 82 arranged facing the lower die 81. The upper die 82 is provided at the lower end of the slider 83.

In the present embodiment, the molding apparatus 8 closes the upper mold 82 and the lower mold 81 after the plurality of kneaded products K2 (pre-molded products K3) are inserted into the lower mold 81 by the second transfer robot 7. The plurality of kneaded products K2 are pressure-molded. Since the plurality of kneaded products K2 inserted into the lower mold 81 are preformed into a shape corresponding to the undulating shape of the mold 80, the mold 80 and the insertion material (pre-molded product K3) are used during pressure molding. It is difficult for gaps to occur between the two, and a high-precision final molded product is produced.

<Configuration example of transfer device>
A configuration example of the transfer device 10 will be described with reference to FIGS. 1 and 2. FIG. 2 is a plan view schematically showing the configuration of the transfer device 10. The arrow A1 in FIG. 2 indicates the transfer direction (downstream side) of the kneaded product K2, and the opposite side indicates the upstream side. Further, the arrow A2 in FIG. 2 indicates a direction that intersects (orthogonally) the transfer direction, and the same direction is also referred to as a lateral direction.

(Transfer robot)
The first transfer robot 5 operates the grip portion 51 that grips the kneaded material, the arm portion 52 that reciprocates the grip portion 51, the support portion 53 that supports the arm portion 52, and the grip portion 51 and the arm portion 52. Includes a control unit (not shown) that controls. Similarly, the second transfer robot 7 has a grip portion 71 that grips the kneaded material, an arm portion 72 that reciprocates the grip portion 71, a support portion 73 that supports the arm portion 72, and a grip portion 71 and an arm portion. It includes a control unit (not shown) that controls the operation of 72.

Each of the gripping portions 51 and 71 is a needle gripper having a plurality of (many) needle-shaped members, and grips the kneaded material K2 by piercing the kneaded material K2. The needle-shaped members of the grip portions 51 and 71 typically extend in the vertical direction (may be slightly inclined), and advance and retreat along the extending direction to grip the kneaded product K2. And release. The gripping portion 51 of the first transfer robot 5 grips the kneaded material K2 one by one, whereas the gripping portion 71 of the second transfer robot 7 grips the plurality of kneaded materials K2 at once, so that the needles are used. The number of shaped members is larger in the grip portion 71 than in the grip portion 51.

Since the gripping portion 51 of the first transfer robot 5 grips the kneaded material K2 one by one, the kneaded material K2 may be sandwiched and gripped from the side by a plurality of pairs of needle-shaped members. Alternatively, the grip portion 51 is not limited to the needle gripper, and may be configured to scoop up the kneaded product K2.

In the present embodiment, as shown in FIG. 2, the support portion 53 of the first transfer robot 5 is installed on one side in the lateral direction of the transfer conveyor 4, and is a virtual connection between the support portion 53 and the mold 80. The mounting table 60 is arranged on a straight line. The support portion 73 of the second transfer robot 7 is located on the upstream side of the mold 80 and is provided as a traveling carriage that can move in the lateral direction. The support portion 73 reciprocates on a rail 74 extending linearly along the lateral direction. The rail 74 is provided so as to intersect the transfer path of the kneaded material K2 from the transfer conveyor 4 to the mold 80.

(Mounting stand)
The mounting table 60 has a mounting surface 60a for mounting a plurality of kneaded products K2. It is desirable that the mounting surface 60a corresponds to the undulating shape of the mold 80 (lower mold 81). The mounting surface 60a may be formed by the upper surface of the mounting table 60 itself, but in the present embodiment, as shown in FIG. 1, it is composed of another member. Specifically, a slip stopper 65 constituting the mounting surface 60a is provided on the mounting table 60. In FIG. 2, the slip stopper 65 is not shown.

FIG. 5A schematically shows a configuration example of the slip stopper 65. The slip stopper 65 is composed of a mesh member 66 constituting the mounting surface 60a and a plurality of legs 67 supporting the mesh member 66 from below. The slip stopper 65 is typically made of metal. The plurality of legs 67 are fixed to the flat upper surface of the mounting table 60.

The net-like member 66 is formed by shaping the shape of the lower mold 81. Since fine irregularities are formed on the winding net-like member 66, it is possible to prevent the kneaded product K2 placed on the inclined surface of the net-like member 66 from slipping off. As shown by enlarging the VB portion of FIG. 5 (A) in FIG. 5 (B), a plurality of protrusions 68 having a sharpened portion at the upper end may be provided on the portion of the mesh member 66 having a large inclination.

The member constituting the mounting surface 60a is not limited to the mesh member 66, and may be composed of, for example, a thin plate member having a rough surface.

In this way, when the mounting surface 60a is formed corresponding to the undulating shape of the lower mold 81, the height of the tip of each of the plurality of needle-shaped members provided in the grip portion 71 of the second transfer robot 7. (Lower end height) may be different depending on the shape of the mounting surface 60a. As a result, the gripping portion 71 can reliably grip the plurality of kneaded materials K2 placed on the mounting surface 60a by piercing them from above with a needle-shaped member. The height of the tip of the needle-shaped member provided in the grip portion 51 of the first transfer robot 5 may be constant.

(Heating means)
In the present embodiment, in order to suppress the cooling of the kneaded material K2 mounted on the mounting table 60, as shown in FIG. 1, the transfer device 10 is a heating device for heating the mounting table 60 from below. Along with 61, a heating device 62 for heating the kneaded material K2 arranged on the mounting table 60 from above is provided. "Warming from above" means heating from above and / or from the side.

The heating device 61 is provided integrally with the mounting table 60 below the mounting table 60. When the slip stopper 65 is provided on the mounting table 60 as described above, the heat from the heating device 61 is efficiently transferred to the kneaded product K2 via the mounting table 60 and the mesh member 66 of the slip stopper 65. There is also a merit that can be done. The material of the mounting table 60 is preferably a thin metal plate having a large number of holes such as a mesh mesh or a punching metal. This makes it possible to improve the heat transfer property to the kneaded product K2.

The heating device 62 is provided independently of the mounting table 60. Here, if the heating device 62 is provided at a position close to the upper surface of the mounting table 60, the heating device 62 becomes an obstacle when the first transfer robot 5 and the second transfer robot 7 access the mounting table 60. .. Therefore, the transfer device 10 includes a movement control means 69 for relatively moving the mounting table 60 and the heating device 62.

(Movement control means)
In the present embodiment, the position of the heating device 62 is fixed on the transfer path of the kneaded material K2, and the mounting table 60 is configured to be movable to the upstream side and the downstream side of the heating device 62. .. Therefore, the movement control means 69 includes an actuator (drive means) 64 that moves the mounting table 60 along the guide rail 63, and a control unit (not shown) that controls the actuator 64.

The mounting table 60 has a heat insulating position P1 that overlaps with the heating device 62 as a reference position when viewed from above, and is between the receiving position P2 on the upstream side of the heat insulating position P1 and the delivery position P3 on the downstream side of the heat insulating position P1. Can be moved. The heating device 62 is provided, for example, inside the enclosure 62A that covers both sides and the upper part of the mounting table 60 in a tunnel shape. In this case, the heat insulating position P1 is a position in the enclosure 62A. In FIG. 2, the position of the enclosure 62A is indicated by a broken line. When the mounting table 60 is located at the receiving position P2 or the delivering position P3, the mounting surface 60a of the mounting table 60 is exposed without overlapping the enclosure 62A (heating device 62).

The receiving position P2, the heat insulating position P1, and the delivering position P3 are provided in this order along the transfer direction. In the present embodiment, the guide rail 63 for guiding the movement of the mounting table 60 extends linearly, and the mounting table 60 is located on the conveyor 4 side and the molding device 8 from the heat insulating position P1 overlapping the heating device 62. It can be pulled out in both directions on the side. That is, the mounting table 60 constitutes a pull-out table that can be pulled out to the upstream side and the downstream side.

The movement control means 69 reciprocates the mounting table 60 between the heat insulating position P1 and the receiving position P2 in conjunction with the transfer operation of the kneaded material K2 of the first transfer robot 5. Further, when the second transfer robot 7 is operated, the mounting table 60 is moved from the heat insulating position P1 to the delivery position P3.

<Operation of transfer device>
An operation example of the transfer device 10 will be described with reference to FIGS. 3 and 4. FIG. 3 is a plan view schematically showing the operation of the first transfer robot 5. FIG. 4 is a plan view schematically showing the operation of the second transfer robot 7. Also in FIGS. 3 and 4, the slip stopper 65 on the mounting table 60 is not shown. Further, in FIG. 4, the illustration of the kneaded product K2 (preformed product K3) placed on the mounting table 60 is omitted.

(Operation of the first transfer robot)
The first transfer robot 5 grips the kneaded material K2 conveyed by the transfer conveyor 4 by the gripping portion 51, and then, as shown in FIG. 3A, toward the receiving position P2 on the transfer path. The grip portion 51 is moved (arrow A11). When the grip portion 51 is located on the conveyor 4 (grip position), the mounting table 60 is retracted to the heat insulating position P1 which is the reference position, but is mounted as the grip portion 51 moves to the receiving position P2. The stand 60 is pulled out from the heat insulating position P1 to the upstream side (arrow A12), and stands still at the receiving position P2.

The first transfer robot 5 releases the gripped state of the kneaded material K2 by the gripping portion 51 at a predetermined release position on the receiving position P2. That is, the kneaded product K2 is placed (released) in a predetermined area on the mounting table 60 (mounting surface 60a) drawn out to the receiving position P2. The release position of the kneaded product K2 is predetermined in association with the transfer order (cutting order). The release height of the kneaded product K2 may also be predetermined in association with the transfer order.

When the kneaded material K2 is placed on the mounting table 60, the first transfer robot 5 moves the grip portion 51 to the transfer conveyor 4 again as shown in FIG. 3 (B) (arrow A13). The mounting table 60 is returned from the receiving position P2 to the heat insulating position P1 when the grip portion 51 is moved to the conveyor 4 (arrow A14).

In this way, the mounting table 60 reciprocates between the heat insulating position P1 and the receiving position P2 each time one kneaded material K2 is transferred by the first transfer robot 5. That is, the mounting table 60 repeats the movement between the heat insulating position P1 and the receiving position P2 a plurality of times until a preset number of kneaded materials K2 are placed on the mounting table 60. This makes it possible to prevent or suppress the kneaded product K2 previously placed on the mounting table 60 from cooling and hardening.

In addition, in order to heat the kneaded product K2 more effectively at the heat insulating position P1, a shutter member (shown) capable of opening and closing the opening of the enclosure 62A at the upstream end and the downstream end of the enclosure 62A. It may be provided.

When all the kneaded products K2 required for molding the final product are placed on the mounting table 60 by the first transfer robot 5, a preformed product K3 corresponding to the shape of the final product is formed on the mounting table 60. Will be done. As a result, the transfer process by the first transfer robot 5 is completed. When the transfer process by the first transfer robot 5 is completed, the mounting table 60 is retracted to the heat insulating position P1 and then pulled out to the transfer position P3 as it is.

(Operation of the second transfer robot)
When the transfer process by the first transfer robot 5 is completed, the second transfer robot 7 moves the grip portion 71 to a predetermined grip position on the transfer position P3, as shown in FIG. 4 (A). Alternatively, the grip portion 71 may be made to stand by on the delivery position P3 before the transfer process by the first transfer robot 5 is completed.

When the mounting table 60 is pulled out to the delivery position P3 (arrow A21), the second transfer robot 7 grips a plurality of (all) kneaded materials K2 on the mounting table 60 at once by the grip portion 71. That is, the grip portion 71 pierces and grips the preformed product K3 from above from the mounting table 60 located at the delivery position P3.

As shown in FIGS. 4A and 4B, when the second transfer robot 7 grips the preformed object K3 by the gripping portion 71, the gripping portion 71 is moved to the molding apparatus 8 (arrow A22). , The gripping state of the preformed product K3 is released on the lower mold 81. That is, a plurality of kneaded products K2 forming the preformed product K3 are charged (arranged) into the lower mold 81 at once. When the premolded product K3 is arranged in the lower mold 81, the molding apparatus 8 lowers the upper mold 82 to mold the fiber reinforced resin molded body.

In the present embodiment, when the kneaded material is gripped as shown in FIG. 4A, the support portion 73 of the second transfer robot 7 is arranged at a position offset laterally from the transfer path. At the time of inserting the mold shown in (B), the mounting table 60 is returned to the heat insulating position P1 (arrow A23), and at the same time, the support portion 73 is moved along the rail 74 so as to approach the transfer path (arrow A24). , The grip portion 71 is moved to the mold 80. As a result, the premolded product K3 can be efficiently transferred to the mold 80 in a short time while avoiding the columns 84 provided at the four corners of the molding apparatus 8. As a result, it is possible to prevent or suppress the premolded product K3 from cooling during the transfer.

As described above, since the transfer device 10 according to the present embodiment includes the mounting table 60 and the two transfer robots 5 and 7, a premolded product K3 corresponding to the shape of the final molded product is formed in advance. The molded product K3 can be directly put into the mold 80. Therefore, according to the fiber-reinforced resin molded product manufacturing apparatus 1 provided with the transfer device 10 according to the present embodiment, it is possible to accurately mold a resin molded product having a complicated shape.

Further, in the present embodiment, the mounting table 60 is provided so as to be movable with respect to the heating device 62, and is used when the kneaded material K2 is placed by the first transfer robot 5 and the second transfer robot. Except when the kneaded product K2 is gripped by 7, the mounting table 60 is retracted to the heat retaining position P1 overlapping the heating device 62. As a result, it is possible to prevent or suppress the kneaded product K2 previously placed on the mounting table 60 from cooling and hardening, so that the quality of the final product can be improved.

The mounting table 60 and the heating device 62 may be relatively movable, and the mounting table 60 is fixed on the transfer path of the kneaded material K2, and the heating device 62 is the first transfer robot 5. It may be configured to move back and forth in conjunction with the operation.

<Modification 1>
Even if the grip portion 51 of the first transfer robot 5 and the grip portion 71 of the second transfer robot 7 are also equipped with a heating device (not shown) for suppressing the cooling of the gripped kneaded product K2. good. The heating device may be configured to heat the needle-shaped members constituting the grip portions 51 and 71. As a result, the kneaded material K2 can be heated even when the kneaded material K2 is transferred by the first transfer robot 5 and the second transfer robot 7, so that the kneaded material K2 can be more reliably prevented from hardening.

<Modification 2>
The transfer device 10 may further include an imaging means for photographing the kneaded material to be gripped by the grip portion 51 of the first transfer robot 5 or the second transfer robot 7. For example, a camera (not shown) capable of recognizing the shape of the kneaded product K2 may be attached to the tip of the grip portion 51 of the first transfer robot 5 or the grip portion 71 of the second transfer robot 7. A fixed-point camera (not shown) may be mounted overhead on the moving path of the mounting table 60. As a result, the first transfer robot 5 or the second transfer robot 7 is based on the shooting result by the shooting means (that is, by comparing the shot image with the teacher image registered in advance). The gripping position of the kneaded product K2 can be adjusted (corrected).

Further, since it is possible to detect whether or not the shape of the kneaded product K2 is normal from the captured image, if an abnormal shape is detected, a bypass process is performed instead of the transfer process of the gripped kneaded product K2. You may. As a result, it is possible to prevent the final product from becoming a defective product.

<Modification 3>
A load cell (not shown) is incorporated between the arm portion 52 and the grip portion 51 of the first transfer robot 5, and when the grip portion 51 grips the kneaded material K2, the grip portion 51 is stationary for a short time. It may be determined whether or not the weight of the gripped kneaded product K2 is within the normal range. If the weight of the kneaded product K2 is out of the normal range, a bypass process may be performed instead of the transfer process of the gripped kneaded product K2. As a result, it is possible to prevent the final product from becoming a defective product.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Fabric reinforced resin molded body manufacturing equipment, 2 Kneading equipment, 3 Cutting equipment, 4 Conveyor conveyor, 5 First transfer robot, 7 Second transfer robot, 8 Molding equipment, 10 (Kneaded product) transfer equipment, 36 , 41, 61, 62 Heating device, 51, 71 Grip, 60 mounting table, 60a mounting surface, 65 slip stopper, 69 movement control means, 80 mold, K2 kneaded product, P1 heat retention position, P2 receiving position , P3 Delivery position.

Claims (7)

A transfer device that transfers a kneaded product, which is a mixture of resin and fiber, from a transfer means to a molding die.
A mounting table provided between the transport means and the molding apparatus having the molding die,
A first transfer in which a plurality of kneaded products are three-dimensionally arranged on the previously described table so as to have a predetermined shape according to the shape of the final molded product by repeatedly grasping and placing the kneaded material on the previously described table. With a robot
A transfer device for kneaded products, comprising a second transfer robot that holds a plurality of kneaded products arranged on the above-mentioned table at once in the predetermined shape and puts them into the molding die. A heating device for heating the kneaded material placed on the above-mentioned table from above, and
The transfer device for a kneaded product according to claim 1, further comprising a movement control means for relatively reciprocating the above-mentioned table and the heating device in conjunction with the operation of the first transfer robot. The kneaded product transfer device according to claim 1 or 2, wherein the above-mentioned stand has a mounting surface corresponding to the undulating shape of the molding die. The kneaded material transfer device according to claim 3, wherein the pre-described pedestal is provided with a slip stopper constituting the previously-described pedestal. Further provided with an imaging means capable of photographing the kneaded material to be gripped by the first transfer robot or the second transfer robot.
The transfer device for a kneaded product according to any one of claims 1 to 4, wherein the first transfer robot or the second transfer robot adjusts the gripping position of the kneaded material based on the imaging result by the photographing means. .. A device for manufacturing a fiber-reinforced resin molded product provided with the device for transferring the kneaded product according to any one of claims 1 to 5.
A cutting device arranged on the upstream side of the transfer device, cutting the kneaded material discharged from the kneading device, and sending the kneaded material after cutting to the downstream side.
An apparatus for producing a fiber-reinforced resin molded body, comprising a molding apparatus arranged on the downstream side of the transfer apparatus and pressure-molding a plurality of kneaded products arranged in the molding die by the second transfer robot. The cutting device cuts the kneaded material discharged from the kneading device into a plurality of sizes of kneaded material while weighing the kneaded material.
The fiber-reinforced resin molded product manufacturing apparatus according to claim 6, wherein the first transfer robot reciprocates a grip portion for gripping a kneaded material in conjunction with a cutting timing by the cutting device.

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