JP4823752B2 - Molded product take-out machine - Google Patents

Description

  The present invention relates to a molded product take-out machine capable of teaching a movement of taking out a molded product produced by a molding machine from a mold by a chuck portion and carrying it out to a conveying device.

Conventionally, an example of a technique for imaging and projecting the inner surface of a mold by a camera (imaging means) provided on a take-out head has been disclosed so that positioning can be performed easily and in a short time during teaching or the like. (For example, refer to Patent Document 1).
JP 2000-317949 A

However, since the camera disclosed in Patent Document 1 is provided on the upper portion of the take-out head in a posture for taking a picture of the inner surface of the mold, it cannot take a picture of other parts (for example, a pallet or a conveyor device). Therefore, the operator needs to perform teaching by moving other parts to a position where they can be visually observed.
Since the camera is detachably provided on the upper portion of the take-out head, a method of separately attaching the attach / detach member to the take-out head, which is in a posture for taking a picture of other parts, can be considered. However, it is necessary to remount the camera between the mold and other parts, which takes time and effort.

  The present invention has been made in view of the above points, and provides a molded product take-out machine that eliminates the need for an operator to move during teaching and saves time and effort to reattach an imaging device. With the goal.

Means for solving the problem (hereinafter, simply referred to as “solution means”) 1 includes a chuck portion configured to be able to hold a molded product, and a molded product manufactured by a molding machine is taken out from a mold and conveyed. It comprises teaching means for teaching the movement of the chuck part until it is carried out to the apparatus, and operation control means for controlling the movement of the chuck part in accordance with the content taught by the teaching means. A molded product take-out machine having an imaging device provided at a certain position and a display for displaying an image captured by the imaging device at least during teaching by the teaching device, wherein the teaching device includes the device, the molded product, Alternatively, the stop position of the chuck portion is taught for one or more of the markers provided in these. The object and the reference image of the chuck unit captured by the imaging device are stored in the storage unit, and the operation control unit images the object and the chuck unit by the imaging device when the chuck unit approaches the stop position. The ratio between the current image captured for the chuck and the reference image stored in the storage means is within an allowable range on the basis of the ratio between the current image captured for the object and the reference image stored in the storage means. The gist of the invention is to perform control to move the chuck portion until it fits inside . Note that any conveying device can be used as long as it can convey a molded product, and examples thereof include a conveying vehicle (forklift, truck, etc.), a conveyor device, a carriage, and a pallet or container conveyed by these. The display unit is arbitrary as long as it can display an image picked up by the image pickup apparatus, and corresponds to, for example, a liquid crystal display, a plasma display, a CRT, or the like.
According to the solution 1, since the imaging device is provided at a position where the transport device can be imaged, an image captured by the imaging device is displayed on the display during teaching. Since the operator can perform teaching while looking at the image displayed on the display, it is not necessary to move for teaching in the transport device. In addition, since it is not necessary to remount the imaging device, it is possible to save labor and time for that purpose. Further, according to the solving means 1, the object and the chuck part are imaged when the chuck part approaches the stop position, and the chuck is determined based on the ratio between the current image of the object and the image stored in the storage means. The chuck part is moved until the ratio of the current image and the image stored in the memory is within an allowable range. Therefore, even if the relative position shift between the object and the chuck portion occurs during operation, the chuck portion can be stopped at an appropriate position.

The solution means 2 is the molded product take-out machine described in the solution means 1, and the image pickup device is a moving mechanism for moving the chuck portion and is provided at a predetermined portion that is movable in the horizontal direction.
According to the solution means 2, when the moving mechanism moves horizontally, the imaging device also moves horizontally along with the movement. Since the horizontal position is usually different from the take-out position where the molded product is taken out from the mold and the loading position where the molded product is loaded onto the conveying device (this is also the drop position where the molded product is dropped onto the conveying device. The same applies hereinafter) The display section can be displayed at any time from the take-out position to the loading position. Therefore, the operator can perform teaching while viewing the image at the take-out position, the loading position, or the intermediate position displayed on the display. In addition, since one imaging device can capture an image from the take-out position to the loading position, the cost can be kept low.

The solving means 3 is the molded product take-out machine described in the solving means 2, and the teaching means is an image captured by the imaging device with respect to a loading position at which the molded product is loaded on the conveying device and an extraction position at which the molded product is taken out from the mold. Is displayed on the display.
According to the solution means 3, since the teaching means displays the images taken for the loading position and the take-out position on the display device, accurate teaching can be performed at both positions. In addition, since imaging is performed with one imaging device, the cost can be kept low. In addition, it is good also as a structure which memorize | stores the image imaged in one position among the loading position and the extraction position, and memorize | stored the image memorize | stored with the image imaged in the other position simultaneously.

The solving means 4 includes a chuck part configured to hold a molded product, and teaching means for teaching the movement of the chuck part until the molded product manufactured by the molding machine is taken out from the mold and carried out to a conveying device. An operation control means for controlling the movement of the chuck portion in accordance with the content taught by the teaching means, and an imaging device provided at a position where the conveying device can be imaged, and at least during teaching by the teaching means , A molded product take-out machine having a display for displaying an image captured by the imaging device, wherein both the device and the chuck portion are provided with a marker, and the operation control means is provided when the chuck portion approaches the stop position. Both the markers are picked up by an image pickup device, and the difference between the picked-up marker images is within an allowable range. The gist is to perform control to move the chuck portion until it reaches the end.
According to the solution means 4, since the imaging device is provided at a position where the transport device can be imaged, an image captured by the imaging device is displayed on the display during teaching. Since the operator can perform teaching while looking at the image displayed on the display, it is not necessary to move for teaching in the transport device. In addition, since it is not necessary to remount the imaging device, it is possible to save labor and time for that purpose. Moreover, according to the solution means 4, the marker provided in both the apparatus and the chuck part is imaged by the imaging apparatus, and the difference in the size of the marker (that is, the distance difference between the apparatus and the chuck part) falls within the allowable range. Move the chuck part until. Therefore, even if a position shift occurs in the apparatus during operation, the chuck portion can be stopped at an appropriate position.

The solution 5 is a molded product take-out machine described in the solution 4, and the imaging device is a moving mechanism that moves the chuck portion and is provided at a predetermined portion that can move in the horizontal direction.
According to the solution means 5, when the moving mechanism moves horizontally, the imaging apparatus also moves horizontally along with the movement. Since the horizontal position is usually different from the take-out position where the molded product is taken out from the mold and the loading position where the molded product is loaded onto the conveying device (this is also the drop position where the molded product is dropped onto the conveying device. The same applies hereinafter) The display section can be displayed at any time from the take-out position to the loading position. Therefore, the operator can perform teaching while viewing the image at the take-out position, the loading position, or the intermediate position displayed on the display. In addition, since one imaging device can capture an image from the take-out position to the loading position, the cost can be kept low.

The solving means 6 is the molded product take-out machine described in the solving means 5, and the teaching means is an image captured by the imaging device with respect to a loading position at which the molded product is loaded on the conveying device and an extraction position at which the molded product is taken out from the mold. Is displayed on the display.
According to the solution means 6, since the teaching means displays the images taken for the loading position and the take-out position on the display, accurate teaching can be performed at both positions. In addition, since imaging is performed with one imaging device, the cost can be kept low. In addition, it is good also as a structure which memorize | stores the image imaged in one position among the loading position and the extraction position, and memorize | stored the image memorize | stored with the image imaged in the other position simultaneously.

The solution means 7 is the molded product take-out machine described in the solution means 1, and the operation control means is configured such that when the difference between the captured current image and the image stored in the storage means falls within an allowable range, the chuck unit The gist is to correct the teaching contents with the position of the new position as a new stop position.
  According to the solution means 7, since the operation control means corrects the teaching content at the new stop position, the next time the molded product is unloaded, the chuck unit is controlled to stop at the corrected stop position. Since the operator does not need to teach again about the new stop position, it is possible to save time and effort for that purpose.

The solving means 8 is the molded product take-out machine described in the solving means 7, and the imaging device is a moving mechanism that moves the chuck portion and is provided at a predetermined portion that can move in the horizontal direction.
  According to the solving means 8, when the moving mechanism moves horizontally, the imaging apparatus also moves horizontally along with the movement. Since the horizontal position is usually different from the take-out position where the molded product is taken out from the mold and the loading position where the molded product is loaded onto the conveying device (this is also the drop position where the molded product is dropped onto the conveying device. The same applies hereinafter) The display section can be displayed at any time from the take-out position to the loading position. Therefore, the operator can perform teaching while viewing the image at the take-out position, the loading position, or the intermediate position displayed on the display. In addition, since one imaging device can capture an image from the take-out position to the loading position, the cost can be kept low.

The solving means 9 is the molded product take-out machine described in the solving means 8, wherein the teaching means is an image captured by the imaging device with respect to a loading position at which the molded product is loaded on the conveying device and an extraction position at which the molded product is taken out from the mold. Is displayed on the display.
According to the solving means 9, since the teaching means displays the images taken for the loading position and the taking-out position on the display, accurate teaching can be performed at both positions. In addition, since imaging is performed with one imaging device, the cost can be kept low. In addition, it is good also as a structure which memorize | stores the image imaged in one position among the loading position and the extraction position, and memorize | stored the image memorize | stored with the image imaged in the other position simultaneously.

The solution means 10 is the molded product take-out machine described in the solution means 4, and the operation control means is configured such that when the difference between the captured current image and the image stored in the storage means falls within an allowable range, the chuck unit The gist is to correct the teaching contents with the position of the new position as a new stop position.
According to the solution means 10, since the operation control means corrects the teaching content at the new stop position, the chuck part is controlled to stop at the corrected stop position when the molded product is unloaded next time. Since the operator does not need to teach again about the new stop position, it is possible to save time and effort for that purpose.

The solving means 11 is the molded product take-out machine described in the solving means 10, and the imaging device is a moving mechanism that moves the chuck portion and is provided at a predetermined portion that can move in the horizontal direction.
According to the solving means 11, when the moving mechanism moves horizontally, the imaging apparatus also moves horizontally along with the movement. Since the horizontal position is usually different from the take-out position where the molded product is taken out from the mold and the loading position where the molded product is loaded onto the conveying device (this is also the drop position where the molded product is dropped onto the conveying device. The same applies hereinafter) The display section can be displayed at any time from the take-out position to the loading position. Therefore, the operator can perform teaching while viewing the image at the take-out position, the loading position, or the intermediate position displayed on the display. In addition, since one imaging device can capture an image from the take-out position to the loading position, the cost can be kept low.

The solving means 12 is the molded product take-out machine described in the solving means 11, and the teaching means is an image captured by the imaging device with respect to a loading position at which the molded product is loaded on the conveying device and an extraction position at which the molded product is taken out from the mold. Is displayed on the display.
The solution means 12 displays the images picked up by the teaching means for the loading position and the take-out position on the display, so that accurate teaching can be performed at both positions. In addition, since imaging is performed with one imaging device, the cost can be kept low. In addition, it is good also as a structure which memorize | stores the image imaged in one position among the loading position and the extraction position, and memorize | stored the image memorize | stored with the image imaged in the other position simultaneously.

  According to the present invention, it is not necessary for the operator to move during teaching, and it is possible to save labor and time for remounting the imaging device.

  The best mode for carrying out the present invention will be described with reference to the drawings.

[Embodiment 1]
This embodiment is an example of imaging a mold, a conveying device, and the like using an imaging device provided in a moving mechanism, and will be described with reference to FIGS. FIG. 1 shows a configuration example of a production system. FIG. 2 is a schematic diagram illustrating a configuration example of the control device. FIG. 3 is a flowchart showing an example of the teaching process, and FIG. 4 is an example of the procedure for taking out the molded product. FIG. 5 shows an example of detecting a horizontal shift, and FIG. 6 shows an example of detecting a vertical shift.

  The production system shown in FIG. 1 is a system for producing a molded product P, and includes a data setting mechanism 10, a control device 20, an injection molding mechanism 30, a molded product take-out mechanism 40, a conveyor device 50, and the like. Among these, at least the data setting mechanism 10, the control device 20, and the molded product take-out mechanism 40 constitute a “molded product take-out machine” that realizes the present invention.

  The data setting mechanism 10 realizes teaching and information display. The control device 20 controls the entire production system. The injection molding mechanism 30 corresponds to a “molding machine” together with the control device 20, and realizes production of the molded product P by injection molding. The molded product take-out mechanism 40 takes out the molded product P produced by the injection molding mechanism 30 and transfers it into a box pallet 51 placed on the conveyor device 50. The box pallet 51 corresponds to a transport device and an object. The conveyor device 50 moves the box pallet 51 in the direction of the arrow D6 and conveys it to a predetermined position (for example, an inspection position of the molded product P or a loading position on a transport device). Below, the structural example of each mechanism is demonstrated.

  The data setting mechanism 10 includes an installation table 11, a pendant (data setting device) 12, and the like. The installation table 11 is a table on which the pendant 12 is installed. The pendant 12 corresponds to a teaching means and can be detached from the installation base 11 and moved freely. The pendant 12 includes a display 12a, an operation unit 12b, and the like (see FIG. 2). For example, a liquid crystal display is applied to the display 12a to display an image captured by an imaging device C, which will be described later, other display information (for example, current position, distance, etc.), and the like. The operation unit 12 b performs an operation for teaching the production of the molded product P by the injection molding mechanism 30, the removal of the molded product P by the molded product removal mechanism 40, or the movement of the chuck unit 48. The operation unit 12b includes keys, buttons, a joystick, a mouse, and the like, and transmits an operation signal to the control device 20 via a signal cable.

  The injection molding mechanism 30 includes an injection device 31, a fixed platen 33, a movable platen 36, and the like. A fixed mold 34 is attached to the stationary platen 33 in a replaceable manner, and a movable mold 35 is attached to the movable platen 36 in a replaceable manner. The movable platen 36 has an actuator or the like, and is configured to move in the direction of arrow D5 (Y-axis direction shown in the figure) to perform mold closing, mold opening, and the like. The injection device 31 injects a material toward a space formed by overlapping the immobile mold 34 and the movable platen 36. The injection device 31, the fixed platen 33, and the movable platen 36 are all provided on the base 37. The fixed platen 33 is provided with a support portion 32, and the control device 20, the rail 41, and the like are installed on the support portion 32.

  The molded product take-out mechanism 40 includes rails 41, 43, 45, driving devices 42, 44, 46, a chuck portion 48, and the like. Each of the driving devices 42, 44, and 46 includes an actuator that operates according to a control signal transmitted from the control device 20. The rail 41 is fixed to the support portion 32, and the drive device 42 is configured to be movable in the arrow D1 direction (X-axis direction shown). The rail 43 is fixed to the driving device 42, and the driving device 44 is configured to be movable in the arrow D2 direction (Y-axis direction shown in the drawing). The rail 45 is fixed to the drive device 44, and the drive device 46 is configured to be movable in the arrow D3 direction (Z-axis direction shown in the drawing). The chuck portion 48 is provided in the driving device 46 via a support shaft 47.

  In this example, the imaging device C (for example, a CCD camera) is fixed to the driving device 44. Since the imaging device C can move in the horizontal direction (XY plane) by driving the drive devices 42 and 44, the drive device 44 in this case corresponds to a “predetermined part movable in the horizontal direction”. The chuck portion 48 is configured to be able to grip the molded product P, and is prepared for each type of the molded product P that can be gripped. In addition, since the structure of the chuck | zipper part 48 is common, illustration and description are abbreviate | omitted.

  The detectors 42a, 44a, 46a transmit the position information of each axis to the control device 20 as a signal in order to detect the three-dimensional position of the chuck portion 48 (see FIG. 2). The detector 42 a is provided in the drive device 42, the detector 44 a is provided in the drive device 44, and the detector 46 a is provided in the drive device 46. For example, an encoder is applied to the detectors 42a, 44a, and 46a.

  The drive devices 42, 44, and 46 operate according to the control signal output from the control device 20, and the chuck portion 48 moves along an arrow D4 represented by a broken line, for example. By this operation, the molded product P in the movable mold 35 after the mold opening can be grasped and taken out by the chuck portion 48 and transferred to the box pallet 51 placed on the conveyor device 50 for storage.

  2 includes a display output unit 21, a signal input unit 23, a distance calculation unit 24, a storage unit 25, an operation control unit 26, and the like. Specifically, for example, a CPU, a ROM, a RAM, an input / output circuit, and the like are included. These means are realized by executing a teaching process or a molded product taking-out process described later.

  The display output unit 21 outputs a display signal related to an image captured by the imaging device C, other display information, and the like to the display 12a. For example, since the content of the image signal input from the imaging device C via the signal input means 23 is the current image (or video; the same applies hereinafter), the current image is displayed on the display 12a. If the image and other information (for example, the distance to the box pallet 51 etc.) memorize | stored in the memory | storage means 25 are read, an image, other information, etc. will be displayed on the display 12a.

The signal input means 23 receives an operation signal (including teaching content) from the operation unit 12b, an image signal (or video signal; the same applies hereinafter) from the imaging device C, a position signal from the detectors 42a, 44a, 46a, and the like. input. The distance calculation unit 24 calculates the distance between the imaging device C and the box pallet 51 based on the image. The storage means 25 corresponds to the ROM, RAM, disk device, or the like, and stores the image signal of the imaging device C, the operation signal of the operation unit 12b, or other signals and information. The operation control means 26 transmits signals to the data setting mechanism 10, the injection molding mechanism 30, the molded product take-out mechanism 40 and the like to control various operations.
Note that the image synthesizing means 22 is provided as necessary. Specific contents such as the function of the image composition means 22 and the composition method will be described in the second embodiment.

  The control device 20 configured as described above executes a teaching process when teaching is performed by the operation unit 12b and a molded product taking-out process of taking out a molded product by the operation control unit 26. A procedure example of the teaching process for realizing the teaching means will be described with reference to FIG. 3, and a procedure example of the molded product take-out process will be described with reference to FIG. The teaching process is repeatedly executed while teaching is performed, and the molded product taking-out process is repeatedly executed while performing a taking-out operation controlled according to the teaching content.

  In the teaching process of FIG. 3, first, normal teaching is performed using the operation unit 12b, and the taught contents are stored in the storage means 25 [step S10]. The stored teaching contents correspond to, for example, the moving direction, moving amount or moving position (for example, the position detected by the detectors 42a, 44a, 46a), the type of operation (for example, gripping or releasing), and the like.

  In parallel with teaching in step S10, the current image captured by the imaging device C is displayed on the display 12a [step S11]. Other information (for example, the position detected by the detectors 42a, 44a, and 46a) may be displayed together. Further, if necessary, the image and other information stored in the storage means 25 are read out and displayed on the display 12a [step S12].

  When the stop position for stopping the chuck portion 48 is taught during teaching (YES in step S14), the image of the box pallet 51 captured by the imaging device C at the taught stop position is stored in the storage means 25 [ Step S15]. The image stored in step S15 (in this example, the image of the box pallet 51) corresponds to the reference image. The image stored in the storage unit 25 may be a captured image as it is, or may be an image subjected to predetermined image processing (for example, edge detection or contour extraction). On the other hand, if the stop position of the chuck portion 48 is not taught (NO in step S14), the teaching process is finished and the process returns.

  If necessary, the distance L between the imaging device C and the box pallet 51 (corresponding to the object) may be calculated by the distance calculation unit 24 and stored in the storage unit 25 together with the image of step S15 [ Step S16]. The distance can be calculated by trigonometry based on the image, for example. Taking the image shown in FIG. 5C as an example, it is assumed that the image Ga of the box pallet 51 captured when the distance between the imaging device C and the box pallet 51 is the distance La is the width value da. If the image Gb of the box pallet 51 imaged when the stop position is taught is the width value db, the distance L to the box pallet 51 is obtained by “L = La × (da / db)”. The same applies to the case where the distance L is calculated in steps S22 and S25 described later.

  Next, in the molded product removal process of FIG. 4, first, the operation of the molded product removal mechanism 40 (particularly the chuck portion 48) is controlled in accordance with the teaching content stored in the storage means 25 in step S10 of FIG. 3 [step S20]. When the chuck portion 48 operated by the control of step S20 has already reached the stop position (YES in step S21), the difference between the current image of the box pallet 51 and the reference image of the box pallet 51 stored in the storage means 25 is calculated. Obtain [Step S22]. For the difference, for example, a deviation value is obtained for the edge portion of the box pallet 51.

  A method of obtaining the deviation value will be described with reference to FIG. For example, as shown in FIG. 5A, the box pallet 51a stored in the storage means 25 at the corresponding stop position in step S15 in FIG. 3, and the current box pallet 51b imaged by the imaging device C in the molded product removal process. Is placed on the conveyor device 50. As shown in FIG. 5B, an image obtained by capturing the box pallet 51a is a reference image Ga, and an image obtained by capturing the box pallet 51b is an image Gb. The reference image Ga and the image Gb in this example represent only the edge-detected contour (the same applies to FIG. 5C). When the reference image Ga and the image Gb are combined so as to overlap, for example, a deviation value dx in the X-axis direction and a deviation value dy in the Y-axis direction are obtained at the edge portion on the lower right side. As shown in FIG. 5C, when the position of the box pallet 51 is shifted in the vertical direction, the image becomes larger or smaller. When an image obtained by capturing the box pallet 51a during teaching is used as the reference image Ga, an image obtained by capturing the box pallet 51b is an image Gb. For example, when the reference image Ga width value da and the width value db of the image Gb in the X-axis direction are used, the image ratio k is expressed by “k = db / da”. If k> 1, the box pallet 51 is displaced vertically (Z axis) upward, and if k <1, the box pallet 51 is displaced vertically (Z axis) downward.

Returning to FIG. 4, if the difference (deviation value) obtained in step S22 is outside the preset allowable range (NO in step S23), the position of the box pallet 51 greatly deviates from the position taught during teaching. If the teaching content is executed as it is, the molded product P does not fit on the box pallet 51 and a notification is made [step S24]. The notification sounds an alarm provided in the control device 20 or the pendant 12, or displays a warning on the display 12a.
If the difference (deviation value) obtained in step S22 is within the preset allowable range (YES in step S23), the molded product removal process is finished and the process returns. Further, it is desirable that the allowable range of step S22 (or step S26 described later) be configured so that an operator or the like can change according to the environmental conditions, the type of the molded product P, or the like.

  On the other hand, when the chuck portion 48 operated by the control in step S20 is approaching the stop position, for example, if the position is within 20 cm from the stop position (NO in step S21), the current time is the same as in step S22. The difference (deviation value) between the image of the box pallet 51 and the reference image of the box pallet 51 stored in the storage means 25 is obtained [step S25]. The difference (displacement value) is not limited to the difference between the images themselves, but includes a distance difference calculated by trigonometry based on the image, a ratio calculated using a width based on the image, and the like.

  If the difference (deviation value) obtained in step S25 is within a preset allowable range (YES in step S26), it means that it has reached almost the same position as the stop position taught during teaching. Is forcibly stopped [step S28]. The stop position stopped in step S28 is specified based on the signals from the detectors 42a, 44a, 46a, and the corresponding portion of the teaching content stored in the storage means 25 is set as the new stop position. It is desirable to correct automatically [Step S29]. This saves the time and effort of teaching again.

  On the other hand, if the difference (deviation value) obtained in step S25 is outside the preset allowable range (NO in step S26), control is continued to continue the movement of the chuck portion 48 because it is still away from the stop position [ Step S27], Steps S25 to S27 are repeated.

  In steps S22 to S24 (see FIG. 4) described above, notification is made when the object (box pallet 51) is displaced in the horizontal direction beyond the allowable range, but the object is displaced in the vertical direction beyond the allowable range. You may be notified sometimes. That is, since the size of the object changes when it deviates in the vertical direction, a notification is given when the size changes beyond the allowable range.

  Here, an example in which a marker is provided in both the chuck portion 48 and the apparatus (the movable mold 35 and the movable platen 36) to control the movement of the chuck portion 48 will be described with reference to FIG. In this example, markers M1, M2, and M3 are provided in advance in predetermined portions (upper surface in this example) of the movable mold 35, the movable platen 36, and the chuck portion 48, respectively. In order to simplify the explanation, the sizes of the markers M1, M2, and M3 are the same (for example, the diameter is 10 [cm]).

  An example of an image captured with the chuck portion 48 stopped at the uppermost end (the highest position in the vertical direction) is as shown in FIG. According to the perspective method, the diameter mc of the marker M3 provided in the chuck portion 48 closest to the imaging device C is maximized, and conversely, the diameter mb of the marker M2 provided in the movable mold 35 farthest from the imaging device C. Is minimized.

  Next, when the chuck portion 48 is moved downward (downward in the Z axis), the image of the marker M3 provided on the chuck portion 48 becomes gradually smaller. Conversely, when the chuck portion 48 is moved upward (Z-axis upward direction), the image of the marker M3 provided on the chuck portion 48 becomes gradually larger. An example of an image captured in a state where the height positions on the upper surface of the chuck portion 48 and the movable mold 35 are substantially the same is as shown in FIG. In other words, the marker M3 provided on the chuck portion 48 has a diameter mb. Therefore, a difference between the image of the marker M3 and the image of the marker M2 is obtained (step S25 in FIG. 4), and the movement of the chuck portion 48 is controlled so that the difference falls within the allowable range (step S26 in FIG. 4). S27), the vertical position of the chuck portion 48 can be controlled.

  The above-described example is applied when the movable mold 35 and the movable platen 36 are not displaced in the vertical direction. However, when the apparatus (movable mold 35, movable platen 36, box pallet 51, etc.) is shifted in the vertical direction, Can be processed as follows. That is, when the device is shifted downward (downward in the Z axis), the images of the markers M1 and M2 are reduced, and conversely, when the device is shifted upward (upward in the Z axis), the images of the markers M1 and M2 are increased. Since the difference between the sizes of the images of the markers M1 and M2 can be grasped by the ratio k described above, the chuck unit 48 is controlled to move until the ratio of the pattern of the marker M3 falls within a predetermined range with the ratio k as a reference. (See steps S25, S26, S27, and S28 in FIG. 4). Therefore, even if a vertical shift occurs in the apparatus during operation, the chuck portion 48 can be stopped at an appropriate position.

According to Embodiment 1 described above, the following effects can be obtained.
(A1) The imaging device C is provided in a position where the box pallet 51 can be imaged, that is, in the driving device 46 (see FIG. 1). At least during teaching with the pendant 12, an image captured by the imaging device C is displayed on the display 12a (see step S11 in FIG. 3). Therefore, the operator can perform teaching while viewing the image of the box pallet 51 and the like displayed on the display 12a, so that it is not necessary to move for teaching on the box pallet 51. In addition, since it is not necessary to remount the image pickup apparatus C, it is possible to save labor and time for that purpose. Furthermore, since a mold, a box pallet, a conveyor device, and the like can be imaged from above, automatic correction of the traveling axis (Y axis) and the front and rear axis (X axis) is facilitated.
The display of the image is not limited to the display device 12a, and may be performed by another display device (for example, a display device provided in the control device 20). The display is not limited to a liquid crystal display, and a plasma display, a CRT, or the like may be used.

(A2) The imaging device C is a moving mechanism that moves the chuck portion 48 and is provided in a predetermined portion that can move in the horizontal direction, that is, the driving device 46 (see FIG. 1). According to this configuration, when the driving device 46 moves horizontally, the imaging device C also moves horizontally along with the movement. As shown in FIG. 1, the horizontal position is different from the take-out position at which the molded product P is taken out from the movable mold 35 and the loading position at which the molded product P is loaded onto the box pallet 51. Can be displayed on the display. Therefore, the operator can perform teaching while viewing the image at the take-out position, the loading position, or the intermediate position displayed on the display 12a. In addition, since one imaging device C can capture an image from the take-out position to the loading position, the cost can be kept low.

(A3) An example of displaying an image captured by the imaging device C at the loading position on the display 12a is as shown in FIG. 5, and an example of displaying an image captured by the imaging device C at the take-out position on the display 12a is shown in FIG. It is as follows. Therefore, the operator can perform accurate teaching at both positions while looking at the display 12a. In this example, the image captured at one of the loading position and the take-out position is displayed, but the image captured at one position is stored in the storage means 25 and displayed together with the image captured at the other position. You may display on the container 12a.

(A4) The entire box pallet 51 is an object, and the reference image Ga captured by the imaging device C when the stop position of the chuck portion 48 is taught is stored in the storage means 25 (Steps S14 and S15 in FIG. 3 are stored). reference). The motion control means 26 images the box pallet 51 with the imaging device C when the chuck portion 48 moves to the stop position, and the difference between the captured current image Gb and the reference image Ga stored in the storage means 25 is within an allowable range. When exceeding, notification was performed (see steps S21, S22, S23, and S24 in FIG. 4). When the deviation occurs in the box pallet 51 during operation and the deviation exceeds the allowable range, the operation control means 26 notifies the operator, so that the operator corrects teaching so as to reach an appropriate stop position, The gap can be corrected.

(A5) The reference image Ga of the box pallet 51 and the chuck portion 48 is stored in the storage means 25 (see steps S14 and S15 in FIG. 3). The operation control means 26 images the box pallet 51 and the chuck part 48 when the chuck part 48 approaches the stop position, and the ratio k between the current image Gb and the reference image Ga stored in the storage means 25 for the box pallet 51. As a reference, the chuck portion is moved until the ratio k between the current image Gb and the reference image Ga stored in the storage means 25 is within an allowable range for the chuck portion 48 (steps S25, S26, and S27 in FIG. 4). , See S28). Therefore, even if the relative positional deviation between the box pallet 51 and the chuck portion 48 occurs during operation, the chuck portion can be stopped at a position corresponding to the relative positional deviation.

(A6) The movable mold 35 (or the movable platen 36) and the chuck portion 48 were used as objects, and both of them were provided with markers M2 and M3 (see FIG. 6). The operation control means 26 images both the markers M2 and M3 with the imaging device C when the chuck portion 48 approaches the stop position, and moves the chuck portion 48 until the difference between the images of the captured markers falls within an allowable range. Control to move was performed (see steps S25, S26, S27, and S28 in FIG. 4). Therefore, even if a position shift occurs in an apparatus such as the movable mold 35 or the movable platen 36 during operation, the chuck portion 48 can be stopped at an appropriate position.

(A7) When the difference between the captured current image and the image stored in the storage unit 25 falls within the allowable range, the operation control unit 26 corrects the teaching content with the position of the chuck portion 48 as a new stop position. (See steps S25, S26, S27, and S29 in FIG. 4). When the molded product P is unloaded from the next time, the chuck portion 48 is controlled to stop at the corrected stop position, so that the operator does not need to perform teaching again for the new stop position. Therefore, it is possible to save time and time for new teaching.

[Embodiment 2]
This embodiment is an example in which images captured by two imaging devices are combined and displayed, and will be described with reference to FIGS. FIG. 7 shows a configuration example for combining and displaying images. FIG. 8 shows an example in which images are synthesized and displayed. For ease of understanding, only the display of the molded product P is shown in FIG. In addition, the same code | symbol is attached | subjected to the element same as the element used in Embodiment 1, and description is abbreviate | omitted.

  The difference from the first embodiment is that the imaging devices C1 and C2 are provided first, and the image composition means 22 is provided second. As shown in FIG. 7, the former imaging devices C <b> 1 and C <b> 2 are arranged one on each of the left and right sides of the base 37 and are provided at positions where the molded product P (or the movable mold 35) is imaged. Images captured by the imaging devices C1 and C2 are transmitted as signals to the control device 20 (see FIG. 2). When the imaging device C1 images the molded product P, it can be displayed on the display 12a as shown in FIG. 8A, and when the imaging device C2 images the molded product P, it can be displayed on the display 12a as shown in FIG. 8B.

  Further, as shown by a two-dot chain line in FIG. 2, the latter image synthesizing unit 22 inputs an image input from the imaging devices C1 and C2 via the signal input unit 23, an image stored in the storage unit 25, and the like. The synthesized image is displayed on the display 12a through the display output means 21. The image composition means 22 corresponds to the image composition display means together with the display output means 21.

  In the teaching process of FIG. 3, during the teaching, image processing is performed using the images of FIGS. 8A and 8B to synthesize the images as viewed from one direction [step S13]. An example in which this image processing is performed and displayed on the display 12a is shown in FIGS. 8C and 8D. The display example of FIG. 8C is a composite image of the molded product P viewed from the front. In the display example of FIG. 8D, a composite image viewed from the front of the molded product P represented by a solid line and the chuck portion 48 represented by a broken line is displayed on the left side, and a composite image viewed from the right side is also displayed on the right side. ing. That is, images viewed from a plurality of directions are displayed simultaneously. From these displays, the three-dimensional positional relationship between the molded product P and the chuck portion 48 can be grasped at a glance.

According to the second embodiment described above, the following effects can be obtained.
(B1) Two imaging devices C1 and C2 each imaging from different directions were provided (see FIG. 7). The display output means 21 and the image synthesis means 22 (image synthesis display means) synthesize images captured by the imaging devices C1 and C2 at least during teaching, and display an image viewed from a predetermined direction on the display 12a (see FIG. 3 step S13 and FIG. 8). Parts that cannot be imaged from the front can also be combined and displayed on the display 12a. Therefore, the positional relationship among the molded product P, the movable mold 35, the chuck portion 48, and the like can be easily specified, and accurate teaching or the like can be performed even at a portion that is usually difficult to see.

(B2) Since other requirements, configurations, operations, and the like are the same as those in the first embodiment, the same effects as those in the first embodiment can be obtained {see the above-described matters (a1) to (a7)}.

[Other Embodiments]
Although the best mode for carrying out the present invention has been described in accordance with the first and second embodiments, the present invention is not limited to the embodiment. In other words, the present invention can be implemented in various forms without departing from the gist of the present invention. For example, the following forms may be realized.

(C1) In the first embodiment, in obtaining the positional deviation of the object (box pallet 51, movable mold 35, etc.), that is, the difference, the deviation value of the edge portion applied to the image is applied (step S22 in FIG. 4). , See S25). Instead of this form, an angle (elevation angle) for viewing the object with reference to the chuck unit 48 viewed from the imaging device C may be applied, and the rotation angle of the lens when the object, the chuck unit 48, or the like is brought into focus. Etc. may be applied. The former angle is obtained by calculation, and the latter rotation angle is grasped by the control device 20 that sends a control signal to the imaging device C. Therefore, the difference can be obtained by a simple method.

(C2) In the first embodiment, the difference between images taken for one object (the box pallet 51, the movable mold 35, etc.) is obtained and determined (see steps S22 and S25 in FIG. 4). Instead of this form, a configuration may be adopted in which the difference between images taken for a plurality of objects is obtained and determined. In the case where the image is changed as shown in FIG. 6A from FIG. 6A by moving the chuck portion 48, the difference between the marker M3 of the chuck portion 48 and the marker M2 of the movable mold 35 is different. Whether or not the difference between the current image of FIG. 6B and the image of FIG. 6A stored in the storage means 25 for the marker M1 provided in the movable platen 36 within the allowable range falls within the allowable range. Or the like. Even if one image is within the allowable range, if the other image is outside the allowable range, it means that the relative position between the movable platen 36 and the movable mold 35 has shifted. Therefore, it is possible to detect and notify the relative vertical displacement of the object (see step S24 in FIG. 4). Note that the positional deviation in the horizontal direction can also be detected and notified in the same manner by, for example, determining the difference in the edge portion or the like.

(C3) In the first embodiment, the box pallet 51 is applied as the transfer device (see FIG. 1), but other pallets and other devices can be similarly applied. Examples of other pallets include a flat pallet, a box pallet, and a roll pallet. An example in which the flat pallet 52 is applied is shown in FIG. As other devices, for example, a conveyor device 50 (particularly, a part for transporting the molded product P), a transport vehicle (forklift, truck, etc.), a cart, a container transported by these, and the like are applicable. These other devices may be provided with markers.
Also, elements other than the box pallet 51, the movable mold 35, and the movable platen 36 can be applied as an apparatus. For example, there are other elements that constitute the injection molding mechanism 30 and the molded product take-out mechanism 40, and elements that constitute a setup change mechanism that realizes replacement of molds necessary for producing various types of molded products P. Applicable.

(C4) In Embodiment 1, the imaging device C is provided in the drive device 44 (see FIG. 1), but may be provided in the drive device 42 that can move in the horizontal direction (XY plane). You may provide the imaging device C in both. In other words, it may be a plane (eg, a YZ plane or a ZX plane) that does not include an axis in a direction in which the chuck portion 48 moves with respect to the take-out position or the stacking position. May be provided.
Further, the markers M1, M2, and M3 imaged by the imaging apparatus are not limited to the form shown in FIG. 6 (that is, shape, figure, pattern, etc.), and any form (for example, many such as a triangle and a quadrangle) can be used as long as it can be imaged by the imaging apparatus. A square shape or a cross shape may be applied. Further, the sizes of the markers M1, M2, and M3 may be varied.

(C5) In the second embodiment, the imaging device C1 and C2 are provided separately from the molded product takeout mechanism 40 (see FIG. 7), but the molded product takeout mechanism 40 may be configured. For example, as illustrated in FIG. 9, the imaging devices C <b> 1 and C <b> 2 are configured to be provided in the driving device 44 (or the driving device 42) via a support member 49. In this configuration, since the composite image can be displayed at any time from the take-out position to the loading position, the operator can perform teaching or the like while looking at the composite image of the box pallet as well as the mold and molded product.
Further, the support member 49 can be configured to be extendable and rotatable, or the connecting portions between the imaging devices C1 and C2 and the support member 49 are used as a swing mechanism so that the orientations of the imaging devices C1 and C2 are up, down, left, and right. It is desirable to be changed to. In this way, the degree of freedom increases in the direction of the imaging devices C1 and C2, and a composite image of the device viewed from various directions can be displayed on the display 12a. For example, the composite image can be displayed so as to follow the chuck portion 48 and the molded product P.

(C6) In the second embodiment, the composite image of the molded product P and the chuck portion 48 viewed from the front and right sides is displayed (see FIG. 8D), but viewed from the other direction (for example, the left side). A synthesized image may be displayed. Further, when the imaging devices C1 and C2 are installed at a position higher than the movable platen 36, it is also possible to display a composite image of a mold, a platen, or the like viewed from above (including obliquely above). The viewing direction is preferably configured so that the operator can set or select it by operating the operation unit 12b (for example, a joystick or a mouse).

(C7) In the first and second embodiments, the molded product take-out mechanism 40 is configured by the drive devices 42, 44, 46, the rails 41, 43, 45, the chuck portion 48, and the like (see FIGS. 1 and 7). Instead of this form, the molded product take-out mechanism 40 may be configured by an industrial robot. In general, an industrial robot is composed of an arm and a hand, and the arm has a plurality of joints in order to increase the degree of freedom. The arm corresponds to the driving devices 42, 44 and 46 and the rails 41, 43 and 45, and the hand corresponds to the chuck portion 48. The imaging device C is preferably provided at the joint closest to the hand. In this way, the hand, the molded product P, the mold, the box pallet 51 (conveying device) and the like can be displayed on the display 12a.
In the first and second embodiments, the injection molding mechanism 30 that produces the molded product P by injection molding is provided. However, the molding is performed by performing various processes such as extrusion molding, bending molding, expansion molding, and winding molding. Another molding machine capable of producing the product P may be provided.

(C8) In the first and second embodiments, the distance L between the imaging device C and the box pallet 51 (corresponding to the object) is calculated by the distance calculating means 24 (step S16 in FIG. 3 and step in FIG. 4). (See S22 and S25). Instead of this form, a distance measuring device that directly measures the distance to the object may be provided in the imaging device C, the driving devices 42, 44, 46, and the like.

It is a figure explaining the example of composition of a production system. It is a schematic diagram showing the structural example of a control apparatus. It is a flowchart showing the example of a procedure of teaching processing. It is a flowchart showing the example of a procedure of a molded article extraction process. It is a figure explaining the example which detects the shift | offset | difference of a horizontal direction. It is a figure explaining the example which detects the shift | offset | difference of a perpendicular direction. It is a figure explaining the structural example for synthesize | combining and displaying an image. It is a figure showing the example of a composite display of an image. It is a figure explaining the other structural example of a production system.

Explanation of symbols

12 Pendant (data setting device)
12a display unit 12b operation unit 20 control device 21 display output unit 22 image synthesis unit 23 signal input unit 24 distance calculation unit 25 storage unit 26 operation control unit 30 injection molding mechanism 34 immovable mold 35 movable mold 40 molded product takeout mechanism 41 , 43, 45 Rail 42, 44, 46 Drive device 42a, 44a, 46a Detector 48 Chuck part 50 Conveyor device (conveyance device)
51 (51a, 51b) Box pallet (conveying device)
C, C1, C2 Imaging device P Molded product

Claims (12)

A chuck portion configured to hold a molded product, a teaching means for teaching the movement of the chuck portion until the molded product manufactured by the molding machine is taken out from the mold and carried out to the conveying device, and the teaching means. Operation control means for controlling the movement of the chuck portion according to the taught content,
An imaging device provided with a position where the transport device can be imaged;
A molded product take-out machine having a display for displaying an image captured by the imaging device at least during teaching by the teaching means,
The teaching means includes a target image captured by the imaging device and a reference image of the chuck portion when the stop position of the chuck portion is taught with respect to one or more targets among the apparatus, the molded product, or markers provided therein. Memorize it in the memory means,
The operation control means captures the object and the chuck part with an imaging device when the chuck part approaches the stop position, and a ratio between a current image of the object and a reference image stored in the storage means A molded product take-out machine that performs control to move the chuck portion until the ratio between the current image captured with respect to the chuck and the reference image stored in the storage means falls within an allowable range with reference to . The molded product takeout machine according to claim 1,
The imaging device is a moving mechanism for moving the chuck portion, and is a molded product take-out machine provided in a predetermined portion that can move in the horizontal direction. The molded product takeout machine according to claim 2,
The teaching means is a molded product take-out machine that displays on the display an image captured by the imaging device with respect to a loading position at which the molded product is loaded on the conveying device and a take-out position at which the molded product is taken out from the mold. A chuck portion configured to hold a molded product, a teaching means for teaching the movement of the chuck portion until the molded product manufactured by the molding machine is taken out from the mold and carried out to the conveying device, and the teaching means. Operation control means for controlling the movement of the chuck portion according to the taught content,
An imaging device provided with a position where the transport device can be imaged;
A molded product take-out machine having a display for displaying an image captured by the imaging device at least during teaching by the teaching means,
Both the device and chuck part are equipped with markers,
The operation control means performs control to capture both the markers with an imaging device when the chuck portion approaches the stop position, and move the chuck portion until the difference between the images of the captured markers falls within an allowable range. Molded product take-out machine. The molded product takeout machine according to claim 4,
The imaging device is a moving mechanism for moving the chuck portion, and is a molded product take-out machine provided in a predetermined portion that can move in the horizontal direction . The molded product takeout machine according to claim 5,
The teaching means is a molded product take-out machine that displays on the display an image captured by the imaging device with respect to a loading position at which the molded product is loaded on the conveying device and a take-out position at which the molded product is taken out from the mold. The molded product takeout machine according to claim 1,
The operation control means is a molded product take-out machine that corrects the teaching contents with the position of the chuck portion as a new stop position when the difference between the captured current image and the image stored in the storage means falls within an allowable range. The molded product takeout machine according to claim 7,
The imaging device is a moving mechanism for moving the chuck portion, and is a molded product take-out machine provided in a predetermined portion that can move in the horizontal direction . The molded product takeout machine according to claim 8,
The teaching means is a molded product take-out machine that displays on the display an image captured by the imaging device with respect to a loading position at which the molded product is loaded on the conveying device and a take-out position at which the molded product is taken out from the mold. The molded product takeout machine according to claim 4,
The operation control means is a molded product take-out machine that corrects the teaching contents with the position of the chuck portion as a new stop position when the difference between the captured current image and the image stored in the storage means falls within an allowable range . The molded article take-out machine according to claim 10,
The imaging device is a moving mechanism for moving the chuck portion, and is a molded product take-out machine provided in a predetermined portion that can move in the horizontal direction. The molded product takeout machine according to claim 11,
The teaching means is a molded product take-out machine that displays on the display an image captured by the imaging device with respect to a loading position at which the molded product is loaded on the conveying device and a take-out position at which the molded product is taken out from the mold.

Images