JP5785854B2 - Molded product extraction device, molded product extraction device, trimming extraction device, and molded product extraction method - Google Patents

Description

  The present invention relates to a molded product take-out device, a molded take-out device, a trimming take-out device, and a molded product take-out method for conveying a plurality of molded products arranged at a supply position in an aligned state and stacking them in a stacking position.

Patent Document 1 discloses a molded product manufacturing system including a sheet supply and recovery system, a molding unit, a trimming unit, and a molded product take-out device. In this system, a sheet is thermoformed by a forming unit, a formed sheet is trimmed by a trimming unit, a plurality of molded products are taken out by a molded product take-out device, conveyed in an aligned state, and stacked on a lifting table.
Of the molded products on the production line, the defective product mixed with foreign matter or wrinkles is removed from the production line by the operator.

JP 2009-274788 A (particularly paragraphs 0010 to 0016 and FIG. 1) Japanese Patent Publication No. 06-015205

  When defective products are removed from the production line, the number of non-defective products stacked on the lifting table varies, and the number of non-defective products may change at each position on the lifting table. Accordingly, an operator who packs the molded product stack on the production line needs to check the number of stacked molded products.

  Note that Patent Document 2 discloses an apparatus for making a molded product using a base sheet including an inhomogeneous portion as it is. This device divides a substrate sheet into two or more sections of a size required for making a molded product, detects the presence or absence of inhomogeneous parts for each section while transporting the sheet, and detects the inhomogeneous parts. Mark the center of the compartment that contains it. Thereafter, the sheets in each section are formed and then trimmed into individual molded products, and the marked molded products are identified and eliminated by the mark detection sensor. The selected non-defective products are randomly arranged on the conveyor and conveyed. Therefore, in order to pack a box or the like, first, it is necessary to stack random good products to form a molded product stack, and it is also necessary to check the number of molded products stacked on the molded product stack. These operations are labor intensive.

  In view of the above, the present invention has an object of improving the efficiency of work for handling a molded product stack.

The molded product takeout device of the present invention is a molded product takeout device that conveys a plurality of molded products arranged in a supply position in an aligned state and stacks them in a stacking position,
A replacement necessity holding unit that holds a determination result of necessity of replacement for each molded article arranged at the supply position;
A replacement product placement section for placing a replacement molded product;
A replacement means for performing a process of replacing a molded product whose determination result is required to be replaced with a replacement molded product arranged in the replacement product arrangement unit among the molded products arranged in the supply position;
And an aligning and conveying means for conveying the plurality of molded articles in an aligned state and stacking them at the stacking position after the processing .
Here, the present invention is a molded product take-out apparatus that transports a plurality of molded products arranged in a supply position in an aligned state arranged in a direction different from the stacking direction and stacks them in the stacked position. And
A replacement necessity holding unit that holds a determination result of necessity of replacement for each molded article arranged at the supply position;
A replacement product placement section for placing a replacement molded product;
Of the molded products arranged at the supply position in the aligned state, a process for replacing the molded product whose determination result needs to be replaced with a replacement molded product arranged in the replacement product arranging unit. Replacement means,
It has an aspect provided with the alignment conveyance means which conveys these molded articles in the said alignment state after this process, and piles up in the said stacking position in this alignment state.
Further, in the present invention, when the horizontal direction perpendicular to the conveying direction of the plurality of molded products by the aligning and conveying means is the width direction, the replacement product arranging unit is disposed on the outer side in the width direction from the supply position. Provided, a discharge part for discharging a molded product requiring replacement from the supply position to the other outer side in the width direction is provided,
The replacement means draws out a replacement-use molded product arranged at the supply position and discharges it to the discharge unit, and moves the replacement molded product arranged at the replacement product arrangement unit to the extracted position. It has a mode to move.
Further, in the present invention, when the horizontal direction orthogonal to the conveying direction of the plurality of molded products by the alignment conveying unit is the width direction, the replacement product arranging unit is disposed on the outer side in the width direction from the supply position. Provided,
A stack delivery conveyor that feeds a stack of molded products stacked in a set number at the stacking position in the transport direction;
A stack take-out conveyor that further conveys the molded product stack delivered from the stack delivery conveyor in the carrying direction;
A replenishment conveyor that arranges and transfers a replacement molded product from the stack take-out conveyor on one outer side in the width direction toward the replacement product placement unit; A replacement product replenishing means for replenishing a replacement product to the replacement product placement unit is provided.
Further, in the present invention, the replacement product placement unit has a plurality of replacement product stack placement units for placing stacked replacement molded products,
The replacement means sequentially uses the replacement molded products stacked in the replacement product stack placement unit to be processed selected from the plurality of replacement product stack placement units for the replacement process. When there is no replacement molded product stacked in the target replacement product stack placement unit, the processing target is switched to another replacement product stack placement unit selected from the plurality of replacement product stack placement units,
The replacement product replenishing means for replenishing the replacement molded product stacked in the replacement product stack placement section where the replacement product is no longer present is provided.
Further, according to the present invention, the replacement means is disposed at the supply position when the number of molded products whose determination result is required to be replaced exceeds the allowable number among the molded products disposed at the supply position. In another aspect, the entire molded product is discharged.
Furthermore, the present invention further comprises replacement necessity determination means for determining whether or not replacement is necessary for the molded article arranged at the supply position,
The replacement necessity holding unit holds a determination result of necessity of replacement by the replacement necessity determination unit,
The upper part of each molded product arranged in each mold provided in accordance with the alignment state of each molded product arranged at the supply position is held, and each molded product is conveyed toward the supply position in the aligned state. Molded product upper holding means is provided,
The replacement necessity determining unit has a mode in which the state of the lower surface side of the molded product held by the molded product upper holding unit is detected to determine whether the replacement is necessary.

Further, the molded product take-out method of the present invention is a molded product take-out method in which a plurality of molded products arranged at a supply position are conveyed in an aligned state and stacked at a stacking position,
Holds the determination result of necessity of replacement for each molded article arranged at the supply position,
Performing the process of replacing the molded product for which the determination result is required to be replaced among the molded products arranged at the supply position with a replacement molded product arranged at the replacement product arrangement unit,
After the treatment, the plurality of molded articles are conveyed in an aligned state and stacked at the stacking position .
Here, the present invention is a method for taking out a molded product in which a plurality of molded products arranged in a supply position in an aligned state different from the stacking direction are conveyed in the aligned state and stacked in the stacked position. And
Holds the determination result of necessity of replacement for each molded article arranged at the supply position,
A process of replacing the molded product whose determination result is required to be replaced with a replacement molded product arranged in a replacement product placement unit among the molded products arranged in the supply position in the aligned state,
After the treatment, the plurality of molded products are conveyed in the aligned state and stacked in the stacked position in the aligned state.

  Furthermore, the present invention provides a molding / unloading device including the molded product extraction device, a trimming extraction device including the molded product extraction device, a molding extraction method including the molded product extraction method, and a trimming extraction method including the molded product extraction method, Etc.

  That is, among the molded products arranged at the supply position, the molded product whose determination result is required to be replaced is replaced with a replacement molded product arranged in the replacement product arrangement unit. After this replacement process, a plurality of molded products are conveyed in an aligned state and stacked at the stacking position. As a result, the number of molded products stacked at the stacking position does not vary, and the number of molded products constituting each molded product stack at the stacking position is also uniform. Therefore, the operator who handles the molded product stack can work without confirming the number of stacked molded products, and the efficiency of the work of handling the molded product stack is improved. Improvement of work efficiency leads to improvement of manufacturing efficiency.

  Here, if the information on the necessity of replacement is not held in the replacement necessity holding unit, it is not necessary to replace the molded product arranged at the supply position. Therefore, a mode in which the molded article arranged at the supply position is conveyed without being replaced and stacked at the stacking position is also included in the present invention.

ADVANTAGE OF THE INVENTION According to this invention, the efficiency of the operation | work which handles a molded article stack can be improved.
In the invention which concerns on Claim 2-Claim 4, the replacement | exchange process of a molded article can be performed rapidly.
In the inventions according to claims 5 and 8 , a high-speed conveyance cycle can be maintained .
In the invention according to claim 6 , since the state of the lower surface side of the molded product can be detected by using the molded product upper holding means for taking out each molded product arranged in each mold, each molded product can be efficiently detected. Whether or not replacement is necessary can be determined.
In the invention according to claim 7 , the necessity of replacement is determined according to the appearance state of the molded product in the molded sheet before trimming, so the convenience of the molded product take-out device can be improved.

The front view which illustrates the outline of the molded article manufacturing system 1. FIG. The top view which illustrates the outline of the molded article manufacturing system 1. FIG. FIG. 4 is a vertical sectional view illustrating a molding apparatus (molding means U2) when the molding die 23 is at a separation position L11. The vertical cross section which illustrates the shaping | molding apparatus (U2) when the shaping | molding die 23 exists in the proximity position L13. The top view which illustrates a sheet conveyance device (sheet conveyance means U1). The vertical sectional view which illustrates the trimming device (trimming means U3) when the mold 43 is at the separation position L22. (A) is a vertical sectional view illustrating the suction boxes 50 and 80, (b) is a bottom view illustrating the suction boxes 50 and 80, and (c) is a view of each of the molded products P1 to P9 common to the positions L1 to L4. The top view which illustrates arrangement | positioning. (A) is a principal part vertical sectional view illustrating how the camera 32 (replacement necessity determination means U6) detects the state of the lower surface side of the molded product PR1, and (b) illustrates the lower surface 50a side of the suction box 50. Bottom view. (A) is a principal part vertical sectional view which illustrates conveyors 61 and 64 typically, (b) is a top view which illustrates upper surfaces 61a, 63a, and 64a of conveyors 61, 63, and 64. (A) is a principal part vertical sectional view illustrating a state in which the camera 33 (replacement necessity determination unit U6) detects the state of the upper surface side of the molded product PR1, and (b) illustrates the upper surface 62a side of the molded product delivery conveyor 62. FIG. The front view which illustrates the robot 70 on the supply position L3. The left view which illustrates the replacement | exchange goods arrangement | positioning part U8 and the discharge part U9 in the both sides of the supply position L3. The top view which illustrates the replacement | exchange item arrangement | positioning part U8 and the discharge part U9 in the both sides of the supply position L3. The front view which illustrates replacement goods arrangement | positioning part U8. The block diagram which illustrates the outline of the electric circuit structure of the molded article manufacturing system 1. FIG. (A) is a block diagram illustrating the outline of the electric circuit configuration of the camera (U6), and (b) is a diagram schematically illustrating pattern matching processing. 4 is a block diagram illustrating an outline of an electric circuit configuration of a robot. FIG. The figure which illustrates typically the structure of the determination result 200 hold | maintained at RAM104. The flowchart which illustrates a replacement necessity determination result holding process. The flowchart which illustrates replacement goods replenishment processing. The flowchart which illustrates the replacement process for every shot. The top view which illustrates typically replacement operation | movement of a molded article. (A) is a front view schematically illustrating the state of the molded product stack ST1 on the stacking position L4, and (b) is a front view schematically illustrating the state of the molded product stack ST9 in the comparative example. The flowchart which illustrates the replacement process for every shot concerning a modification. The flowchart which illustrates the trimming process for every shot concerning a modification.

  Embodiments of the present invention will be described below. Of course, the embodiments described below are merely illustrative of the present invention.

(1) Outline of molded product take-out device, trimming take-out device and molded product take-out device:
First, with reference to FIGS. 1 to 23 as appropriate, an outline of a molded product extraction device, a trimming extraction device, and a molding extraction device according to an embodiment of the present invention will be described.
The molded product manufacturing system 1 shown in FIGS. 1 and 2 includes a molded product take-out device 4 that conveys a plurality of molded products PR1 arranged at the supply position L3 in an aligned state and stacks them at the stacking position L4. 1 and 2, the sheet conveyance direction D1 and the conveyance direction D2 of the molded product PR1 are directions from left to right, and a replacement product conveyance direction D3 is a direction from right to left. In FIG. 2, the width direction D4 is a horizontal direction orthogonal to the conveyance direction D2 of a molded product. The molded product removal device 4 includes a replacement necessity holding unit U7, a replacement product placement unit U8, a replacement unit U10, and an alignment transport unit U11.

  The replacement necessity holding unit U7 (control panel 100) holds the determination result 200 of necessity of replacement for each molded product PR1 arranged at the supply position L3 (see, for example, FIG. 18). The replacement product placement unit U8 places a replacement molded product PR3. The replacement means U10 (robot 70) replaces the molded product PR2 whose determination result 200 is required to be replaced among the molded products PR1 arranged at the supply position L3. Processing to replace the molded product PR3 is performed (see, for example, FIG. 22). After the replacement process, the alignment transport unit U11 (suction box 80) transports the plurality of molded articles PR1 in an aligned state and stacks them at the stacking position L4.

  That is, among the molded products PR1 arranged at the supply position L3, the molded product PR2 whose determination result 200 is required to be replaced is replaced with a replacement molded product PR3 arranged in the replacement product arrangement unit U8. After this replacement process, the plurality of molded articles PR1 are conveyed in an aligned state and stacked at the stacking position L4. Accordingly, as illustrated in FIG. 23A, the number of molded products PR1 that are determined not to be replaced and are stacked at the stacking position L4 does not vary, and the molded product stack ST1 on the stacking position L4 is configured. The number of molded products PR1 is also available. Therefore, an operator who handles the molded product stack ST1 can work without confirming the number of the molded products PR1 stacked, and the efficiency of the work of handling the molded product stack ST1 is improved. Improvement of work efficiency leads to efficiency of manufacturing efficiency.

Further, the molded product take-out device 4 may be provided with replacement necessity determination means U6 (cameras 31, 32, 33) for determining whether or not the molded product PR1 arranged at the supply position L3 needs to be replaced. In this case, the replacement necessity holding unit U7 (control panel 100) may hold the replacement necessity determination result 200 by the replacement necessity determination unit U6.
In the above aspect, since it is determined whether or not the molded product PR1 disposed at the supply position L3 needs to be replaced, the convenience of the molded product take-out device 4 can be improved. Cameras 31, 32, and 33, which will be described later, determine the necessity of replacement by detecting the appearance of the molded product PR1 disposed at the supply position L3. Since the necessity of replacement is determined according to the appearance of the molded product PR1 arranged at the supply position L3, the convenience of the molded product take-out device 4 is further improved. Here, for the detection of the state of the appearance, detection of whether or not foreign matters are attached to the molded product, detection of whether or not the molded product is wrinkled or scratched, and the molded product is within the set size range Detection of whether or not the molded product is within the set color range, and the like. For these detections, a digital camera having a pattern matching function, an optical sensor, a color meter, or the like can be used. The determination of whether or not replacement is necessary includes determination of whether or not the molded product is within a set weight range, determination of whether or not metal as a foreign object has been detected, and the like. A weight sensor, a metal detector, etc. can be utilized for these detections.

  Further, the molded product take-out device 4 holds the upper parts PR1a of the molded products PR1 arranged in the molds 43 provided in accordance with the alignment state of the molded products PR1 arranged at the supply position L3. A molded product upper holding means U4 for conveying the molded product PR1 toward the supply position L3 in an aligned state may be provided.

Further, the trimming extraction device 3 includes a sheet conveying unit U1, a trimming unit U3, and the molded product extraction device 4.
The sheet conveying unit U1 conveys the molded sheet SH2 formed in accordance with the alignment state of the molded products PR1 arranged at the supply position L3 in the sheet conveying direction D1. The trimming means U3 trims the molded sheet SH2 arranged in each die 43 provided in accordance with the alignment state of each molded product PR1 arranged at the supply position L3, and each molded product PR1 is arranged in each die 43. To the state. The trimming take-out device 3 conveys each molded product PR1 arranged in each mold 43 to the supply position L3 in an aligned state.

Further, the molding / extracting device 2 includes a sheet conveying unit U1, a molding unit U2, a trimming unit U3, and the molded product extracting device 4.
The sheet transport unit U1 transports the formable sheet SH1 in the sheet transport direction D1 from the forming position L1 to the trimming position L2. The forming unit U2 forms the sheet SH1 using the forming dies 23 arranged at the forming position L1 in accordance with the alignment state of the formed products PR1 arranged at the supply position L3. The trimming means U3 is a molding sheet SH2 that is unloaded from the molding position L1 and is molded in each mold 43 provided in the trimming position L2 in accordance with the alignment state of the molded products PR1 that are disposed in the supply position L3. The sheet SH2 is trimmed so that each molded product PR1 is disposed in each die 43. The molding take-out device 2 conveys each molded product PR1 arranged in each mold 43 to the supply position L3 in an aligned state.

(2) Explanation of molded product manufacturing system:
The molded product manufacturing system 1 shown in FIGS. 1 and 2 includes each part represented by SE1 to SE16, forms a predetermined number of molded products PR1 for each shot from the formable sheet SH1, and places (places) the molded product PR1 on the supply position L3. ) After replacing the molded product PR2 for which the determination result 200 is required to be replaced with the molded product PR3 for replacement, the predetermined number of molded products PR1 are conveyed in an aligned state and stacked. The molded product stack ST1 stacked at the position L4 and set by the set number is taken out.
The above shot means a unit for handling the molded product PR1 at a time. In the case of the molded product manufacturing system 1, the number of unseparated molded products SH2a formed from the sheet SH1 for each shot, the number of molded products PR1 formed from the molded sheet SH2 for each shot, and the suction box for each shot The number of molded products PR1 conveyed at 50 and 80 is the same. In FIG. 2 and the like, the number of molded articles handled in one shot is 9 in total, 3 in the transport direction D1, D2 and 3 in the width direction D4.

  For example, the sheet supply unit SE1 unwinds the roll SH0 around which the sheet SH1 is wound, and conveys the continuously connected continuous sheet SH1 in a predetermined sheet conveying direction D1 toward a predetermined forming position L1. This operation is performed intermittently according to the control of the control panel 100 (control unit SE16).

As the sheet SH1, a moldable sheet such as a resin sheet such as a thermoplastic resin sheet, a thermoplastic sheet other than a resin exhibiting thermoplasticity, or paper can be used. The resin sheet may be a resin sheet made of only a resin such as a thermoplastic resin, a sheet made of a material in which an additive such as a filler is added to the resin, a single layer sheet, or a laminated sheet laminated with different materials. Good. The material of the sheet SH1 is polyethylene (Polyethylene), polypropylene (Polypropylene), polystyrene (Polystyrene), poly (vinyl chloride), ABS resin (Acrylonitrile-butadiene-styrene resin), polyethylene terephthalate (Poly (ethylene). terephthalate)), polycarbonate, Polyamide, Acrylic resin, combinations thereof, and the like. Further, the sheet SH1 may be in the form of a sheet or film, and may be wound into a roll or cut to a predetermined length. The thickness of the sheet can be various thicknesses such as about 1 to 2 mm and about 0.25 to 1 mm, and can be a thick sheet of about 3 mm or more, or a film of about 0.25 mm or less. .
The molded product PR1 formed from the sheet SH1 includes a container such as a food container, a component such as an inner box or an operation panel of a home appliance, and the like.

  The heating unit SE2 has a heater SE2a, and radiates and heats the sheet SH1 being conveyed to a temperature at which the sheet SH1 is softened without melting. In the heating unit SE2 shown in FIG. 1, heaters SE2a are arranged on the upper side and the lower side of the sheet SH1, but either one can be omitted. The sheet SH1 may be heated by contact heating with a hot plate, heating with hot air, heating with a burner, or the like.

  FIG. 5 is a plan view illustrating the sheet conveying apparatus (sheet conveying means U1). The sheet conveying apparatus includes holding and conveying mechanisms 10 and 10 that hold the edges SH1c and SH1c of the sheets SH1 to SH3 and convey the sheets SH1 to SH3 in the sheet conveying direction D1. Each holding and transporting mechanism 10 drives the endless chain 12 to which a plurality of holding mechanisms for holding the edge SH1c of the sheet are attached by a servo motor 14 in a circular manner. The holding of the sheet edge may be performed by clamping the sheet edge or by holding the sheet edge with a piercing member. The sheet conveying apparatus that holds the sheets SH1 to SH3 may be divided into a plurality of sheets with respect to the sheet conveying direction D1. The sheets SH <b> 1 to SH <b> 3 connected in the sheet conveyance direction D <b> 1 are intermittently conveyed according to the control of the control panel 100.

  3 and 4 illustrate a molding device (molding means U2) of the molding part SE3. This forming apparatus includes a table 21 that can be raised and lowered on the upper surface SH1a side of the sheet SH1, a table 22 that can be raised and lowered on the lower surface SH1b side of the sheet SH1, a forming die 23 provided under the upper table 21, and a lower table 22 And a differential pressure supply mechanism 25 for supplying a differential pressure from the differential pressure supply hole 23b to the molding surface 23a. Each mold 23 and each clamp 24 are arranged at the molding position L1 in accordance with the alignment state (see FIG. 7C) of the respective molded products PR1 placed at the supply position L3. Each mold 23 is a female mold that is recessed upward, but may be a male mold that is convex downward or a mold that is uneven. Further, the mold may be disposed on the lower side and the clamp may be disposed on the upper side. The tables 21 and 22 are moved closer to and away from each other in a vertical direction between a set separation position and a proximity position by a molding table drive mechanism (not shown). As a result, the mold 23 moves up and down between the separation position L11 shown in FIG. 3 and the proximity position L13 shown in FIG. 4, and the clamp 24 is located between the separation position L12 shown in FIG. 3 and the proximity position L14 shown in FIG. Go up and down.

When the sheet SH1 in a heat-softened state for one shot is carried into the forming position L1 with the forming mold 23 and the clamp 24 separated from each other as shown in FIG. 3, the forming apparatus is moved as shown in FIG. 23 and the clamp 24 are brought close to each other, and a negative pressure is applied to the differential pressure supply hole 23b by the differential pressure supply mechanism 25 to bring the sheet SH1 into close contact with the molding surface 23a. In this manner, the sheet SH1 can be formed for each shot using each forming die 23. The obtained molded sheet SH2 is molded in accordance with the alignment state of the molded products PR1 placed at the supply position L3. When the forming apparatus separates the forming mold 23 and the clamp 24, the forming sheet SH2 as shown in FIG. 6 is unloaded from the forming position L1 while being connected to the sheet SH1, and is loaded into the trimming position L2. At this time, the sheet SH1 of the next shot is carried into the forming position L1. In this way, the forming apparatus intermittently vacuum forms the sheet SH1 according to the control of the control panel 100.
In addition to the above-described vacuum forming, the sheet SH1 may be formed by differential pressure forming such as pressure forming or pressure forming, press forming, forming other than thermo forming, and the like. The compressed air vacuum forming is a differential pressure forming using both compressed air and vacuum. Thermoforming includes differential pressure molding and press molding. The molded product PR1 includes a differential pressure molded product such as a vacuum molded product, a compressed air molded product, and a compressed air vacuum molded product, a press molded product, and the like.

  The wrinkle inspection unit SE4 detects the appearance of the unseparated molded product SH2a of the molded sheet SH2 conveyed from the molding position L1 to the trimming position L2, and determines whether or not it is necessary to replace the camera 31 (replacement necessity determination unit U6). ) Is provided. The camera 31 is a digital camera having a pattern matching function together with cameras 32 and 33 described later. As shown in FIG. 16A, the camera 31 is connected to an imaging unit 31a. Since the molding sheet SH2 conveyed from the molding apparatus to the trimming apparatus is conveyed while holding both edges SH1c and SH1c in a thermoformed state, the molded sheet SH2 is transferred to the unseparated molded product SH2a in the vicinity of the edges SH1c and SH1c. Is easy to enter. Therefore, the imaging units 31a are arranged in the vicinity of both edge portions SH1c and SH1c. In the wrinkle inspection unit SE4 shown in FIGS. 1 and 5, it is shown that an imaging unit 31a and a light source LI1 are installed in the vicinity of both edge portions SH1c and SH1c on the lower side of the molded sheet SH2.

  The camera 31 images the lower surface side of the unseparated molded product SH2a illuminated by the light source LI1 with the imaging unit 31a, and compares the obtained digital image data with the master image data, for example, and the degree of difference (or degree of coincidence). If the obtained degree of difference is less than the set value, information indicating a non-defective product (replacement is rejected) is sent to the control panel 100 for the imaging object SH2a, and the obtained degree of difference is set. If it is equal to or greater than the value, information indicating a defective product (requires replacement) is sent to the control panel 100 for the molded product SH2a to be imaged.

  FIG. 6 illustrates a trimming device (trimming means U3) of the trimming unit SE5. This trimming device includes a table 41 that can be raised and lowered on the upper surface SH1a side of the molded sheet SH2, a table 42 that can be raised and lowered on the lower surface SH1b side of the molded sheet SH2, a mold 43 and a cutting blade 44 provided on the lower table 42. And a receiving member 45 provided below the upper table 41. Each die 43 and each cutting blade 44 are arranged at the trimming position L2 in accordance with the alignment state (see FIG. 7C) of the molded products PR1 placed at the supply position L3. Each die 43 is convex upward, but may be concave downward or uneven. Further, the cutting blade may be arranged on the upper side and the receiving member may be arranged on the lower side, or the mold may be arranged on the upper side. Each cutting blade 44 can be a Thomson blade, for example, and has a cutting edge facing the receiving member 45 around each die 43. The tables 41 and 42 are moved closer to and away from each other in a vertical direction between a set separation position and a proximity position by a trimming table drive mechanism (not shown). As a result, the mold 43 and the cutting blade 44 are moved up and down between the separation position L22 and the proximity position L24, and the receiving member 45 is moved up and down between the separation position L21 and the proximity position L23.

  As shown in FIG. 6, when the molding sheet SH2 for one shot is carried into the trimming position L2 with the mold 43 and the receiving member 45 spaced apart from each other, the trimming apparatus brings the mold 43 and the receiving member 45 close to each other. The molded sheet SH2 is placed (arranged) on each mold 43, and the molded sheet SH2 that is in contact with the receiving member 45 around the molded product SH2a is cut by the cutting blade 44. In this way, the molding sheet SH2 arranged in each die 43 can be trimmed by one shot so that each molding PR1 is arranged in each die 43. The molded product PR1 placed (arranged) on each mold 43 is arranged according to the alignment state of the molded products PR1 placed at the supply position L3. When the trimming device separates the mold 43 and the receiving member 45, as shown in FIGS. 1 and 5, the scrap sheet SH3 is unloaded from the trimming position L2 while being connected to the formed sheet SH2, and is loaded into the scrap collecting unit SE6. The suction box 50 (molded product upper holding means U4) enters between the mold 43 and the receiving member 45, and each molded product PR1 is unloaded from the mold 43 and carried into the molded product release unit SE8. At this time, the molding sheet SH2 of the next shot is carried into the trimming position L2. In this manner, the trimming apparatus intermittently trims the molded sheet SH2 according to the control of the control panel 100.

The molded product PR1 shown in FIGS. 1 and 7 is an inverted container, and has a recess for storing articles such as food. Of course, the molded product may be an upright container or an article other than the container.
The trimming means includes a means for pressing the cutting blade against the receiving member to cut the formed sheet, a means for punching the formed sheet with the cutting blade around the mold, a sliding contact between the upper blade and the lower blade, etc. Means for punching out, and the like. Therefore, the die sheet or the like may be used for trimming the molded sheet SH2.

  The scrap collection unit SE6 transports and collects the scrap sheet SH3 around the molded product PR1 in the sheet conveyance direction D1 in a state where the scrap sheet SH3 is connected to the molded sheet SH2. This operation is intermittently performed under the control of the control panel 100.

  FIGS. 7A and 7B are diagrams illustrating the suction box 50 (molded product upper holding means U4). FIG. 7C is a plan view illustrating the arrangement of the molded products P1 to P9 common to the positions L1 to L4. The suction box 50 can simultaneously hold the trimmed molded products PR1 placed on the plurality of molds 43 in the aligned state as shown in FIG. 7C, and can be released from the holding. The suction box 50 has a substantially box shape having an internal space 51 connected to the differential pressure supply unit 53, and a number of suction holes 52 smaller than the molded product PR1 are formed on the lower surface 50a in order to apply negative pressure to the outside. ing. Further, the suction box 50 can horizontally reciprocate along the molded product conveyance direction D2 between the trimming position L2 and the molded product release unit SE8. The suction box 50 enters the trimming position L2 when the cutting blade 44 and the receiving member 45 of the trimming means U3 are separated from each other, applies a negative pressure to the suction hole 52, and sucks the molded product PR1 to the lower surface 50a, thereby checking the inner surface. It moves to part release part SE8 via part SE7, the action of negative pressure is stopped, and part PR1 is released from lower surface 50a. The molded product PR1 may be released by supplying pressurized air from the suction hole 52. These operations are intermittently performed under the control of the control panel 100. In this manner, the suction box 50 holds the upper part PR1a of each molded product PR1 arranged in each mold 43 provided in accordance with the alignment state of each molded product PR1 placed at the supply position L3. Each molded product PR1 is conveyed toward the supply position L3 in an aligned state.

  The inner surface inspection unit SE7 detects the state of the lower surface side of each molded product PR1 held on the lower surface 50a of the suction box and conveyed from the trimming position L2 to the molded product release unit SE8, and determines whether or not it is necessary to replace the camera 32 ( Replacement necessity determination means U6) is provided. As shown in FIG. 16A, the camera 32 is configured by connecting a plurality of imaging units 32 a to a camera body unit 34. FIG. 8A illustrates how the camera 32 detects the state of the lower surface side of the molded product PR1. FIG. 8B illustrates the lower surface 50 a side of the suction box 50. In the inner surface inspection unit SE7 shown in FIGS. 8A and 8B, the imaging unit 32a and the light source LI2 of the suction box 50 are aligned with the position of each molded product PR1 existing in the width direction D4 on the lower side of the suction box 50. It is shown that it is installed on the lower side.

  The camera 32 images the lower surface side of the molded product PR1 illuminated by the light source LI2 with the imaging unit 32a and, for example, obtains a degree of difference (or degree of coincidence) by comparing the obtained digital image data and master image data. When the matching process is performed and the obtained degree of difference is less than the set value, information representing a non-defective product (non-replacement) for the molded product PR1 to be imaged is sent to the control panel 100, and the obtained degree of difference is greater than or equal to the set value. If there is, information indicating a defective product (replacement required) is sent to the control panel 100 for the molded product PR1 to be imaged.

  The molded product releasing section SE8 releases (places) the molded products PR1 conveyed in the aligned state as shown in FIG. 7C from the lower surface 50a of the suction box on the molded product delivery conveyor 61. FIG. 9A schematically illustrates a molded product delivery conveyor 61. FIG. 9B illustrates the upper surface 61 a of the molded product delivery conveyor 61. The molded product delivery conveyor 61 simultaneously places the molded products PR1 in an aligned state as shown in FIG. 7C and sends them out in the molded product conveyance direction D2. The molded product delivery conveyor 61 is a vacuum conveyor having an internal space 65 connected to a differential pressure supply unit 67. In order to apply negative pressure to the outside, a large number of suction holes 66 smaller than the molded product PR1 are formed in the endless belt. Has been. Further, the molded product delivery conveyor 61 includes an elevating mechanism 68 for changing the height of the upper surface 61a. The molded product delivery conveyor 61 maintains the aligned state by moving upward when the suction box 50 that has attracted the molded product PR1 to the lower surface 50a in the aligned state is moved to the molded product release unit SE8, and maintains the aligned state. Is placed on the upper surface 61a and lowered to its original height, and then each molded product PR1 is sent to the downstream molded product delivery conveyor 62 in an aligned state. This operation is intermittently performed under the control of the control panel 100.

  The outer surface inspection unit SE9 is provided with a camera 33 (replacement necessity determination unit U6) that detects the state of the upper surface side of each molded product PR1 moving on the molded product delivery conveyor 62 and determines whether or not replacement is necessary. The molded product delivery conveyor 62 simultaneously places (places) the molded products PR1 in the aligned state as shown in FIG. 7C and sends them out in the molded product conveyance direction D2. The molded product delivery conveyor 62 is not connected to the differential pressure supply unit, and the endless belt is not formed with suction holes, whereas the endless belt is made of a material that transmits light. The molded product delivery conveyor 62 sends each molded product PR1 to the downstream molded product delivery conveyor 63 in an aligned state in accordance with the operation of the upstream molded product delivery conveyor 61. This operation is intermittently performed under the control of the control panel 100.

  As shown in FIG. 16A, the camera 33 is configured by connecting a plurality of imaging units 33 a to a camera body unit 34. FIG. 10A illustrates how the camera 33 detects the state of the upper surface side of the molded product PR1. FIG. 10B illustrates the upper surface 62 a side of the molded product delivery conveyor 62. In the outer surface inspection section SE9 shown in FIGS. 10 (a) and 10 (b), a plurality of image pickup sections 33a are sent out in accordance with the position of each molded product PR1 existing in the width direction D4 on the upper surface 62a of the molded product delivery conveyor 62. It is shown that a plurality of light sources LI <b> 2 are installed above the conveyor 62 and are installed in the internal space of the molded product delivery conveyor 62. The camera 33 shown in FIG. 10 is provided with an imaging unit 33a for imaging the front side, an imaging unit 33a for imaging the rear side, and imaging units 33a and 33a for imaging both sides in the width direction D4 on the upper side of one molded product PR1. It has been.

The camera 33 images the upper surface side of the molded product PR1 illuminated by the light source LI3 with the imaging unit 33a and, for example, obtains a difference or (match) by comparing the obtained digital image data and master image data. When the matching process is performed and the obtained degree of difference is less than the set value, information representing a non-defective product (non-replacement) for the molded product PR1 to be imaged is sent to the control panel 100. If there is, information indicating a defective product (replacement required) is sent to the control panel 100 for the molded product PR1 to be imaged.
The light sources LI1, LI2, and LI3 are preferably light emitting diodes from the viewpoint of suppressing power consumption, but incandescent bulbs, fluorescent lamps, and the like can also be used. The light emitting diode can reduce power consumption by turning on and off in accordance with imaging. The light sources LI1, LI2, and LI3 may be not only white but also red, green, and blue.

The standby unit SE10 is provided with a molded product delivery conveyor 63 that places (places) the molded products PR1 on the upper surface 63a at the same time in an aligned state as shown in FIG. . The molded product delivery conveyor 63 has a configuration in which the lifting mechanism 68 is removed from the molded product delivery conveyor 61 shown in FIG. The molded product delivery conveyor 63 is a vacuum conveyor having an internal space 65 connected to the differential pressure supply unit 67, and a large number of suction holes 66 smaller than the molded product PR1 are formed in the endless belt in order to apply negative pressure to the outside. Has been. The molded product delivery conveyor 63 sends the molded products PR1 to the downstream end conveyor 64 in an aligned state in accordance with the operation of the upstream molded product delivery conveyor 62. This operation is intermittently performed under the control of the control panel 100.
The molded product delivery conveyors 61, 62, and 63 constitute a molded product carry-in conveyor U5 that places the molded products PR1 supplied to the supply position L3 in an aligned state and carries them into the supply position L3.

  FIG. 11 illustrates the robot 70 provided on the terminal conveyor 64 (supply position L3) in the molded product replacement unit SE11. The end conveyor 64 places (places) the respective molded products PR1 before the replacement process in the aligned state as shown in FIG. As shown in FIGS. 9A and 9B, the end conveyor 64 is a vacuum conveyor having an internal space 65 connected to the differential pressure supply unit 67. In order to apply negative pressure to the outside, the molded product PR1 is used. Many suction holes 66 smaller than the endless belt are formed. Moreover, the terminal conveyor 64 is provided with the raising / lowering mechanism 68 for changing the height of the upper surface 64a. When the suction box 80 has moved to the supply position L3 after the replacement process, the final conveyor 64 is moved upward to maintain the aligned state and suck the molded products PR1 onto the lower surface 80a of the suction box 80. The molded products PR1 are carried in an aligned state from the upstream molded product delivery conveyor 63. This operation is intermittently performed under the control of the control panel 100.

  The robot 70 includes an arm 71, a suction head 72, and a control unit 73. The robot 70, together with the control panel 100, constitutes a replacement means U10. Of the molded products PR1 placed on the terminal conveyor 64, the robot 70 replaces the molded product PR2 whose determination result 200 is required to be replaced with the replacement product placement unit U8. A process of replacing the placed (placed) molded product PR3 for replacement is performed. The arm 71 moves the suction head 72 up and down, left and right and back and forth according to a command from the control unit 73. The suction head 72 is connected to a differential pressure supply unit (not shown) and applies negative pressure to the outside in accordance with a command from the control unit 73 to suck the exchanged or replacement molded products PR2 and PR3. Is stopped to release the molded products PR2 and PR3. The control unit 73 drives the arm 71 and the suction head 72 according to the control of the control panel 100 (control unit SE16).

  12 and 13 exemplify the replacement product arrangement unit U8 and the discharge unit U9 on both sides of the supply position L3. As shown in FIGS. 12 and 13, when the horizontal direction perpendicular to the conveyance direction D2 of the plurality of molded products PR1 by the alignment conveyance means U11 is defined as the width direction D4, the sheet is transferred from the supply position L3 to one outer side D4a in the width direction D4. The replacement product placement unit U8 is provided in the replacement product supply unit SE15, and a discharge unit U9 for discharging the molded product PR2 that is to be replaced is provided from the supply position L3 to the other outer side D4b in the width direction D4. As shown in FIG. 22, in accordance with a command from the control panel 100, the robot 70 extracts and replaces the molded product PR2 that is placed at the supply position L3 and discharges it to the discharge unit U9. The placed replacement molded product PR3 is moved to the extracted position L6.

  As shown in FIG. 12 and the like, the discharge unit U9 is a linear chute that slides down the molded product PR2 requiring replacement using gravity.

FIG. 14 illustrates a replacement product placement unit U8 for placing the replacement molded product PR3. The replacement product placement unit U8 includes a plurality of replacement product stack placement units U8a and U8b for mounting (placement) the stacked replacement molded products PR3. Each replacement product stacking portion U8a, U8b includes lifting mechanisms U8a1, U8b1 for changing the height of the upper surface, and when the uppermost molded product PR3 is taken out from the molded product stack ST1, the upper product is moved upward by one stage. When the molded product PR3 disappears, it moves down to the height of the upper surface of the terminal conveyor 91 to receive the next molded product stack ST1. As shown in FIGS. 12 to 14, the replacement product placement unit U8 has a contact part 95 provided at the edge on the end conveyor 64 side and a contact part provided between the replacement product stack placement parts U8a and U8b. Parts 96, 96, and pushers 94, 94 for pressing the molded product stack ST1 on the replacement product stack arrangement parts U8a, U8b against the contact parts 96, 96. The molded product stack ST1 to be replenished on the replacement product stack placement portions U8a and U8b is pressed against the contact portion 95 by the pusher 93 on the outer side D4a in the width direction, and is pressed against the contact portion 96 by the pusher 94. Is positioned. When the uppermost molded product PR3 is taken out from the molded product stack ST1, the contact surface 94a of the pusher 94 to the molded product stack ST1 and the contact surface 96a of the contact part 96 to the molded product stack ST1 are extracted. A structure (for example, an uneven shape) for holding the remaining molded product PR3 is formed.
The above-described operation is performed according to the control of the control panel 100.

  As shown in FIG. 22, in accordance with a command from the control panel 100, the robot 70 stacks on the replacement product stack placement unit U8c to be processed selected from the plurality of replacement product stack placement units U8a and U8b. The replacement molded product PR3 is sequentially used for the replacement process, and when the replacement molded product PR3 stacked in the replacement product stack arrangement unit U8c to be processed disappears, a plurality of replacement product stacks are processed. Switching to another replacement product stack placement unit selected from the placement units U8a, U8b.

  The suction box 80 (alignment conveying means U11) that conveys the molded product PR1 from above the terminal conveyor 64 is each molded product after the replacement process placed on the terminal conveyor 64 in the aligned state as shown in FIG. PR1 can be held at the same time and can be released from the holding. As shown in FIGS. 7A and 7B, the suction box 80 has a substantially box shape having an internal space (51) connected to the differential pressure supply unit (53), and applies negative pressure to the outside. Therefore, many suction holes (52) smaller than the molded product PR1 are formed in the lower surface 80a. Further, the suction box 80 can be reciprocated horizontally between the supply position L3 and the stacking position L4 along the molded product conveyance direction D2. The suction box 80 enters the supply position L3 after the replacement process, applies a negative pressure to the suction hole (52) to suck the molded product PR1 to the lower surface 80a, and moves to the stacking position L4 of the stacking portion SE12. The action of the negative pressure is stopped and the molded product PR1 is released from the lower surface 80a. The molded product PR1 may be released by supplying compressed air from the suction hole (52). These operations are intermittently performed under the control of the control panel 100. In this way, after the replacement process, the suction box 80 conveys the plurality of molded products PR1 in an aligned state and stacks them on the stack delivery conveyor U12 (stacking position L4).

  The stacking part SE12 releases (replaces) each molded product PR1 after the replacement process conveyed in the aligned state as shown in FIG. 7C from the lower surface 80a of the suction box and places it on the stack delivery conveyor U12. ) The stack delivery conveyor U12 simultaneously places a molded product stack ST1 in which a set number of molded products PR1 are stacked in an aligned state as shown in FIG. 7C, and sends them out in the molded product transport direction D2. The stack delivery conveyor U12 shown in FIG. 23 (a) is a vacuum conveyor having an internal space 65s connected to the differential pressure supply section 67s, like the conveyors 61 and 64 shown in FIGS. 9 (a) and 9 (b). In order to apply a negative pressure to the outside, many suction holes smaller than the molded product PR1 are formed in the endless belt. Further, the stack delivery conveyor U12 includes an elevating mechanism 68s for changing the height of the upper surface. The stack delivery conveyor U12 maintains the aligned state by moving upward when the suction box 80 that has attracted the molded product PR1 to the lower surface 80a in an aligned state has moved to the stacking position L4. When the set number of molded articles PR1 are stacked, the molded article stacks ST1 are lowered to the original height and then sent out to the downstream stack take-out conveyor U13 in an aligned state. This operation is intermittently performed under the control of the control panel 100.

  The take-out section SE13 is provided with a stack take-out conveyor U13 that places (places) the molded product stack ST1 delivered from the stack delivery conveyor U12 and further conveys it in the product delivery direction D2. The stack take-out conveyor U13 operates in accordance with the operation of the upstream stack delivery conveyor U12 according to the control of the control panel 100. Most of the molded product stack ST1 on the stack take-out conveyor U13 is boxed by an operator in the vicinity, and a part thereof is transferred onto a replenishment conveyor U14a described later.

  In the replacement product replenishment section SE14, a replacement molded product PR3 is placed from the replacement delivery starting position L5, which is one outer side D4a in the width direction D4, from the stack take-out conveyor U13 toward the replacement product placement section U8. A replenishment conveyor U14a that is placed (placed) and transferred is installed. The replenishment conveyor U14a transports the molded product stack ST1 in which the set number of replacement molded products PR3 described above are stacked in the replacement product transport direction D3 opposite to the molded product transport direction D2. A shutter 92 is provided at the downstream end of the replenishment conveyor U14a. The shutter 92 opens when any one of the molded product stacks ST1 on the replacement product stack placement portions U8a and U8b disappears, and permits the movement of the molded product stack ST1 from the replenishment conveyor U14a to the terminal conveyor 91.

The replacement product supply unit SE15 replenishes the replacement product placement unit U8 with the replacement molded product PR3 sent from the replenishment conveyor U14a. As shown in FIGS. 12 to 14, the replacement product supply unit SE15 includes the replacement product placement unit U8, a terminal conveyor 91, and a pusher 93. The end conveyor 91 and the pusher 93 together with the control panel 100 constitute replacement product replenishing means U14. When the shutter 92 is opened, the upper end of the end conveyor 91 moves in the replacement product transport direction D3 and carries the molded product stack ST1 from the replenishment conveyor U14a. The pusher 93 corresponding to the replacement product stack placement unit in which the replacement product PR3 is removed from the replacement product stack placement units U8a and U8b, moves the molded product stack ST1 carried in the terminal conveyor 91 in the width direction D4. It pushes to the outer side D4b of the other side, abuts on the contact part 95, and is mounted in the replacement product stack arrangement part. The molded product stack ST1 replenished on the replacement product stack arrangement portions U8a and U8b is pressed against the contact portion 96 by the pusher 94 and positioned.
The above-described operation is performed according to the control of the control panel 100.

  The control unit SE16 is provided with a control panel 100 that controls the operation of the entire molded product manufacturing system. The control panel 100 includes a replacement necessity holding unit U7 that holds the determination result 200 of whether or not replacement is necessary for each molded product PR1 placed at the supply position L3. The control panel 100 is connected to the cameras 31, 32, 33 and the robot 70, holds a determination result 200 of necessity of replacement by the cameras 31, 32, 33 (replacement necessity determination unit U 6), and performs a replacement process on the robot 70. Is issued.

  FIG. 15 shows an electric circuit configuration of a molded product manufacturing system centering on the control panel 100. The control panel 100 controls the operation of the central control circuit 101 that controls the operation of the entire control panel, the sheet conveyance control unit 111 that controls the operation of the sheet conveyance mechanism U1a that constitutes the mechanism unit of the sheet conveyance unit U1, and the heater SE2a. Heater control unit 112, molding control unit 113 for controlling the operation of the molding mechanism U2a constituting the mechanism unit of the molding unit U2, trimming control unit 114 for controlling the operation of the trimming mechanism U3a constituting the mechanism unit of the trimming unit U3, suction Suction box control unit 115 for controlling the operation of the box 50, conveyor control unit 116 for controlling the operation of the molded article carry-in conveyor U5, conveyor control unit 117 for controlling the operation of the terminal conveyor 64, and suction for controlling the operation of the suction box 80 Box control unit 118, conveyor for controlling operation of stack delivery conveyor U12 Control unit 119, conveyor control unit 120 for controlling the operation of stack take-out conveyor U13, replacement product replenishment control unit 121 for controlling the operation of replacement product replenishment mechanism U14b constituting the mechanism unit of replacement product replenishing means U14, camera A camera control unit 122 that controls the operation of the main body unit 34, a robot control unit 123 that controls the operation of the robot 70, an information output unit 131, an operation unit 132, and the like are provided.

The central control circuit 101 is a circuit in which a CPU (Central Processing Unit) 102, a ROM (Read Only Memory) 103, a RAM (Random Access Memory) 104, a timer circuit 105, a nonvolatile memory 106, and the like are connected to an internal bus. It is said that. The CPU 101 controls each part of the molded article manufacturing system 1 while using the RAM 104 as a work area based on a control program recorded in the ROM 103 or the nonvolatile memory 106.
The information output unit 131 includes, for example, a display, an audio output device, and a printer, and outputs various types of information indicating the contents of various settings received from the user and the operating status of the molded product manufacturing system 1 by display or the like. The operation unit 132 includes, for example, a plurality of buttons and receives operation input from the user.

  FIG. 16A illustrates an outline of an electric circuit configuration of the cameras 31, 32, and 33 that constitute the replacement necessity determination unit U6. FIG. 16B schematically illustrates pattern matching processing. The camera body 34 is connected to the CPU 34a, ROM 34b, RAM 34c, timer circuit 34d, nonvolatile memory 34e, image input I / F (interface) 34f for connecting the imaging units 31a, 32a, 33a, etc., the control panel 100, etc. External input / output I / F 34g, and the like. The non-volatile memory 34e stores master image data DI2 for comparison with digital image data (DI1) obtained from the imaging units 31a, 32a, and 33a. The pattern matching program recorded in the ROM 34b performs a process of comparing the digital captured image data DI1 obtained from the image capturing units 31a, 32a, and 33a with the master image data DI2 to determine the degree of difference between the captured image and the master image (or A function of performing pattern matching processing for obtaining a degree of coincidence) is realized in the camera body 34. In the pattern matching process, for example, the captured image data DI1 and the master image data DI2 having the same size are divided into a predetermined number of areas, and the brightness difference ΔLp (p is the difference between the captured image data DI1 and the master image data DI2 for each area). 1 to n, where n is an integer of 2 or more), and the maximum absolute value of ΔLp can be obtained as the dissimilarity. FIG. 16B illustrates differential data DI3 with n = 15.

The pattern matching program sends determination information indicating a non-defective product (replacement failure) to the control panel 100 if the calculated difference is less than the set value, while it is a defective product if the calculated difference is greater than or equal to the set value. A function of sending determination information indicating (replacement required) to the control panel 100 is realized in the camera body 34. The camera body 34 is connected to the imaging units 31 a, 32 a, 33 a and the control panel 100, receives the setting value input from the control panel 100, and sends determination information to the control panel 100.
Various known cameras having a pattern matching function can be used as the camera constituting the replacement necessity determination unit U6. Even if some of the cameras 31, 32, and 33 are not present, the replacement necessity determination unit U6 is configured.

  FIG. 17 illustrates an outline of the electric circuit configuration of the robot 70 that constitutes the replacement unit U10 together with the control panel 100. The control unit 73 of the robot 70 is connected to the CPU 73a, ROM 73b, RAM 73c, timer circuit 73d, arm drive control unit 73e for controlling the operation of the arm 71, suction head control unit 73f for controlling the operation of the suction head 72, and the control panel 100. External input / output I / F 73g, and the like. The RAM 73c stores a three-dimensional suction position (X1j, Y1j, Z1j) for sucking the molded product, a three-dimensional release position (X2j, Y2j, Z2j) for releasing the molded product, and the like. j is an integer corresponding to the combination of the suction position and the release position. The replacement processing program recorded in the ROM 73b moves the suction head 72 to the suction position (X1j, Y1j, Z1j) with the arm 71 and applies a negative pressure to the suction head 72, and then releases the suction head 72 with the arm 71. The control unit 73 is made to realize a function of moving to the positions (X2j, Y2j, Z2j) and causing the suction head 72 to stop the negative pressure.

  FIG. 18 schematically illustrates the structure of the determination result 200 held in the RAM 104 of the control panel 100 constituting the replacement necessity holding unit U7. In the RAM 104, for each of the molded products P1 to P9 shown in FIG. 7 (c), at least before the replacement process, a determination result 200 for necessity of replacement is held for each shot. The determination result 201 in the i-th shot illustrated in FIG. 18 is information indicating the necessity of replacement (defective product) for the molded products P1 and P5, and information indicating the non-defective product (non-replacement) for the remaining molded products. i is an integer corresponding to the shot number. The determination result 202 of the (i + 1) th shot illustrated in FIG. 18 is information representing good products for all the molded products P1 to P9. The determination result 203 of the i + 2th shot illustrated in FIG. 18 is information indicating that replacement is required for the molded product P8, and information indicating non-defective products for the remaining molded products. The control panel 100 inputs information representing the determination result of whether or not replacement is required for each shot from the camera main body 34, stores the information in the RAM 104 as it is or after modification, and determines whether or not replacement is necessary until the replacement process is completed. The determination result 200 is held in the RAM 104.

(3) Operation, action and effect of molded product manufacturing system having molded product take-out device:
In the molded product manufacturing system 1, the control panel 100 controls the parts SE1 to SE15 shown in FIGS. 1 and 2 to form a molded product PR1 in an aligned state from the sheet SH1, and these molded products PR1 are taken out of the molded product. After the replacement process, the molded product PR1 is stacked at the stacking position L4 in an aligned state, and when the set number of stacks is stacked, the molded product stack ST1 is taken out.

  That is, the sheet SH1 wound around the roll SH0 is unwound by the sheet supply unit SE1, and is softened by being heated by the heating unit SE2 when it is a thermoplastic sheet. The heat-softened formable sheet SH1 is loaded into the forming unit SE3 by the sheet conveying unit U1 in a shot unit, formed, and arranged in accordance with the alignment state of the formed products PR1 carried into the molded product replacement unit SE11. Each unseparated molded product SH2a thus formed is formed. The formed molded sheet SH2 is carried into the trimming unit SE5 in shot units via the wrinkle inspection unit SE4, trimmed, and arranged in accordance with the alignment state of the molded products PR1 carried into the molded product replacement unit SE11. A molded product PR1 is formed on each mold 43. The molded product PR1 arranged in each mold 43 is held in the suction box 50 for each shot and placed in an aligned state on the molded product delivery conveyor 61 of the molded product release unit SE8 via the inner surface inspection unit SE7. The molded product is conveyed in an aligned state via the molded product delivery conveyor 62 of the outer surface inspection unit SE9 and the molded product delivery conveyor 63 of the standby unit SE10 and onto the terminal conveyor 64 (supply position L3) of the molded product replacement unit SE11. For the molded product PR1 in the aligned state on the end conveyor 64, the molded product PR2 determined to be replaced by the cameras 31, 32, 33 is replaced by the robot 70 with the replacement molded product PR3. The plurality of molded products PR1 on the terminal conveyor 64 after the replacement process are held in the suction box 80 for each shot and stacked on the stack delivery conveyor U12 (stacking position L4) of the stacking unit SE12.

  The control panel 100 counts the molded products PR1 stacked at the stacking position L4. When the number of stacks reaches the set number, the control panel 100 lowers the stack delivery conveyor U12 to the height of the stack takeout conveyor U13, and stack delivery conveyor U12. The upper molded product stack ST1 is sent out onto the stack takeout conveyor U13 of the takeout part SE13. A part of these molded product stacks ST1 is moved onto the replenishment conveyor U14a of the replacement product replenishment unit SE14 by the operator.

  The control panel 100 uses the remaining replacement product PR3 stacked for the replacement product stack placement unit U8c (see FIG. 22) to be processed selected from the plurality of replacement product stack placement units U8a and U8b. Alternatively, the molded product used for replacement is counted, and when the uppermost molded product PR3 is taken out, the replacement product stack placement unit U8c is raised by one stage. When the molded product PR3 on the replacement product stack placement unit U8c disappears, another replacement product stack placement unit (U8b in the case of FIG. 22) whose processing target is selected from the plurality of replacement product stack placement units U8a and U8b. The replacement product replenishing means U14 replenishes the original product stack ST1 to the original replacement product stack placement unit (U8a in FIG. 22). At that time, the shutter 92 at the downstream end of the replenishment conveyor U14a is opened, and the molded product stack ST1 located on the most downstream side on the replenishment conveyor U14a is sent onto the terminal conveyor 91 of the replacement product supply unit SE15. The molded product stack ST1 on the terminal conveyor 91 is pushed by the pusher 93 and transferred onto the original replacement product stack placement portion, and pushed by another pusher 94 to be positioned.

  The control panel 100 performs the replacement process at the supply position L3 when the plurality of molded products PR1 are conveyed in an aligned state and stacked at the stacking position L4 according to the flowcharts illustrated in FIGS. When the power is turned on, the control panel 100 performs the processes shown in FIGS. 19 to 21 in parallel. The control panel 100 that performs the processing of FIG. 19 constitutes a replacement necessity holding unit U7. The control panel 100 that performs the processing of FIG. 20 constitutes the replacement product replenishing means U14 together with the terminal conveyor 91 and the pusher 93. The control panel 100 that performs the processing of FIG. 21 constitutes a replacement unit U10 together with the robot 70. Hereinafter, the operation, action, and effect of the molded product manufacturing system 1 having the molded product extraction device 4 will be described.

The exchange necessity determination result holding process shown in FIG. 19 is performed for each shot. As a premise of the processing, it is assumed that the setting value of the pattern matching difference is received by the operation unit 132, output to the camera body unit 34, and stored.
When the replacement necessity determination result holding process is started, the control panel 100 inputs information indicating the necessity determination result of replacement (information indicating the necessity of replacement or information indicating a non-defective item) from the camera body 34 ( Step S102, hereinafter, “step” is omitted). In the case of this system, information representing the determination result is input from the camera 31 of the wrinkle inspection unit SE4 for each unseparated molded product P1 to P3 and P7 to P9 in the vicinity of both edges SH1c and SH1c for one shot, and the inner surface inspection unit Information representing the determination results for each of the molded products P1 to P9 for one shot is input from the camera 32 of SE7, and information indicating the determination results for each of the molded products P1 to P9 for one shot from the camera 33 of the outer surface inspection unit SE9. input.

  Thereafter, the control panel 100 directly or modifies the input information and stores it in the RAM 104 as the determination result 200 (S104), and ends the replacement necessity determination result holding process. However, since the cameras 31, 32, and 33 are in different locations (SE4, SE7, and SE9), the determination result 200 is stored according to the arrival time at the supply position L3. Here, the imaging at the inner surface inspection unit SE7 is performed after the a1 shot of the imaging at the wrinkle inspection unit SE4 (for example, a1 = 1), and the imaging at the outer surface inspection unit SE9 is performed after the a2 shot of the imaging at the inner surface inspection unit SE7. Is performed (for example, a2 = 1), and a replacement process is performed at the supply position L3 (for example, a3 = 2) after the a3 shot of imaging at the outer surface inspection unit SE9 (for example, a3 = 2). Assume that the determined result is the i-th shot. As the one-shot process proceeds, 1 is added to i. In this case, the determination result by the camera 33 of the outer surface inspection unit is stored in the i + a3 shot, the determination result by the camera 32 of the inner surface inspection unit is stored in the i + a3 + a2 shot, and the determination result by the camera 31 of the wrinkle inspection unit is stored in the i + a3 + a2 + a1 shot. Should be stored. Then, the determination result by the camera 33 of the outer surface inspection unit is used after the a3 shot from the i-th shot, the determination result by the camera 32 of the inner surface inspection unit is used after the a3 + a2 shot from the i-th shot, and the wrinkle after the a3 + a2 + a1 shot from the i-th shot. The determination result by the camera 31 of the inspection unit is used.

  The replacement product replenishment process shown in FIG. 20 is continuously performed when the power is turned on. As the premise of the processing, the number of the molded products PR1 in the molded product stack ST1, the interval between the molded products in the molded product stack ST1, and the like are received by the operation unit 132 and held in the nonvolatile memory 106 or the RAM 104, as shown in FIG. It is assumed that the remainder of the replacement molded product PR3 stacked on the replacement product stack placement unit U8c is counted.

  When the replacement product replenishment process is started, the control panel 100 sets a replacement product stack placement unit U8c to be processed from among the plurality of replacement product stack placement units U8a and U8b (S202). This process can be, for example, a process of assigning a different identification number to each replacement product stack placement unit U8a, U8b and holding the identification number assigned to the replacement product stack placement unit U8c to be processed in the RAM 104. . In S204, it is determined whether or not the replacement molded product PR3 stacked in the replacement product stack placement unit U8c has disappeared. When the remaining count of the molded product PR3 becomes 0, the condition is met, and the control panel 100 determines that another replacement product stack placement unit (FIG. 5) is selected from the plurality of replacement product stack placement units U8a and U8b. In the case of 22, it is switched to U8b) (S206).

  Further, the control panel 100 replenishes the replacement product stack placement portion (U8a in FIG. 22) before the replacement of the replacement product PR3 with the replacement product PR3, and replenishes the replacement product stack ST1 of the replacement product PR3. (S208), and the process returns to S202.

Specifically, the control panel 100 lowers the replacement product stack arrangement part before switching (U8a in FIG. 22) to the height of the terminal conveyor 91, and opens the shutter 92 at the downstream end of the replenishment conveyor U14a. The timing when the replenishment conveyor U14a and the end conveyor 91 are driven to transport the molded product stack ST1 in the replacement product transport direction D3, and the most downstream molded product stack ST1 is sent onto the last conveyor 91 on the replenishment conveyor U14a. Then, the shutter 92 is closed and the driving of the replenishment conveyor U14a is stopped. Further, the control panel 100 stops driving the end conveyor 91 when the molded product stack ST1 on the end conveyor 91 reaches the position D4a in the width direction of the replacement product stack arrangement part before switching, and further moves to the outside D4a in the width direction. A pusher 93 is driven to press the molded product stack ST1 against the abutment portion 95 to place it on the replacement product stack placement unit before switching, and a pusher 94 provided on the replacement product stack placement unit before switching is provided. The molded product stack ST1 is pressed against the contact portion 96 and positioned by driving. The pushers 93 and 94 are returned to their original retracted positions.
By preparing a plurality of replacement product stack placement portions, replacement processing of the molded product PR1 is quickly performed.

  The replacement process shown in FIG. 21 is performed for each shot. As a premise of processing, it is assumed that a shot number i, which is a counter that is incremented by 1 for each shot of replacement processing on the end conveyor 64 (supply position L3), is held in the RAM 104. Hereinafter, the replacement process will be described with reference to FIGS.

  When the replacement process is started, the control panel 100 determines whether or not there is a molded product PR2 whose determination result 200 is required to be replaced among the molded products P1 to P9 placed on the terminal conveyor 64 (S302). ). For example, for the i-th shot to be replaced, determination information indicating the necessity of replacement for the molded product P1 is input from the camera 31 of the wrinkle inspection unit, and the molded product P5 is received from the cameras 32 and 33 of the inner surface inspection unit and the outer surface inspection unit. If the determination information indicating the necessity for replacement is input, a determination result 201 as shown in FIG. In this case, since the determination result 201 referred to includes the molded products P1 and P5 that need replacement, the condition is satisfied. On the other hand, when the target of the replacement process is the i + 1th shot and the determination result 202 as shown in FIG. 18 is referred, since there is no replacement required product, the condition is not satisfied and the replacement process for each shot is performed. finish.

  When the condition is satisfied, in S304, the robot 70 is instructed the suction position (X1j, Y1j, Z1j) of the molded product PR2 to be replaced, and the suction head 72 is moved to the suction position (X1j, Y1j, Z1j) by the arm 71. A negative pressure is applied to the suction head 72, and the replacement molded product PR2 is sucked by the suction head 72. When there are a plurality of molded products PR2 that need replacement in one shot, replacement processing is performed in a predetermined order, for example, P1, P2,. In the case of the determination result 201 shown in FIG. 18, the molded product P <b> 1 shown in FIG. 22 is sucked by the suction head 72.

  In S306, the robot 70 is instructed to the release position (X2j, Y2j, Z2j) on the discharge unit U9, and the suction head 72 sucking the molded product PR2 is moved by the arm 71 to the release position (X2j, Y2j, Z2j). Then, the negative pressure is stopped on the suction head 72, and the molded product PR2 extracted from the end conveyor 64 is discharged to the discharge unit U9. When the molded product P1 is sucked by the suction head 72, the molded product P1 moves to the discharge unit U9 and is released as indicated by a circle 1 in FIG.

  In S308, the robot 70 is instructed the suction position (X3j, Y3j, Z3j) of the uppermost molded product PR3 placed on the replacement product stack placement unit U8c to be processed, and the suction head 72 is picked up by the arm 71. The workpiece is moved to (X3j, Y3j, Z3j), a negative pressure is applied to the suction head 72, and the replacement molded product PR3 is sucked by the suction head 72.

  In S310, the robot 70 is instructed to set the position L6 from which the molded product PR2 is extracted as the release position (X4j, Y4j, Z4j), and the suction head 72 is moved to the release position (X4j, Y4j, Z4j) by the arm 71. 72, the action of the negative pressure is stopped, and the uppermost replacement molded product PR3 placed on the replacement product stacking portion U8c is moved to the extracted position L6. When the molded product P1 is extracted, the molded product PR3 on the replacement product stacking portion U8c moves to the position L6 of the extracted molded product P1 and is released as shown by a circle 2 in FIG. Placed.

In S312, it is determined whether or not there is a replacement molded product PR2 in the remaining molded product PR1. When the condition is satisfied, the processes of S304 to S312 are performed again, and when the condition is not satisfied, the replacement process ends. In the case of the determination result 201 shown in FIG. 18, the molded product P5 shown in FIG. 22 is sucked by the suction head 72, and as shown by a circle 3 in FIG. Molded product PR3 is adsorbed by the suction head 72 and moved to the position L6 of the molded product P5 from which the molded product PR3 on the replacement product stack arrangement portion U8c is removed as shown by circle 4 in FIG. It is placed on the end conveyor 64.
The control panel 100 may be operated by outputting a command indicating the position (Xj, Yj, Zj) and the supply or stop of the negative pressure to the suction head 72 to the robot 70 for each step. These steps may be collectively output to the robot 70 for operation. In addition, when there are a plurality of exchangeable molded products PR2 in the shot to be processed, the replacement molded product PR3 may be moved to the respective extracted positions after the plurality of molded products PR2 are discharged first.

  When the above-described molded product replacement unit SE11 is not provided, an operator needs to remove a defective molded product from the conveyor. In this case, the number of molded products adsorbed by the suction box that conveys the molded products to the lifting table at the stacking position varies, and is stacked on the lifting table as in the molded product stack ST9 in the comparative example shown in FIG. The number of good molded products to be obtained may vary, and the number of molded products in the molded product stack ST9 may change for each position on the lifting table. Therefore, in the case of the comparative example, an operator who packs the molded product stack ST9 needs to check the number of stacked molded products.

  On the other hand, in the molded product manufacturing system 1, among the molded products P1 to P9 placed at the supply position L3, the molded product PR2 whose determination result 200 is required to be replaced is replaced with a replacement molded product PR3. After this replacement process, the plurality of molded articles PR1 are conveyed in an aligned state and stacked at the stacking position L4. As a result, the number of molded products PR1 stacked at the stacking position L4 does not vary, and the number of molded products PR1 constituting each molded product stack ST1 on the stacked position L4 as shown in FIG. . Therefore, the molded product take-out apparatus and the molded product take-out method can be performed without the operator handling the molded product stack ST1 checking the number of molded products PR1 stacked, and handle the molded product stack ST1. Work efficiency is improved. In addition, the production efficiency is improved by improving the working efficiency.

  Furthermore, since the necessity for replacement is determined according to the appearance of the molded product placed at the supply position, the molded product take-out device and the molded product manufacturing system having the device are convenient. Since the state on the upper surface side of the molded product is detected on the molded product carry-in conveyor in front of the supply position by the outer surface inspection unit, it is efficiently determined whether or not each molded product needs to be replaced. Since the state of the lower surface side of the molded product held by the molded product upper holding means is detected by the inner surface inspection section, it is determined efficiently whether or not each molded product needs to be replaced. Since the wrinkle inspection unit determines whether or not replacement is necessary according to the appearance of the molded product on the molded sheet before trimming, the molded product manufacturing system having the molded product take-out device is convenient.

(4) Modification:
Various modifications can be considered for the present invention.
In addition to the sheet, the material forming the molded product applicable to the molded product take-out device may be a molded material such as a lump, granule, or powder.
In the molded product to be formed and conveyed, the concave portion may be directed to the upper side or the lateral side other than the lower side, for example. Of course, in the molded product stack, the concave portion may be directed to the upper side or the lateral side other than the lower side, for example.
In addition to the suction boxes 50 and 80, the means for holding the upper part of each molded product and transporting the molded product may be a suction head or the like corresponding to the position of each molded product. Further, as a means for conveying the molded product, a means for conveying the molded product while holding the upper part of each molded product such as a suction box instead of the conveyors 61, 62, 63, 64 may be used. As means for transporting the molded product stack, means for transporting the molded product stack while holding the side surface of the molded product stack instead of the conveyors U12, U13, U14a, 91 may be used.
The determination result of necessity / unnecessity of replacement may be held in a place other than the control panel 100 such as the camera body 34. In addition, the determination result regarding whether or not replacement is necessary held in the replacement necessity holding unit may be held only for the molded product PR2 requiring replacement, or may be held only for the molded product not requiring replacement.

In addition to placing a molded product stack in which a set number of replacement molded products are stacked in the replacement product placement unit, a molded product stack in which a number of molded products other than the set number are stacked or stacked. A replacement molded product that has not been replaced may be placed. Three or more replacement product stacking units may be provided.
A plurality of suction heads for replacement processing may be provided, such as separate suction heads for discharging the replacement molded product PR2 and suction heads for moving the replacement molded product PR3. . Moreover, the replacement process may be performed in a state where the upper part of each molded product is held by means such as a suction box, in addition to being performed on the conveyor.
The discharge part of the exchanged molded product PR2 may be provided on the replacement product placement unit U8 side in the width direction D4, in addition to the side opposite to the replacement product placement unit U8 in the width direction D4.

  Further, as in the replacement process for each shot shown in FIG. 24, the number of molded products PR2 for which the determination result 200 is required to be replaced among the molded products PR1 arranged at the supply position L3 is an allowable number (N. If N exceeds a positive integer), the entire molded product PR1 arranged at the supply position L3 may be discharged. In this process, the processes of S322 and S324 are added to the replacement process shown in FIG. As a premise of processing, it is assumed that an allowable number N or the like is received by the operation unit 132 and held in the nonvolatile memory 106 or the RAM 104. The control panel 100 that performs the processing of FIG. 24 constitutes a replacement unit U10 together with the robot 70.

  If it is determined in S302 that the molded product PR2 whose determination result 200 is required to be replaced is placed on the terminal conveyor 64 (supply position L3), the control panel 100 determines the i-th shot to be replaced. It is determined whether or not the number of molded products PR2 whose result 200 is required to be replaced exceeds an allowable number N (S322). For example, when N = 2 is set and the determination result 201 shown in FIG. 18 is referred to, the condition is not satisfied because the number of the molded products PR2 to be replaced is two. In this case, the control panel 100 performs the above-described processes of S304 to 312 to extract the replacement-required molded product PR2 placed at the supply position L3, discharge it to the discharge unit U9, and place it on the replacement product placement unit U8. The placed replacement product PR3 is moved to the extracted position L6, and the replacement process is terminated.

  For example, when the determination results for the molded products P1, P5, and P9 require replacement, the condition is satisfied because the number of replacement molded products PR2 is 3. In this case, the control panel 100 performs a process of discharging all molded products PR1 placed on the terminal conveyor 64 (S324), and ends the replacement process. The process of S324 can be, for example, a process in which the end conveyor 64 is tilted by a tilting means (not shown) so that the discharge unit U9 side is on the lower side, and all molded products PR1 on the end conveyor 64 are slid down to the discharge unit U9. . Further, the end conveyor 64 may be tilted by a tilting means (not shown) so that the downstream side is the lower side, and the end conveyor 64 is driven to drop all the molded products PR1 on the end conveyor 64 downward. Furthermore, it is good also as a process which discharges | emits all molded articles PR1 to the discharge part U9 with the robot 70. FIG.

  When a plurality of molded products PR1 are transported in a high-speed transport cycle, if a large number of replacement molded products PR2 are arranged at the supply position L3, there is a possibility that the replacement process does not fit in the transport cycle. In this modification, since the replacement process is not performed when the number of replacement-molded products PR2 exceeds the allowable number N, a high-speed conveyance cycle can be maintained.

  Furthermore, as in the replacement process for each shot shown in FIG. 25, the number of molded products PR2 whose determination result 200 is required to be replaced exceeds the allowable number N among the molded products PR1 arranged at the supply position L3. In this case, the molded sheet SH2 may be conveyed in the sheet conveyance direction D1 without trimming. The control panel 100 that performs this processing constitutes trimming means U3 together with the trimming device.

  When the replacement process for each shot starts, the control panel 100 determines whether or not the number of molded products PR2 whose determination result 200 is required to be replaced exceeds the allowable number N for the i-th shot to be replaced. Is determined (S402). When the condition that the number of the molded products PR2 does not exceed N is not satisfied, the trimming unit SE5 trims the molded product by the trimming device as usual (S404), and ends the replacement process. On the other hand, when the condition that the number of molded products PR2 exceeds N is satisfied, trimming of the molded product by the trimming apparatus is not performed for one shot (S406), and the replacement process is terminated.

  When the sheets SH1 and SH2 are transported in a high-speed transport cycle, the replacement process may not be included in the transport cycle if a large number of replacement molded products PR2 are disposed at the supply position L3. In the present modification, the trimming process is not performed when the number of molded products PR2 that require replacement exceeds the allowable number N. Therefore, when the replacement process does not fit in the conveyance cycle, the molded sheet SH2 is used as the scrap sheet SH3 as it is. , High-speed transfer cycle can be maintained.

Note that the basic operation described above is also applied to the molding and unloading device not provided with the heating device, the trimming and unloading device not including the molding device, the molded product unloading device not including the trimming device, and the methods corresponding to these devices. The effect is obtained.
Of course, even the invention consisting only of the constituent elements according to the independent claims can obtain the basic actions and effects described above.

As described above, according to the present invention, it is possible to provide a technique or the like for improving the efficiency of work for handling a molded product stack according to various aspects.
Of course, the configurations disclosed in the above-described embodiments and modifications are mutually replaced, the combinations are changed, the known technology, and the configurations disclosed in the above-described embodiments and modifications are mutually. It is possible to implement a configuration in which replacement or combination is changed. The present invention includes these configurations and the like.

DESCRIPTION OF SYMBOLS 1 ... Molded article manufacturing system, 2 ... Mold extraction apparatus, 3 ... Trimming extraction apparatus,
4 ... Mold take-out device,
10: Holding conveyance mechanism,
21, 22 ... Table, 23 ... Mold, 23a ... Molding surface, 23b ... Differential pressure supply hole,
24 ... Clamp, 25 ... Differential pressure supply mechanism,
31, 32, 33 ... camera, 31a, 32a, 33a ... imaging unit, 34 ... camera body unit,
41, 42 ... table, 43 ... mold, 44 ... cutting blade, 45 ... receiving member,
50 ... Adsorption box, 50a ... Lower surface, 53 ... Differential pressure supply unit,
61, 62, 63 ... molded article delivery conveyor, 64 ... terminal conveyor,
61a, 62a, 63a, 64a ... upper surface,
67 ... Differential pressure supply unit, 68 ... Elevating mechanism,
70 ... Robot, 71 ... Arm, 72 ... Suction head, 73 ... Control part,
80 ... Suction box, 80a ... Bottom surface,
91 ... Terminal conveyor, 92 ... Shutter, 93, 94 ... Pusher,
95, 96 ... contact part,
100 ... Control panel,
200 ... determination result of necessity of replacement,
D1 ... Sheet conveyance direction, D2 ... Molded article conveyance direction, D3 ... Replacement article conveyance direction,
D4 ... width direction, D4a ... one outer side in the width direction, D4b ... other outer side in the width direction,
L1 ... Molding position, L2 ... Trimming position, L3 ... Supply position, L4 ... Stack position,
L5: Replacement product sending start position, L6: Extracted position,
PR1 ... molded product, PR1a ... upper part,
PR2 ... replacement molded product, PR3 ... replacement molded product,
SH1 ... sheet, SH2 ... molded sheet, SH2a ... unseparated molded product,
SH3: scrap sheet,
ST1 ... Molded product stack,
U1 ... sheet conveying means, U2 ... forming means, U3 ... trimming means,
U4 ... Molded product upper part holding means, U5 ... Molded product carry-in conveyor, U6 ... Change necessity determination means,
U7 ... replacement necessity holding unit, U8 ... replacement product placement unit,
U8a, U8b ... replacement product stack placement section, U8a1, U8b1 ... lifting mechanism,
U8c: Replacement product stack placement section to be processed,
U9 ... discharge section, U10 ... replacement means, U11 ... alignment conveying means,
U12 ... Stack delivery conveyor, U13 ... Stack takeout conveyor,
U14: Replacement product replenishing means, U14a: Replenishment conveyor.

Claims (9)

The direction in which the stacked a product removal device for stacking a plurality of molded articles disposed in the feed position in alignment which are arranged in different directions in the transport to the stacking position by the alignment,
A replacement necessity holding unit that holds a determination result of necessity of replacement for each molded article arranged at the supply position;
A replacement product placement section for placing a replacement molded product;
Of the molded products arranged at the supply position in the aligned state, a process for replacing the molded product whose determination result needs to be replaced with a replacement molded product arranged in the replacement product arranging unit. Replacement means,
Product removal apparatus characterized by comprising an alignment transfer means stacked on the stacking position said alignment state of the plurality of molded articles after the process is conveyed by the alignment. A molded product take-out device that conveys a plurality of molded products arranged in a supply position in an aligned state and stacks them in a stacking position,
A replacement necessity holding unit that holds a determination result of necessity of replacement for each molded article arranged at the supply position;
A replacement product placement section for placing a replacement molded product;
A replacement means for performing a process of replacing a molded product whose determination result is required to be replaced with a replacement molded product arranged in the replacement product arrangement unit among the molded products arranged in the supply position;
An alignment conveying means for conveying the plurality of molded products in an aligned state after the processing and stacking them at the stacking position;
When the horizontal direction orthogonal to the conveying direction of the plurality of molded products by the aligning and conveying means is the width direction, the replacement product arrangement portion is provided on one outer side in the width direction from the supply position, and the supply position A discharge part for discharging a molded product that requires replacement is provided outside the other in the width direction,
The replacement means pulls out a replacement molded product arranged at the supply position and discharges it to the discharge unit, and moves the replacement molded product arranged in the replacement product arrangement unit to the extracted position. it characterized by causing moved formed molded article take-out device. A molded product take-out device that conveys a plurality of molded products arranged in a supply position in an aligned state and stacks them in a stacking position,
A replacement necessity holding unit that holds a determination result of necessity of replacement for each molded article arranged at the supply position;
A replacement product placement section for placing a replacement molded product;
A replacement means for performing a process of replacing a molded product whose determination result is required to be replaced with a replacement molded product arranged in the replacement product arrangement unit among the molded products arranged in the supply position;
An alignment conveying means for conveying the plurality of molded products in an aligned state after the processing and stacking them at the stacking position;
When the horizontal direction orthogonal to the conveyance direction of the plurality of molded products by the alignment conveyance means is the width direction, the replacement product arrangement portion is provided on one outer side in the width direction from the supply position,
A stack delivery conveyor that feeds a stack of molded products stacked in a set number at the stacking position in the transport direction;
A stack take-out conveyor that further conveys the molded product stack delivered from the stack delivery conveyor in the carrying direction;
A replenishment conveyor that arranges and transfers a replacement molded product from the stack take-out conveyor on one outer side in the width direction toward the replacement product placement unit; replacement products replacement goods supplementing means and wherein the to that formed molded article take-out apparatus that is provided with to replenish the molded article for replacement to the placement unit. A molded product take-out device that conveys a plurality of molded products arranged in a supply position in an aligned state and stacks them in a stacking position,
A replacement necessity holding unit that holds a determination result of necessity of replacement for each molded article arranged at the supply position;
A replacement product placement section for placing a replacement molded product;
A replacement means for performing a process of replacing a molded product whose determination result is required to be replaced with a replacement molded product arranged in the replacement product arrangement unit among the molded products arranged in the supply position;
An alignment conveying means for conveying the plurality of molded products in an aligned state after the processing and stacking them at the stacking position;
The replacement product placement unit has a plurality of replacement product stack placement units for placing stacked replacement molded products,
The replacement means sequentially uses the replacement molded products stacked in the replacement product stack placement unit to be processed selected from the plurality of replacement product stack placement units for the replacement process. When there is no replacement molded product stacked in the target replacement product stack placement unit, the processing target is switched to another replacement product stack placement unit selected from the plurality of replacement product stack placement units,
Molded articles missing the replacement product stack arrangement unit replacement goods supplementing means wherein the to that formed molded article take-out apparatus that is provided to replenish the molded article for replacement stacked to for replacement . A molded product take-out device that conveys a plurality of molded products arranged in a supply position in an aligned state and stacks them in a stacking position,
A replacement necessity holding unit that holds a determination result of necessity of replacement for each molded article arranged at the supply position;
A replacement product placement section for placing a replacement molded product;
A replacement means for performing a process of replacing a molded product whose determination result is required to be replaced with a replacement molded product arranged in the replacement product arrangement unit among the molded products arranged in the supply position;
An alignment conveying means for conveying the plurality of molded products in an aligned state after the processing and stacking them at the stacking position;
The replacement means, when the number of molded products for which the determination result is required to be replaced exceeds the allowable number among the molded products arranged at the supply position, replaces all molded products arranged at the supply position. to that formed molded article take-out device, characterized in that for discharging. A molded product take-out device that conveys a plurality of molded products arranged in a supply position in an aligned state and stacks them in a stacking position,
Replacement necessity determination means for determining whether or not replacement is necessary for the molded article disposed at the supply position;
A replacement necessity holding unit for holding a result of determination of whether or not replacement is required by the replacement necessity determination unit for each molded article disposed at the supply position;
A replacement product placement section for placing a replacement molded product;
A replacement means for performing a process of replacing a molded product whose determination result is required to be replaced with a replacement molded product arranged in the replacement product arrangement unit among the molded products arranged in the supply position;
An alignment conveying means for conveying the plurality of molded products in an aligned state after the processing and stacking them at the stacking position;
The upper part of each molded product arranged in each mold provided in accordance with the alignment state of each molded product arranged at the supply position is held, and each molded product is conveyed toward the supply position in the aligned state. Molded product upper holding means is provided,
Said switching necessity determination means, the molded article top retaining means retained moldings detect and replace formed molded article take-out device you and judging the necessity of state of the lower surface side for. A molded article take-out device that conveys a plurality of molded articles arranged at the supply position in an aligned state and stacks them at the stacking position ;
Sheet conveying means for conveying a formable sheet in the sheet conveying direction from the molding position to the trimming position;
Molding means for molding the sheet using the molds arranged at the molding position according to the alignment state of the molded articles arranged at the supply position;
Trimming the molding sheet arranged in each die provided at the trimming position according to the alignment state of the moldings that are carried out from the molding position and arranged at the supply position, And trimming means for placing each molded product in a state where
Each molded product arranged in each mold is conveyed to the supply position in an aligned state,
The molded product take-out device is:
Replacement necessity determination means for determining whether or not replacement is necessary for the molded article disposed at the supply position;
A replacement necessity holding unit for holding a result of determination of whether or not replacement is required by the replacement necessity determination unit for each molded article disposed at the supply position;
A replacement product placement section for placing a replacement molded product;
A replacement means for performing a process of replacing a molded product whose determination result is required to be replaced with a replacement molded product arranged in the replacement product arrangement unit among the molded products arranged in the supply position;
An alignment conveying means for conveying the plurality of molded products in an aligned state after the processing and stacking them at the stacking position;
The molding take-out apparatus according to claim 1, wherein the replacement necessity determination unit determines the necessity of replacement by detecting an appearance state of an unseparated molded product conveyed from the molding position to the trimming position. A molded article take-out device that conveys a plurality of molded articles arranged at the supply position in an aligned state and stacks them at the stacking position ;
Sheet conveying means for conveying a molded sheet formed in accordance with the alignment state of the molded articles arranged at the supply position in the sheet conveying direction;
Trimming means for trimming the molded sheet arranged in each mold provided in accordance with the alignment state of the molded articles arranged at the supply position, and placing each molded article in the respective molds; With
Each molded product arranged in each mold is conveyed to the supply position in an aligned state,
The molded product take-out device is:
A replacement necessity holding unit that holds a determination result of necessity of replacement for each molded article arranged at the supply position;
A replacement product placement section for placing a replacement molded product;
A replacement means for performing a process of replacing a molded product whose determination result is required to be replaced with a replacement molded product arranged in the replacement product arrangement unit among the molded products arranged in the supply position;
An alignment conveying means for conveying the plurality of molded products in an aligned state after the processing and stacking them at the stacking position;
The trimming means does not trim the molded sheet in the sheet conveying direction without trimming the molded sheet when the number of molded products for which the determination result needs to be replaced exceeds the allowable number among the molded products arranged at the supply position. Trimming take-out device characterized by conveying. The direction in which the stacked a product removal method of stacking the stacking position by conveying a plurality of molded articles disposed in the feed position in alignment which are arranged in different directions in the alignment,
Holds the determination result of necessity of replacement for each molded article arranged at the supply position,
A process of replacing the molded product whose determination result is required to be replaced with a replacement molded product arranged in a replacement product placement unit among the molded products arranged in the supply position in the aligned state ,
Product removal method characterized by stacking the stacking position said alignment state of the plurality of molded articles after the process is conveyed by the alignment.

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