JP6291530B2 - Resin product manufacturing apparatus and resin product manufacturing method - Google Patents
Resin product manufacturing apparatus and resin product manufacturing method Download PDFInfo
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- JP6291530B2 JP6291530B2 JP2016133738A JP2016133738A JP6291530B2 JP 6291530 B2 JP6291530 B2 JP 6291530B2 JP 2016133738 A JP2016133738 A JP 2016133738A JP 2016133738 A JP2016133738 A JP 2016133738A JP 6291530 B2 JP6291530 B2 JP 6291530B2
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- 239000011347 resin Substances 0.000 title claims description 72
- 229920005989 resin Polymers 0.000 title claims description 72
- 238000004519 manufacturing process Methods 0.000 title claims description 20
- 238000012545 processing Methods 0.000 claims description 30
- 238000005259 measurement Methods 0.000 claims description 4
- 230000005855 radiation Effects 0.000 claims description 4
- 238000000465 moulding Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 9
- 238000012805 post-processing Methods 0.000 description 9
- 238000003860 storage Methods 0.000 description 8
- 230000017525 heat dissipation Effects 0.000 description 6
- 238000003672 processing method Methods 0.000 description 5
- 230000008602 contraction Effects 0.000 description 4
- 238000001746 injection moulding Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 239000004743 Polypropylene Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- -1 polypropylene Polymers 0.000 description 1
- 229920001155 polypropylene Polymers 0.000 description 1
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- Moulds For Moulding Plastics Or The Like (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
- Automatic Assembly (AREA)
Description
本発明は、樹脂射出成形品の取出し組立加工に関し、詳細は、射出成型機から取り出した熱収縮途中の成形品に組立加工を施す、樹脂製品の製造方法に関する。 The present invention relates to a process for taking out and assembling a resin injection molded product, and in particular, relates to a method for manufacturing a resin product in which a molded product in the middle of heat shrink taken out from an injection molding machine is subjected to assembly processing.
射出成形法等による樹脂製品の製造において、成形品に何らかの後加工が必要な製品を製造する場合は、図１に示すように、成形品を金型から取出しロボットで取り出し、移載、搬出し一時保管され、その後取出し、後加工するのが一般的である。 In the production of resin products by the injection molding method, etc., when manufacturing products that require some post-processing, the molded product is removed from the mold by a robot as shown in FIG. 1, transferred, and transferred. Generally, it is temporarily stored, then taken out and post-processed.
小型の製品の場合はあまり問題にならないが、自動車のバンパーやインストルメントパネルのような大型の樹脂成形品の場合は、搬出後一時保管するには、広い保管スペースが必要である。また、後加工をするためには保管場所から取り出し、組立加工をしたのち再度保管するという、加工場所や作業員の確保が必要で、かつ搬送、保管、取出し、などという付加価値の生まない作業を強いられて来た。
コンベアなどへ移載した後直ちに後加工ができれば、一時保管や加工の為の取出しの必要がなくなるが、通常、成形品は２００℃程度の高温で取り出され、さらに放熱と共に収縮が続くため、後加工を加えるには、ハンドリングや加工精度の確保に困難が伴う。In the case of a small product, this is not a problem, but in the case of a large resin molded product such as a bumper or an instrument panel of an automobile, a large storage space is required to temporarily store it after being taken out. In addition, in order to perform post-processing, it is necessary to secure the processing location and workers, such as taking out from the storage location, assembling and then storing again, and work that does not add value such as transportation, storage, and removal. I have been forced to.
If post-processing can be performed immediately after transfer to a conveyor or the like, there is no need for temporary storage or removal for processing, but usually the molded product is taken out at a high temperature of about 200 ° C. and further shrinks with heat dissipation. Adding processing involves difficulties in handling and ensuring processing accuracy.
高温で取り出された樹脂成形品は、放熱環境にもよるが、通例室温に戻るまでには数十分以上を要し、その間１〜２％の収縮が続く。図３は、一例として、ポリプロピレン樹脂（ＰＰ）の成形品を取出し、放熱に伴う成形収縮の様子を示したものであるが、取出し直後は急激に収縮し、以降長い時間に渡り収縮が続いている。
取出し直後で変形が続いている最中でも、手作業でならば、精度の高い加工ができる可能性はあるが、成形品が高温のため、安全上ハンドリングが難しい。The resin molded product taken out at a high temperature usually requires several tens of minutes or more until it returns to room temperature, depending on the heat dissipation environment, and continues to shrink by 1 to 2%. FIG. 3 shows, as an example, a molded product of a polypropylene resin (PP) taken out and showing a state of molding shrinkage due to heat dissipation, but immediately after taking out, it shrinks rapidly, and then shrinks for a long time. Yes.
Even if deformation continues immediately after removal, there is a possibility that high precision processing can be performed by hand, but because the molded product is hot, handling is difficult for safety.
このような、後加工が必要な大型樹脂成形品の製造課題を解決する方法として、成形品を金型から取り出す際に、成形品の位置決め機構の付いたロボットで取出し、移載する前の把持したままの成形品に後加工を加える、という発明が考案されている（特許文献１）。本先行発明によれば、取出しから移載の途中で後加工できるので、一時保管のムダや、保管品を取り出し後加工し再度保管するというムダを排除できるようになる。
しかし、先行技術（特許文献１）のように、位置決め機構のある取出しロボットで把持しても、熱い成形品の寸法は時々刻々と変化するため、後加工位置も変動していく。本先行技術でも限定しているが、ゲートカットやエッジ処理のように比較的に位置精度が低くても処理が可能な場合はよいが、組立加工のような高精度の後加工は難しい、という課題があった。As a method for solving such manufacturing problems of large-scale resin molded products that require post-processing, when taking out the molded product from the mold, it is taken out by a robot with a positioning mechanism for the molded product and held before being transferred. An invention has been devised in which post-processing is applied to a molded product as it is (Patent Document 1). According to this prior invention, post-processing can be performed in the middle of removal and transfer, so that it is possible to eliminate the waste of temporary storage and the waste of taking out the stored product, processing it, and storing it again.
However, as in the prior art (Patent Document 1), even when the robot is gripped by a take-out robot having a positioning mechanism, the dimension of the hot molded product changes every moment, and the post-processing position also changes. Although it is limited in this prior art, it is good if processing is possible even with relatively low positional accuracy such as gate cutting and edge processing, but high-accuracy post-processing such as assembly processing is difficult. There was a problem.
本発明は、以上のような従来技術の欠点に鑑み、図２に示すように、樹脂射出成形組立加工において、樹脂成形品を取出しロボットで金型から取出し、把持保持したまま連続して、組立加工のような高度な後加工を施す加工方法ならびに加工装置を提案するものである。 In view of the drawbacks of the prior art as described above, the present invention, as shown in FIG. 2, in the resin injection molding assembly process, the resin molded product is taken out from the mold by the robot and continuously assembled while being held and held. The present invention proposes a processing method and a processing apparatus for performing advanced post-processing such as processing.
本発明は、上記課題を解決する樹脂成形品の加工装置並びにその加工方法を提示するものであり、樹脂成形品を取出し把持する取出しロボットと、樹脂成形品に部品を組み付ける組立加工ロボットと、からなる。組立加工ロボットは、組み付けする部品を供給する機構と、取出しロボットに把持された樹脂成形品の組み付け箇所を計測する機構と、組み付け部品を組み付け箇所に正確に移動する機構と、組付付け部品を組み付ける機構とを備えている。
取出しロボットは、樹脂成形品を金型から取出し、把持したまま所定の位置に保つ。組立ロボットは、組み付け部品を保持したまま、予めプログラムされた指示に従い、組み付け部品を組み付け箇所の近傍へ速やかに移動する。次いで、組み付けロボットに搭載された、組み付け箇所計測機構により放熱収縮で時々刻々変化する組み付け箇所を計測し、この計測結果に従い組み付け部品を組み付け箇所に正確に追随移動対峙させ、予めプログラムされた動作に従い、組付け部品を樹脂成形品へ組み付ける。組み付け加工が終了した樹脂成形品は、搬出機構へと移載され、出荷まで保管される。The present invention presents a processing apparatus and a processing method for a resin molded product that solves the above-mentioned problems, and includes a take-out robot that takes out and grips a resin molded product, and an assembly processing robot that assembles parts into the resin molded product. Become. The assembly robot includes a mechanism for supplying parts to be assembled, a mechanism for measuring the assembly location of the resin molded product held by the take-out robot, a mechanism for accurately moving the assembly components to the assembly location, and an assembly component. Assembly mechanism.
The take-out robot takes out the resin molded product from the mold and keeps it in a predetermined position while holding it. The assembly robot quickly moves the assembly component to the vicinity of the assembly location according to a pre-programmed instruction while holding the assembly component. Next, the assembly location measurement mechanism mounted on the assembly robot measures the assembly location that changes from time to time due to heat radiation contraction.According to this measurement result, the assembly component is accurately followed and moved to the assembly location. Assemble the assembly parts to the resin molded product. The resin molded product that has been assembled is transferred to the carry-out mechanism and stored until shipment.
また、本発明は、樹脂成形品に形成されている組付け箇所の形状が凸形状で、組付け部品の組み付け部の形状が凹で、組付け部品の凹部を、凸部へ圧入等で挿入して組付ける樹脂製品の製造装置並びにその製造方法に関するものである。 Further, according to the present invention, the shape of the assembly part formed in the resin molded product is a convex shape, the shape of the assembly part of the assembly part is concave, and the concave part of the assembly part is inserted into the convex part by press fitting or the like. The present invention relates to a resin product manufacturing apparatus and a manufacturing method thereof.
さらに、本発明は、樹脂成形品の組付け箇所の形状が凹形状で、凹部に嵌合する形状を有する組付け部品をスライド等で嵌め込み組付ける樹脂製品の製造装置並びにその製造方法に関するものである。 Furthermore, the present invention relates to a resin product manufacturing apparatus and method for manufacturing a resin product in which the shape of the assembly part of the resin molded product is a concave shape, and an assembly part having a shape that fits into the concave portion is fitted with a slide or the like. is there.
以上の説明から明らかなように、本発明にあっては以下の効果が得られる。
本発明に記載の本樹脂成形品の組立加工装置並びにその方法によれば、取出し直後の成形品は放熱による収縮で組付け加工位置が時々刻々変化するが、その変化に追随した組付け加工ができるようになり、樹脂成形品の取出しから組付けまで連続した自動成形組付け加工が実現できる。その結果、組付け加工前の成形品搬出、一時保管作業、工場内で大きなスペースを占めていた組付け加工待ちの為の一時保管スペースの削減、部品組み付け加工の為の樹脂成形品の一時保管箱からの取り出し、治具台への設置、部品組付け作業、再度保管箱へ戻す、作業が削減できる。
無駄な作業の削減と一時保管場所の削減で製造コストの低減と、工場内スペースを有効活用できるようになる。これらの効果は、大型樹脂製品の製造加工では特に大きい。As is clear from the above description, the following effects can be obtained in the present invention.
According to the assembly processing apparatus and method of the present resin molded product according to the present invention, the assembly processing position of the molded product immediately after removal changes from moment to moment due to shrinkage due to heat dissipation, but the assembly processing following the change is not possible. As a result, it is possible to realize continuous automatic molding and assembling processing from taking out a resin molded product to assembling. As a result, it is possible to carry out the molded product before assembly processing, temporarily store it, reduce the temporary storage space waiting for assembly processing that occupied a large space in the factory, and temporarily store resin molded products for component assembly processing. The work of taking out from the box, installing on the jig stand, assembling the parts, returning to the storage box again can be reduced.
Reduction of useless work and temporary storage space will reduce manufacturing costs and make effective use of factory space. These effects are particularly great in the manufacturing process of large resin products.
以下に、本発明による樹脂成形組立加工方法の実施例について説明する。Below, the Example of the resin molding assembly processing method by this invention is described.
まず、本発明の実施例に係る樹脂成形組立加工装置について、図４と図５を用いて説明する。
本実施例に関わる樹脂成形加工装置は、樹脂成形品Ｗを樹脂成形装置１１から取り出す取出しロボット１２と、樹脂成形品Ｗの組み付け箇所Ｔに部品Ｐを組付ける組立加工ロボット１３と、組立完了した樹脂成形組立品を搬送する装置１４から構成されている。組立加工ロボットの先端には、樹脂成形品までの距離と、組み付け部品取り付け位置を検出する光学装置１５が載置されている。光学装置の一例として、株式会社キーエンス製ロボットビジョンシステムＣＶ−Ｘシリーズが利用される。First, a resin molding and assembling apparatus according to an embodiment of the present invention will be described with reference to FIGS. 4 and 5.
The resin molding processing apparatus according to the present embodiment has completed the assembly with the take-
樹脂成形品には一カ所以上の後組付け加工が施される。成形が終了した樹脂成形品Ｗ′は、取出しロボット１２により吸引等で把持され金型より取り出され、把持したまま予め定めた位置Ｗに保持される。樹脂成形品には組付け加工が施される凸形状の組付け箇所Ｔが形成されている。このとき、組付け箇所Ｔの位置は、３次元空間上の定まった位置の近傍となる。先端に凹形状の組み付け部品Ｐを保持した組立加工ロボット１３は、樹脂成形品取出しと同期して、組み付け部品Ｐが樹脂成形品の組み付け箇所Ｔにほぼ対峙する予め定められた位置に速やかに移動する。組み付け箇所近傍に到達したら、組立加工ロボット１３の先端に載置した位置検出用の光学装置１５で、樹脂成形品の放熱収縮により位置が変動する組み付け箇所Ｔの位置を検出し、その検出位置データがロボット制御系に送られ、組み付け部品Ｐが組み付け位置Ｔを正確に対峙追随するように移動し、位置が合致すると同時に組付け部品が組み付けられる。 One or more post-assembly processes are applied to the resin molded product. The resin molded product W ′ that has been molded is gripped by suction or the like by the take-out
組付け箇所が２か所以上の場合は、同様の動作を繰り返す。即ち、２つ目の組付け部品を保持した組み付けロボットは、２か所目の組み付け位置へ速やかに移動する。次いで、放熱収縮で移動をする組み付け位置を、組み付けロボットアーム先端に取り付けた光学装置１５により、組み付け箇所を計測し、組立部品が組付位置と正確に対峙するように制御移動し、位置が合致すると同時に組み付けされる。 When there are two or more places to be assembled, the same operation is repeated. In other words, the assembly robot holding the second assembly component moves quickly to the second assembly position. Next, the assembly position that moves due to heat dissipation contraction is measured by the
所定の組付け作業が終了した樹脂成形品Ｗは、取出しロボットの把持が解放され、搬出装置１４で搬出され、出荷まで保管される。 The resin molded product W for which a predetermined assembling operation has been completed is released from the gripping
本発明は、樹脂成形品の成形取出し組付け組立加工方法に関するものであり、特に自動車内装部品や産業機器用などの大型樹脂成形品で、成形した後部品組付け加工が必要な製品の製造に利用される。 The present invention relates to a method of molding, taking out and assembling a resin molded product, and particularly for manufacturing a large resin molded product for automobile interior parts and industrial equipment that requires assembly after machining. Used.
１１．射出成型機
１２．取出しロボット
１３．組立加工ロボット
１４．排出用コンベアベルト
１５．組付け位置検出装置
Ｗ′．成形直後の樹脂成形品
Ｗ．部品組付け位置へ把持保持されている樹脂成形品
Ｐ．凹形状の組付け部品
Ｔ．凸形状の組付け箇所11.
Claims (6)
樹脂成形金型から樹脂成形品を取り出し把持したまま所定の位置に保持する取出しロボットと、
組付け部品を供給する機構と、樹脂成形品が放熱収縮することにより変化する組付け箇所の位置を計測する機構と、この位置を計測する機構による計測結果に従い組付け部品を樹脂成形品の組み付け箇所へ移動する機構と、組付け部品を放熱収縮により変形が続いている樹脂成形品の組付け箇所へ組付ける機構とを備えた組立加工ロボットからなる、
樹脂製品の製造装置。 In a resin product manufacturing apparatus in which one or more parts are assembled in a resin molded product,
A take-out robot that takes out a resin molded product from a resin mold and holds it in a predetermined position;
A mechanism for supplying assembly parts, a mechanism for measuring the position of the assembly location that changes as the resin molded product heats and shrinks, and an assembly component that is assembled according to the measurement results of the mechanism that measures this position It consists of an assembly processing robot equipped with a mechanism for moving to a location and a mechanism for assembling the assembly part to the assembly location of the resin molded product that has been deformed due to heat radiation shrinkage .
Production equipment for resin products.
取出しロボットにより、樹脂成形金型から樹脂成形品を取り出し把持したまま所定の位置に保持する工程と、
組立加工ロボットにより、組付け部品を供給し、樹脂成形品が放熱収縮することにより変化する組付け箇所の位置を計測した後、この計測結果に従い組付け部品を樹脂成形品の組み付け箇所へ移動し、組付け部品を放熱収縮により変形が続いている樹脂成形品の組付け箇所へ組付ける工程と
を備えたことを特徴とする樹脂製品の製造方法。 In a resin product manufacturing method in which one or more parts are assembled in a resin molded product,
A step of taking out a resin molded product from a resin mold by a take-out robot and holding it in a predetermined position;
After the assembly processing robot supplies the assembly parts and measures the position of the assembly part that changes as the resin molded product heats and shrinks , the assembly part is moved to the assembly part of the resin molded product according to the measurement result. And a step of assembling the assembled part to an assembling part of the resin molded product which is continuously deformed due to heat radiation shrinkage .
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