JP7618472B2 - 金型及びアタッチメントの法線ベクトルの推定方法及びシステム - Google Patents

金型及びアタッチメントの法線ベクトルの推定方法及びシステム Download PDF

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Publication number
JP7618472B2
JP7618472B2 JP2021046882A JP2021046882A JP7618472B2 JP 7618472 B2 JP7618472 B2 JP 7618472B2 JP 2021046882 A JP2021046882 A JP 2021046882A JP 2021046882 A JP2021046882 A JP 2021046882A JP 7618472 B2 JP7618472 B2 JP 7618472B2
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Japan
Prior art keywords
mold
normal vector
attachment
imaging device
estimating
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JP2021046882A
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English (en)
Japanese (ja)
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JP2021160360A5 (https=
JP2021160360A (ja
Inventor
文武 渡辺
一貴 安藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yushin Co
Original Assignee
Yushin Precision Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yushin Precision Equipment Co Ltd filed Critical Yushin Precision Equipment Co Ltd
Priority to CN202110329984.8A priority Critical patent/CN113465498B/zh
Priority to US17/215,262 priority patent/US12049036B2/en
Priority to EP21275035.0A priority patent/EP3889542B1/en
Publication of JP2021160360A publication Critical patent/JP2021160360A/ja
Publication of JP2021160360A5 publication Critical patent/JP2021160360A5/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/1759—Removing sprues from sprue-channels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C33/00—Moulds or cores; Details thereof or accessories therefor
    • B29C33/44—Moulds or cores; Details thereof or accessories therefor with means for, or specially constructed to facilitate, the removal of articles, e.g. of undercut articles
    • B29C33/442—Moulds or cores; Details thereof or accessories therefor with means for, or specially constructed to facilitate, the removal of articles, e.g. of undercut articles with mechanical ejector or drive means therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/1775—Connecting parts, e.g. injection screws, ejectors, to drive means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/4005—Ejector constructions; Ejector operating mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C45/4225—Take-off members or carriers for the moulded articles, e.g. grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C2045/4266—Robot grippers movable along three orthogonal axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76003—Measured parameter
    • B29C2945/76083—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76177—Location of measurement
    • B29C2945/7624—Ejection unit
    • B29C2945/76244—Ejection unit ejectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76344—Phase or stage of measurement
    • B29C2945/76418—Ejection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76494—Controlled parameter
    • B29C2945/76568—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76822—Phase or stage of control
    • B29C2945/76896—Ejection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Moulds For Moulding Plastics Or The Like (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)
JP2021046882A 2020-03-31 2021-03-22 金型及びアタッチメントの法線ベクトルの推定方法及びシステム Active JP7618472B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202110329984.8A CN113465498B (zh) 2020-03-31 2021-03-26 模具及配件的法线矢量的推定方法以及系统
US17/215,262 US12049036B2 (en) 2020-03-31 2021-03-29 Method and system for estimating normal vector to die and normal vector to attachment
EP21275035.0A EP3889542B1 (en) 2020-03-31 2021-03-30 Method for estimating normal vector to die and/or normal vector to attachment

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020064837 2020-03-31
JP2020064837 2020-03-31

Publications (3)

Publication Number Publication Date
JP2021160360A JP2021160360A (ja) 2021-10-11
JP2021160360A5 JP2021160360A5 (https=) 2023-12-25
JP7618472B2 true JP7618472B2 (ja) 2025-01-21

Family

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JP2021046882A Active JP7618472B2 (ja) 2020-03-31 2021-03-22 金型及びアタッチメントの法線ベクトルの推定方法及びシステム

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Country Link
US (1) US12049036B2 (https=)
JP (1) JP7618472B2 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7793854B1 (ja) * 2025-09-08 2026-01-05 Ｙｕｓｈｉｎ株式会社 成形品取出機

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005007486A (ja) 2003-06-16 2005-01-13 Toyota Motor Corp ロボットハンドの把持制御装置
JP2009285951A (ja) 2008-05-28 2009-12-10 Sumitomo Heavy Ind Ltd 型締装置の計測システム、型締装置の計測方法、及び型締装置の計測プログラム
JP2012245744A (ja) 2011-05-30 2012-12-13 Toshiba Mach Co Ltd 型締装置、成形機、型盤、型締装置の制御方法、及び型盤の制御方法
JP2019077053A (ja) 2017-10-20 2019-05-23 ウシオライティング株式会社 金型監視装置および金型監視方法
JP2021041624A (ja) 2019-09-12 2021-03-18 株式会社ユーシン精機 成形品取出システムのティーチング方法及び成形品取出機

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08136217A (ja) * 1994-11-04 1996-05-31 Daihatsu Motor Co Ltd 位置検出装置
JPH09192816A (ja) 1996-01-11 1997-07-29 Toshiba Mach Co Ltd 成形機の型締不良の検知方法及び成形機
JP4081229B2 (ja) 2000-10-17 2008-04-23 株式会社ユーシン精機 取出ロボットのティーチングプログラム製造装置
DE10323308B4 (de) 2003-05-23 2005-07-07 Battenfeld Gmbh Vorrichtung und Verfahren zur Lagebestimmung
DE102008019373A1 (de) 2007-07-03 2009-01-22 Siemens Aktiengesellschaft Messvorrichtung und Verfahren zum Kalibrieren einer Messvorrichtung eines Krans
CN103747937A (zh) 2011-06-20 2014-04-23 赫斯基注塑系统有限公司 用于模用板总成中心轴方向的改变的检测
JP5911934B2 (ja) * 2014-09-18 2016-04-27 ファナック株式会社 輪郭線計測装置およびロボットシステム
US20180029807A1 (en) * 2016-07-27 2018-02-01 Fanuc Corporation Suction device
JP6522680B2 (ja) * 2017-03-22 2019-05-29 オオクマ電子株式会社 注射液用容器収容箱及び注射液用容器ピッキングシステム
US11396101B2 (en) * 2018-11-08 2022-07-26 Kabushiki Kaisha Toshiba Operating system, control device, and computer program product
JP7257942B2 (ja) * 2019-11-29 2023-04-14 日立Astemo株式会社 表面検査装置および形状矯正装置、並びに表面検査方法および形状矯正方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005007486A (ja) 2003-06-16 2005-01-13 Toyota Motor Corp ロボットハンドの把持制御装置
JP2009285951A (ja) 2008-05-28 2009-12-10 Sumitomo Heavy Ind Ltd 型締装置の計測システム、型締装置の計測方法、及び型締装置の計測プログラム
JP2012245744A (ja) 2011-05-30 2012-12-13 Toshiba Mach Co Ltd 型締装置、成形機、型盤、型締装置の制御方法、及び型盤の制御方法
JP2019077053A (ja) 2017-10-20 2019-05-23 ウシオライティング株式会社 金型監視装置および金型監視方法
JP2021041624A (ja) 2019-09-12 2021-03-18 株式会社ユーシン精機 成形品取出システムのティーチング方法及び成形品取出機

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US20210323208A1 (en) 2021-10-21
US12049036B2 (en) 2024-07-30

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