JPH09123232A - System for taking out molding - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily and securely take out moldings, then send them out after aligning, and at the same time, prevent the moldings from being damaged by providing plural holding means for holding moldings simultaneously and a robot for taking out the molding with a handle, for taking out the molding, to be opened during the transport of the molding. SOLUTION: Plural pieces of molding 3 are formed simultaneously by an injection molding machine 2 equipped with a molding die capable of producing plural pieces of molding concurrently. After that, the molding die 1 of the injection molding machine 2 is opened. Then, a robot 6 for taking out the molding is driven to arrange a hand 5 taking out the molding in a standing position between the molding dies 1, and set the hand 5 to an opposed position to the plural moldings 3. In addition, each of the moldings is sucked by a suction pad forming plural holding means by transferring the hand 5 for taking out the molding, so that the molding 3 is parted from the molding die 1. Further, the hand 5 is transferred to a transport line 23 side to a following step and thus the molding 3 is transported to the transport 23 side. In this case, each of the holding means is moved in the closed direction to gather the moldings 3 together.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention collects a plurality of molded products molded by an injection molding machine equipped with a plurality of molds at the same time and collects the plurality of molded products into an intended positional relationship. The present invention relates to a molded product takeout system for carrying to the next step.

[0002]

2. Description of the Related Art Japanese Unexamined Patent Publication (Kokai) No. 55-9839 is known as an automatic take-out device for molded articles in a plastic molding machine. In this conventional apparatus, a molded product taken out from the molding machine is transferred to a chute or the like, and a chute terminal is provided with a molded product alignment guide and a cylinder for sequentially pushing the molded product within a certain distance along a line. Further, a pusher for sequentially pushing a plurality of aligned molded products into the case is provided at the end portion thereof.

[0003]

In the above-mentioned conventional example, the molded products are liable to be entangled with each other, the molded products of complicated shapes cannot be dealt with, and there are many restrictions on the molded product shape and alignment form. There is. In addition, there is a problem that scratches are likely to occur during transportation and alignment of molded products. The present invention has been made in view of the above conventional problems, and a plurality of molded products taken out from an injection molding machine can be simply and reliably assembled into a desired alignment form and sent to the next step. Moreover, it is an object of the present invention to provide a molded product takeout system capable of preventing the molded product from being damaged.

[0004]

In order to solve the above-mentioned problems, the molded product take-out system of the present invention is an injection molding machine 2 equipped with a plurality of molds, and a molding mold of the injection molding machine 2. A plurality of gripping means 4 for simultaneously gripping a plurality of molded products 3 molded in 1 has a molded product take-out robot 6 having a take-out hand 5 which is openably and closably attached during transportation.
It is characterized by being equipped with. By adopting such a configuration, a plurality of molded products 3 taken by the molding die 1 are gripped and taken out by the plurality of gripping means 4 of the take-out hand 5, and the target molded product is conveyed during conveyance. It can be arranged at an intermediate pitch and sent to the next process.

It is also preferable that the holding means 4 is equipped with a molded product take-out robot 6 having a take-out hand 5 which is attached so as to be rotatable and openable and closable. With such a configuration, the mutual orientation of the plurality of molded products 3 when taking out the plurality of molded products 3 from the molding die 1 and the mutual orientation of the plurality of molded products 3 when the next process is carried out. If different, a plurality of molded products 3 taken out are grasped and taken out by a plurality of grasping means 4 of the take-out hand 5, and the grasping means 4 is rotated to bring it to a desired position during conveyance to carry out the next step. The positional relationship between the molded products 3 and the pitch between the molded products 3 which are required in 1 above can be set and sent to the next step.

A molded product take-out robot 6 equipped with an injection molding machine 2 equipped with a plurality of molds and a take-out hand 5 for simultaneously gripping a plurality of molded products 3 molded by the molding die 1. A plurality of temporary placing pallets 7 for temporarily placing the molded articles 3 and a plurality of holding means 4 for simultaneously holding a plurality of molded articles 3 placed on the temporary placing pallets 7
However, the assembly hand 8 is attached so as to be movable during transportation.
It may be characterized by being equipped with a molded article collecting robot 9 having. With such a configuration, a plurality of molded products 3 taken by the molding die 1 are grasped and taken out by the plurality of grasping means 4 of the takeout hand 5, and placed on the temporary placement pallet 7, A plurality of temporary placement pallets 7 are sent to the molded article collecting robot 9 side, and a plurality of gripping means 4 provided on the collecting hand 8 are used to mold the required number of molded articles 3
Is grasped and taken out from a plurality of temporary placement pallets 7, and the desired placement relationship is established and sent to the next step.
That is, a molded product 3 that is simultaneously molded by the molding die 1.
It is possible to deal with the case where the number of the molded products 3 arranged and sent to the next step is larger than the number of.

It is also preferable that the collecting hand 8 is rotatably attached to the molded product collecting robot 9 during conveyance. With such a configuration, the gathering hand 8
By rotating the molds and gripping the molded products 3 one after another, the positional relationship between the molded products 3 can be arranged in a desired direction and sent to the next step. An injection molding machine 2 equipped with a plurality of molds, and a molded product take-out robot 6 equipped with a take-out hand 5 for simultaneously gripping a plurality of molded products 3 molded by the molding die 1, A gathering hand in which a temporary placement pallet 7 for temporarily placing the molded product 3 and a plurality of gripping means 4 for simultaneously gripping a plurality of the molded products 3 placed on the temporary placement pallet 7 are movably attached during transportation. It may be characterized in that a molded article collecting robot 9 having a plurality of 8 is equipped. With such a configuration, a plurality of molded products 3 taken by the molding die 1 are grasped and taken out by the plurality of grasping means 4 of the takeout hand 5, and placed on the temporary placement pallet 7, The temporary placing pallet 7 is sent to the molded article collecting robot 9 side, and the desired number of molded articles 3 are taken out from the temporary placing pallet 7 by an arbitrary number of collecting hands 8 out of the plurality of collecting hands 8 for the purpose. Assembled in an array and sent to the next step, the remaining molded products 3 on the temporary placement pallet 7 are temporarily held by another collecting hand 8, and the next assembly hand 8 temporarily holds this molded product 3.
Then, a required number of molded products 3 are newly added, and the molded product 3 is gripped and arranged as desired to be sent to the next step. That is, it is possible to deal with the case where the number of the molded products 3 to be arranged in the target arrangement and sent to the next step is smaller than the number of the molded products 3 to be molded simultaneously by the molding die 1.

It is also preferable that the collecting hand 8 is rotatably attached to the molded product collecting robot 9 during conveyance. With such a configuration, the gathering hand 8
It is possible to arrange the orientations of the molded products 3 in a desired positional relationship and to send them to the next step by rotating and rotating and gripping the molded products 3 one after another. Moreover, the hand 5 for taking out
In addition, it is also preferable to provide a gripping means moving mechanism 10 for moving the gripping means 4 in the central direction along a plurality of radially arranged gripping means moving guides 11 to collect a plurality of molded products 3. With such a configuration, the pitch of the plurality of molded products 3 can be collectively reduced and assembled.

Further, a gripping means moving mechanism for moving the gripping means 4 in the center direction along a plurality of gripping means moving guides 11 radially arranged in the collecting hand 8 to collect a plurality of molded products 3. It is also preferable to provide 10. With such a configuration, the pitch of the plurality of molded products 3 can be collectively reduced and assembled. Further, the gripping means moving mechanism 10 is provided with a moving means 12 for moving the plurality of gripping means 4 in a radial center direction along a gripping means moving guide 11 arranged radially, and the moving means 12 is radial. It is also preferable that it is constituted by one cylinder device 13 arranged at the center. With such a configuration, the mechanism for collectively reducing the pitch of a plurality of molded products 3 and assembling them can be made compact.

It is also preferable to make the stroke of the cylinder device 13 variable. With such a configuration, it is possible to change the stroke of the cylinder device 13 to cope with product type switching. Further, it is also preferable to provide a collective detection switch 14 on each gripping means movement guide 11.
With such a configuration, it is possible to confirm the set during the transportation of the molded product 3, and it is possible to easily recognize the set error.

Further, the molded products 3 are placed within a transfer range in which a plurality of molded products 3 are taken out from the molding die 1 and collected and transferred.
It is also preferable to provide the inspection means 16 of. With such a configuration, the molded products 3 can be inspected at the same time during the process of conveying the molded products 3 while collecting them. Also,
It is also preferable that the temporary storage pallet 7 for temporarily storing the molded product 3 can be tilted up and down. With such a configuration,
When a molded product 3 is transferred from the molded product take-out robot 6 to the temporary storage pallet 7, if there is a delivery mistake, the temporary storage pallet 7 is raised and the defective delivery product 3 is discharged from the temporary storage pallet 7. Is something that can be done.

It is also preferable to provide an air jetting means 17 for blowing air from the back side when the temporary placing pallet 7 for temporarily placing the molded product 3 is erected and the molded product 3 is discharged. With such a configuration, when the delivery mistake is made, the temporary placement pallet 7 is raised and the molded product 3 having the delivery mistake is discharged from the temporary placement pallet 7 by air from the back side of the molded product 3. The molded product 3 that has been delivered by mistake can be discharged by spraying.

It is also preferable to provide a stock section 18 for stocking the molded products 3 within the movable range of the molded product collecting robot 9. With such a configuration,
When there is a trouble in the next process, the plurality of molded products 3 conveyed while gathered by the molded product collecting robot 9 are stocked in the stock section 18 in a state of being arranged in a target state, and after the trouble in the next process is solved. It can be supplied from the stock unit 18 to the next step.

[0014]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. 1 and 2 show an embodiment of the present invention. FIG. 1 shows a schematic diagram of an embodiment of the device. Reference numeral 2 in the figure denotes an injection molding machine 2 equipped with a plurality of molding dies 1, and the state of FIG. 1 is a state in which the dies are opened. In the figure, 6 is a molded product take-out robot 6, and the molded product take-out robot 6 has an X-axis drive unit 20.
And a Y-axis drive unit 21 and a Z-axis drive unit 22, and a take-out hand 5 is provided at the lower end of the Z-axis drive unit 22. Further, the X-axis drive unit 20, the Y-axis drive unit 21, and the Z-axis drive unit 22 are provided so that the pick-up hand 5 is X-axis.
It is movable in the axial direction (front-back direction in the figure), the Y-axis direction (horizontal direction in the figure), and the Z-axis direction (vertical direction in the figure).

The take-out hand 5 is attached to the lower end of the Z-axis drive section 22 so as to be able to move up and down, and a plurality of gripping means 4 are attached to the take-out hand 5 so as to be movable. In the embodiment shown in the accompanying drawings, four gripping means moving guides 11 are radially provided on the take-out hand 5, and the gripping means 4 can be moved along the gripping means moving guides 11, respectively. The gripping means 4 is, for example, a suction pad such as a vacuum pump.

The X-axis drive unit 20 is arranged above the injection molding machine 2 so as to cross the injection molding machine 2. On the side of the injection molding machine 2, a transfer line 23 for the next process
Is arranged. Therefore, in the present embodiment, first, a large number of molded products 3 are simultaneously molded by the injection molding machine 2 equipped with a plurality of molds. Next, the injection molding machine 2
The mold 1 is opened. Next, the molded product take-out robot 6 is driven to position the take-out hand 5 in a vertically standing state and to position it between the molds 1 opened to form the mold 1.
The plurality of molded products 3 are made to face each other. Here, FIG. 2A is a drawing for explaining the pitch between the molded products 3 when a plurality of molded products 3 are molded by the molding die 1. Next, the molded product take-out robot 6 is driven to move the take-out hand 5, and a plurality of molded products 3 are sucked and taken out by the suction pads constituting the plurality of gripping means 4 as shown in FIG. 2B. The hand 5 is moved in a direction away from the molding die 1 to remove the molded product 3 from the molding die 1. Next, the molded product take-out robot 6 is driven to move the take-out hand 5 to the side of the carrying line 23 for the next process, so that the plurality of taken-out molded products 3 are carried to the carrying line 23 side. During this conveyance, the plurality of gripping means 4 are shown in FIG.
2 (a) and 2 (b), the plurality of molded products 3 are moved in the directions to close each other as shown in FIG. 2 (b).
Assemble from the state of (c) to the state of FIG. In this way, the plurality of molded products 3 are conveyed while being collected at the pitch between the molded products 3 required in the next step, and the plurality of molded products 3 are required to be transferred to the transfer pallet 25 on the transfer line 23 in the next step. 2A and 2B in a state where they are assembled at the pitch between the molded products 3 as shown in FIGS. 2A and 2B. here,
At any stage of the transfer of the take-out hand 5, the transfer pallet 25 is tilted sideways, and the plurality of molded products 3 are transferred and mounted on the transfer pallet 25 in a state where they are gathered at a desired pitch between the molded products 3. .

On the other hand, when the take-out hand 5 comes out of the space between the molds 1 opened, the mold 1 is clamped and the next molding is carried out. While repeating the above steps,
When a plurality of molded products 3 are collected and transferred to the transfer pallet 25 one after another in a positional relationship required in the next process, and when transfer to the transfer pallet 25 is completed, the transfer pallet 25 is moved to the next transfer line 23. It is transferred to the process.

Next, another embodiment of the present invention will be described with reference to FIGS. In this embodiment, the basic structure of the device is the same as that of the embodiment shown in FIGS. 1 and 2 described above, but in this embodiment, the gripping means 4 is rotatable and can be opened and closed. The point is characteristic. That is, in the present embodiment, the take-out hand 5 is provided with four gripping means moving guides 11 radially, and the moving bodies 26 are attached movably along the holding means moving guides 11, respectively. The rotating device 27 is rotatably attached, and the rotating device 27 is provided with the gripping means 4 constituted by a suction pad such as vacuum suction. Therefore, in the present embodiment, the gripping means 4 is movable toward the center of the gripping means moving guide 11 radially arranged along the gripping means moving guide 11 and rotatable by the rotating device 27.

Therefore, in this embodiment, first,
A large number of molded products 3 are simultaneously molded by an injection molding machine 2 equipped with a plurality of molding dies 1. Next, the molding die 1 of the injection molding machine 2 is opened. Next, the molded product take-out robot 6 is driven so that the take-out hand 5 is vertically erected and positioned between the molds 1 opened to face the plurality of molded products 3 of the mold 1. Here, FIG.
FIG. 3 is a diagram for explaining a relative positional relationship between each of the molded products 3 and a pitch between the molded products 3 when a plurality of molded products 3 are molded by the molding die 1. Next, the molded article take-out robot 6 is driven to move the take-out hand 5 and
As shown in (b), the plurality of molded products 3 are suctioned by the suction pads constituting the plurality of gripping means 4, and the take-out hand 5 is moved in a direction away from the molding die 1 to form the molded products 3.
Is removed from the molding die 1. Next, the molded product take-out robot 6 is driven to move the take-out hand 5 to the side of the carrying line 23 for the next process, so that the plurality of taken-out molded products 3 are carried to the carrying line 23 side. During this conveyance, the plurality of gripping means 4 are moved to the positions shown in FIG.
4C, and the plurality of gripping means 4 are moved in directions to close each other as shown in FIG. 4B and FIG. 4C to move the plurality of molded products 3 into the state shown in FIG. 4A. → Figure 4
Assemble as in (a). As described above, the plurality of molded products 3 are conveyed while being assembled in the relative positional relationship between the molded products 3 and the pitch between the molded products required in the next step, and the plurality of molded products are formed on the transfer pallet 25 on the transfer line 23. The products 3 are transferred as shown in FIGS. 4A and 4B in a state where the products 3 are gathered in the relative positional relationship between the products 3 and the pitch between the products 3 required in the next step. Here, the transfer pallet 25 is laid sideways at any stage of the transfer of the take-out hand 5, and the plurality of molded products 3 are transferred to the transfer pallet 25 in a state where they are arranged in a desired positional relationship and pitch relationship. To do.

Next, another embodiment of the present invention will be described with reference to FIGS. In the figure, 2 is an injection molding machine 2 equipped with a plurality of molding dies 1, and the state of FIG. 5 is a state in which the dies are opened. In the figure, 6 is a molded product take-out robot 6, and this molded product take-out robot 6 is
The X-axis drive unit 20, the Y-axis drive unit 21, and the Z-axis drive unit 22 are equipped, and the take-out hand 5 is provided at the lower end of the Z-axis drive unit 22.
It is provided with. Further, by equipping the X-axis drive unit 20, the Y-axis drive unit 21, and the Z-axis drive unit 22, the take-out hand 5 has the extraction hand 5 in the X-axis direction (front-back direction in the figure), Y-axis direction (left-right direction in the figure), It is movable in the Z-axis direction (vertical direction in the figure).

The take-out hand 5 is attached to the lower end of the Z-axis drive section 22 so as to be able to move up and down, and a plurality of gripping means are attached to the take-out hand 5. The gripping means is a suction pad such as a vacuum suction. The X-axis drive unit 20 is located above the injection molding machine 2 and is positioned above the injection molding machine 2.
It is arranged so that it crosses. A temporary placement pallet transport line 29 is arranged on the side of the injection molding machine 2, and a plurality of temporary placement pallets 7 are provided on the temporary placement pallet transport line 29 so as to be moved.

A transfer line 23 is provided next to the temporary pallet transfer line 29. A transfer pallet 25 is provided on the transfer line 23 to transfer the transfer pallet 25 to the next process.
Are to be transported. Reference numeral 9 in the drawing denotes a molded product assembly robot for taking out the molded product 3 placed on the temporary storage pallet 7 and transferring it onto the transfer pallet 25 of the transfer line 23. The molded product assembly robot 9 has an X-axis drive unit. 30, the Y-axis drive unit 31, and the Z-axis drive unit 32 are provided, and the assembly hand 8 is provided at the lower end of the Z-axis drive unit 32.
By equipping the X-axis drive unit 30, the Y-axis drive unit 31, and the Z-axis drive unit 32, the collecting hand 8 has the X-axis direction (front-back direction in the drawing), Y-axis direction (left-right direction in the drawing), It is movable in the Z-axis direction (vertical direction in the figure).

The collecting hand 8 is attached to the lower end of the Z-axis drive section 32, and a plurality of gripping means 4 are movably attached to the collecting hand 8. In the embodiment shown in the accompanying drawings, the collecting hand 8 is provided with four gripping means moving guides 11 radially, and the gripping means moving guide 1
The gripping means 4 can be moved along 1 respectively. The gripping means 4 is, for example, a suction pad such as a vacuum pump.

In this embodiment, first,
A plurality of molded products 3 are simultaneously molded by the injection molding machine 2. Next, the molding die 1 of the injection molding machine 2 is opened. Next, the molded product take-out robot 6 is driven so that the take-out hand 5 is vertically erected and positioned between the molds 1 opened to face the plurality of molded products 3 of the mold 1. Here, FIG. 6A is a drawing for explaining the pitch between the molded products 3 when a plurality of molded products 3 are molded by the molding die 1. Next, the molded product take-out robot 6 is driven to move the take-out hand 5 to adsorb a plurality of molded products 3 by the suction pads constituting the gripping means 4, and take out the take-out hand 5 from the molding die 1. The molded product 3 is detached from the molding die 1 by moving in the separating direction. Next, the molded product take-out robot 6 is driven to move the take-out hand 5 to one of the two temporary-place pallets 7 placed on the temporary-place pallet transport line 29. Then, the plurality of molded products 3 are transferred onto the temporary placement pallet 7 with the positional relationship in the state where a plurality of molded products 3 are molded by the molding die 1. Similarly, a plurality of molded products 3 are transferred to another temporary placement pallet 7 with the arrangement relationship in the state where a plurality of molded products 3 are molded by the molding die 1.

Next, the plurality of temporary placing pallets 7 on which the plurality of molded products 3 are temporarily placed are transferred to the molded product collecting robot 9 side. Here, the molded product grouping robot 9 is driven in accordance with the number of sets of molded products 3 required in the next step, and as shown in FIG.
As indicated by the imaginary line, the number of molded products 3 required in the next process are taken out from the plurality of temporary storage pallets 7 and assembled in such a manner that the pitch between the molded products 3 becomes a predetermined state. It is designed to be transferred to the upper transfer pallet 25 and sent to the next process. To take out the required number of molded articles 3 from the plurality of temporary storage pallets 7 in the next step,
As shown in (b), the molded product collecting robot 9 is driven to move the collecting hand 8 to suck the molded products 3 one by one by the suction pads constituting the plurality of gripping means 4. In this way, with the number of molded products 3 required in the next process held by the plurality of gripping means 4, the molded product collecting robot 9 is driven to move the collecting hand 8 to the conveying line 23 side to the next process. By moving, the number of molded products 3 required in the next process is carried to the carrying line 23 side. During this carrying,
The plurality of gripping means 4 are moved from the state of FIG. 6 (b) and FIG. 6 (c) in the direction of closing each other as shown in FIG. 6 (b) to show the plurality of molded products 3 from the state of FIG. 6 (a). 6 (a)
To gather together. In this way, the plurality of molded products 3 required in the next process are conveyed while being collected at the pitch between the molded products required in the next process, and the plurality of molded products 3 are transferred to the transfer pallet 25 on the transfer line 23. 6 (a) and FIG.
Transfer as shown in (b).

FIG. 7 shows the operation of the temporary pallet 7 in the case where three molded products 3 are taken by the injection molding machine 2 and four molded products 3 are assembled in a predetermined pitch and transferred in the next step. Shows. That is, the temporary pallet transfer line 29
Two temporary placement pallets 7 are movable between the molded product take-out robot 6 side and the molded product collecting robot 9 side.

First, as shown in FIG. 7 (a), with the two temporary placement pallets 7 positioned on the molded product take-out robot 6 side, the molded product take-out robot 6 molds three molded products 3 into a molding die. Transfer is performed with the positional relationship in the state in which three molds are molded. Next, the two temporary placement pallets 7 are moved a little and the three molded products 3 are similarly transferred to the remaining one temporary placement pallet 7 as shown in FIG. 7B. Next, as shown in FIG. 7C, two temporary placement pallets 7 on which the three molded articles 3 are respectively temporarily placed are provided with the molded article assembly robot 9
Move to the side. Next, as shown in an imaginary line in FIG. 7D, four temporary holding pallets 7 and one remaining temporary holding pallet 7 are provided. The molded product collecting robot 9 having 4 holds and takes out, and the four molded products 3 are assembled to have a predetermined pitch of the molded products 3 and the transfer pallet 2 on the transfer line 23.
Reprinted in 5.

On the other hand, one empty temporary pallet 7
Then, another temporary placement pallet 7 in which the two are temporarily placed is moved to the molded product take-out robot 6 side as shown in FIG. 7 (e). And the one who is completely empty
The three molded products 3 are temporarily placed on the individual temporary pallet 7 by the molded product take-out robot 6 as shown in FIG. 7 (f). Subsequently, as shown in FIG. 7 (g), the temporary placement pallet 7 on which the three molded products 3 are temporarily placed and the temporary placement pallet 7 on which the two molded products 3 are temporarily placed are provided on the molded product collecting robot 9 side. Moving.
Next, as shown in an imaginary line in FIG. 7 (h), four temporary holding pallets 7 and one remaining temporary holding pallet 7 are provided. The molded product collecting robot 9 having 4 holds and takes out the
The individual molded products 3 are assembled so as to have a predetermined pitch of the molded products 3 and transferred onto the transfer pallet 25 on the transport line 23.

On the other hand, one empty temporary pallet 7
Then, the other temporary placement pallet 7 in which one is temporarily placed is moved to the molded product take-out robot 6 side as shown in FIG. 7 (i). And the one who is completely empty
The three molded products 3 are temporarily placed on the individual temporary pallet 7 by the molded product take-out robot 6 as shown in FIG. 7 (j). Subsequently, as shown in FIG. 7 (k), a temporary placement pallet 7 on which three molded products 3 are temporarily placed and a temporary placement pallet 7 on which one molded product 3 is temporarily placed are provided on the molded product assembly robot 9 side. Moving.
Next, as shown in an imaginary line in FIG. 7 (l), four temporary holding pallets 7 to three, and one remaining temporary holding pallet 7 to one, a total of four molded products 3 are held by four holding means. The molded product collecting robot 9 having 4 holds and takes out the
The individual molded products 3 are assembled so as to have a predetermined pitch of the molded products 3 and transferred onto the transfer pallet 25 on the transport line 23.

On the other hand, the two empty temporary storage pallets 7
Moves to the molded product take-out robot 6 side as shown in FIG. 7 (m), and thereafter returns to the operation of FIG. 7 (a). Similarly, FIG.
The operations of (a) to FIG. 7 (m) are repeated. In this embodiment, a molded product 3 molded simultaneously by the molding die 1
It is possible to effectively cope with the case where the number of the molded products 3 assembled and sent to the next process is larger than the number of

Next, FIG. 8 showing another embodiment of the present invention.
This will be described with reference to FIG. Since the basic structure of this embodiment is the same as the embodiment shown in FIGS. 5 to 7, the description of the same configurations as those of the embodiments shown in FIGS. 5 to 7 will be omitted, and only different points will be described. In this embodiment, when the number of molded products 3 simultaneously formed by the injection molding machine 2 at one time differs from the number of molded products 3 required in the next step, and at the same time at the injection molding machine 2 at one time. This is for coping with the case where the positional relationship between the formed products 3 and the pitch between the formed products 3 are different. Therefore, in addition to the configuration of the embodiment shown in FIGS. The feature is that 8 is rotatable.

Thus, a plurality of molded products 3 are simultaneously molded by the injection molding machine 2. FIG. 9A is a drawing for explaining a relative positional relationship between the molded products 3 and a pitch between the molded products 3 when a plurality of molded products 3 are molded by the molding die 1. Arrangement of a plurality of molded products 3 thus formed simultaneously by the injection molding machine 2 on the temporary placement pallet 7 by the molded product take-out robot 6 in a state in which a plurality of molded products 3 are molded by the molding die. Reprinted as it is. Similarly, a plurality of molded products 3 are transferred to another temporary placement pallet 7.

Next, the plurality of temporary placement pallets 7 on which the plurality of molded articles 3 are temporarily placed are transferred to the molded article collecting robot 9 side. Here, the molded product grouping robot 9 is driven in accordance with the number of sets of the molded products 3 intended in the next step, and the process shown in FIG.
As indicated by the imaginary line, the number of molded products 3 required in the next process are taken out from the plurality of temporary storage pallets 7 and assembled in such a manner that the pitch between the molded products 3 becomes a predetermined state. It is designed to be transferred to the upper transfer pallet 25 and sent to the next process. To take out the required number of molded articles 3 from the plurality of temporary storage pallets 7 in the next step, refer to FIG.
As shown in (b), the molded product collecting robot 9 is driven to move the collecting hand 8 to suck the molded products 3 one by one by the suction pads constituting the plurality of gripping means 4. As described above, when the molded articles 3 are sequentially sucked one by one by the suction pads constituting the plurality of gripping means 4, the collecting hand 8 is rotated so as to correspond to the molded articles 3 on the temporary placement pallet 7. So that one gripping means 4 and the molded product 3 sucked by the gripping means 4 have a desired positional relationship with each other. Thus, when the molded products 3 are sucked one after another, the collecting hand 8 is rotated to bring the mutual positional relationship between the gripping means 4 and the molded products 3 sucked by the corresponding gripping means 4 into a desired positional relationship. . In this way, the mutual positional relationship between each gripping means 4 and the molded product 3 is adjusted, and a plurality of molded products 3 are arranged in a desired predetermined direction as shown in FIG. The product assembling robot 9 is driven to move the assembling hand 8 to the side of the carrying line 23 to the next process, thereby carrying the required number of molded products 3 to the carrying line 23 side in the next process. During this conveyance, the plurality of gripping means 4 are moved from the state shown in FIG. 9B and FIG. 9C to the mutually closing direction as shown in FIG. To gather together. In this way, the number of molded products 3 required in the next process is conveyed while being collected in the positional relationship between the molded products 3 required in the next process and the pitch between the molded products, and transferred on the transfer line 23. 25, a plurality of molded products 3 are transferred as shown in FIG. 9 (a) and FIG. 9 (b) in a state where they are gathered in the positional relationship between the molded products 3 and the pitch between the molded products 3 required in the next step. To do.

Next, another embodiment of the present invention will be described with reference to FIGS. Since the basic structure of this embodiment is the same as the embodiment shown in FIGS. 5 to 7, the description of the same configurations as those of the embodiments shown in FIGS. 5 to 7 will be omitted, and only different points will be described. In this embodiment, the number of molded products 3 required in the next step is smaller than the number of molded products 3 formed simultaneously by the injection molding machine 2 at one time. In the embodiment shown in FIG. 10 and FIG. 11, the injection molding machine 2 shows an example in which six molded products 3 are molded at the same time and four molded products 3 are collectively collected and supplied in the next step. . In the present embodiment, FIGS.
In addition to the configuration of the embodiment shown in (1), a plurality of collecting hands 8 are further provided, and one temporary placement pallet 7 is movably provided on the temporary placement pallet transport line 29. A plurality (two in the embodiment) of the collecting hands 8 can be independently moved up and down. Each of the plurality of collecting hands 8 is provided with the gripping means 4 in a number (four in the embodiment) corresponding to the number of molded products 3 required in the next step.

Thus, a plurality of molded products 3 are simultaneously molded by the injection molding machine 2. FIG. 11A is a drawing for explaining the pitch between the molded products 3 when a plurality of molded products 3 are molded by the molding die 1. In this way, the injection molding machine 2
A plurality of molded products 3 (six in the embodiment) formed at the same time are arranged on the temporary placement pallet 7 by the molded product take-out robot 6 in a state in which a plurality of molded products 3 are molded by the molding die 1. Reprinted as it is.

Next, the temporary placement pallet 7 in which a plurality of (6 in the embodiment) molded products 3 are temporarily placed is transferred to the molded product collecting robot 9 side. Here, the molded product collecting robot 9 is driven and the plurality of molded products 3 temporarily placed on the temporary placement pallet 7 are grasped and taken out by the two assembling hands 8 (that is, temporarily placed on the temporary placement pallet 7). 6 pieces placed 3
In FIG. 11 (a), four pieces surrounded by a one-dot chain line are held by four holding means 4 provided in one collecting hand 8, and the other two surrounded by a broken line are for another one group. Two gripping means 4 out of the four gripping means 4 provided on the hand 8
Hold by). FIG. 11B shows a hand 8 for gathering.
3 shows a state in which the molded products 3 on the temporary placement pallet 7 are sucked and gripped one by one by the gripping means 4 provided on the.

Next, the molded article collecting robot 9 is driven,
The two collecting hands 8 are moved to the transfer pallet 25 side on the transfer line 23.
In the assembling hand 8 that holds the individual molded product 3, the state shown in FIG. 11B and FIG.
The gripping means 4 is moved as shown in FIG.
From the state on the left side of FIG. 11A, as shown in FIG. 11A, the gripping means 4 is moved so that the pitch between the molded products 3 required in the next step is moved to collect the molded products 3. In the next step, the molded products 3 are transferred to the transfer pallet 25 on the transfer line 23 as shown in FIGS. In this case,
The molded product 3 is not transferred to the transfer pallet 25 from the other hand 8 for assembling, which holds only two molded products 3 as shown on the right side of 1 (a). Next, the empty collecting hand 8 and the collecting hand 8 holding the two molded products 3
And are sent again to the temporary pallet transport line 29 side.

On the other hand, the empty temporary pallet 7 is moved to the molded product take-out robot 6 side, and a plurality of molded products 3 molded by the injection molding machine 2 on the temporary put pallet 7 are again taken by the molded product take-out robot 6. It is taken out and placed temporarily,
After that, the temporary placement pallet 7 in which a plurality of (6 in the embodiment) molded products 3 are temporarily placed is transferred again to the molded product collecting robot 9 side.

And, this time, out of the six molded products 3,
11 (a) 'with the empty collecting hand 8.
11 (a) 'holds the remaining four molded products 3 surrounded by the imaginary line in FIG. 11 by the gathering hand 8 which already holds two molded products 3 in FIG. The molded product 3 is gripped. As a result, each of the two collecting hands 8 holds the four molded products 3 required in the next step.

Next, the molded product assembly robot 9 is driven,
The above-mentioned two collecting hands 8 are moved to the transfer pallet 25 side on the transfer line 23, and the gripping means 4 of the two collecting hands 8 holding the four molded products 3 respectively during this movement. After moving, the molded product 3 required from the state of FIG. 11 (a) 'to the next step as shown in FIG. 11 (a)'
The molded products 3 are gathered so as to have the inter-pitch, and in this state, the conveying lines 23 are gathered by the two gathering hands 8 at the pitch between the molded products 3 required in the next step.
It is transferred to the upper transfer pallet 25. And it became empty 2
The two collecting hands 8 are again used for the temporary placement pallet transfer line 2
It is sent to the 9 side and the same order as above is repeated.

Next, referring to FIG. 1 according to another embodiment of the present invention.
2. Description will be given based on FIG. Since the basic structure of this embodiment is similar to that of the embodiment shown in FIGS. 10 and 11, the description of the same configurations as those of the embodiments shown in FIGS. 10 and 11 will be omitted, and only different points will be described. In this embodiment, the number of molded products 3 required in the next step is smaller than the number of molded products 3 formed simultaneously by the injection molding machine 2 at one time.
In addition, this is to cope with the case where the mutual positional relationship between the molded products 3 and the pitch between the molded products 3 which are simultaneously formed by the injection molding machine 2 at the same time are different. Therefore, the above-described FIGS. In addition to the configuration of the illustrated embodiment, a feature is that a plurality (two in the illustrated embodiment) of collecting hands 8 are each rotatable.

Thus, a plurality of molded products 3 are simultaneously molded by the injection molding machine 2. FIG. 13A is a drawing for explaining the relative positional relationship between the molded products 3 and the pitch between the molded products 3 when a plurality of molded products 3 are molded by the molding die 1. In this way, a plurality of molded products 3 (six in the embodiment) simultaneously formed by the injection molding machine 2 are picked up by the molded product take-out robot 6 onto the temporary placement pallet 7 by a molding die. It is transferred with the arrangement relationship in the state of molding a plurality of pieces.

Next, the temporary placement pallet 7 in which a plurality of (6 in the embodiment) molded products 3 are temporarily placed is transferred to the molded product collecting robot 9 side. Here, the molded product collecting robot 9 is driven and the plurality of molded products 3 temporarily placed on the temporary placement pallet 7 are grasped and taken out by the two assembling hands 8 (that is, temporarily placed on the temporary placement pallet 7). 6 pieces placed 3
In FIG. 13 (a), four pieces surrounded by a one-dot chain line are held by four holding means 4 provided in one hand 8 for collecting, and the other two surrounded by a broken line are for another one group. Two gripping means 4 out of the four gripping means 4 provided on the hand 8
Hold by). In this case, when the gripping means 4 provided on the collecting hand 8 sequentially sucks and grips the molded products 3 on the temporary storage pallet 1 one by one, one molded product 3 is suctioned from the temporary storage pallet 7. 13 (b) so that it corresponds to the molded product 3 on the temporary placement pallet 7 at that time.
As shown in FIG. 5, the collecting hand 8 is rotated so that the mutual positional relationship between one gripping means 4 and the molded product 3 sucked by the gripping means 4 becomes a desired positional relationship, and in this state, suctioning is performed. Similarly, when the molded products 3 are sucked one after another by the plurality of gripping means 4, the collecting hands 8 are respectively rotated so that the gripping means 4 and the molded products 3 sucked by the corresponding gripping means 4 are mutually interacted. The desired positional relationship is the positional relationship of. In this way, the mutual positional relationship between each gripping means 4 and the molded product 3 is adjusted so that the four molded products 3 are arranged in the intended predetermined direction as shown on the left in FIG. Similarly, the remaining two molded products 3 are held by the gripping means 4 by rotating the other collecting hand 8 to align them as shown in the right side of FIG. Next, the molded product assembly robot 9 is driven to move the above two assembly hands 8 to the transfer line 23.
It is moved to the upper transfer pallet 25 side, and the hand 8 for assembling which holds the four molded products 3 during this movement.
13 (b) and 13 (c) to FIG.
The gripping means 4 is moved as shown in FIG.
As shown in FIG. 13A, the molded products 3 are assembled so as to have the pitch between the molded products 3 required in the next step, and are assembled in the pitch between the molded products 3 required in the next process as shown in FIG.
13A and 13B, the transfer pallet 25 on the transfer line 23 is transferred. In this case, the molded product 3
Molded product 3 from other collecting hand 8
Are not transferred to the transfer pallet 25. Next, the empty collecting hand 8 and the collecting hand 8 holding the two molded products 3 are again placed on the temporary placement pallet transport line 29.
Send to the side.

On the other hand, the vacant temporary placement pallet 7 is moved to the molded product take-out robot 6 side, and a plurality of molded products 3 molded by the injection molding machine 2 on the temporary put pallet 7 are again taken by the molded product take-out robot 6. It is taken out and placed temporarily,
After that, the temporary placement pallet 7 in which a plurality of (6 in the embodiment) molded products 3 are temporarily placed is transferred again to the molded product collecting robot 9 side.

And, this time, out of the six molded products 3,
FIG. 13B 'with the empty collecting hand 8.
Hold four molded products 3 surrounded by the one-dot chain line and
The remaining two molded products 3 surrounded by broken lines are gripped by the assembling hand 8 which grips one molded product 3. When gripping the molded product 3, as described above, the collecting hand 8 is rotated and the positional relationship between the gripping means 4 and the molded product 3 adsorbed by the corresponding gripping means 4 is aimed at. To do. As a result, each of the two collecting hands 8 holds the four molded products 3 required in the next step.

Next, by driving the molded article collecting robot 9,
The above-mentioned two collecting hands 8 are moved to the transfer pallet 25 side on the transfer line 23, and the gripping means 4 of the two collecting hands 8 holding the four molded products 3 respectively during this movement. From the state of FIG. 13 (a) ', the molded products 3 are gathered so that the pitch between the molded products 3 required in the next step becomes as shown in FIG.
Molded product 3 required in the next process by one collecting hand 8
They are transferred to the transfer pallet 25 on the transfer line 23 in a state of being gathered at the intermediate pitch. The two empty collecting hands 8 are again moved to the temporary placement pallet transfer line 29.
Then, the same sequence as above is repeated.

By the way, in each of the above-mentioned embodiments, the mechanism for moving the gripping means 4 in the take-out hand 5 along the plurality of gripping means moving guides 11 is the same as the mechanism for moving the gripping means 4 in the collecting hand 8. It is a mechanism. That is, the gripping means moving mechanism 10 of the same mechanism provided in the take-out hand 5 and the collecting hand 8 is as shown in FIGS. 14 and 15, for example.

In FIGS. 4 and 15, a fixing plate 41 is provided below the main body 40 of the take-out hand 5 or the collecting hand 8.
Is provided, and a support plate 43 is attached below the fixed plate 41 by a guide shaft 42. Fixed plate 41 and support plate 43
A moving plate 44 is arranged between the
A bush portion 45 provided on the moving plate 44 is attached to the guide shaft 42 so as to be vertically movable. In the figure, reference numeral 12 is a moving means for moving the moving plate 44 up and down, and by driving the moving means 12, the moving plate 44 is moved in the vertical direction. A plurality of (four in the illustrated embodiment) gripping means movement guides 1 are provided on the lower surface of the support plate 43.
1 is provided, and the moving body 2 is attached to each gripping means movement guide 11.
6 is movably attached. Grasping means 4 such as a suction pad is provided at the lower end of the moving body 26. The support plate 43 is provided with elongated holes 47 along the gripping means moving guides 11, and a part of each moving body 26 projects upward from the corresponding elongated hole 47.
Both ends of a connecting link 49 are rotatably supported by a part of each moving body 26 protruding from 7 and a connecting portion 48 provided at four positions of the moving plate 44. Therefore, when the moving mechanism section 46 is driven to move the moving plate 4 up and down, the four moving bodies 26 simultaneously move concentrically along the gripping means moving guides 11 via the four connecting links 49. It is a thing. That is, the gripping means 4 moves in the central direction along the plurality of radially arranged gripping means moving guides 11 to collect the plurality of molded products 3. With such a configuration, the pitch of the plurality of molded products 3 can be collectively reduced and assembled.

Here, in the embodiment shown in FIGS. 14 and 15, the moving means 12 for moving the plurality of gripping means 4 in the radial center direction along the gripping means moving guide 11 radially arranged. The cylinder device 13 is composed of one cylinder device 13. The cylinder device 13 is vertically arranged at the radial center of the plurality of gripping means moving guides 11. In this way, one cylinder device 13 arranged vertically is provided at the radial center of the plurality of gripping means movement guides 11, and the plurality of gripping means 4 are moved in the center direction by the cylinder device 13 to form a plurality of moldings. By collecting the products 3, the mechanism for collectively reducing the pitches of the plurality of molded products 3 and collecting them can be made compact.

In FIG. 14, a variable stopper 50 is fixed to the fixed plate 1. By rotating the screw, the position of the stopper portion 51 at the lower end can be changed. And
When the moving plate 4 rises, it hits the stopper portion 51 at the lower end of the variable stopper 50 and is prevented from further raising. Therefore, by changing the position of the stopper portion 51, the positions of the plurality of gripping means 4 on the closing side are increased. Can be adjusted.

Here, as shown in FIG. 16, a stopper portion 51 for restricting the lowering of the movable plate 4 may be provided also on the upper surface side of the support plate 43. In this case, the positions of the gripping means 4 on the open side can also be adjusted.
By changing the position of the stopper portion 51 as described above, it is possible to switch the type of the molded product 3.

Next, still another embodiment of the present invention will be described with reference to FIGS. In this embodiment, the collection detection switch 14 is provided in the movement range of the take-out hand 5 or each gripping means movement guide 11 provided in the collecting hand 8 (in the embodiment, each gripping means movement provided in the collecting hand 8 is moved). Set detection switch 14 on the guide 11
Is shown. ), Each gripping means movement guide 1
1 by moving the gripping means 4 provided in
4 is turned on and off. If there is no set error due to the movement of each gripping means 4, the set detection switch 14 provided in each gripping means movement guide 11 is turned on. If there is, the gathering detection switch 14 is not turned on but is in the off state. Therefore, it is determined that there is a gathering error and the moving range of the takeout hand 5 or the gathering hand 8 is not sent to the next process. The defective product is discharged to the defective product discharging unit 60 arranged in the moving range. Note that FIG. 18 shows an operation explanatory diagram of the present embodiment, but the operation explanatory diagram shown in FIG. 18 has the same basic operation as that shown in FIG. . The difference from the operation explanatory view of FIG. 6 is that the set detection switch 14 is turned on while the molded product 3 is being conveyed.
18A, the set error is detected, and in the stage of FIG. 18A, when the set is normal, the result is “OK” and it is transferred to the transport pallet, and when the set is wrong, “NG” is displayed. It is designed to be discharged.

Next, still another embodiment of the present invention will be described with reference to FIGS. In this embodiment, the molded products 3 are placed within a transfer range in which a plurality of molded products 3 are taken out from the molding die 1 and transferred while being collected (within the moving range of the take-out hand 5 or the moving range of the collecting hand 8). The inspection means 16 is provided (in the embodiment of FIG. 19, an example in which the inspection means 16 is provided in the moving range of the collecting hand 8 is shown). With such a configuration, during the process of conveying the molded products 3 while gathering them, the inspection means 16 simultaneously inspects the molded products 3 for appearance, burrs, and the like.
When a defective product is detected, the defective product is discharged. By doing so, a defective product is not sent to the next process. Note that FIG. 20 shows an operation explanatory diagram of the present embodiment, but since the basic operation of the operation explanatory diagram shown in FIG. 20 is the same as that shown in FIG. 6, redundant description will be omitted. . The difference from the operation explanatory diagram of FIG. 6 is that
While the molded article 3 is being conveyed, the molded article 3 is inspected by the inspection means 16 such as appearance inspection and burrs presence inspection.
At the stage, if the molded product 3 is a non-defective product, it is “OK” and is transferred to the transfer pallet, and if it is a defective product, it is “NG” and is discharged.

FIG. 21 shows still another embodiment of the present invention. In this embodiment, the temporary storage pallet 7
Is provided with a molded product reception detection sensor 65. The temporary pallet 7 can be tilted up and down around a fulcrum 66. A pallet erection device 67 is provided at the stroke end of the temporary pallet 7, and when the temporary pallet 7 is moved to the stroke end, the pallet erection device 6 is provided.
The engaging portion 68 of the temporary placing pallet 7 is engaged with the engaged portion 69 of the temporary placing pallet 7, and the cylinder device constituting the standing device 67 is driven, so that the temporary placing pallet 7 can be flipped up to stand up. Has become. Thus, the standing device 6
By separating 7 from the temporary placement pallet 7, the transfer weight to the temporary placement pallet 7 can be reduced.

In this embodiment, however, a plurality of molded products 3 molded by the injection molding machine 2 are taken out by the molded product take-out robot 6 and temporarily placed. 21b, the molded product reception detection sensor 65 determines whether or not the molded product 3 can be received. If a receiving error occurs, the temporary storage pallet 7 is moved to the stroke end, and as shown in FIG. In addition, the molded product 3 which is miss-received is automatically discharged by being lifted up by the standing device 67 to stand up. By doing so, the operational reliability of the take-out system is improved.

Here, as shown in FIG. 22, an air jetting means 17 is provided to blow air from the back side when the temporary placing pallet 7 for temporarily placing the molded product 3 is erected and the molded product 3 is discharged. Good. With such a configuration, when there is a mistake in receiving, the temporary placement pallet 7 is raised, and when the mistakenly receiving molded article 3 is discharged from the temporary placement pallet 7, air is blown from the back side of the molded article 3. The molded product 3 that has been mistakenly received by spraying can be discharged.

Next, still another embodiment of the present invention will be described with reference to FIG. In the present embodiment, in each of the embodiments in which the above-described molded article collecting robot 9 is provided, a stock section 18 for stocking the molded articles 3 within the movable range of the molded article collecting robot 9 is provided. . That is, when there is a trouble in the next process, the plurality of molded products 3 conveyed while gathered by the molded product collecting robot 9 are stocked in the stock section 18 in a state where they are arranged in a target state, and the trouble of the next process occurs. After the solution, it can be supplied to the next process from the stock section 18. The supply from the stock unit 18 to the next process is performed during the idle operation cycle of the molded product assembly robot 9.

[0058]

As described above, according to the first aspect of the present invention, an injection molding machine equipped with a plurality of molds and a molding mold of the injection molding machine are used. Since a plurality of gripping means for simultaneously gripping a plurality of molded products are equipped with a molded product take-out robot having a take-out hand that is openably and closably attached during conveyance, the pitch between molded products in the molding die and the next It can be applied when the pitch between molded products when sent to the process is different, and when the product is taken out by the take-out hand and transferred, it is gathered to the pitch between the molded products required in the next process at the same time to the next process. It has the advantages that it can be sent, the transfer time can be shortened, it can be transferred and collected in a space-saving manner, and that the molded product is not easily scratched and the quality is stable.

Further, in the invention described in claim 2, in addition to the effect of the invention described in claim 1, a molded product take-out having a take-out hand in which the gripping means is attached to be rotatable and openable / closable Since it is equipped with a robot, even if the pitch between the molded products in the molding die and the pitch between the molded products when sending to the next process are different by closing the gripping means while moving, they are taken out and transferred by the take-out hand. At the same time, it is possible to gather at the pitch between the molded products required in the next process at the same time, and by rotating the gripping means, the positional relationship between the molded products in the molding die and the molded product when sent to the next process. Even if the positional relationship between the molded products is different, the positional relationship between the molded products required in the next process can be achieved, and the above process can be performed in a short time and in a small space, and the molded products are not damaged. Difficult Quality has the advantage of stability.

According to the third aspect of the invention, an injection molding machine equipped with a plurality of molds and a take-out hand for simultaneously gripping a plurality of molded products molded by the molds. Equipped molded product take-out robot, multiple temporary placement pallets for temporarily placing the molded products, and multiple gripping means for simultaneously gripping multiple molded products placed on the temporary placement pallet are movable during transportation Since it is equipped with a molded product collecting robot that has a collecting hand attached to the machine, a plurality of molded products taken by the molding die are gripped and taken out by a plurality of gripping means of the take-out hand, and this is put on a temporary placement pallet. Transfer and similarly transfer to other temporary placement pallets, send multiple temporary placement pallets to the molded product assembly robot side, and mold as many as required by multiple gripping means provided in the assembly hand. Goods It can be grasped and taken out from multiple temporary placement pallets, and can be sent to the next process with the pitch between molded products required in the next process. As a result, the number of molded products to be molded by the molding die and the next process It is possible to cope with the case where there is a difference in the number of molded products required in (the number of molded products molded by the molding die <the number of molded products required in the next process), and the transfer time is shortened. Also, it can be transported in a small space,
It has the advantage that it can be assembled, and that the molded product is not easily scratched and the quality is stable.

According to the invention of claim 4, in addition to the effect of the invention of claim 3, the collecting hand is rotatably attached to the molded product collecting robot during conveyance. When the molded products are molded with a molding die and the positional relationships between the molded products are different from each other, when the molded products on the temporary placement pallet are gripped one by one by the gripping means provided in the collecting hand, The hand can be rotated so that the positional relationship between the molded products becomes the positional relationship required in the next step.

Further, according to the invention of claim 5, an injection molding machine equipped with a plurality of molds and a take-out hand for simultaneously gripping a plurality of molded products molded by the molds are provided. An equipped molded article take-out robot, a temporary placement pallet for temporarily placing the molded article, and a plurality of gripping means for simultaneously gripping a plurality of molded articles placed on the temporary placement pallet are movably attached during transportation. Since it is equipped with a molded product collecting robot having multiple collecting hands, multiple molded products taken by the molding die are gripped and taken out by a plurality of gripping means of the take-out hand, and placed on a temporary pallet. Then, the temporary placement pallet is sent to the molded product assembly robot side, and the desired number of molded products is taken out from the temporary assembly pallet by any number of assembly hands out of the multiple assembly hands and necessary for the next process. And send to the next process and the remaining molded products on the temporary pallet are temporarily held by another assembly hand, and next time the required number of assembly hands temporarily hold this molded product. It is possible to add the molded products of (1) and hold them, place them in the desired arrangement and send them to the next process. As a result, the number of molded products to be molded by the molding die and the number of molded products required in the next process can be adjusted. If there is a difference (the number of molded products to be molded with the molding die> the number of molded products required in the next process), the transfer time can be shortened, and space-saving transfer and assembly is possible. Moreover, there is an advantage that the molded product is not easily scratched and the quality is stable.

In addition to the effect of the invention according to claim 5, in the invention according to claim 6, the collecting hand is rotatably attached to the molded product collecting robot during conveyance. When the molded products are molded with a molding die and the positional relationships between the molded products are different from each other, when the molded products on the temporary placement pallet are gripped one by one by the gripping means provided in the collecting hand, The hand can be rotated so that the positional relationship between the molded products becomes the positional relationship required in the next step.

Further, in the invention described in claim 7, in addition to the effect of the invention described in claim 1 or claim 2, a plurality of gripping means moving guides radially arranged in the take-out hand are provided. Since the gripping means moving mechanism for moving the gripping means in the central direction along the direction to collect the plurality of molded products is provided, the pitch between the plurality of molded products can be collectively reduced and required in the next step. The pitch between molded products can be easily and surely.

Further, in the invention described in claim 8, in addition to the effect described in any one of claims 3 to 6, a plurality of gripping means moving radially arranged on the collecting hand are arranged. Since the gripping means moving mechanism for moving the gripping means in the center direction along the guide to collect a plurality of molded products is provided, it is necessary to reduce the pitch between a plurality of molded products at one time and to use it in the next step. The pitch between molded products can be easily and surely.

Further, in the invention described in claim 9, in addition to the effect of the invention described in claim 7 or claim 8, a gripping means moving mechanism is provided with a plurality of gripping means arranged radially. The moving means for moving in the radial center direction along the means moving guide is provided, and the moving means is constituted by one cylinder device arranged in the radial center portion. It is possible to realize a compact mechanism having the effect of the invention described in item 8.

According to the tenth aspect of the invention,
In addition to the effect of the invention described in claim 9, since the stroke of the cylinder device is variable, it is possible to cope with the type change of the molded product. Claim 1
In the invention described in 1, in addition to the effect of the invention described in any one of claims 1 to 6, since each gripping means movement guide is provided with a collective detection switch, molding is performed by the collective detection switch. There is an advantage that the assembly operation can be confirmed during the product transportation, the assembly error can be found, and the assembly error is not sent to the next process.

Further, in the invention of claim 12,
In addition to the effect of the invention described in any one of claims 1 to 6, a molded product inspection means is provided within a transfer range in which a plurality of molded products are taken out from a molding die and transferred while being collected. Therefore, there is an advantage that the appearance shape of the molded product and the presence or absence of burrs can be inspected during the transportation of the molded product, and the defective product is not sent to the next step.

According to the invention of claim 13,
In addition to the effect of the invention according to any one of claims 3 to 6, since the temporary placement pallet for temporarily placing the molded product can be raised and lowered, when the molded product is transferred to the temporary placement pallet. When a receiving error occurs, the temporarily placed pallet can be erected and the molded product that has been received incorrectly can be easily discharged from the temporarily placed pallet.

According to the fourteenth aspect of the invention,
In addition to the effect of the invention as set forth in claim 13, since the temporary placement pallet for temporarily placing the molded product is erected to provide air ejection means for blowing air from the back side when discharging the molded product, When the temporary placement pallet is erected and the molded product which is miss-received is discharged, it can be discharged more reliably than air.

Further, in the invention of claim 15,
In addition to the effects of the invention according to claim 3 or claim 4,
A stock section is provided to stock molded products within the movable range of the molded product collection robot, so if a problem occurs in the next process, the molded products collected by the molded product collection robot will be stocked in the stock section. However, when the trouble in the next process is resolved, it can be taken out from the stock section and transferred to the next process.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2A is a schematic explanatory view showing a process of taking out a molded product from a molding die and transferring it onto a transfer pallet;
(B) is an operation explanatory view of a take-out hand having a holding means corresponding to each step of (a), and (c) is (b).
6 is a schematic bottom view showing gripping of a molded product corresponding to FIG.

FIG. 3 is a perspective view showing another embodiment of the present invention.

FIG. 4A is a schematic explanatory view showing a process of taking out a molded product from a molding die and transferring it onto a transfer pallet;
(B) is an operation explanatory view of a take-out hand having a holding means corresponding to each step of (a), and (c) is (b).
6 is a schematic bottom view showing gripping of a molded product corresponding to FIG.

FIG. 5 is a perspective view showing still another embodiment of the present invention.

FIG. 6A is a schematic explanatory view showing a process of taking out a molded product from a molding die and transferring it onto a transfer pallet;
(B) is an operation explanatory view of a collecting hand having a gripping means corresponding to each step of (a), and (c) is a schematic bottom view showing gripping of a molded product corresponding to (b).

FIG. 7 is an operation explanatory view of the temporary pallet of the above.

FIG. 8 is a perspective view showing still another embodiment of the present invention.

FIG. 9A is a schematic explanatory view showing a step of taking out a molded product from a molding die and transferring it onto a transfer pallet;
(B) is an operation explanatory view of a collecting hand having a gripping means corresponding to each step of (a), and (c) is a schematic bottom view showing gripping of a molded product corresponding to (b).

FIG. 10 is a perspective view showing still another embodiment of the present invention.

FIG. 11A is a schematic explanatory view showing a process of taking out a molded product from a molding die and transferring it onto a transfer pallet;
(B) is an operation explanatory view of a collecting hand having a gripping means corresponding to each step of (a), and (c) is a schematic bottom view showing gripping of a molded product corresponding to (b).

FIG. 12 is a perspective view showing still another embodiment of the present invention.

FIG. 13A is a schematic explanatory view showing a step of taking out a molded product from a molding die and transferring it onto a transfer pallet;
(B) is an operation explanatory view of a collecting hand having a gripping means corresponding to each step of (a), and (c) is a schematic bottom view showing gripping of a molded product corresponding to (b).

FIG. 14 is a front view showing a gripping means moving mechanism.

FIG. 15 is a bottom view showing a gripping means moving mechanism.

16A and 16B show another example of the gripping means moving mechanism, FIG. 16A is a front view of the gripping means in a closed state, and FIG. 16B is a front view of the gripping means in an open state.

FIG. 17 is a perspective view showing still another embodiment of the present invention.

FIG. 18 (a) is a schematic explanatory view showing a process of taking out a molded product from a molding die and transferring it onto a transfer pallet,
(B) is an operation explanatory view of a collecting hand having a gripping means corresponding to each step of (a), and (c) is a schematic bottom view showing gripping of a molded product corresponding to (b).

FIG. 19 is a perspective view showing still another embodiment of the present invention.

FIG. 20 (a) is a schematic explanatory view showing a process of taking out a molded product from a molding die and transferring it onto a transfer pallet,
(B) is an operation explanatory view of a collecting hand having a gripping means corresponding to each step of (a), and (c) is a schematic bottom view showing gripping of a molded product corresponding to (b).

FIG. 21 (a) is an explanatory diagram of a state in which the presence or absence of a receiving error is detected when the molded product is received on the temporary storage pallet in the present invention, and FIG. 21 (b) is a molded product when there is a receiving error. It is explanatory drawing which shows the state which is discharging.

FIG. 22 is a perspective view showing another embodiment of discharging a molded product when there is a mistake in receiving the molded product of the above.

FIG. 23 is a perspective view showing an example in which a stock section for stocking molded articles that have gathered when a mistake occurs in the next step is provided.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Molding die 2 Injection molding machine 3 Molded article 4 Gripping means 5 Extraction hand 6 Molded article removal robot 7 Temporary pallet 8 Assembly hand 9 Molded article assembly robot 10 Gripping means moving mechanism 11 Gripping means moving guide 12 To move Means 13 Cylinder device 14 Assembly detection switch 16 Inspection means 17 Air ejection means 18 Stock section

Claims (15)

[Claims] 1. An injection molding machine equipped with a plurality of molds, and a plurality of gripping means for simultaneously gripping a plurality of molded products molded by the molds of the injection molding machine can be opened and closed during transportation. A molded product take-out system comprising a molded product take-out robot having a take-out hand attached to the molded product take-out system. 2. The molded product take-out system according to claim 1, further comprising a molded product take-out robot having a take-out hand in which the gripping means is attached so as to be rotatable and openable and closable. 3. An injection molding machine equipped with a plurality of molds, a robot for taking out a molded product equipped with a take-out hand for simultaneously gripping a plurality of molded products molded by the molding die, and the molded product. A plurality of temporary placement pallets for temporarily placing the plurality of temporary placement pallets, and a plurality of holding means for simultaneously holding a plurality of molded articles placed on the temporary placement pallet at the same time have a collective hand movably attached during transportation A molded product take-out system that is equipped with a collective robot. 4. The molded product take-out system according to claim 3, wherein the collecting hand is rotatably attached to the molded product collecting robot during conveyance. 5. An injection molding machine equipped with a plurality of molds, a robot for taking out a molded product equipped with a take-out hand for simultaneously gripping a plurality of molded products molded by the molding die, and the molded product. And a plurality of holding means for holding a plurality of temporarily placed pallets for temporarily holding the plurality of temporarily placed pallets and a plurality of holding means movably attached during transportation. Equipped with a molded product take-out system. 6. The molded product take-out system according to claim 5, wherein the collecting hand is rotatably attached to the molded product collecting robot during conveyance. 7. The pick-up hand is provided with a gripping means moving mechanism for moving the gripping means in the central direction along a plurality of radially arranged gripping means moving guides to collect a plurality of molded products. The molded product taking-out system according to claim 1 or 2, characterized in that. 8. The hand for assembling is provided with a gripping means moving mechanism for moving the gripping means in a central direction along a plurality of radially arranged gripping means moving guides to collect a plurality of molded products. The molded product take-out system according to any one of claims 3 to 6, wherein: 9. The gripping means moving mechanism is provided with a moving means for moving the plurality of gripping means in a radial center direction along a gripping means moving guide radially arranged, and the moving means has a radial center portion. 9. The structure according to claim 7 or claim 8, wherein the cylinder device is arranged in one.
The described molded product take-out system. 10. The molding product take-out system according to claim 9, wherein the stroke of the cylinder device is variable. 11. The molded product take-out system according to claim 1, wherein each gripping means movement guide is provided with a set detection switch. 12. A molded product inspection means is provided within a transfer range in which a plurality of molded products are taken out from a molding die and transferred while being collected.
The molded product take-out system according to any one of 1. 13. The molded product take-out system according to claim 3, wherein a temporary storage pallet for temporarily storing the molded product is made upright. 14. An air jetting means for blowing air from the back surface side when a temporarily placed pallet for temporarily placing a molded product is erected and the molded product is discharged, is provided. Molded product removal system. 15. The molded product take-out system according to claim 3 or 4, further comprising a stock unit for stocking molded products within a movable range of the molded product collecting robot.