KR200478917Y1 - Take-out robot with mold temperature measuring unit - Google Patents

Take-out robot with mold temperature measuring unit Download PDF

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Publication number
KR200478917Y1
KR200478917Y1 KR2020150001677U KR20150001677U KR200478917Y1 KR 200478917 Y1 KR200478917 Y1 KR 200478917Y1 KR 2020150001677 U KR2020150001677 U KR 2020150001677U KR 20150001677 U KR20150001677 U KR 20150001677U KR 200478917 Y1 KR200478917 Y1 KR 200478917Y1
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temperature
mold
infrared
take
injection
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KR2020150001677U
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Korean (ko)
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KR20150002029U (en
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장응하
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한양로보틱스 주식회사
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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
    • B29C45/40—Removing or ejecting 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
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/78—Measuring, controlling or regulating of temperature
    • 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
    • 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
    • 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
    • B29C2945/7604—Temperature
    • 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
    • B29C2945/76254—Mould
    • B29C2945/76257—Mould cavity
    • 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
    • B29C2945/76451—Measurement means
    • B29C2945/76461—Optical, e.g. laser
    • 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
    • B29C2945/76531—Temperature

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)
  • Moulds For Moulding Plastics Or The Like (AREA)

Abstract

본 고안의 목적은 금형 내부의 온도를 사출물의 취출 단계에서 좀 더 간소화된 방법으로 측정할 수 있는 새로운 방안을 제시하는 것이며, 금형 내부 온도를 일정 범위로 유지하도록 함으로써 사출물의 불량을 예방하도록 하는 것이다.
상기 목적에 따라 본 고안은 금형으로부터 사출물을 취출하는 취출 로봇의 로봇 암 단부에 비접촉식 적외선 온도측정장치를 설치하여 금형이 개방되는 순간 금형 내부로부터 방사되는 적외선을 수신하여 금형 내부 온도를 측정하는 것을 특징으로 하는 취출 로봇을 제공한다.
또한, 본 고안의 취출 로봇 단부에 장착된 비접촉식 적외선 온도측정장치는 금형 개방 후 사출물의 온도 또한 비접촉식으로 측정하여 사출물 온도에 따른 양/불량 여부를 예측할 수 있게 한다. The purpose of the present invention is to propose a new method to measure the temperature inside the mold by a simplified method in the extraction stage of the injection molding and to prevent the failure of the injection molding by keeping the mold internal temperature within a certain range .
According to the above object, the present invention is characterized in that a non-contact type infrared ray temperature measuring device is installed on a robot arm end of a take-out robot for taking out an article from a mold, and infrared radiation radiated from the inside of the mold is received instantaneously As shown in Fig.
In addition, the non-contact infrared temperature measuring apparatus mounted on the take-out robot end of the present invention can measure the temperature of the injection mold after opening the mold in a noncontact manner to predict whether the injection mold temperature is good or bad according to the injection mold temperature.

Description

금형 온도 측정장치를 구비한 취출 로봇{TAKE-OUT ROBOT WITH MOLD TEMPERATURE MEASURING UNIT}BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a mold temperature measuring apparatus,

본 고안은 사출성형기로부터 사출물을 취출하는 취출 로봇에 관한 것이다.The present invention relates to a take-out robot for taking out an injection material from an injection molding machine.

각종 금형 제품 등 사출물은 산업 전반에 걸쳐 광범위하게 산출되고 있으며, 이러한 사출물의 취출 작업은 취출 로봇에 의해 이루어진다. Injection products such as various mold products are widely produced throughout the industry, and the extraction work of such injection products is performed by a take-out robot.

일반적인 취출 로봇은 XYZ 모션이 가능하며, X방향으로 주행할 수 있도록 주행선로가 설치되고 여기에 롤러바퀴를 통해 측향 암이 탑재된다. 측향 암은 주행선로와 직교하며, 로봇 암이 Y모션이 가능하도록 소정의 길이를 가진다. 주행선로 및 측향 암에 대해 모두 수직을 이루는 승강부가 측향 암에 설치되며, 상기 승강부 내부에 벨트 및 기어 등으로 승/하강이 가능한 로봇 암이 장착된다. The general take-out robot is capable of XYZ motion, and a traveling road is installed so that it can travel in the X direction, and a lateral arm is mounted thereon through a roller wheel. The side arm is orthogonal to the travel path, and the robot arm has a predetermined length to enable Y motion. The elevating portion, which is perpendicular to both the traveling line and the side arm, is mounted on the side arm, and a robot arm capable of moving up and down with a belt, gear, etc. is mounted in the elevating portion.

상기 회전부와 그 취출 기능을 위한 부재들의 구성을 좀 더 상세히 나타낸다. The configuration of the rotating part and the members for its taking out function is shown in more detail.

취출 로봇은 사출물을 사출성형기로부터 꺼낼 수 있도록 로봇 암의 단부에 회전가능한 회전부를 구비하고, 이 회전부에 지그를 고정시킬 수 있는 지지대를 고정부재로 장착할 수 있다. 즉, 지지대에는 하나 이상의 흡착 부재를 구비한 지그가 볼트 등의 고정부재로 고정된다. 회전부는 연직 방향으로 배치된 상태이며, 지지대와 지그 역시 연직 방향으로 나란히 장착되어 사출물에 접근하게 된다. The take-out robot is provided with a rotatable rotatable portion on the end portion of the robot arm so that the injection material can be taken out of the injection molding machine, and a support member capable of fixing the jig to the rotatable portion can be mounted with a fixing member. That is, a jig having one or more adsorption members is fixed to a support by a fixing member such as a bolt. The rotary part is arranged in the vertical direction, and the support part and the jig are also mounted side by side in the vertical direction to approach the injection part.

이와 같은 취출 로봇에 의해 취출 운반되는 사출물은 금형 내부 온도가 일정 범위 내에서 관리되어야 하며, 온도가 의도했던 범주를 벗어나게 되면, 사출물의 형상, 밀도, 강도 등의 물리적 특성이 달라져 불량이 발생하게 된다. 그러나 취출 단계에서 금형 내부 온도를 측정할 수 있는 취출 로봇 구성은 알려져 있디 않다.Injection products taken out by the take-out robot must be controlled within a certain range of the temperature of the mold. If the temperature deviates from the intended range, physical characteristics such as the shape, density, and strength of the injection molding are changed and a defect occurs . However, a take-out robot configuration capable of measuring the mold internal temperature at the take-out stage is not known.

기존에 사용되고 있는 금형 온도 측정 장치는 금형 표면에 접촉식으로 온도측정을 하는 온도계가 설치되고 그 측정값으로부터 내부 온도를 게이지로 산출해내는 접촉식 온도측정장치로, 이러한 방식은 금형마다 온도계와 게이지 유닛을 설치해야 하므로 고비용 구조가 되며, 설치 면에서도 개별 온도 측정장치마다 와이어를 연결해야 하므로 매우 번거롭다. The conventional mold temperature measuring device is a contact type temperature measuring device in which a thermometer for temperature measurement is provided on the mold surface in a contact manner and the internal temperature is calculated from the measured value by a gauge. Since the unit needs to be installed, it becomes a costly structure, and it is very troublesome to connect the wire for each individual temperature measuring device even on the installation side.

대한 민국 등록특허 제10-0401157호에서는 금형 내부에 써모커플을 설치하여 온도를 검출하는 기술을 기재하고 있으나 이러한 구성은 상술한 문제를 그대로 지니며, 더구나 금형 자체 내부에 내설되므로 더욱 복잡한 구조를 이루며, 금형 자체를 변경해야 하므로 기존에 이미 사용되고 있는 금형에는 적용되기 어렵다. Korean Patent Registration No. 10-0401157 discloses a technique of detecting a temperature by installing a thermocouple inside a mold. However, such a configuration has the above-described problem as it is, and since it is installed inside the mold itself, , It is difficult to apply it to a mold that has already been used because it needs to change the mold itself.

따라서 본 고안의 목적은 금형 내부의 온도를 사출물의 취출 단계에서 좀 더 간소화된 방법으로 측정할 수 있는 새로운 방안을 제시하는 것이며, 금형 내부 온도를 일정 범위 내로 유지하도록 함으로써 사출물의 불량을 예방하도록 하는 것이다. Therefore, the purpose of the present invention is to propose a new method to measure the temperature inside the mold by a more simplified method at the take-out stage of the injection molding, and to prevent the failure of the injection molding by keeping the mold internal temperature within a certain range will be.

상기 목적에 따라 본 고안은 금형으로부터 사출물을 취출하는 취출 로봇의 로봇 암 단부에 비접촉식 적외선 온도측정장치, 열화상 카메러 또는 접촉식 온도센서를 설치하여 금형이 개방되면 금형 내부로 온도측정장치가 이동되어 금형 내부 온도를 측정하는 것을 특징으로 하는 취출 로봇을 제공한다. According to the above object, the present invention provides a non-contact type infrared temperature measuring device, a thermal image camera or a contact type temperature sensor at the robot arm end of a take-out robot for taking out an object from a mold. When the mold is opened, And the temperature inside the mold is measured.

또한, 본 고안의 취출 로봇 단부에 장착된 온도측정장치는 금형 개방 후 성형된 사출물의 온도 또한 비접촉식 또는 접촉식으로 측정하여 사출물 온도에 따른 양/불량 여부를 예측할 수 있게 하고 나아가 측정 온도를 피드백으로 하여 사출기 온도제어부 및/또는 금형 온도제어부에서 금형 온도를 최적 범위로 제어하게 한다. In addition, the temperature measuring apparatus mounted on the end of the take-out robot of the present invention can measure the temperature of the molded article after the mold is opened by noncontact or contact type to predict whether it is good or poor according to the temperature of the injection mold, So that the injection mold temperature control section and / or the mold temperature control section controls the mold temperature to the optimum range.

본 고안에 따르면 취출 로봇으로 사출물을 취출 하는 단계에서 금형 내부온도 및 사출물의 온도를 비접촉식으로 측정함으로써 금형 온도를 일정 범위 내로 제어할 수 있게 하여, 온도에 따른 불량이 발생 되는 것을 사전에 예방할 수 있게 하고, 사출물의 온도 또한 비접촉식으로 측정함으로써 사출물의 양/불량을 취출 단계에서 예측할 수 있게 하였다. According to the present invention, the mold temperature can be controlled within a certain range by measuring the internal temperature of the mold and the temperature of the injection mold in a non-contact manner at the stage of taking out the injection molding with the take-out robot, And the temperature of the injection molding is also measured in a noncontact manner, so that the amount / defect of the injection molding can be predicted at the extraction stage.

도 1은 본 고안에 따른 금형 내부 온도와 사출물의 온도를 취출 로봇 단부에 설치된 비접촉식 적외선 온도측정장치에 의해 측정하는 것을 설명하기 위한 단면도이다.
도 2는 본 고안에 따른 금형 내부 온도를 사출물 취출 직후 측정하는 것을 나타내는 단면도이다.
도 3은 본 고안의 실시예를 설명하는 순서도 이다. 1 is a cross-sectional view for explaining the measurement of the mold internal temperature and the temperature of the injection mold according to the present invention by a non-contact type infrared ray temperature measuring apparatus installed at the end of the take-out robot.
Fig. 2 is a cross-sectional view showing that the mold internal temperature according to the present invention is measured immediately after the injection molding is taken out.
Fig. 3 is a flowchart for explaining an embodiment of the present invention.

이하, 첨부도면을 참조하여 본 고안의 바람직한 실시예에 대해 상세히 설명한다. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1에는 본 고안에 따라 비접촉식 적외선 온도측정장치(700)를 구비한 취출 로봇의 동작이 나타나있다. 또한, 도 3은 취출 로봇에 설치된 사출물의 온도와 금형 내부 온도를 측정하는 과정을 순서도로 설명하고 있다. 1 shows the operation of the take-out robot provided with the non-contact infrared temperature measuring device 700 according to the present invention. 3 is a flowchart illustrating a process of measuring the temperature of an injection mold installed in the take-out robot and the mold internal temperature.

먼저, 금형(100)으로부터 사출물(200)을 취출하는 취출 로봇의 로봇 암(350)의 세부 구성에 대해 살펴본다. First, a detailed configuration of the robot arm 350 of the take-out robot for taking out the molded article 200 from the mold 100 will be described.

로봇 암(350)의 단부에는 회전 가능하게 장착된 회전부(400)가 있고, 상기 회전부(400)에 고정 부재로 고정되는 탈부착 부재(500)가 있다. 상기 탈부착 부재(500)는 지그(600)의 탈부착을 좀 더 용이하게 하는 것으로 적용하는 것이 바람직하나 필수적인 것은 아니므로 생략가능 하다. 탈부착 부재(500)에 형성된 고정구 등을 이용하여 지그(600)가 탈부착 부재(500)에 고정되며, 상기 지그(600)에는 다수의 척킹 부재가 고정되어 있다. 도 1에는 흡착 부재(650)가 도시되어 있으나, 이외에도 점착제 부재, 진공 척 부재, 정전 척 부재, 자석 척 부재 등이 적용될 수 있다. The robot arm 350 includes a rotation part 400 rotatably mounted at an end thereof and a detachable member 500 fixed to the rotation part 400 by a fixing member. The attachment / detachment member 500 is preferably applied to facilitate attachment / detachment of the jig 600, but is not essential and may be omitted. The jig 600 is fixed to the attachment / detachment member 500 using a fixture formed on the attachment / detachment member 500, and a plurality of chucking members are fixed to the jig 600. Although the adsorption member 650 is illustrated in FIG. 1, an adhesive member, a vacuum chuck member, an electrostatic chuck member, a magnet chuck member, or the like may be applied.

취출 로봇의 로봇 암(350)은 주행선로(미 도시)를 따라 주행(X모션)할 수 있고, 측향 암(미 도시)을 통해 측향 이동(Y모션)할 수 있으며, 수직 운동(Z모션)도 가능하여 XYZ 모션이 가능하다. The robot arm 350 of the takeout robot can travel (X-motion) along a traveling path (not shown), can be moved in a lateral direction (Y-motion) through a lateral arm (not shown) XYZ motion is possible.

금형 근처에 접근하도록 로봇 암(350)은 XY 모션을 실행하며, 사출물(200) 근처에서 좀 더 정밀하게 흡착 부재(650)를 구비한 지그(600)의 위치를 조정하여 흡착 부재(650)로 사출물(200)을 척킹하여 사출물(200)을 운반하게 된다. The robot arm 350 executes the XY motion to adjust the position of the jig 600 with the attracting member 650 more precisely in the vicinity of the injection product 200 and to adjust the position of the jig 600 with the attracting member 650 The injection object 200 is chucked and the injection object 200 is transported.

상술한 바와 같이, 사출물(200)이 압출되는 온도가 특정 범위 내를 벗어나게 되면, 사출물(200)의 형상이 달라지거나 밀도 내지는 강도가 약해 취출 과정 또는 운반도중 사출물(200)의 일부가 이탈되는 경우가 발생할 수 있어 금형(100, 105) 내부의 온도를 측정하고 그에 따라 피드백 제어하는 것은 사출물(200)의 불량률을 낮추는데 기여한다.As described above, when the temperature at which the injection product 200 is extruded out of the specific range is changed, the shape of the injection product 200 is changed, or the density or strength is weak, and a part of the injection product 200 is released during the extraction process or transportation It is possible to measure the temperature inside the molds 100 and 105 and perform the feedback control accordingly, thereby contributing to lowering the defect rate of the injection mold 200. [

본 고안은, 회전부(400) 내지는 회전부(400)에 추가 장착되는 탈부착 부재(500)에 하나 이상의 비접촉식 적외선 온도측정장치(700)를 설치하여 취출 단계에서 금형(100, 105)이 개방되면 금형 내부로부터 방사되는 적외선을 검출하여 이로부터 금형 내부 온도 및 사출물(200)의 온도를 측정하도록 구성하였다. The present invention is characterized in that at least one non-contact type infrared ray temperature measuring apparatus 700 is installed in a rotary member 400 or a removable member 500 additionally mounted on a rotary part 400. When the molds 100 and 105 are opened in a take- And the temperature of the mold 200 and the temperature of the mold 200 are measured.

탈부착 부재(500)의 경우 다양한 크기가 준비될 수 있으므로, 본 실시예는 적절한 크기의 탈부착 부재(500)를 선택 적용하고 여기에 비접촉식 적외선 온도측정장치(700)를 양면으로 설치하였다. Since the removable member 500 can be prepared in various sizes, the present embodiment selectively removes the removable member 500 having a proper size and installs the non-contact type infrared temperature measuring device 700 on both sides thereof.

본 실시예의 경우, 비접촉식 적외선 온도측정장치(700)는 직경과 길이가 각각 1 내지 2cm의 소형 스틱 타입으로 된 것을 장착하였으나 이러한 크기나 하우징 형상은 변동가능 하다. 비접촉식 적외선 온도측정장치(700)는 시중에서 구입가능하며, 레이저 조사부와 적외선 수신부 및 적외선/온도 변환부를 포함하는 것을 장착한다. 레이저 조사부에서 레이저를 발사하여 온도 측정 대상을 조사함으로써 일종의 얼라인을 확인시켜주며, 적외선 수신부의 열전대 집적 써모파일이 대상으로부터 방사되는 적외선을 수신하여 써모파일의 온도를 올리고 이를 전기신호로 변환하여 온도로 표시하여 준다. In the case of the present embodiment, the non-contact infrared temperature measuring apparatus 700 is mounted with a small stick type having a diameter and a length of 1 to 2 cm, respectively, but the size and the shape of the housing can be varied. The non-contact infrared temperature measuring apparatus 700 is commercially available, and includes a laser irradiating unit, an infrared receiving unit, and an infrared / temperature converting unit. A laser irradiating unit irradiates a laser to examine a temperature measurement object to identify a kind of alignment. A thermocouple integrated thermopile of an infrared receiver receives an infrared ray radiated from a target to increase the temperature of the thermopile, .

본 실시예에서는 소형의 비접촉식 적외선 온도측정장치(700)를 탈부착 부재(500)의 하단부에 장착하는 것을 예로 들었으나 로봇 암의 다른 부재에 장착될 수 있으며, 사출물(200) 크기에 따라 비접촉식 적외선 온도측정장치(700) 개수와 배치분포를 달리 정할 수 있다. Although the small non-contact type infrared ray temperature measuring apparatus 700 is mounted on the lower end of the attaching / detaching member 500 in this embodiment, it can be mounted on other members of the robot arm, and the non-contact type infrared ray temperature The number of measurement apparatuses 700 and the layout distribution can be set differently.

금형 고정측(100)에 대해 이동측(105)이 열리는 즉시, 비접촉식 적외선 온도측정장치(700)를 동작시켜 금형 내부의 온도를 측정한다. 금형 고정측(100)과 이동측(105) 내면 양쪽으로 모두 레이저를 발사하고 적외선을 수신하여 양쪽 온도를 모두 측정할 수 있으나, 반드시 양면의 온도를 측정하지 않고 단지 어느 한쪽의 온도만을 측정하여도 된다. 금형 개방 즉시 측정되는 온도는 사출물(200)과 이동측(105) 내부 온도가 된다. Immediately after the moving side 105 is opened with respect to the mold fixing side 100, the non-contact infrared temperature measuring apparatus 700 is operated to measure the temperature inside the mold. It is possible to measure both temperatures by emitting a laser beam to both the mold fixing side 100 and the moving side 105 and receiving infrared rays. However, even if only one of the temperatures is measured without measuring the temperature on both sides do. The temperature measured immediately after the mold is opened is the internal temperature of the injection mold 200 and the moving side 105.

즉, 사출물(200) 표면 온도를 측정할 경우, 다음과 같이 동작시킬 수 있다. That is, when measuring the surface temperature of the injection molded article 200, it is possible to operate as follows.

금형 고정측(100)에 대해 이동측(105)이 열리고 사출물(200)이 노출되면, 로봇 암(350)이 하강하여 사출물(200) 위치로 접근하며, 비접촉식 적외선 온도측정장치(700) 위치가 사출물(200) 위치에 맞도록 미리 제어장치에 셋팅 되어 제어된다. 비접촉식 적외선 온도측정장치(700)가 사출물(200) 위치에 도달하면, 사출물(200)에 대해 먼저 레이저 빔을 조사하게 제어하여 사출물(200) 표면 온도를 측정할 수 있는 위치인지 여부를 확인하고 피 조사체인 사출물(200)로부터 방사되는 적외선을 수신하여 온도를 측정한다. 만일, 비접촉식 적외선 온도측정장치(700)가 도 1과 같이 양면으로 배치된 경우, 사출물(200) 표면온도와 함께 금형의 이동측(105) 내부 온도도 동시에 측정된다. When the movable side 105 is opened with respect to the mold fixing side 100 and the molded product 200 is exposed, the robot arm 350 descends to approach the position of the molded product 200 and the position of the non- And is set and controlled in advance in the control device so as to match the position of the injection mold 200. When the non-contact type infrared ray temperature measuring apparatus 700 reaches the position of the injection object 200, the injection object 200 is first controlled to be irradiated with a laser beam to check whether the position of the injection object 200 is capable of measuring the surface temperature, Infrared rays radiated from the injection molded article 200 are received and the temperature is measured. If the non-contact infrared temperature measuring apparatus 700 is disposed on both sides as shown in FIG. 1, the internal temperature of the moving side 105 of the mold is measured simultaneously with the surface temperature of the mold 200.

또한, 금형의 고정측(100)의 내부 온도를 측정하고자 할 경우, 사출물(200)을 취출 한 직후 온도 측정을 할 수 있다(도 2 참조). In addition, when the internal temperature of the fixed side 100 of the mold is to be measured, the temperature can be measured immediately after the molded product 200 is taken out (see FIG. 2).

즉, 흡착 부재(650)가 사출물(200)을 가압하여 척킹하면, 금형 고정측(100)과 이동측(105)의 내면이 드러난다. 로봇 암(350)은 약간 상승하여 비접촉식 적외선 온도측정장치(700)가 금형 고정측(100)과 이동측(105) 내부 온도 모두를 측정할 수 있는 위치가 되게 제어된다. 비접촉식 적외선 온도측정장치(700)는 다시 레이저를 조사하고 적외선을 수신하여 금형(100) 내면 온도를 측정한다. 이후는 일반적으로 이루어지는 로봇 암(350)의 운반 동작에 의하여 사출물(200)을 목적지까지 운반한다. That is, when the attracting member 650 presses and chucks the injection product 200, the inner surfaces of the mold fixing side 100 and the moving side 105 are exposed. The robot arm 350 is slightly raised so that the noncontact infrared temperature measuring apparatus 700 is controlled to be able to measure both the mold fixing side 100 and the moving side 105 temperature. The non-contact infrared temperature measuring apparatus 700 irradiates the laser again and receives the infrared rays to measure the temperature of the inner surface of the mold 100. Thereafter, the robot 200 carries the injection object 200 to the destination by the transportation operation of the robot arm 350.

취출 로봇은 제어부를 구비하므로 측정된 온도를 제어부에서 사출기 온도 제어부 및/또는 금형 온도제어부로 전송하고 이를 토대로 금형 온도를 정상 온도 범위 내로 바로잡거나 유지시키기 위한 데이터로 사용하게 한다. Since the take-out robot includes the control unit, the measured temperature is transmitted from the control unit to the injection mold temperature control unit and / or the mold temperature control unit, and used as data for correcting or maintaining the mold temperature within the normal temperature range.

이와 같이 취출 로봇에 장착된 비접촉식 온도측정 장치에 의하여 금형 내부 온도와 사출물의 온도를 취출 단계에서 측정함으로써 이를 피드 백으로 하여 금형 온도를 바로 잡아 온도 불안정에 의한 사출물의 불량을 제거 및 예방할 수 있다. In this way, the non-contact type temperature measuring device mounted on the take-out robot measures the mold internal temperature and the temperature of the injection mold at the take-out stage to feed back the mold, thereby correcting the mold temperature, thereby eliminating or preventing defects in the molded product caused by temperature instability.

또한, 비접촉식 온도측정 장치로서 열 화상 카메라를 적용할 수 있다. 열 화상 카메라 역시 비접촉식으로 사출물과 금형의 온도 변이를 화상으로 도시하여 주므로 이를 피드 백으로 하여 금형 온도를 바로 잡아 온도 불안정에 의한 사출물의 불량을 제거 및 예방할 수 있다. In addition, a thermal imaging camera can be applied as the noncontact temperature measuring device. The thermal imaging camera also displays the temperature variation of the injection mold and the mold in a non-contact manner, so that it can feed back the mold, correcting the mold temperature, thereby eliminating or preventing the defect of the injection molding due to temperature instability.

한편, 사출물이나 금형의 온도측정이 반드시 비접촉식이라야 하는 것은 아니다. 접촉식 온도센서를 회전부(400) 내지는 회전부(400)에 추가 장착되는 탈부착 부재(500)에 하나 이상 설치하여 좀 더 정확한 온도정보를 얻을 수 있다.
On the other hand, temperature measurement of an injection mold or a mold is not necessarily a noncontact type. More accurate temperature information can be obtained by providing one or more contact type temperature sensors in the rotary member 400 or the attaching / detaching member 500 additionally mounted on the rotary member 400.

본 고안에 따르면 금형마다 개개의 온도 측정 장치를 설치할 필요가 없어 설비비를 크게 절감할 수 있으면서도, 사출물이 취출 될 때마다 금형 내부 온도가 측정되어 피드백을 하여줌으로써 금형 온도를 즉각적으로 보정 할 수 있어 불량률을 크게 줄일 수 있다.
According to the present invention, since it is not necessary to provide a separate temperature measuring device for each mold, the mold temperature can be immediately corrected by measuring the internal temperature of the mold every time the mold is taken out and feedback is performed, Can be greatly reduced.

본 고안의 권리는 위에서 설명된 실시예에 한정되지 않고 청구범위에 기재된 바에 의해 정의되며, 본 고안의 분야에서 통상의 지식을 가진 자가 청구범위에 기재된 권리범위 내에서 다양한 변형과 개작을 할 수 있다는 것은 자명하다.It is to be understood that the invention is not limited to the embodiments described above but is defined by the appended claims and that those skilled in the art can make various modifications and alterations within the scope of the claims It is self-evident.

100, 105: 금형
200: 사출물
350: 로봇 암
400: 회전부
500: 탈부착 부재
600: 지그
650: 흡착 부재
700: 비접촉식 적외선 온도측정장치100, 105: mold
200: Injection
350: Robot arm
400:
500: attachment / detachment member
600: jig
650:
700: Non-contact infrared temperature measuring device

Claims (4)

금형으로부터 사출물을 취출하는 로봇암을 포함하여 구성되는 취출 로봇에 있어서,
상기 로봇 암의 단부에 회전 가능하게 장착된 회전부와,
상기 회전부에 고정 설치되는 탈부착 부재와,
상기 탈부착 부재에 고정 설치되고, 다수의 척킹 부재가 구비된 지그 및
상기 회전부 또는 탈부착 부재의 양면에 서로 반대방향으로 설치되어 사출물의 온도 및 금형의 내부 온도를 측정하는 한 쌍의 비접촉식 적외선 온도측정장치를 포함하여 구성되되,
상기 비접촉식 적외선 온도측정장치는 레이저를 발사하여 온도 측정 대상을 조사하는 레이저 조사부와, 온도 측정 대상으로부터 방사되는 적외선을 수신하는 적외선 수신부 및 상기 적외선 수신부에서 수신된 적외선을 전기신호로 변환하여 온도로 표시하는 적외선/온도 변환부를 포함하여 구성된 것을 특징으로 하는 금형 온도 측정장치를 구비한 취출 로봇.
A take-out robot comprising a robot arm for taking out an injection product from a mold,
A rotating part rotatably mounted on an end of the robot arm,
A detachable member fixedly mounted on the rotating portion,
A jig fixed to the attachment / detachment member and provided with a plurality of chucking members,
And a pair of non-contact type infrared temperature measuring devices installed on opposite sides of the rotating part or the attaching / detaching member to measure temperature of the mold and internal temperature of the mold,
The non-contact type infrared ray temperature measuring apparatus includes a laser irradiator for emitting a laser to irradiate a temperature measurement object, an infrared receiver for receiving infrared rays radiated from a temperature measurement object, and an infrared sensor for converting infrared rays received from the infrared receiver into an electric signal, And an infrared / temperature converting unit for performing a mold temperature measurement on the mold.
삭제delete 제 1항에 있어서,
상기 취출 로봇은 제어부를 구비하며,
상기 제어부는 상기 온도측정장치의 측정 온도를 사출기 온도 제어부 또는 금형 온도제어부로 전송하고 이를 피드백으로 하여 상기 금형 내부 온도를 제어하게 하는 것을 특징으로 하는 금형 온도 측정장치를 구비한 취출 로봇.


The method according to claim 1,
The take-out robot includes a control unit,
Wherein the control unit transmits the measured temperature of the temperature measuring device to the injector temperature control unit or the mold temperature control unit and controls the internal temperature of the mold by using the measured temperature as feedback.


삭제delete
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KR101669845B1 (en) * 2016-05-31 2016-10-27 이원자 Take-out robot
JP2023024516A (en) * 2019-11-21 2023-02-16 大日本印刷株式会社 Aseptic filling method and aseptic filling machine
KR20240028829A (en) 2022-08-25 2024-03-05 미주정밀 주식회사 Take-out robot for insert injection molding and method for forming insert injection molding using the same

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KR102314599B1 (en) * 2020-04-07 2021-10-19 울산과학기술원 quality inspection apparatus for gas injection molding products and method thereof

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JP2007061854A (en) * 2005-08-31 2007-03-15 Yutaka Electronics Industry Co Ltd Die-casting apparatus and die-casting method

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101669845B1 (en) * 2016-05-31 2016-10-27 이원자 Take-out robot
JP2023024516A (en) * 2019-11-21 2023-02-16 大日本印刷株式会社 Aseptic filling method and aseptic filling machine
JP7552678B2 (en) 2019-11-21 2024-09-18 大日本印刷株式会社 Aseptic filling method and aseptic filling machine
KR20240028829A (en) 2022-08-25 2024-03-05 미주정밀 주식회사 Take-out robot for insert injection molding and method for forming insert injection molding using the same

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