KR20150144301A - Take-out robot with weight sensing of mold - Google Patents

Abstract

Provided in the present invention is a blowdown robot capable of determining the defect of a blowdown material by measuring the weight of the blowdown material in the midst of carrying the material, after adsorbing the blowdown material using an adsorption unit, by preparing a load cell on a rotation unit of the blowdown robot. The constitution requires no additional scale or carrying pathway, thereby helping a user to save space and enabling a swift carrying of the blowdown material. Moreover, in order to prevent the damage of the load cell and to elongate the durability of the load cell, a weight-measuring chucking device is installed to lessen the vertical weight during the blowdown and to deliver the smaller amount of force to the load cell, consequently weighing the load cell only at the weight-measuring point. On the other hand, an incised portion, having a stepped boundary surface, is prepared on the load cell, and a stopper function is prepared for coping with a bending deflection of the load cell in the case of a load applied to the load cell. Accordingly, even when additional weight-measuring chucking device is omitted, the load cell can still be protected.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a take-

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a take-out robot for taking out an injection product from a mold and placing the same on a conveying device such as a conveyor, and more particularly, Out robot.

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. Fig. 1 shows a configuration of a general take-out robot. The take-out robot is capable of XYZ motion, and a traveling path 100 is installed so as to be able to travel in the X direction, and a lateral arm 200 which moves through a roller wheel on a guide rail is mounted. The lateral arm 200 is orthogonal to the traveling path 100 and has a predetermined length to enable the robot arm 350 to perform Y motion. The vertical arm 300 is installed on the lateral arm 200 so as to be vertical with respect to the traveling line 100 and the lateral arm 200. The vertical arm 300 is provided with an up / The robot arm 350 is mounted.

2 shows the configuration of the rotating part 400 and the members for the taking-out function in more detail.

The take-out robot has a rotatable portion 400 rotatable on the end of the robot arm 350 so that the injection molded article 700 can be taken out from the injection molding machine. (500) can be mounted with the fixing member (550). That is, a jig 600 having one or more adsorption members 655 is fixed to a support member 500 by a fixing member 550 such as a bolt. The rotation unit 400 is disposed in the vertical direction, and the support table 500 and the jig 600 are also mounted side by side in the vertical direction to approach the injection mold 700.

That is, the robot arm travels along the traveling path 100 (X motion) to hold the basic position capable of approaching the injection object 700, precisely positions it in the Y motion, moves up and down (Z motion) The injection material 700 is attached to the adsorption member 650 and then raised to a height (Z motion). The XY motion reaches a destination such as a conveyor belt to lower the injection material 700. At this time, the rotation part 400 of the robot arm which has risen in the Z motion rotates 90 degrees before the X-Y motion to convey the injection object 700 attached to the adsorption member 650 in the horizontal direction. The reason why the molded article 700 is conveyed in the horizontal direction is to stably mount the molded article on the conveyor belt and to overcome the restriction on the space. That is, since the injection molding machine continues to perform the injection operation, there is a possibility that the injection molded article 700 carried by the takeout robot is damaged by the injection molding machine or the vibration of the injection molding machine is disturbed and falls off the absorption member 655, There is a risk of collision with a person working nearby. In addition, when the space is narrow, the space required for transportation is large when the molded article 700 is transported in a vertical state.

According to the conventional method, the injection object 700 carried by the robot arm is placed on an expensive large electronic balance before it is placed on the conveyor belt 1900, and it is judged that the injection weight 700 is positive or negative based on the weight measurement. Injection molding causes defective molding due to various factors such as injection temperature, pressure and time. Thus, the conveyor belt 1900 is spread over the scale 800 and the direction for conveying good goods is set. At the same time, the opposite direction is the carrying direction of the defective product, the defective product is set to be put in the collection box, and the carrying direction is different according to the result of the weight measurement. In carrying out such weight measurement, determination of the amount / defect, and the operation processing corresponding thereto, the robot arm transportation space and the conveyor belt installation section necessary for conveying good goods, and a separate balance and positive / negative determination space are required, And occupies a large space. Korean Patent Laid-Open No. 10-2010-0065950 also discloses that the lamp failure detection is also installed on the conveyor belt.

In addition, since the injection object 700 transferred by the robot arm can not be transferred to the destination immediately, it is very time-consuming to measure the weight and perform the operation of determining the quantity / defect. That is, since the driving direction of the conveyor belt 900 needs to be controlled differently depending on the result of the resetting of the balance, as well as the result of the resetting, the conveying speed is greatly delayed and the productivity is deteriorated.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a robot for measuring the weight of an injection molded product, To save space and equipment, and to greatly improve the delivery speed of the injection molding.

It is also an object of the present invention to realize stable operation and life extension of the injection weight measuring means provided in the take-out robot itself as described above.

According to the above-mentioned object, the present invention is characterized in that a load cell is provided in a rotating part of a take-out robot to allow a take-out robot to attract an injection object to a suction part and then measure the weight of the injection object in a conveying path by the take- And the delivery path of the good product and the defective product are made different from each other.

Preferably, the load cell is disposed on the back surface of the jig mounted on the rotary part, and when the injection object is attached to the suction part of the jig, the rotary part is rotated to bring the jig and the injection object into a horizontal position, The control unit controls the operation and the path of the take-out robot so that the weight of the molded product is measured by the load cell so that the rotating unit takes a stop state and is transported to a destination if it is good and is transported to a collection box if it is defective.

More preferably, in order to prevent breakage of the load cell provided in the rotary part and to prolong the service life of the load cell, the rotating part is stopped in the vicinity of the conveying path bifurcation of the good product and the defective product among the conveyance path of the injection product, And a means for chucking the entire jig to which the injection object is attached is provided so that the weight of the injection object is not loaded on the load cell in the preceding conveyance section.

The pneumatic cylinder, the solenoid, or the rotatable hand mechanism (also referred to as a lever mechanism) can be used as a means for chucking the load cell to prevent the load cell from being loaded on the load cell and loading the load on the load cell at a desired point .

In the present invention, in measuring the weight of an injection object using a load cell provided in a take-out robot itself, the load cell is connected to a rotation part on which the load cell is mounted, and the load cell is mounted on the load cell, And the chucking means such as a pneumatic cylinder or a solenoid is placed at a position where the rotary part and the jig back side are connected to each other. When the jig is sucked by the jig suction part, the rotary part rotates When the chucking operation of the chucking means is released by reaching the weight judgment point, the jig is moved in the chucked state so that the jig is brought into contact with the load cell by the chucking action of the chucking means, And the first fixing member and the second fixing member are subjected to different tensile forces, This difference in tension acts as a tensile force on the load cell so that the load cell can measure the weight of the injection mold. In this case, of course, the tensile force due to the jig without injection molding is measured in advance and the gauge is obtained, and it is judged whether the gauge is positive or negative by measuring the weight of the injection product itself.

Further, according to the present invention,

The robot arm according to claim 1,

A jig having at least one suction member capable of attaching an injection material, the jig being fixed to the rotary part by a fixing member; And

And a load cell mounted between the rotary part and the jig,

The rotary part is rotatably fixed to an end of the robot arm. After the injection part is sucked, the rotation part rotates to bring the injection product into a horizontal position, and the weight of the injection product is measured by the load cell,

The load cell having at least one cutout,

Wherein the cut-out portion forms a stepped interface,

Wherein the stepped portion of the stepwise interface forms a gap which makes a space in a direction perpendicular to gravity when the rotating portion is in a rotated position so as to measure the weight of the injection object so that when the weight of the injection molded product is applied to the load cell, And the bending deformation of the load cell is prevented by the bushing.

Further, in the present invention, the weight of the injection object is measured by the load cell, and the injection object is conveyed to the corresponding point. Then, the weight measurement system by the load cell is reset and the zero point is adjusted for the weight measurement of the subsequent injection object Thereby preventing cumulative errors.

In addition, the present invention is characterized in that, in the setting of a branching point for making the conveyance path of the injection material different from each other after measuring the weight of the injection molded article by the load cell, the conveying conveyor of the good product, The point at which the collection box is placed is a turning point.

The construction of the present invention as described above is advantageous in terms of the space utilization and the facility cost because there is no need to provide a scales and a transportation path separate from the take-out robot.

In addition, since the weight of the injection object is measured by the take-out robot itself and the conveyance path is varied according to the result, the injection object is lowered on the conventional balance, the weight is measured, and the operation for controlling the entire driving direction of the conveyor belt It is possible to transport the injection material at a low cost much more quickly.

Further, according to the present invention, the weight of the injection object is measured at a branch point near the final destination of the good, not the initial, which is conveyed by the take-out robot, and only when the weight of the injection object is placed on the load cell The life of the load cell can be prolonged.

In addition, the point at which the take-out robot measures the weight of the injection object is located as far as possible from the injection molding machine, so that the error interference of the load cell can be excluded from the vibration generated during the operation of the injection molding machine.

According to the present invention, the displacement of the load cell due to the force applied to the load cell is buffered by the gap in the cut portion formed in the load cell, thereby prolonging the life of the load cell. This configuration is very simple to implement because there is no need to provide other members for extending the life of the load cell.

In addition, the load cell having the cut-off portion as described above prevents the cumulative error due to the reset of the weighing system and the adjustment of the zero point after measuring the weight of one injection object, and accurate weight measurement is performed.

1 is a front view and a plan view for explaining the configuration and motion of a general take-out robot.
2 is a schematic cross-sectional view showing the configuration of the rotating part of the conventional take-out robot and the measurement of the weight of the injection object carried by the take-out robot and the conveyance path of the positive / negative part.
3 is a schematic diagram for explaining space utilization of an injection material transport path of a conventional take-out robot.
4 is a cross-sectional view showing a configuration in which a load cell is mounted on a take-out robot rotating unit according to the present invention.
FIG. 5 is a schematic view for explaining an injection path, a weight measuring point and space utilization of a take-out robot according to the present invention.
FIG. 6 is a cross-sectional view illustrating an embodiment in which the weight of the injection object is measured in the rotary part having the load cell according to the present invention, and the solenoid is applied as the chucking member.
7 is a cross-sectional view illustrating an embodiment in which the pneumatic cylinder is applied as a chucking member while measuring the weight of the injection object in the rotary part having the load cell according to the present invention.
8 is a cross-sectional view illustrating an embodiment in which the weight of the injection molding is measured in a rotary part having a load cell according to the present invention, and a rotatable hand mechanism is applied as a chucking member.
9 to 11 are cross-sectional views illustrating an embodiment in which an incision is formed in a load cell to protect the load cell according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The overall configuration for the XYZ motion of the take-out robot is the same as that of FIG. 1, and the configuration and operation of FIG. 1 have been described above, so that a description thereof will be omitted to avoid repetition.

The load cell 850 is installed as shown in FIG. 4 in order to provide the weight sensing function of the present invention to the rotation part 400 of the take-out robot. That is, the support table 500 is fixed to the rotation unit 400 fixed to the end of the robot arm 350 by a fixing member 550 such as a bolt, and the load cell 850 is fixed to the rotation unit 400 before the jig 600 is mounted. . The load cell 850 may also be secured to the support 500 with various fixing members such as bolts. The support member 500 may be omitted because it is an additional member to facilitate attachment and detachment of the jig 600. If the support member 500 is omitted, the load cell 850 is mounted on the rotation member 400. The jig 600 is placed on the load cell 850 and the jig 600 and the support table 600 are fixed by the fixing member. A number of various types of adsorption members 655 are fixed to the jig 600 to chuck the injections 700 directly there. Further, the adsorption member 655 may be replaced with another type of chucking member such as an adhesive, a magnet, or the like.

The rotary part 400 of the robot arm 350 thus configured is raised from the injection molding machine as shown in FIG. 5 and rotated 90 degrees so that the injection product 700 is horizontally positioned. At this time, the horizontal molded article 700 loads the load cell 850 together with the jig 600 so that their weight is measured. The control device for controlling the overall operation of the take-out robot is provided with a control module programmed to judge the positive / negative of the weight measurement result of the load cell 850 and to change the transportation route for each of them, (350) moves.

5, the robot arm 350 of the take-out robot ascends and rotates the injection material chucked and taken out by the suction member 655 in the injection molding machine, rotates horizontally, and travels for a predetermined period, It reaches the upper part of the belt and uses this point as a bifurcation, puts the good on the conveyor belt, and the defective product moves to the dropper and falls down. This means that the vibration measurement of the injection molding machine does not affect the weight measurement.

In such a configuration, the conveyor belt driving unit having the separate control unit for lowering the conveyance path of defective products and good products around the scale 800 by dropping all the articles 700 on the scale 800 is omitted Thereby simplifying the facility. That is, since the weight measurement has already been performed in the rotation unit 400 of the robot arm 350 of the take-out robot, and the path designation command for the take-out robot is installed as a module in the entire control device of the take-out robot, no additional control equipment is required. In addition, since the space occupied by the balance 800 is eliminated, space is saved, and the driving direction of the conveyor belt 1900 must be changed according to the measurement result by the balance 800. Therefore, every time a failure occurs, It is possible to improve the consumption. Since the path is already set in the take-out robot, the conveyor belt that carries good goods is continuously driven in one direction so as to reach the destination, which enables rapid transportation and saving of driving energy.

The load cell 850, on the other hand, has consumable elements that are permanently difficult to use and should be replaced when the life of the load cell 850 is over. Therefore, the present inventors have prepared the following measures in order to maximize the life of the load cell 850.

6 to 7, the operation of the take-out robot for measuring the weight of the molded article 700 using the load cell will be described in detail.

The rod 500 is fixed to the rotary part 400 which is rotatably fixed to the end of the robot arm 350 by a fixing member 550 such as a bolt and the load cell 850 . The load cell 850 may also be secured to the support 500 with various fixing members such as bolts. If the supporter 500 is omitted, the load cell 850 is mounted on the rotation unit 400. The jig 600 is placed on the load cell 850 and the jig 600 and the support table 500 are fixed by the fixing member. A number of various types of adsorption members 655 are fixed to the jig 600 to chuck the injections 700 directly there. Further, the adsorption member 655 may be replaced with another type of chucking member such as an adhesive, a magnet, or the like.

In this case, when the support unit 500 or the support unit 500 on which the load cell 850 is mounted is omitted, the rotation unit 400 and the load cell 850 are connected to the first fixing member 840 having a pin- And connects the load cell 850 to another jig 600 mounted on the load cell 850 and attaching the injection product 700 by another second fixing member 860. The positions of the first fixing member 840 and the second fixing member 860 are preferably disposed at both ends of the load cell 850, respectively.

The take-out robot arm constructed as described above operates as follows.

The robot arm 350 is lifted from the injection molding machine and rotates the rotation part 400 by 90 degrees so that the injection product 700 is horizontally oriented toward the bottom of the jig 600 do. In this state, the injection material is conveyed to the conveyor belt, and the weight of the injection material 700 is measured at a position above the bifurcation of the conveyor belt and the collection box.

A jig 600 and a chucking member 700 for chucking the injection product 700 are provided on the rotation unit 400 or the support unit 500 to prevent the damage of the load cell 850 during the transportation, 650). The chucking member 650 pulls the jig 600 and the injection product 700 toward the load cell 850 so that the load cell 850 is not stressed with gravity. The chucking member 650 may be composed of a solenoid, a pneumatic cylinder, a rotatable hand mechanism, or the like.

6 shows that the chucking member 650 is constituted by a solenoid. That is, a pair of solenoids 670 facing each other is provided. The first solenoid is fixed to the back surface of the jig 600 and the second solenoid facing the second solenoid is installed on the upper surface of the support table 500. When the first solenoid and the second solenoid are caused to draw mutual currents in opposite directions to each other, the jig 600 is pulled. For weighing, the current is dechucked by letting the currents flow in the same direction to each other so that the first solenoid and the second solenoid push each other, or by releasing the pulling force.

Fig. 7 shows that the chucking member 650 is constituted by a pneumatic cylinder.

An elastic body 685 is fixed on the rotation unit 400 or the support base 500 and a piston 680 supporting the elastic body 685 is installed on the back side of the jig 600 together with the liner. And the gas is sucked at a point where weight measurement is required. The elasticity of the elastic body 685 causes the jig 600 to sink down to the load cell 850.

In addition, a simple hand mechanism 870, which can be rotated as shown in Fig. 8, can be applied as the chucking member 670. The hand mechanism 870 supporting the jig 600 is rotationally driven by a motor or the like so that the angle of the hand mechanism deviates from the horizontal direction and is inclined.

That is, by reaching the weighing point, the chucking member 650 releases the chucking action.

The pneumatic cylinder discharges air so as to relax the elastic body in the air sucking state in which the elastic body is compressed. The pair of solenoids controls the current direction so that the force applied to the solenoids is interrupted or the repulsive force is applied. Rotate to release the backing function. In this situation, the load cell 850 is urged downward by the weight of the injection mold 700 and the jig 600, wherein the first fixing member 840 and the second fixing member 860 are different from each other And the difference in tensile force acts on the load cell 850 as a tensile force, so that the load cell 850 can measure the weight of the molded article 700. In this case, of course, the tensile force exerted only by the jig 600 without the injection object 700 is measured in advance and is reset in advance, so that only the weight of the injection molded article 700 is measured, and an error section within a certain range is given to judge the positive / . The weight measuring method by the tensile force measurement is advantageous because it is possible to make a very accurate and stable weight determination since it is a method in which the amount of fluctuation is small and it is adapted to gravity. The point at which the actual weight is measured is a point which is considerably far from the injection molding machine as shown in FIG. 5 and is a pathway point of the robot arm due to the position of the conveyor belt and the collection box. The chucking operation of the chucking member 650 at the time of taking out the ejection object 700 of the takeout robot prevents the vertical load from being applied to the load cell 850 and prevents the load of the injection object 700 from being applied to the conveying path, The load cell can be prevented from being damaged and its lifetime can be maximized by measuring the weight while maintaining the stopped state.

Further, as described above, the measurement of the weight after reaching the bifurcation can be advantageous because the vibration due to the injection molding of the injection molding machine can be avoided, thereby reducing the measurement error.

It is also possible to omit the support table 500 in the above embodiment and to mount the load cell on the rotary part 400 and to install the jig 600 thereon, and a modified embodiment thereof can be easily implemented by those skilled in the art from the above description.

Next, another embodiment of the present invention will be described. Here, the structure of the load cell is modified as shown in Fig.

That is, the load cell 900 has the stepped cutout portion 910 symmetrically. The stepped cutout 910 forms a stepped interface on the load cell 900, and the configuration thereof is shown in more detail in the partial enlarged view. Since the load cell 900 is vertically arranged at this time, the stepped portion of the stepped cutout portion 910 is positioned inside the load cell 900, Thereby forming and maintaining a clearance in the vertical direction. When the rotary part 400 is rotated to convey the injection material, the gap is turned in the horizontal direction together. The stepped cutout 910 is formed in such a manner as to prevent the load cell 900 from being damaged during the measurement of the load of the injection molded product. The load cell 900 is deformed by applying the load of the injection object to the load cell 900 so that the strain gage portion 919 of the load cell 900 is operated to flow a current proportional to the load to measure the load . Accordingly, when a load of the injection object is applied to the load cell 900, the both ends of the load cell 900 are downwardly received and slightly lowered (see FIG. 11). Even if the load cell 900 is contracted downward due to the load, the gap is somewhat narrowed so that the load cell 900 is not deformed or damaged to such an extent that the load cell 900 is damaged. In order to solve measurement errors due to measurement interference due to twist and / or change in center of gravity, it is preferable that the shape of the load cell 900 is formed symmetrically on both sides. Due to the clearance of the stepped cutout 910, the load cell is prevented from being bent or deformed due to application of an external pressure beyond the measurement range of the load cell or repetitive external pressure application. The external pressure exceeding the measurement range may be the weight of the heavy injected material and the jig, but may be the impact amount due to other collision or the like.

The interval of the gap formed in the step of the stepped cutout 910 is made to be able to withstand an appropriate load capacity of the load cell 900 up to 3 to 5 times, It is appropriate. Numerically, for example, when 1 to several kg of injection material is applied to the load cell, the amount of bending of the actual load cell (displacement from the original horizontal position due to warping at both ends of the load cell) is about 0.5 mm, When a weight or an external force of about 3 to 5 times is applied, the load cell is displaced by bending of about 1 mm. Therefore, the clearance is formed to be about 1 mm so as to prevent further deflection displacement, thereby prolonging the service life of the load cell. In particular, other complicated means (various members such as pneumatic cylinders, solenoid members, etc.) for preventing the loads on the load cells from being applied to the load cells at certain points only in order to extend the service life of the load cells, It is easy to implement.

FIG. 11 shows a state in which the rotation unit 350 of FIG. 9 is rotated by 90 degrees. The injected material 700 is attached to the adsorbing member 655 and a load is applied to the load cell 900 so that both ends of the load cell 900 are warped. At this time, the clearance of the step-like cut portion 910 is pressed by the load, and as the clearance narrows, the upper side of the step-like interface is deformed as if it is caught by the step of the step. As a result, the gap serves to buffer the load cell 900.

On the other hand, the gap formed in the step of the stepped cutout portion 910 can not sufficiently buffer the impact in the opposite direction to which the load cell 900 is subjected. Accordingly, the present invention places a gap d between the support table 500 and the load cell 900. That is, both end portions and the central portion of the load cell 900 are adjacent to the support 500, as shown in another enlarged view of FIG. 9, and a gap d is provided in the adjacent portion. This clearance d provides a useful buffering effect on the deformation of the load cell when the take-out robot collides with other objects in its travel path. The interval of the clearance d may be calculated in the same manner as the interval of the clearance formed in the step of the stepwise boundary surface 910. However, considering the fact that the strength of the impact force is larger than a general load, Lt; / RTI >

In addition, in order to overcome the limit that the gap structure only acts on the gravitational direction in the direction of gravity, the cut surface is modified and provided as shown in Fig. The gap formed by the cut surface is formed in both the horizontal direction and the vertical direction toward both end portions of the load cell 900. [ The cross-sectional silhouette of the incision is bent four or more times at right angles and appears as if two 'Z' s are connected together. 10 includes a horizontal portion 915 and a vertical portion 917. The gap between the horizontal portions 915 provides a buffering action when the load applied to the load cell 900 is vertical, The gap 917 serves to buffer the load cell 900 when the force applied to the load cell 900 is horizontal.

That is, according to the present invention, a cut-out portion having a step-like boundary surface is formed in the load cell so as to provide a stopper function against the bending deformation of the load cell when a load is applied, .

The protection of the load cell through the structure of the load cell 900 itself may cause an error in the measurement of the weight of the subsequent injection object when the weight of the object is repeatedly measured due to the displacement of the load cell 900. Therefore, zero adjustment is required. That is, one injection object is taken out, rotated in the horizontal direction to measure the weight, and the object is conveyed to the corresponding section to dechuck the injection object. Then, the weight measurement scale by the load cell is reset (the extraction jig weight is set to 0, So that the weight can be measured).

The reset and zero point adjustments are configured as modules in the automatic control system and the zero point adjustment position is located away from the injector where the vibration is not affected. Such a place is also a weighing point. That is, after the weight measurement, the robot arm is returned to the point at which the weight of the injection product is measured, and the weight measurement system by the load cell is reset to adjust the zero point so that each cycle It is possible to prevent the cumulative error in the weight measurement of the subsequent injection molding while preventing the measurement error due to the temperature change.

In the reset operation, the weight value is sent from the load cell controller to the robot controller together with the staple or unstable signal, and the module is configured to be reset to '0' when the staple value persists more than a predetermined number of times. This configuration excludes the effects of transient vibrations.

The weighing point of the injection product is designated as the point where the influence of the vibration of the injection molding machine is the least, and it is preferable that the weighing point is immediately before descending by the carrying conveyor belt of the good product injection product.

That is, in order to control the measurement error due to the influence of the vibration of the injector and / or the external vibration during the weight measurement, the load cell control unit of the weight measurement system calculates the weight And an error control module including a signal discrimination module so as to distinguish the unstable signal having a signal exceeding a predetermined amplitude from a stable signal within an amplitude. Accordingly, when the signal of the weight transmitted from the load cell exceeds the predetermined amplitude, it ignores the signal and waits for the stall signal within the amplitude.

Meanwhile, the load cells may be modified in size and shape depending on the weight of the molded product. For example, when the weight of the injection product is large, the thickness of the warpage generating portion, which is the strain gauge mounting surface of the load cell, can be made thicker.

Further, when the number of cavities formed in the injection machine is two or more, the weight is measured for each of the two or more injection articles adsorbed from the cavity. That is, the load cell weighing system has a separate gauge part for each injection position so that the weight of each injection part can be measured, and the weight of each injection part is separately measured.

In this manner, the take-out robot can measure the weight of the injection object in the take-out robot, judge the quantity / defect, and implement the take-out robot with different transportation routes accordingly.

INDUSTRIAL APPLICABILITY The present invention can be applied to a case where an article is molded by a die, extrusion molding or injection molding, and the molded article is taken out and transported.

It is to be understood that the invention is not limited to the disclosed embodiment, but is capable of many modifications and variations within the scope of the appended claims. It is self-evident.

100: Bypass 200: Directional arm
300: elevating part 350: robot arm
400: rotation part 500: support part
550: fixing member 600: jig
650: chucking member 655:
670: Weighing switch 680: Piston
685: Elastic body 700: Injection
800: Balance 840: First fixing member
850, 900: load cell 860: second fixing member
870: hand mechanism 910: stepped interface
915: (Clearance) Horizontal part 917: (Clearance) Vertical part
919: strain gauge 920:
1900: Belt

Claims (7)

A take-out robot comprising a robot arm, a rotary part rotatably fixed to an end of the robot arm, and a jig fixedly mounted on the rotary part and equipped with an attracting member capable of attaching an injection object,
A load cell disposed between the rotary part and the jig for measuring the weight of the injection molded article attached to the suction member,
A first fixing member for connecting between one end of the load cell and the rotation portion,
And a second fixing member connecting the other end of the load cell and the jig.
The method according to claim 1,
Characterized in that the weight of the injection product is measured by a tensile force acting on the load cell due to the difference in the tensile force between the first fixing member and the second fixing member respectively connected to both end portions of the load cell due to the gravity of the injection product. robot.
The method according to claim 1,
Wherein the weight measuring point of the injection molding is the point where the vibration of the injection molding machine is least affected.
The method according to claim 1,
The robot arm carries the weight of the injection object by the load cell and conveys the injection object to the corresponding point. Then, the weight measurement system by the load cell is reset and the zero point is adjusted to prevent the cumulative error in the weight measurement of the subsequent injection object Wherein the robot is a robot.
The method according to claim 1,
If the signal of the weight transmitted from the load cell exceeds the predetermined amplitude and the discrimination result of the signal discrimination module which distinguishes the staple signal within the amplitude is the discrimination table signal, And an error control module for receiving a signal as a measurement value only in the case of the staple signal.
The method according to claim 1,
The rotary unit of the robot arm is lifted from the injection molding machine and rotated 90 degrees so that the injection product is horizontally positioned. The load cell measures the weight of the horizontally positioned injection molding product. The control device for controlling the overall operation of the take- Wherein the control module is programmed to judge a positive / negative value of a result of weight measurement of the cell and to change a transportation route for each of the control modules.
A take-out robot comprising a robot arm, a rotary part rotatably fixed to an end of the robot arm, and a jig fixedly mounted on the rotary part and equipped with an attracting member capable of attaching an injection object,
A support member fixedly mounted on the rotation unit,
A load cell disposed between the support and the jig for measuring the weight of the injection molded on the suction member,
A first fixing member for connecting between one end of the load cell and the support,
And a second fixing member connecting the other end of the load cell and the jig.

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