TW202043009A - Robot system, and method for manufacturing molded article - Google Patents

Abstract

Provided is a robot system that enables burrs to be removed efficiently from a molded body. The robot system according to the present invention is provided with a robot arm, a robot hand, a holding mechanism, and a dividing mechanism, wherein: the robot hand is fitted to the robot arm; the holding mechanism is provided on the robot hand and is configured to hold a molded body; the molded body includes a molded body main body and a burr provided around the molded body main body; and the dividing mechanism is configured to divide the burr and the molded body main body in a state in which the molded body is being held by the holding mechanism.

Description

Robot system and manufacturing method of molded products

The present invention relates to a robot system that can be used to remove burrs from a molded body and a method of manufacturing a molded product using the robot system.

In Patent Document 1, a robot arm is driven to take out a molded body from a mold, and the molded body is fixed to a holding device for deburring, and deburring is performed in this state.

【Advanced Technical Literature】

【Patent Literature】

[Patent Document 1] Japanese Patent Laid-Open No. 2015-160422

In the method of Patent Document 1, since the molded body taken out of the mold is temporarily fixed to the holding device for deburring, and the deburring is performed in this state, the number of operations required for deburring increases.

The present invention has been completed in view of this situation, and provides a robot system that can effectively remove burrs from molded products.

According to the present invention, there can be provided a robot system including a robot arm, a robot hand, a holding mechanism, and a dividing mechanism. The robot hand is mounted on the robot arm, and the holding mechanism is provided on the robot hand, and is configured to hold a molded body The molded body includes a molded body body and a burr provided around the molded body body, and the dividing mechanism is configured to divide the burr and the molded body body while the holding mechanism holds the molded body.

The structure of the present invention divides the burr from the molded body body while the molded body is held by the holding mechanism, so that the burr can be effectively removed.

Hereinafter, various embodiments of the present invention are illustrated. The embodiments shown below can be combined with each other.

Preferably, in the robot system as described above, the holding mechanism includes a body holding mechanism, and the body holding mechanism holds the molded body body.

Preferably, in the robot system as described above, the dividing mechanism includes a burr removing mechanism, the burr removing mechanism has an abutting body, and the body holding mechanism is configured to hold the molded body body by causing the burr to abut the The body collides, thereby dividing the burr and the molded body body.

Preferably, in the robot system as described above, the burr removing mechanism includes a pair of the abutting bodies, the size of the opening between the pair of abutting bodies is variable, and the size of the opening is set so that the molded body can pass through In a state where the burr is opened and the burr collides with the abutting body, the burr is collided with the abutting body.

Preferably, the robot system as described above, the dividing mechanism is provided with at least one protrusion mechanism, the protrusion mechanism is provided with a protrusion, and the robot system is configured to abut on the holding surface of the molded body held by the body holding mechanism at the protrusion. In the state of the opposing surface, the contact body is moved from the holding surface toward the opposing surface to divide the burr and the molded body body.

Preferably, the robot system as described above, the robot system further includes a tilting member, the tilting member includes an inclined surface, the inclined surface is disposed below the burr removing mechanism, and the burr divided by the burr removing mechanism is along the inclined surface Slide and transport.

Preferably, in the robot system as described above, the protrusion mechanism is arranged on the lower side of the inclined surface, and the protrusion portion protrudes from the inclined surface through a through hole provided in the inclined surface.

Preferably, the robot system as described above, the burr includes a burr body and a thin-walled portion, the thin-walled portion has a thickness smaller than that of the burr body and is provided along the edge of the molded body body, and the dividing mechanism includes at least one protrusion mechanism, The protruding mechanism includes a protruding portion, and the protruding portion is configured such that, in a state where the holding mechanism holds the molded body, the tip of the protruding portion abuts the thin-walled portion, and the thin-walled portion is damaged by the tip The burr body and the molded body body are divided.

Preferably, in the robot system as described above, the dividing mechanism includes a plurality of the protrusion mechanisms, and the plurality of protrusion mechanisms are arranged at intervals along the edge of the molded body body.

Preferably, in the robot system as described above, the holding mechanism includes a burr holding mechanism, and the burr holding mechanism holds the burr main body.

Preferably, the robot system as described above is provided with a first mold and a second mold that can be opened and closed, and the first mold and the second mold are configured to form a parison to form the molded body, and to form the molded body In the state where the molded body is held in the first mold after the molding, the holding mechanism holds the molded body.

Preferably, the robot system described above is easier to engage with the molded body by the first mold than the second mold.

1: The first mold

1a: cavity

1b: Compression part

1c: Undercut structure

2: 2nd mold

2a: cavity

2b: Compression part

3: parison

4: Molded body

4a: Molded body

4a1: Opposite surface

4a2: edge

4a3: Keep the face

4b: glitch

4b1: Burr body

4b2: Thin wall

4b21: area

4b22: area

4b23: Wreckage

4c: engagement part

5: Die head

6: Robot hand

6a: Keep the organization

6a1: body holding mechanism

6a2: Burr retention mechanism

6a21: Clamping part

6a22: Actuator

6b: Division mechanism

6b1: Outstanding institutions

6b11: protrusion

6b12: Actuator

6c: Pedestal

6d: base

6e: actuator

7: Robot arm

8: Burr removal mechanism

8a: abutment body

8b: opening

9a: Outstanding institutions

9a1: protrusion

9a2: Actuator

9b: Pedestal

10: Burr clamping mechanism

11: Robot system

12: Abutment parts

13: Tilting parts

13a: Inclined surface

13b: Through hole

14: Conveyor

Fig. 1 is a longitudinal sectional view showing a state in which a parison 3 is arranged between opened molds 1 and 2 in the first embodiment of the present invention.

FIG. 2 shows the state after closing the molds 1 and 2 from the state in FIG. 1 to form the parison 3.

In FIG. 3, FIG. 3A is an enlarged view of area A in FIG. 1, and FIG. 3B is an enlarged view of area A in FIG. 2.

Fig. 4 shows the state after molds 1 and 2 are opened from the state of Fig. 2.

FIG. 5 shows a state after the molded body 4 is held by the holding mechanism 6a of the robot hand 6 from the state in FIG. 4.

Fig. 6 shows a state after the molded body 4 is taken out from the mold 1 and 2 from the state of Fig. 5.

Fig. 7 is a view showing in detail the shape and arrangement of the main body holding mechanism 6a1, the protrusion mechanism 6b1, and the molded body 4 in a section corresponding to the A-A section of Fig. 6.

Fig. 8 shows the state from Fig. 6 where the tip of the protrusion 6b11 touches the thin portion 4b2 to damage the thin portion 4b2.

9 is a diagram showing a state after the thin-walled portion 4b2 is damaged in the partial region 4b21 of the thin-walled portion 4b2, and corresponds to FIG. 7.

Fig. 10 shows a state before the molded body 4a and the burr main body 4b1 are divided using the burr removing mechanism 8 from the state of Fig. 8.

FIG. 11 shows a state after the molded body 4a and the burr body 4b1 are divided by the burr removing mechanism 8 from the state of FIG. 10.

Fig. 12 is a diagram corresponding to Fig. 6 in the second embodiment of the present invention.

Fig. 13 is a diagram corresponding to Fig. 4 in the third embodiment of the present invention.

Fig. 14 is a diagram corresponding to Fig. 5 in the third embodiment of the present invention.

Fig. 15 is a diagram corresponding to Fig. 6 in the third embodiment of the present invention.

Fig. 16 is a diagram corresponding to Fig. 8 in the third embodiment of the present invention.

Fig. 17 is a diagram corresponding to Fig. 2 in the fourth embodiment of the present invention.

Fig. 18 is a diagram corresponding to Fig. 4 in the fourth embodiment of the present invention.

Fig. 19 is a diagram corresponding to Fig. 6 in the fifth embodiment of the present invention.

Fig. 20 is a diagram corresponding to Fig. 8 in the fifth embodiment of the present invention.

Fig. 21 is a diagram corresponding to Fig. 6 in the sixth embodiment of the present invention.

FIG. 22 is a diagram showing a state before the thin portion 4b2 is damaged in the sixth embodiment of the present invention.

FIG. 23 is a diagram corresponding to FIG. 8 in the sixth embodiment of the present invention.

Fig. 24 is a diagram corresponding to Fig. 8 in the seventh embodiment of the present invention.

FIG. 25 is a diagram showing a state in which the molded body 4 is arranged between the burr removing mechanism 8 and the inclined member 13 in the eighth embodiment of the present invention.

Fig. 26 shows a state in which the opening 8b is reduced from the state of Fig. 25 and the protrusion 9a1 is brought into contact with the facing surface 4a1.

Fig. 27 shows a state in which the abutting body 8a and the burr 4b are made to collide with the burr 4b from the state shown in Fig. 26 to separate the burr 4b from the molded body 4a.

Hereinafter, embodiments of the present invention will be described. Various characteristic items shown in the embodiments shown below can be combined with each other. In addition, each characteristic item independently makes the invention established.

1. The first embodiment

The method of manufacturing a molded article according to the first embodiment of the present invention will be explained using FIGS. 1 to 11. It should be noted that, compared to the shapes and arrangements of the body holding mechanism 6a1, the protruding mechanism 6b1, and the molded body 4 shown in detail in FIGS. 7 and 9, the other figures schematically show the shapes of these structures for convenience of illustration. And configuration. Therefore, the shape and arrangement of the above-mentioned structure in FIGS. 7 and 9 are not completely consistent with other drawings.

The manufacturing method of the molded article of this embodiment includes a molding step, a holding step, and a dividing step. After the dividing step, it is preferable to perform a whole-week dividing step.

This manufacturing method can be implemented using the robot system 11 shown in FIGS. 4 and 10. The robot system 11 includes a robot arm 7, a robot hand 6, a holding mechanism 6a, and a dividing mechanism 6b. The holding mechanism 6a is provided in the robot hand 6. The dividing mechanism 6b includes a protrusion mechanism 6b1 and a burr removing mechanism 8. The protrusion mechanism 6b1 is provided in the robot hand 6, and the burr removal mechanism 8 is separated from the robot hand 6.

1-1. Molding steps

As shown in FIGS. 1 to 4, the first mold and the second mold 1 and 2 that can be opened and closed are used in the molding step to mold the parison 3 to form the molded body 4.

First, as shown in FIG. 1, a molten resin is extruded from a die gap provided in the die head 5 to form a parison 3, and it is arranged between the first die and the second die 1 and 2. The molten resin can be formed by melting and kneading the raw material resin. The raw material resin is, for example, a thermoplastic resin such as polyolefin, and examples of the polyolefin include low density polyethylene, linear low density polyethylene, high density polyethylene, polypropylene, ethylene-propylene copolymer, and mixtures thereof. The molten resin may or may not be added with a foaming agent. When a foaming agent is added to the molten resin, the parison 3 is a foamed parison. The parison 3 may be cylindrical or sheet-shaped.

The molds 1 and 2 each have cavities 1a, 2a and pressing parts 1b, 2b provided along the edges thereof. As shown in FIG. 3A, the mold 1 is provided with an undercut structure portion 1c. The undercut structure is a structure that forms an engagement structure between the molded body and the mold, and is, for example, an inverted cone shape. The undercut structure portion 1c can be provided in the cavity 1a or on the outside of the pressing portion 1b. The undercut structure portion 1c is preferably provided in the portion of the molded body 4a that is removed after molding (for example, if the molded product is a pipe, it is a bag portion provided in the opening) or Burr body 4b1. At this time, it is because the molded product as the final product does not leave the engaging portion 4c molded by the undercut structure portion 1c (see FIG. 6).

As shown in FIG. 2, the molds 1 and 2 are closed in a state where the parison 3 is arranged between the molds 1 and 2, and the parison 3 in the cavities 1a and 2a is molded in this state to obtain a molded body 4. Examples of the molding method of the parison 3 include blow molding, vacuum molding, and the like.

As shown in FIG. 6, the molded body 4 is equipped with the molded body main body 4a as a product (molded product), and the burr 4b provided in the periphery. The shape of the molded body 4a follows the inner shape of the cavity 1a, 2a. The molded body 4a is preferably a hollow body. The interior of the hollow body can be air (such as a pipe), and the interior of the hollow body can also be filled with fillers such as foam (such as sandwich panel). The burr 4b includes a burr body 4b1 and a thin portion 4b2. The thickness of the thin-walled portion 4b2 is smaller than that of the burr body 4b1. The thin-walled portion 4b2 is provided along the edge of the molded body 4a.

The thin portion 4b2 is a portion formed by compressing the parison 3 with the pressing portions 1b and 2b to make the wall thickness extremely thin. The part of the parison 3 that is outside the pressing parts 1b and 2b is the burr body 4b1.

The higher the pressure when the molds 1 and 2 are closed, the smaller the thickness of the thin portion 4b2, and the thin portion 4b2 is damaged by the dividing mechanism described later, and the burr body 4b1 and the molded body 4a are easily divided. The thickness of the thin portion 4b2 is, for example, 0.001 to 0.5 mm, specifically, for example, 0.001, 0.01, 0.05, 0.1, 0.2, 0.3, 0.4, 0.5 mm may also be in the range between any two numerical values exemplified here.

After the parison 3 is formed, as shown in FIG. 4, the molded body 4 can be taken out by opening the mold 1,2. Since the undercut structure 1c is provided in the cavity 1a, the molded body 4a and the mold 1 are in an engaged state as shown in FIG. 3B, and the molded body 4 is not easily separated from the mold 1. On the contrary, since there is no undercut structure in the mold 2, the molded body 4 can be separated from the mold 2 smoothly. Therefore, the mold 1 is easier to engage with the molded body 4 than the mold 2. When the molds 1 and 2 are opened after molding, the molded body 4 moves together with the mold 1 in a state of being engaged with the mold 1 as shown in FIG.

1-2. Robot hand 6

The holding step and the dividing step are performed using the robot hand 6 shown in FIG. 4. The robot hand 6 is attached to the robot arm 7 when in use. The robot arm 7 has a function of moving the robot hand 6. The robot arm 7 only needs to have the number of axes required to implement the various steps included in the method of this embodiment, and preferably has 6 or more axes.

The robot hand 6 includes a holding mechanism 6a and a protrusion mechanism 6b1 on a base 6c. The holding mechanism 6a is configured to hold the molded body 4. The protruding mechanism 6b1 is configured to damage at least one part of the thin-walled portion 4b2 in a state where the holding mechanism 6a holds the molded body 4, thereby dividing the burr body 4b1 and the molded body body 4a.

The holding mechanism 6a includes a body holding mechanism 6a1 that holds the molded body 4a. The main body holding mechanism 6a1 of the present embodiment is an adsorption sheet having a function of holding (adsorbing) the molded body 4a by an adsorption force, but it may be a member that holds the molded body 4a by another configuration.

The protrusion mechanism 6b1 includes a protrusion 6b11 and an actuator 6b12 that drives the protrusion 6b11. The actuator 6b12 is configured to change the position of the tip of the protrusion 6b11. The protruding portion 6b11 causes the tip of the protruding portion 6b11 to touch the thin-walled portion 4b2 along with the driving of the actuator 6b12, so that the thin-walled portion 4b2 is damaged and the burr main body 4b1 and the molded body main body 4a are divided. The thin-walled portion 4b2 may be damaged by making the tip of the protrusion 6b11 strongly collide with the thin-walled portion 4b2, or may be damaged by pressing the tip of the protrusion 6b11 against the thin-walled portion 4b2 forcibly. In addition, when the tip of the protrusion 6b11 is sharp, the thin portion 4b2 can be damaged by tearing the thin portion 4b2 with the tip of the protrusion 6b11.

The protrusion mechanism 6b1 is constituted by, for example, a cylinder mechanism. The cross-sectional shape of the tip of the protrusion 6b11 is not particularly limited, and may be circular or other shapes. The front end of the protrusion 6b11 may be flat, curved, or sharp.

As shown in FIG. 7, the molded body 4 of this embodiment is comprised so that the burr 4b may be provided around the molded body main body 4a of a substantially L shape. The main body holding mechanism 6a1 is provided at multiple locations (2 locations), and the protruding mechanism 6b1 is also provided at multiple locations (5 locations). The plurality of protruding mechanisms 6b1 are arranged spaced apart along the edge of the molded body 4a. Specifically, the two protruding mechanisms 6b1 are arranged near the end of one side of the L-shape, the two protruding mechanisms 6b1 are arranged near the end of the other side of the L-shape, and one protruding mechanism 6b1 is left. Place it on the inside of the L-shaped corner. Either one is provided at the position where the tip of the protrusion 6b11 touches the thin portion 4b2.

1-3. Keep steps

In the holding step, the holding mechanism 6a holds the molded body 4. Specifically, as shown in FIG. 4, the robot hand 6 is moved between the molds 1 and 2 in the open state, and as shown in FIG. 5, the body holding mechanism 6a1 is brought into contact with the molded body 4a to suck and hold the molded body 4a.

Next, in a state where the holding mechanism 6a holds the molded body 4, as shown in FIG. 6, the robot hand 6 is moved to take out the molded body 4 from the mold 1,2. At this time, the engaging portion 4c formed by the undercut structure portion 1c is elastically deformed, thereby disengaging it from the undercut structure portion 1c. Since the burr main body 4b1 is connected to the die head 5 in the state of FIG. 5, the burr main body 4b1 is removed from the die head 5 or the burr main body 4b1 is cut using a cutting mechanism not shown to make it into the state shown in FIG.

1-4. Segmentation steps

From the state of FIG. 6, the actuator 6b12 is driven to make the tip of the protruding portion 6b11 touch the thin-walled portion 4b2. As shown in FIG. 8, the thin-walled portion 4b2 is damaged in at least one place of the thin-walled portion 4b2. Molded body 4a. As shown in FIG. 9, since the protrusion mechanism 6b1 of this embodiment is provided in 5 places, the protrusion part 6b11 of 5 places touches the area|region 4b21 near the part of the thin part 4b2, and the thin part 4b2 is damaged.

As shown in Fig. 9, in the state after the dividing step, the molded body 4a of the partial region 4b22 of the thin portion 4b2 is connected to the burr body 4b1.

Here, after the dividing step, the entire circumference dividing step is performed to divide the molded body 4a and the burr body 4b1 on the entire circumference of the molded body 4a.

1-5. Whole week segmentation steps

As shown in FIG. 10, the whole-circle division step uses the burr removal mechanism 8 to divide the molded body 4a and the burr body 4b1 on the entire circumference of the molded body 4a.

The burr removing mechanism 8 is preferably provided with a pair of abutting bodies 8a as shown in FIG. 10. An opening (gap) 8b is provided between the pair of abutting bodies 8a. The pair of contact bodies 8a are configured to change the size of the opening 8b.

This step can be implemented by the following methods. First, as shown in Fig. 10, the opening 8b is enlarged with the molded body 4 on the right side of the burr removal mechanism 8 so that the entire molded body 4 can pass through the opening 8b, and the molded body 4 is moved so that the entire molded body 4 passes through the opening 8b, showing a molded body 4 is located on the left side of the burr removing mechanism 8. After that, the reduced opening 8b assumes a state in which the molded body 4a can pass but the burr body 4b1 cannot pass as shown in FIG. 10.

Next, the molded body 4 is relatively moved with respect to the burr removing mechanism 8, so that the burr body 4b1 abuts against the abutting body 8a and the molded body body 4a passes through the opening 8b. In FIG. 10, the molded body 4 is moved to the right with respect to the burr removing mechanism 8. From the above, the molded body 4a is thin The wall portion 4b2 is damaged, and only the molded body 4a passes through the opening 8b. As shown in FIG. 11, the molded body 4a and the burr body 4b1 are divided over the entire circumference of the molded body 4a. In the dividing step, since the partial area 4b21 of the thin-walled portion 4b2 has been damaged, the damaged portion becomes the starting point, and the residual area 4b22 of the thin-walled portion 4b2 is easily damaged.

It should be noted that in this step, only the molded body 4 may be moved, or only the burr removing mechanism 8 may be moved, or both may be moved.

1-6. Next steps

The molded body 4a separated from the burr body 4b1 in the whole-circle dividing step is connected with the debris 4b23 of the damaged thin-walled portion 4b2 as shown in FIG. 11. By appropriately removing the debris 4b23 using a cutter or the like, or removing parts that are unnecessary as a molded product (for example, a bag formed in an opening in the case of a pipe), a molded product can be obtained.

2. The second embodiment

The second embodiment of the present invention will be described using FIG. 12. This embodiment is similar to the first embodiment, and the main difference is the difference in the segmentation step. Next, the differences are mainly explained.

In the first embodiment, the tip of the protruding portion 6b11 touches the thin-walled portion 4b2 from the state of FIG. 6, but in this method, due to the impact when the protruding portion 6b11 is touched, the molded body 4a may be separated from the holding mechanism 6a.

Here, in the dividing step of the present embodiment, the body is burred in a state where the facing surface 4a1 facing the holding surface 4a3 of the holding mechanism 6a holding the molded body 4 is in contact with the contact member 12 separated from the robot hand 6. 4b1 and the division of the molded body 4a. That is, in this state, the projecting portion 6b11 is brought into contact with the thin-walled portion 4b2.

According to this method, it is possible to suppress the separation of the molded body 4a from the holding mechanism 6a due to the impact when the protrusion 6b11 is touched.

3. The third embodiment

The third embodiment of the present invention will be described using FIGS. 13 to 16. This embodiment is similar to the first embodiment, and the main difference is the configuration of the robot hand 6. Next, the differences are mainly explained.

The holding mechanism 6a of this embodiment includes a burr holding mechanism 6a2 that holds the burr main body 4b1. As an example, the burr holding mechanism 6a2 includes a clamping portion 6a21 that holds the burr body 4b1, and an actuator 6a22 that drives the clamping portion 6a21. The actuator 6a22 is configured to displace the clamping portion 6a21 or open and close the clamping portion 6a21 when the clamping portion 6a21 clamps the burr body 4b1. One burr holding mechanism 6a2 is provided at the upper position of the molded body 4a and the lower position of the molded body 4a.

The robot hand 6 has a base 6d. The base 6c and the base 6d are connected by an actuator 6e, and the distance between the two can be changed. The burr holding mechanism 6a2 is provided on the base 6d. The robot arm 7 is connected to the base 6d.

In the holding step of the present embodiment, as shown in FIG. 13, the robot hand 6 is moved between the molds 1 and 2 in the open state, and as shown in FIG. 14, the burr body 4b1 is clamped by the burr holding mechanism 6a2 to hold the molded body 4. The molded body 4 can be taken out from the molds 1 and 2 in this state, and the body holding mechanism 6a1 may be further abutted against the molded body 4a to suck and hold the molded body 4a. Before the burr body 4b1 is clamped by the burr holding mechanism 6a2, the molded body body 4a can be held by the body holding mechanism 6a1.

Next, in a state where the holding mechanism 6a holds the molded body 4, the molded body 4 is taken out from the molds 1 and 2 by moving the robot hand 6 as shown in FIG. 15. It should be noted that before taking out the molded body 4 from the mold, the molded body body 4a can be held by the body holding mechanism 6a1, and after the molded body 4 is taken out from the mold, the burr body 4b1 can be clamped by the burr holding mechanism 6a2.

Next, in the dividing step, as in the first embodiment, as shown in FIG. 16, the actuator 6b12 is driven so that the tip of the protruding portion 6b11 touches the thin portion 4b2. From the above, as shown in FIG. 16, the thin-walled portion 4b2 can be damaged at least at one point.

In this embodiment, since the tip of the protrusion 6b11 touches the thin portion 4b2 while the burr body 4b1 is held by the burr holding mechanism 6a2, the force applied by the protrusion 6b11 tends to concentrate on the thin portion 4b2. Part 4b2 is easily damaged. In addition, when the tip of the protrusion 6b11 touches the thin portion 4b2, it is preferable to move the clamping portion 6a21 in the direction opposite to the protrusion 6b11. As described above, since a strong force is applied to the thin-walled portion 4b2, the thin-walled portion 4b2 is easily damaged.

4. Fourth Embodiment

The fourth embodiment of the present invention will be described with reference to FIGS. 17 to 18. This embodiment is similar to the first embodiment, and the main difference is the structure of the mold 1 and the provision of a burr clamping mechanism 10. Next, the differences are mainly explained.

The burr clamping mechanism 10 is provided on the upper side and the lower side of the mold 1, 2 of this embodiment, and the burr clamping mechanism 10 has a function of clamping the burr body 4b1. The burr clamping mechanism 10 may be installed on the robot hand 6 or may be a mechanism separate from the robot hand 6. The burr clamping mechanism 10 may also be provided on one of the upper and lower sides of the mold 1,2.

In this embodiment, as shown in FIG. 17, the burr main body 4b1 is clamped by the burr clamping mechanism 10 with the mold 1 and 2 closed. As shown in Fig. 18, when the molds 1 and 2 are opened, the burr clamping mechanism 10 is moved together with the mold 1. According to this configuration, the molded body 4 can be moved together with the mold 1 without providing the undercut structure portion 1c in the mold 1.

It should be noted that instead of moving the burr clamping mechanism 10 together with the mold 1, the molded body 4 may be positioned between the molds 1 and 2, and the molded body 4 in this state may be held by the holding mechanism 6a. When holding by the holding mechanism 6a, the molded body 4 can be pressed against the mold 1. Furthermore, the burr clamping mechanism 10 may hold the molded body 4 and take it out from the mold 1,2. At this time, the holding mechanism 6a holds the molded body 4 after being taken out from the mold 1,2.

5. The fifth embodiment

The fifth embodiment of the present invention will be described with reference to FIGS. 19 to 20. This embodiment is similar to the first embodiment, and the main difference is the configuration of the dividing mechanism 6b. Next, the differences are mainly explained.

In this embodiment, as shown in FIG. 19, the dividing mechanism 6 b includes at least one protrusion mechanism 9 a provided on a base 9 b separated from the robot hand 6. The protruding mechanism 9a includes a protruding portion 9a1 and an actuator 9a2 that drives the protruding portion 9a1, and can damage the thin-walled portion 4b2 by the same function as the protruding mechanism 6b1. For example, the protrusion mechanism 9a and the protrusion mechanism 6b1 are configured as shown in FIG.

The holding procedure of this embodiment is the same as that of the first embodiment. As shown in FIG. 5, in a state where the holding mechanism 6a holds the molded body 4, the robot hand 6 is moved to take out the molded body 4 from the molds 1 and 2. Then, as shown in FIG. 19, the molded body 4 is moved to the position where the front end of the protrusion part 9a1 opposes the thin part 4b2.

In the dividing step of this embodiment, as shown in FIG. 20, the actuator 9a2 is driven so that the front end of the protruding portion 9a1 and the thin portion 4b2 touch. From the above, as shown in FIG. 20, the thin-walled part 4b2 can be damaged at least at one place of the thin-walled part 4b2.

6. Sixth Embodiment

The sixth embodiment of the present invention will be described with reference to FIGS. 21 to 23. The protruding mechanism 9a of this embodiment is similar to the fifth embodiment, and the burr removing mechanism 8 is similar to the first embodiment. Next, the differences are mainly explained.

In the first embodiment, the entire circumference of the divided body 4a is separated from the burr body 4b1 by damaging a part of the thin-walled portion 4b2 in the dividing step. However, this embodiment can separate the molded body 4a in one step. Separate from the burr body 4b1.

In this embodiment, as shown in FIG. 21, the dividing mechanism 6b includes a protrusion mechanism 9a and a burr removing mechanism 8.

This step can be implemented by the following methods. First, by the same method as the first embodiment, the molded body 4 and the burr removing mechanism 8 are arranged as shown in FIG. 21.

Next, if the protrusion 9a1 and the abutting body 8a are moved relative to each other from the state shown in FIG. 21 toward the protrusion 9a1 toward the inside of the opening 8b, it appears that the tip of the protrusion 9a1 abuts the thin wall as shown in FIG. 22 Part 4b2, and the contact body 8a abuts against the burr main body 4b1.

If the protruding portion 9a1 and the abutting body 8a are further moved relative to each other from the state of FIG. 22, the thin-walled portion 4b2 is damaged around the entire circumference of the molded body 4a as shown in FIG. 23, and the molded body 4a and the burr body 4b1 are separated. In an example, the thin-walled portion 4b2 is first damaged at the tip of the protrusion 9a1, the damaged part becomes the starting point, and then other parts are damaged.

The relative movement of the protruding portion 9a1 and the abutting body 8a may move only the abutting body 8a, or only the protruding portion 9a1, or both. In addition, as a method of moving the protrusion 9a1, the entire protrusion mechanism 9a may be moved, or the actuator 9a2 may be driven to move only the protrusion 9a1.

7. Seventh Embodiment

The seventh embodiment of the present invention will be described using FIG. 24. This embodiment is similar to the sixth embodiment, and the main difference is the position of the protrusion mechanism 9a. Next, the differences are mainly explained.

In this embodiment, as shown in FIG. 24, the front end of the protrusion mechanism 9a is in contact with the edge 4a2 of the molded body 4a, or is arranged at a very close position. At this time, when the molded body 4a and the burr body 4b1 are separated, most or all of the thin-walled portion 4b2 is connected to the burr body 4b1, and the thin-walled portion 4b2 hardly or not remains in the molded body 4a. At this time, the subsequent step of removing the remains of the thin-walled portion 4b2 from the molded body 4a can be omitted.

8. Eighth Embodiment

The eighth embodiment of the present invention will be explained using FIGS. 25 to 27. This embodiment is similar to the seventh embodiment, and the main difference is the configuration of the dividing mechanism 6b. Next, the differences are mainly explained.

In the robot system 11 of this embodiment, the dividing mechanism 6b includes a protrusion mechanism 9a and a burr removing mechanism 8. An inclined member 13 having an inclined surface 13a is arranged on the lower side of the burr removing mechanism 8. The inclined surface 13a is provided with a through hole 13b. The protrusion mechanism 9a is arranged on the lower side of the inclined surface 13a. The protrusion 9a1 can protrude from the inclined surface 13a through the through hole 13b. Preferably, a plurality of protrusion mechanisms 9a are provided, and the plurality of protrusion mechanisms 9a are arranged at positions separated from each other.

The division step of this embodiment can be implemented by the following method.

First, as shown in FIGS. 4 to 6 and 25, the holding mechanism 6a holds the molded body 4 by the same method as in the first embodiment. Specifically, the body holding mechanism 6a1 holds the molded body 4a on the holding surface 4a3.

Next, as shown in FIG. 25, in a state where the opening 8b between the pair of abutting bodies 8a is sufficiently large, the molded body 4 is moved so that the molded body 4 passes through the opening 8b, and the burr 4b is arranged below the abutting body. The location of 8a.

Next, as shown in FIG. 26, the protrusion 9a1 is extended so that the tip of the protrusion 9a1 abuts on the facing surface 4a1 facing the holding surface 4a3. As described above, when the burr 4b collides with the contact body 8a1, the molded body body 4a can be prevented from being separated from the body holding mechanism 6a1. In addition, the size of the opening 8b is set so that the molded body 4a can pass through and the burr 4b collides with the abutting body 8a.

In this state, as shown in FIG. 27, the abutting body 8a is moved from the holding surface 4a3 toward the opposing surface 4a1 (the arrow X direction in FIG. 26). As described above, the burr 4b collides with the abutting body 8a1 to separate the burr 4b from the molded body 4a. The divided burr falls on the inclined surface 13a and is slid along the inclined surface 13a to be transported to the conveyor 14 arranged on the downstream side of the inclined surface 13a. The burr 4b placed on the conveyor 14 is transported to a burr crusher (not shown), is crushed by the burr crusher, and is recycled. It should be noted that although there are cases where the burr 4b is caught in the protruding portion 9a1 (when the burr 4b is located on the entire circumference of the molded body 4a, it will definitely be caught in the protruding portion 9a1), but in this case, make the protruding portion 9a1 after the dividing step. When retreating so as not to protrude from the inclined surface 13a, the burr 4b slips off the inclined surface 13a.

After removing the burrs 4b, the molded body 4a is still held by the body holding mechanism 6a1. In this state, the robot arm 7 moves the molded body 4a to the place where the next step is performed. For example, when the molded product is a pipe, the next step is the cutting step of the bag, and therefore the molded body 4a is moved to a place where the cutting mechanism of the bag is provided.

After the burr 4b is divided, the protrusion mechanism 9a and the burr removing mechanism 8 return to the state shown in FIG. 25, and the processing of the next molded body 4 is performed.

It should be noted that in the above-mentioned embodiment, the burr 4b collides with the abutting body 8a1 by moving the abutting body 8a downward from the state of FIG. 26, but it is also possible to move the molded body 4 upward from the state of FIG. The burr 4b is made to collide with the contact body 8a1, and the contact body 8a and the molded body 4 can be moved closer to each other.

In addition, in the above embodiment, as shown in FIG. 26, the abutting body 8a can be moved downward from a state where the burr 4b is located on the lower side of the abutting body 8a1, but it may be abutted from a state where the burr 4b is located on the upper side of the abutting body 8a1. The connecting body 8a1 is moved upward, and the molded body 4 can also be moved downward. At this time, the size of the opening 8b can be invariable, and a pair of abutting bodies 8a can be replaced by one abutting body 8a. The abutting body 8a has a function that allows the molded body 4a to pass through and the burr 4b collides with the abutting body 8a. The size of the opening. In addition, since it is not easy to apply force in the direction in which the molded body 4a is separated from the body holding mechanism 6a1 at this time, the protrusion mechanism 9a can be omitted.

9. Other implementations

The present invention can also be implemented in the following manner.

. It can be omitted when the actuator of the protruding mechanism 6b1, 9a is not required.

1: The first mold

1a: cavity

1b: Compression part

2: 2nd mold

2a: cavity

2b: Compression part

3: parison

5: Die head

Claims (12)

A robot system is provided with a robot arm, a robot hand, a holding mechanism, and a dividing mechanism, wherein, The robot hand is installed on the robot arm, The holding mechanism is provided on the robot hand and configured to hold a molded body, The molded body includes a molded body body and burrs provided around the molded body body, The dividing mechanism is configured to divide the burr and the molded body body in a state where the holding mechanism holds the molded body. The robot system according to claim 1, wherein: The holding mechanism includes a body holding mechanism that holds the molded body body. The robot system according to claim 2, wherein: The dividing mechanism has a burr removing mechanism, and the burr removing mechanism has an abutting body, The body holding mechanism is configured to divide the burr and the molded body by causing the burr to collide with the contact body while holding the molded body. The robot system according to claim 3, wherein: The burr removing mechanism includes a pair of the contact bodies, The size of the opening between the pair of abutting bodies is variable, In a state where the size of the opening is set such that the molded body can pass through the opening and the burr collides with the abutting body, the burr is collided with the abutting body. The robot system according to claim 3 or 4, wherein: The dividing mechanism is provided with at least one protruding mechanism, The protrusion mechanism is provided with a protrusion, The robot system is configured to move the abutting body from the abutting surface in a state in which the protruding portion is in abutment with the opposing surface facing the holding surface of the molded body held by the body holding mechanism The holding surface moves in the direction of the facing surface, thereby dividing the burr and the molded body body. The robot system according to claim 5, wherein: The robot system further includes a tilting member provided with an inclined surface, The inclined surface is arranged on the lower side of the burr removing mechanism, The burr divided by the burr removing mechanism is transported by sliding along the inclined surface. The robot system according to claim 6, wherein: The protruding mechanism is arranged on the lower side of the inclined surface, The protruding portion protrudes from the inclined surface through a through hole provided in the inclined surface. The robot system according to claim 1, wherein: The burr includes a burr body and a thin-walled portion, The wall thickness of the thin-walled portion is smaller than that of the burr body, and is arranged along the edge of the molded body body, The dividing mechanism is provided with at least one protruding mechanism, The protrusion mechanism is provided with a protrusion, The protruding portion is configured to make the tip of the protruding portion abut the thin-walled portion while the molded body is held by the holding mechanism, and damage the thin-walled portion with the tip, Thus, the burr body and the molded body body are divided. The robot system according to claim 8, wherein: The dividing mechanism includes a plurality of the protrusion mechanisms, The plurality of protruding mechanisms are arranged at intervals along the edge of the molded body. The robot system according to any one of claims 1 to 4, wherein: The holding mechanism includes a burr holding mechanism, and the burr holding mechanism holds the burr body. The robot system according to any one of claims 1 to 4, wherein: The robot system includes a first mold and a second mold that can be opened and closed, The first mold and the second mold are configured to be capable of forming a parison to form the molded body, and after the molded body is formed, the molded body is held in the first mold, so The holding mechanism holds the molded body. The robot system according to claim 11, wherein: The first mold is easier to engage with the molded body than the second mold.

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