WO2024068603A1 - Procédé et appareil pour séparer des pièces moulées d'un moulage déchargé d'une machine de moulage par injection - Google Patents

Procédé et appareil pour séparer des pièces moulées d'un moulage déchargé d'une machine de moulage par injection Download PDF

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Publication number
WO2024068603A1
WO2024068603A1 PCT/EP2023/076506 EP2023076506W WO2024068603A1 WO 2024068603 A1 WO2024068603 A1 WO 2024068603A1 EP 2023076506 W EP2023076506 W EP 2023076506W WO 2024068603 A1 WO2024068603 A1 WO 2024068603A1
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WO
WIPO (PCT)
Prior art keywords
molded parts
robot
sprue
injection
components
Prior art date
Application number
PCT/EP2023/076506
Other languages
German (de)
English (en)
Inventor
Frank Blase
Dennis Berninger
Original Assignee
Igus Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Igus Gmbh filed Critical Igus Gmbh
Publication of WO2024068603A1 publication Critical patent/WO2024068603A1/fr

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Classifications

    • 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
    • B29C45/1769—Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
    • 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
    • B29C45/1769—Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
    • B29C45/1771—Means for guiding or orienting articles while dropped from the mould, e.g. guide rails or skirts
    • 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
    • B29C45/38—Cutting-off equipment for sprues or ingates
    • B29C45/382—Cutting-off equipment for sprues or ingates disposed outside the mould
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/1769—Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
    • B29C45/1771—Means for guiding or orienting articles while dropped from the mould, e.g. guide rails or skirts
    • B29C2045/1772—Means for guiding or orienting articles while dropped from the mould, e.g. guide rails or skirts sorting different 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
    • B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
    • B29C2045/7633—Take out or gripping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • 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
    • B29C2945/76464—Optical, e.g. laser cameras
    • 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
    • B29C2945/76655—Location of control
    • B29C2945/76792—Auxiliary devices
    • B29C2945/76795—Auxiliary devices robots, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76822—Phase or stage of control
    • B29C2945/76899—Removing or handling ejected articles

Definitions

  • the invention relates to a separation method for an injection molded part with at least one molded part connected to a sprue with the features of the preamble of claim 1 and a separation device with the features of the preamble of claim 10 and a system comprising an injection molding machine and a separation device.
  • injection molding especially plastic injection molding
  • several molded parts are often produced in one operation, for which the injection molding tool is provided with several similar mold cavities.
  • the several cavities are injected from at least one central sprue point, so that the liquid plastic is guided from the central sprue point through at least one feed channel in the injection molding tool to the respective cavity, where it solidifies.
  • the feed channels are located in the so-called parting plane of the injection molding tool. When the tool halves are moved apart, the parting plane opens. Not only the desired molded parts must be removed, but also the rods that lead from the sprue point to the individual cavities and connect the molded parts to one another.
  • a structure is therefore removed in which at least one molded part is usually connected to the sprue, in particular several molded parts via the rods of the sprue are connected to form a spider-shaped structure, whereby during or after the removal of the injection-molded parts the molded parts can sometimes fall off the sprue.
  • the injection-molded parts therefore comprise as components on the one hand the sprue and on the other hand at least one molded part connected to the sprue, in particular several molded parts connected to the sprue.
  • a standard function of injection molding machines is to push the molded parts out using ejector pins that are guided axially in at least one half of the tool, and to let them fall into or onto a collecting or conveying device located beneath the tool.
  • ejector pins that are guided axially in at least one half of the tool, and to let them fall into or onto a collecting or conveying device located beneath the tool.
  • the molded parts must then be specifically separated from the sprue.
  • the injection molded parts are usually first collected and then fed together to a separating device in which the molded parts are separated from the sprues.
  • the tool halves which are usually cuboid-shaped, are connected via at least one beam per corner in order to be able to exert the necessary locking force on the two metal tool halves during the injection of the pressurized, liquid plastic and thereby prevent liquid plastic from getting into the tool parting plane.
  • the robot hand must also be able to be guided by the other axes in such a way that it can enter the opening gap between the two tool halves either from the side or from above between the bars.
  • the object of the present invention is therefore to provide an improved separation process or to provide an improved separating device for a molded part with at least one molded part and with a sprue, in particular with several molded parts connected via a common sprue, in which or. in which the cycle time of the production cycle of the injection molding machine can be delayed as little as possible and efficient separation can be guaranteed.
  • the invention provides for a targeted removal of the injection molding, which consists of the central, usually star-shaped sprue and several molded parts connected via the common sprue, directly from the tool of the injection molding machine by the robot and consciously accepting an apparently chaotic arrangement of the molded parts or their components, which are simply ejected from the tool and go downwards to a transfer device.
  • the first advantage of this is that the robot is no longer tied down by the active removal of the injection molded part from the tool and therefore has no influence on the cycle time, but can be used solely for the task of separation.
  • the apparent disadvantage of a chaotic pouring arrangement with a large number of injection molded parts or their components is overcome according to the invention in that the injection molded parts or components are placed on the storage surface of an alignment device and are observed there by a camera using an image recognition system so that, depending on the location and/or position of the injection molded parts or components on the storage surface, which is determined by means of the image recognition system, the injection molded parts or components can each be individually gripped by the robot.
  • the injection molded parts or components are therefore removed from the storage surface of the alignment device by the robot in a recognized location and/or position so that the alignment device acts as a buffer and the injection molded parts or components are thus Components are removed from a reference plane from the intermediate storage.
  • the molded parts of the respective injection molded part can be separated from the respective sprue of the respective injection molded part when the injection molded parts are ejected from the injection molding tool and/or when they are placed on the storage surface of the alignment device, so that the Molded parts may already be separated and thus lie on the storage surface as isolated molded parts, or it may be that in at least some of the molded parts at least one of the molded parts is still connected to the sprue of the respective molded part that lies on the storage surface, so that in order to separate this molded part, this molded part still has to be separated from the sprue.
  • the invention relates to observing molded parts on the storage surface by means of the camera and gripping them by means of the robot, wherein after removal from the storage surface, the robot separates them and the one molded part or the several, in particular identical, molded parts are separated from the sprue of the respective molded part previously gripped by the robot and thus removed from the storage surface, in particular while the robot holds the molded part by a section of the molded part, wherein the section is preferably formed by the sprue or one of the molded parts.
  • the invention relates to observing the already separated components, i.e.
  • the two embodiments can also be combined, so that both injection moldings as a whole, i.e. sprues with at least one molded part connected to it, and already separated molded parts are observed on the storage surface and removed or grasped from it.
  • the statements contained in the present description of the invention can be read accordingly for each of the embodiments mentioned. In one embodiment, either only the parts identified as being graspable by the robot using the image recognition system are grasped.
  • molded parts are removed from the storage area by the robot, or only components identified as being graspable by the robot using the image recognition system are removed from the storage area by the robot.
  • the robot preferably grips the respective molded part or component for removal from the storage area at a specific section of the molded part or component.
  • the robot preferably keeps the molded part gripped at this section while the molded part or parts are separated from the sprue of the molded part.
  • the invention therefore provides for the injection moldings ejected from the injection molding tool to be placed on a storage surface in an alignment device, either as continuous injection moldings in which the sprue is connected to the molded parts, or in the form of components of the injection moldings that are already separate from one another.
  • the injection moldings or components output from the injection molding tool can already assume a partially predetermined position or a completely arbitrary position, i.e. the angular position of the sprue of an injection molding or the angular position of the components can then be random, as can the orientation of the central sprue rod upwards or downwards. Side positions in which the injection molding or component rests upright on the base are also possible, for example.
  • the quantity of injection moldings that were fed from the injection molding machine is guided to the alignment device and in particular temporarily stored thereon, at least partially, in particular predominantly, as coherent injection moldings and/or in the form of separate components. len.
  • the alignment device therefore also serves as an intermediate buffer in the process.
  • the alignment device can be designed, for example, as a conveyor belt, so that the storage surface and thus also the molded parts placed on it. Move components along the direction of movement of the conveyor belt.
  • the alignment device is designed in such a way that the storage surface is locally fixed, so that the storage surface itself does not move in a spatial direction. It is essential that the alignment device with its storage area provides a place where the molded parts or Components are stored over a period of time.
  • the position of the molded parts or Components on the storage surface can be completely arbitrary or at least partially predetermined by the provision of a collecting and transfer device with specifically provided guiding properties, via which the molded parts are guided from the injection molding tool to the storage surface.
  • the alignment device is designed to actively change the position of the molded parts or Components that are placed on their storage surface can be brought about, for example by the storage surface being designed as a vibrating floor and/or by a targeted air flow onto the storage surface being adjustable on the alignment device and/or by the alignment device comprising magnetic alignment elements, which are used, for example, for magnetic molded parts or .
  • Components for achieving a change in position of the molded parts placed on the storage surface or Components may be suitable.
  • the amount of injection moldings or Components that are stored on the storage surface are observed continuously or in cycles by means of at least one electronic camera, which is connected to an image recognition system or has an integrated image recognition system.
  • the image recognition system is used to determine the location and/or position of these observed moldings or Components identified.
  • the image recognition system can preferably be used to determine both the position of the respective observed molding or component of the quantity of moldings or components on the storage surface, ie the location coordinates defining its location, as well as the position of the respective molding or component, ie orientation in space.
  • the image recognition system is used to analyze which of the moldings or components stored on the storage surface can be grasped by the robot, this being done on the basis of the recognized position and/or position of the respective molding or component.
  • a molded part or component which was identified as being tangible by the robot using the image recognition system, is removed from the storage surface by means of the robot.
  • all molded parts of this molded part are then separated from the sprue, in particular stripped off.
  • the image recognition system works automatically in such a way that the image recognition system automatically identifies those molded parts or components that are stored on the storage surface and have a predefined position or position as being tangible by the robot, after which on the basis of this identification automatically carried out by the image recognition system and knowing the location and/or position of the respective molded part or component, the robot is automatically controlled to remove the respective molded part or component from the storage surface.
  • the position and location of the respective molded part or component can, for example, be transferred directly to the robot by the image recognition system or given to an electrical buffer so that the robot can then process several removal orders.
  • the robot feeds the molded parts to a device after they have been removed which the sprue of the respective molding is separated, in particular stripped, from all molded parts of the respective molding.
  • the image recognition system is designed to detect the injection moldings or parts observed on the storage surface by the camera. To divide components into correctly positioned injection moldings or Components and molded parts that are not positioned correctly or Components . The image recognition system is therefore preferably designed to detect injection moldings that are positioned in the correct position. To recognize components and the position of these injection moldings or To forward components to the robot as explained. to hand over so that the robot only recognizes the molded parts or parts that are correctly positioned. Removes components from the storage area.
  • the section of the molding can be through the sprue or one or more of the molded parts of the molding or in the case of an injection molding with only one molded part, it can be formed by the molded part. It has proven to be particularly advantageous that when the molded parts are separated from the sprue of a molded part, the sprue is held by the gripping device of the robot.
  • the sprue including the attached molded part or In one embodiment, the attached molded parts can only be deposited at the separating device by the robot, so that the separation takes place there while the robot can fetch the next molded part from the aligning device.
  • a robot is sufficient which can be positioned with its gripper, i.e. its gripping device, at the height of the storage surface of the alignment device and which can be lowered with its gripper to the respective molded part or component to be gripped, in particular to the sprue point of the molded part.
  • a robot with only one axis can be sufficient for this, for example if the molded parts or components are placed on a locally narrowly limited storage surface and/or if the storage surface moves continuously and passes the position of the robot's gripper. With such a narrowly limited storage surface, for example, the position of the molded part or component identified as being grippable by the robot can be determined by the storage surface.
  • the robot is particularly preferably movable along a plane along which the storage surface extends and additionally movable perpendicular to this plane, for which the provision of two, in particular three axes is advantageous.
  • a simple handling device can therefore be used as the robot, which can be moved, for example, with one, two or three degrees of freedom in a Cartesian coordinate system or in a cylindrical coordinate system.
  • the robot preferably has at least two axes along which the gripping device can be moved, the axes preferably being angled to one another, in particular being angled at right angles to one another.
  • the gripping device can be designed to enable secure gripping of the injection molded parts or components.
  • the gripping device can be designed like a mechanical pair of pliers and/or enable gripping via suction and/or enable gripping via electrical and/or magnetic properties that correspond to known properties of the injection molded parts to be gripped.
  • the movement of the gripping device and/or the actuation of the gripping device can, for example, be driven electrically or pneumatically.
  • electrically or pneumatically driven robots can be used.
  • the image capture by the camera and the removal by the robot can be made particularly simple. This is because the camera only needs to capture injection molded parts or components that are correctly positioned, and the robot can grip a defined geometry. This means that the separation process can be carried out particularly quickly.
  • a further advantage of the method according to the invention is that molded parts which have already been separated from the sprue on the way to the alignment device or due to movements in the alignment device can also be recognized and classified by a camera and image recognition device and can then be removed by the robot.
  • an emptying run can be provided, for example, when a predetermined number of isolated molded parts, i.e. molded parts separated from the sprue, are recognized by the camera and image recognition device.
  • Such an emptying run of the alignment device can be carried out independently of the respective number of other parts located on or in the alignment device, such as isolated sprues and/or injection moldings, i.e. sprues with at least one molded part integrally connected to it.
  • Such an emptying run of the alignment device can be carried out in particular in an operating situation in which all injection molded parts have been removed from the alignment device by the robot and a predetermined number of individual molded parts arranged in the alignment device have been recognized.
  • Such an emptying run of the alignment device can, for example, involve rotating the storage surfaces. before the alignment device, such that molded parts which are arranged on the support surface of the alignment device are moved due to the centrifugal force occurring into a radial boundary region of the alignment device which has at least one opening or at least one controllable flap via which the molded parts can leave the alignment device due to the centrifugal force.
  • a rotation axis in particular as a fourth axis, in order to better position the gripper compared to the section of the molded part to be gripped.
  • Component in particular compared to the sprue of the molded part, or the possibly. to be able to align the previously separated molded part. This applies in particular if the section to be gripped, in particular the sprue, does not have a sprue rod that can be used when the molding or the molding is in the correct position. Component protrudes vertically upwards.
  • the molded parts separated from the sprue preferably fall directly into a receiving container or are conveyed away by a conveyor device.
  • the robot holds the molded part when separating the molded part or parts from the sprue, it can be particularly advantageously provided that after the separation process the robot lets the sprue that it is still holding fall into a waste container or onto another conveyor device, preferably on its way back to the alignment device.
  • the robot picks up the molded part from the alignment device, preferably in such a way that it holds or grips the molded part at the sprue, and inserts it into a holder of a separating device, in particular in such a way that the molded part is held in the holder in the area of the sprue, the sprue and the at least one molded part then being separated in the separating device.
  • the robot can be controlled back to the alignment device during the subsequent separating process, where it can pick up another or the next molded part.
  • the separation of the molded parts from the sprue can be carried out in a conventional manner using knives, pliers, laser cutting devices, etc., regardless of whether the robot holds the sprue during the separation process or not.
  • a stripping process is preferably used. The prerequisite for this is that the connection point between the sprue and the molded part is weak and is positioned at a point on the component where the surface quality does not have to meet any special requirements, so that, for example, small sprue residues can remain.
  • the stripping process is preferably used instead of a shearing separation process carried out, for example, using the tools mentioned above.
  • stripping is preferably carried out in such a way that the molded part is fed to a brush device.
  • Rotating or oscillating brushes exert a force on the molded parts that are still connected to the sprue, which leads to shear forces on the sprue connection, so that this connection breaks off or tears off.
  • the separating device has a brush stripping device comprising at least two brush sections, which can be rotated about a different axis of rotation, in particular by less than 270 ° for stripping the molded parts.
  • the brush sections are preferred during the Stripping arranged on a different side of the molding.
  • Axes of rotation particularly preferably extend in a horizontal plane.
  • Rotating movements can also be used as separation methods, e.g. for molded parts arranged in a circle on the sprue, or linear movements for other sprue shapes such as T- or Y-shaped sprues.
  • stripping the molded parts from the sprue using brushes has the advantage that the surface of the molded parts is not damaged by the brushes.
  • the flexibility of the brushes also prevents the respective molded part from being thrown away in an uncontrolled manner at the moment the sprue connection is released, because unlike hard parts, which can also be used to break the sprue connection, the flexible brushes only exert a small impulse on the molded parts.
  • the molded parts or components remaining on the storage surface of the alignment device are preferably continuously monitored by the camera and the connected image recognition system. If new parts are identified as being tangible by the robot, in particular as parts that are positioned in the correct position, their position is fed to the robot directly or to a buffer in the manner described. Preferably, after recognizing a certain number of parts or molded parts or components that are recognized as being graspable by the robot, in particular as positioned in the correct position, the alignment device is not actuated until the robot uses its gripper or its gripping device to grab all of these parts or components. has taken hold of the injection moldings or components, i.e. the entire has moved to the recognized positions in order to grab the parts or injection moldings or components.
  • the number can be set to at least one.
  • the alignment device actuated again, for example as explained in more detail below.
  • a control device of a separating device according to the invention for carrying out the described separating method is designed to then activate the alignment device in order to achieve such a position or position, which is identified as being tangible by the robot, in particular positionally correct positioning, of parts on the storage surface , if a sufficient number, in particular no parts that can be grasped by the robot and in particular are positioned in the correct position, are not recognized by the camera.
  • the control device is designed to deactivate the alignment device as soon as a certain number, in particular at least one, of parts or molded parts or components identified by the robot as being tangible, in particular positioned in the correct position, has been recognized by the camera, after which the The control device of the robot is controlled in such a way that it grabs, in particular one after the other, all parts or molded parts or components that are recognized as being graspable, in particular positioned in the correct position, whereby of course after the respective gripping of a molded part, the above-explained separation of the molded parts from the sprue preferably takes place , whereby, as described above, the separation takes place while, for example, the molded part is held by the robot or in a holder teration of a separating device and is held in this. In both cases, i.e. H .
  • the holding can be carried out in such a way that the molded part is held in the
  • the alignment device is operated by the control device in such a way that it only works at intervals during its activation, with a pause being maintained between two intervals in which the alignment device determines the alignment and/or position of the parts or parts lying on the storage surface. injection moldings or Components not affected. During such a break the position of the parts or injection moldings or Components are detected, and when correct positioning or a location and position that can be grasped by the robot, the alignment device can be deactivated during the pause, so that it is ensured that the parts or injection moldings or Components, especially correctly positioned parts or injection moldings or Components, in their position or Remain in this position until they are grabbed by the robot. Working in intervals can be done, for example, with the impulses or Vibrations or Vibrations can be provided.
  • control device and the camera are coordinated with one another in such a way that only when the camera records a camera image that corresponds to a predefined, stored camera image that identifies a molded part positioned correctly, in particular within a defined tolerance range, does the control device trigger the robot to remove the molded part identified as being positioned correctly. positioned molded part or component from the storage area of the alignment device, whereby otherwise the control device never controls the robot to remove a molded part or component from the storage area of the alignment device.
  • the control device can be designed to assign the camera image recorded by the camera to exactly one of exactly two possible control commands, which can particularly simplify the interpretation of the camera image and the output of the control command.
  • alignment means in the alignment device are activated in order to set the molded parts or components in motion and thereby ensure that at least one further molded part or component is positioned in the correct position or is positioned in such a way that it can be grasped by the robot.
  • the base of the storage area in the alignment device can, for example, be tilted, rotated, set in vibration and/or subjected to impulse shocks, preferably in an alternating movement, in order to shake the molded parts or components.
  • a preferred form of the method according to the invention envisages using a vibrating base as the storage surface of the alignment unit, which can either be set into vibration as a whole or which is designed to be elastic in the manner of a drum head, so that an impulse is sent from the underside via actuators with plungers can be exerted against the vibrating floor, with the impulse being applied to the injection moldings placed on the vibrating floor. Components transferred.
  • a vibrating floor there is nothing that can be grasped by the robot.
  • the frequency and/or the amplitude of the vibration of the vibrating base is preferably modulated until at least one of the molded parts stored on the vibrating base or Components are turned and are in the correct position.
  • a pulse generator to act on the underside of the elastic vibrating floor in order to specifically target one or more of the injection moldings or To throw up components and achieve a change in position, so that e.g. B. a section of the molded part to be gripped or component, e.g. B. the central sprue rod of the molding is aligned upwards.
  • the position can, for example, be exactly the position of the molded part or Be part of or in connection with the position of the molded part or Component, for example, be less than 10 cm away from it and / or be mechanically coupled to it.
  • the pulse generator can be provided at a fixed location on the vibrating floor or can change its location randomly within the surface of the vibrating floor via an adjusting device in at least one dimension, whereby there is then a certain probability that with a certain number of pulses at least one molded part or component can be repositioned in such a way that it is correctly positioned on remains on the vibrating floor and can then be removed by the robot.
  • this random influence via a pulse generator it can be provided to coordinate the pulse generator on the vibrating floor with the image recognition device via a control device and thus, for example, to specifically influence an injection molding or component, for example to specifically influence one of the molded parts that is still connected to the sprue.
  • the greatest possible lever is exerted on the injection molding as a whole, so that it can be specifically knocked over and brought into a position or location that is correct or can be grasped by the robot.
  • the advantage of the separation method according to the invention can therefore be summarized as follows: in comparison to conventional direct removal from the tool by robot, the entire period of time can be saved that is required for the movement of the robot to the injection molding tool, for immersion and gripping in the open injection molding tool as well is required for moving out of the tool back to an alignment device positioned outside the injection molding machine.
  • a simple robot in particular a gantry robot, preferably at least 2-axis robot, preferably at least 3-axis robot, preferably at least 4-axis robot, is required.
  • the vibrating floor can then be controlled to carry out a vibration with at least one or more optimized parameters such as amplitude, frequency and/or vibration duration.
  • the teaching can also be carried out several times, whereby a different number of injection molded parts or components is fed to the vibrating floor so that the behavior for a small or large number of injection molded parts or components distributed over the surface of the vibrating floor can be recorded and optimized values for control parameters such as amplitude, frequency and/or vibration duration can be determined depending on the number of injection molded parts or components arranged in the alignment device.
  • a teaching method which is preferably carried out prior to the separation method according to the invention, provides, if necessary, for varying the stroke and the speed of a ram of a pulse generator acting on a soft vibrating floor and for determining, by means of the ongoing image recognition method, which parameters are the quickest way to turn over one or more of the molded parts or components.
  • the sub-procedure in the separation method according to the invention by means of which the vibration and/or pulse generators on the vibrating floor are linked to the image recognition system, is monitored via a Kl device in order to recognize the best parameters for turning the molded parts or components placed on the vibrating floor into a correct position, not only in a possible upstream learning process, but also during the ongoing separation operation, and/or to optimize the existing parameters or at least one of these parameters.
  • the image recognition system not only to record the number and position of the molded parts or components placed on the storage area, but also to detect geometric defects such as incompletely formed molded parts, and to remove these by robots. to be collected and placed in a container provided for waste.
  • the collection and transfer device which is preferably provided with a slide, can contain a selection device such as a selection flap, with which those molded parts, including the sprue, are directly sorted out in which certain parameters of the injection molding machine required for quality assurance have not been adhered to. These items rated as bad go directly into a waste container, while all other molded parts, completely connected and/or with molded parts already partially separated, continue to slide onto the alignment device.
  • This selection device can be controlled in particular depending on the relevant, quality-related control signals emitted by the injection molding machine.
  • a control line can be provided for transmitting corresponding control signals from the injection molding machine either directly to an actuating device of the selection flap or to a control device of the separating device, in which case, in the latter case, the control device of the separating device controls the selection device depending on the control signals received from the injection molding machine.
  • the stripping of the molded parts from the sprue is also possible by pushing the molded part held by the robot through a template which is designed in such a way that the molded parts are held back while the sprue is pressed through the cutout in the template.
  • the advantageous circumstance is utilized in an embodiment of the method according to the invention in which the robot picks up the molded part in a known position and holds it on the sprue.
  • molded parts that have already fallen off the sprue in the alignment device are brought directly by the robot to the collecting container or a conveyor device for molded parts.
  • the discharge path can, for example, be formed by at least one opening in the storage area, which is dimensioned such that only a single molded part, but not the sprue with at least one molded part still attached to it, and also not the sprue alone, can fall through the opening.
  • a single molded part that has already been separated from the sprue is kept in motion as a result of the vibrations and impulses of the vibrating floor and accidentally gets into the opening, through which it falls, for example, directly into the collecting container.
  • Floor openings are particularly suitable for inherently rigid vibrating floors.
  • an ejection path can be designed in the peripheral border.
  • the ejection path can, for example, be designed as an opening in the border through which a molded part, but not the sprue, can exit from the side.
  • a round vibration base with a cylindrical border and at least one discharge path in the form of a tangential discharge channel.
  • the discharge channel has such a width and/or height that only loose molded parts can exit there.
  • the invention further relates to a separating device for carrying out a separating process for molded parts, each of which has as components a sprue and a molded part connected to the sprue or several molded parts connected via the common sprue.
  • the separating device is preferably suitable for carrying out a separating method according to the invention, for example one or more of the embodiments of the separating method according to the invention explained above.
  • the separating device comprises a robot with a gripping device for picking up the molding, in particular for picking up the molding at its sprue, or for holding at least one component of the molded part, in particular for holding only the sprue or for holding only one molded part of the molded part.
  • the separating device further comprises a separating device for releasing the molded parts from the sprue.
  • the separating device comprises a collecting container for receiving the separated molded parts, i.e. H . the molded parts separated from the sprues of the molded parts, and/or a collecting container for receiving the sprues of the molded parts separated from the molded parts.
  • the separating device comprises a conveyor device for conveying the separated molded parts and/or the sprue.
  • the separating device further comprises a control device for controlling the robot.
  • the control device is Device is preferably designed to control the separating device.
  • the gripping device can, for example, be the gripper explained above or Robot gripper or be the gripping device explained above.
  • the gripping device can be designed as a mechanical gripper, as a vacuum gripper or as an electromagnetic gripper.
  • the separating device can, for example, be designed as explained above for the method according to the invention, for example for carrying out a shearing separation process and/or for carrying out a stripping process.
  • the separating device can be designed, for example, as a brush stripping device for stripping the molded parts from the sprue, in particular while the sprue is held by the robot, or at least comprise such a brush stripping device.
  • the separating device has an alignment device which is accessible to the gripping device of the robot and which has a storage area.
  • the alignment device is designed to receive the injection moldings or components of the injection moldings, so that the injection moldings or components can be arranged on the storage area.
  • the alignment device is preferably connected to a collecting and transfer device to be arranged below a tool of a plastic injection molding machine or is designed to be connected to such a device.
  • the collecting and transfer device is preferably included in the separating device.
  • At least one electronic camera is arranged above the storage area, which is connected to an image recognition system connected to the control device or included in the control device or which includes such an image recognition system.
  • the alignment device is preferably connected to the collecting and transfer device in such a way that the collecting and transfer device is designed to collect the Injection moldings or components and for forwarding these injection moldings or components to the alignment device, so that after receiving the injection moldings or components from the collecting and transfer device, the alignment device holds the injection moldings or components with an orientation resulting for the respective injection molding or component ready for removal by the robot, wherein the alignment device can preferably align the injection moldings or components, in particular as explained above for the method according to the invention, so that the alignment carried out by the alignment device changes the location and/or position of the injection moldings or components placed on the depositing surface.
  • the control device is designed, after the image recognition system has recognized an injection molding or component that can be grasped by the robot or is positioned in the correct position, to control the robot so that it can use its gripping device to identify this as being graspable by the robot or grasps the molded part or component identified as being correctly positioned and feeds it to the separating device.
  • the camera and image recognition system are designed to detect all of the molded parts or components arranged on the storage area, with the control device controlling the robot to grasp a specific one of these molded parts or components as soon as the image recognition system has identified this specific molded part or component as being graspable by the robot or as being correctly positioned.
  • the correct position can be stored in advance in the image recognition system, for example by means of a stored camera image on which the sprue of the molded part or the respective component is aligned in a predefined manner, or the image recognition system and/or the control device can comprise an evaluation logic which, based on an evaluation of camera images captured by the camera, independently carries out such a classification of the Injection moldings or components are detected in the correct and incorrect position, for example taking into account a characteristic of the robot stored in the image recognition system and/or the control device, in particular its gripping device, and/or taking into account gripping results, i.e. successful or unsuccessful gripping, which are continuously recorded by the camera.
  • the image recognition system and/or the control device can comprise an evaluation logic which, based on an evaluation of camera images captured by the camera, independently carries out such a classification of the Injection moldings or components are detected in the correct and incorrect position, for example taking into account a characteristic of the robot stored in the image recognition system and/or the control device, in particular its gripping device
  • control device is designed to control the separating device depending on the position of the gripping device of the robot, so that the separating device is active, in particular only, when the robot with its gripping device is in a predefined position in which it holds an injection molding in the effective range of the separating device.
  • control device can be designed to enable the advantageous embodiments of an inventive separation method explained above by the separation device.
  • the alignment device preferably has a vibrating floor.
  • the vibrating floor can, for example, be rigid in itself.
  • the vibrating floor has a discharge opening, the size and contour of which are such that molded parts fall through and molded parts in which at least one molded part is still connected to the sprue and individual sprues are held back.
  • the alignment device itself can already separate molded parts from molded parts and individual sprues. This refers to molded parts that are arranged as separate molded parts on the vibrating floor, for example because they have accidentally broken off from the rest of the respective molded part from which they originate. In one
  • the vibrating floor is elastic-flexible and tensioned like a drum skin.
  • the vibrating floor has a peripheral border in which at least one opening is provided, the size and contour of which is such that molded parts fall through and moldings in which at least one molded part is still connected to the sprue, and individual sprues are held back.
  • the focus is on molded parts that have already broken off from the rest of the molding, for example have broken off accidentally due to mechanical stress.
  • the vibrating floor is particularly preferably round and surrounded by a circular peripheral border.
  • the vibrating floor has a peripheral border which opens at least one point to form a discharge channel, the size and contour of which is such that the molded parts are passed through and moldings in which at least one molded part is still connected to the sprue, and individual sprues are discharged at the beginning of the discharge channel.
  • the discharge channel runs along a peripheral border.
  • the vibrating floor is round.
  • the discharge channel runs tangentially to the peripheral border of the vibrating floor.
  • the robot is a gantry robot with at least two, in particular at least three, linear guides aligned in a Cartesian coordinate system. This can ensure both precise guidance and simple control of the robot as well as sufficient mobility of the robot's gripping device.
  • the robot has two parallel linear guides that form a first axis, with a free space being formed between the linear guides in which at least one collecting container is arranged for receiving the separated molded parts and the separated sprues.
  • the separating device comprises a frame, with the robot, the alignment device and the camera being arranged in the frame.
  • the positionable frame can be arranged separately next to the injection molding machine and thus next to the desired injection molding machine as required.
  • all components of the separating device that extend beyond the frame are fixed to the frame, in particular at least some of these components are releasably fixed to the frame.
  • the collecting and transfer device can be formed by a sloping slide which extends from below the injection molding tool to above the alignment device.
  • the separating device can therefore be specifically arranged as a purchased part next to an injection molding machine and used for time-saving separating and thus sorting of the molded parts relative to the sprue.
  • the separating device, the aligning device, the robot and at least two different collecting containers are positioned relative to one another by the frame in such a way that the robot can remove a molded part from the aligning device with its gripping device and can guide the molded part to the separating device with its gripping device can, wherein the separating device is arranged above a first of the collecting containers and is designed to separate the molded parts from the sprue, while the gripping device of the robot holds a section of the molded part, in particular the sprue, and wherein the robot follows its gripping device the separation of the Molded parts can lead from the sprue to the second collecting container and the gripping device can then place the separated sprue into the second of the collecting containers.
  • the frame has wheels by means of which it can be moved.
  • the entire separating device can be moved as a separate unit via the wheels of the frame.
  • the wheels preferably have a blocking device, whereby they can be releasably blocked in order to avoid unwanted further movement of the frame.
  • the separating device has a first guide device which is designed to correspond to a second guide device which is intended for mounting on an injection molding machine or is designed on an injection molding machine.
  • the invention also relates in particular to a set comprising a separating device which has a first guide device and a second guide device which is designed for assembly on an injection molding machine.
  • the first and second guide devices are designed in such a way that they determine their relative position to one another by interlocking the first and second guide devices.
  • the invention further relates to a system comprising a separating device according to the invention and an injection molding machine.
  • the injection molding machine has a tool for producing setting up the moldings and dispensing the produced moldings.
  • the tool is therefore an injection molding tool.
  • the collecting and transfer device of the separating device is arranged under the tool of the injection molding machine and is designed to guide the injection moldings issued by the tool to the alignment device of the separating device, whereby in some embodiments, as explained, at least some of the components of the molded parts can be separated from one another.
  • the separating device can be moved separately from the injection molding machine.
  • the separating device and the injection molding machine are therefore preferably two independent units.
  • the separating device can therefore, starting from an assembly state in which it is arranged independently of the injection molding machine, be arranged on the injection molding machine by moving to the injection molding machine in such a way that the operating state is achieved.
  • the separating device has a first guide device and the injection molding machine has a second guide device corresponding to the first guide device, wherein in the operating state the first and second guide devices rest against one another and thereby determine a position of the separating device relative to the injection molding machine.
  • the first and second guide devices are therefore specifically designed to correspond to one another in such a way that they ensure a predefined alignment of the separating device to the injection molding machine in the operating state.
  • the first and second guide devices can be designed to be suitable for this purpose.
  • at least one of the guide devices can be designed as a guide plate and the other guide device can be in the operating state the guide plate.
  • Both guide devices are preferably each designed as a guide plate.
  • the guide devices preferably engage with one another in the operating state in such a way that the position of the separating device relative to the injection molding machine is fixed in at least one spatial dimension.
  • one of the management devices can encompass the other.
  • the position of the separating device and the injection molding machine relative to one another can then be determined, for example, by both being set up on a room floor and in the operating state resting against one another in a different spatial dimension and the separating device being blocked in its movement, for example by blocking wheels included in the separating device.
  • the guide devices in the operating state interlock with one another in such a way that they determine the position of the separating device relative to the injection molding machine in at least two spatial dimensions, in particular in three spatial dimensions.
  • Fig. 1 a perspective view of a separating device with an injection molding machine
  • Fig. 2 shows the separating device with injection moulding machine in a side view
  • Fig. 3 the separating device from the front
  • Fig. 4 the separating device from above
  • Fig. 5 parts of the separating device in a side view.
  • Figure 1 shows a perspective view of a separating device 100, which is combined in a frame 70 provided with rollers 71, so that the separating device 100 can be positioned directly next to an injection molding machine 1.
  • the complete separating device 100 can be easily pushed to the side and then returned to its position.
  • no mechanical connection is provided between the separating device 100 and the injection molding machine 1, but the guide devices explained above can be provided.
  • the position of the separating device 100 next to the injection molding machine 1 can be achieved solely by blocking the rollers 71 on the frame 70.
  • a collecting and transfer device 50 is formed in the form of a sloping chute which extends from an area below the injection molding tool of the injection molding machine 1 to above an alignment device 20 arranged in the frame 70.
  • a link between the controls of the injection molding machine 1 and the separating device 100 can be provided in order to facilitate further to interrupt or slow down the production of injection moldings in order to prevent the buffers in the separating device 100 from filling up. It can also be advantageous to link the data connections of the devices, for example to transfer information from the control system of the injection molding machine with regard to injection molding cycles that have not been completed in accordance with the quality criteria to the control system of the separating device 100, so that, for example, such parts can be selected before they reach the alignment device 20.
  • the molded parts fall onto the upper area of the collecting and transfer device 50 and slide from there onto a vibrating floor 21, which forms the core of the alignment device 20.
  • a vibrating floor 21 Above the vibrating floor 21 there is an electronic camera 31 arranged, via which the molded parts lying on the vibrating floor 21 are recognized and classified according to whether they are in the correct position or not in the correct position.
  • the embodiment described here can also advantageously be used for observing, classifying and gripping components that are already separated from one another on the storage surface, as explained. In the present exemplary embodiment it is provided that only such injection moldings or Components are identified as being within reach of the robot and are recognized as positioned in the correct position.
  • a central sprue nozzle When in the correct position, a central sprue nozzle points upwards, so that it can be easily picked up by the robot 10.
  • a distinctive part of the molded parts connected to the sprue that can be easily grasped by the robot can be used for identification and gripping.
  • the robot 10 integrated into the frame 70 is constructed as a gantry robot in the example of the invention shown and comprises two parallel linear guides which are arranged on the outer sides of the frame 70 and leave a gap between them so that the gripping device of the robot 10 can pick up parts from the vibrating floor 21 without hindrance and uninterrupted observation by the electronic camera 31 is possible.
  • the collecting container 41 is intended to receive the separated sprues or other rejects.
  • the other collecting container 42 is arranged below a brush stripping device 60, by means of which the molded parts are released from the sprue held by the robot and fall into the collecting container 42 located below.
  • Figure 2 shows the arrangement with the separating device 100 and the injection molding machine 1 next to it in a side view. It is clearly visible how the collecting and transfer device 50 extends from the injection molding machine 1 with the steeply aligned chute to above the alignment device 20. In the middle area of the frame 70 The brush stripping device is also clearly visible. This comprises a motor by means of which a brush head 61, which comprises several radially aligned brush strip elements, can be rotated or set into oscillating vibrations.
  • Figure 3 is a view of the separation device 100 from the front, with the injection molding machine hidden in the background in this view. All linear guides 12, 13, 14 and the gripping device 11 are visible from the gantry robot.
  • the two parallel linear guides 12 form, for example, the X-axes in a Cartesian coordinate system.
  • the linear guide 13 running transversely between them forms the Y-axis.
  • Attached to this is another linear guide 14, which forms the Z-axis of the coordinate system.
  • the gripping device 11 At the end of the linear guide 14 is the gripping device 11, by means of which, for example, the central sprue rod of the molding 2 can be gripped and held.
  • the gripping device 11 with the molding 2 is located above the brush rotor 61 of the brush stripping device 60, which also includes the drive motor 62. It can be seen that the injection molded part is held at its sprue by the gripping device 11 of the robot, which extends upwards like a pin, and that the mold parts are arranged at the bottom of the sprue, the mold parts in the present case being arranged in a star shape at the lower end of the sprue, as can be seen from an expert interpretation of Figure 3.
  • FIG 4 is a view of the separating device 100 next to the injection molding machine 1 from above.
  • the vibrating floor 21 is the central feature of a preferred embodiment of the separating device 100. It is operated in accordance with the cycle of the injection molding machine. Accordingly, the machine is repeatedly equipped with injection moldings via the collecting and transfer device 50, which are then distributed on the vibrating floor 21 in a random orientation. The quantity of injection moldings located on the vibrating floor 21 is observed from above via the camera 31, so that the position and orientation of the injection moldings on the vibrating floor 21 can be recorded via an evaluation in a downstream image recognition device.
  • a single molded part, which is positioned in the correct position, is removed from the vibrating base 21 by means of the gantry robot 10 and moved to above the brush rotor 61 of the brush scraper device.
  • the molded part By lowering the molded part into the effective area of the brush rotor 61, the molded parts are broken off from the sprue and fall into the collecting container 42 underneath.
  • the gripping device 11 which is attached to the lower end of the linear guide grooves 14, is intended and designed to access the central sprue rod on the sprue 3, for example via two jaws that can be moved relative to one another.
  • the gripping device 11 suitable for this can be designed to be very flat.
  • the molded part 2 produced by the injection molding machine comprises the sprue 3 designed as a star sprue with the central sprue rod and several radially outwardly extending spokes, via which one of the molded parts 4 is connected.
  • the injection molded part 2 comprises four molded parts 4 .
  • Image recognition system electronic camera container

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

Abstract

L'invention concerne un procédé de séparation pour des moulages (2) comprenant chacun une ou plusieurs pièces moulées (4) reliées par une carotte (3), comprenant au moins les étapes suivantes : saisir un moulage, en particulier saisir un moulage par sa carotte (3), au moyen d'un robot (10) avec un dispositif de préhension (11) ; en particulier, détacher la ou des pièces moulées (4) de la carotte (3) du moulage ; déposer les pièces moulées (4) séparées individuellement et la carotte détachée (3) dans au moins un récipient de collecte (41, 42) chacune, et/ou transférer les pièces moulées (4) et/ou la carotte (3) séparées individuellement vers un dispositif de transport. Le moulage (2) est éjecté du moule d'une machine de moulage par injection de matière plastique (1) et transféré vers un dispositif d'alignement (20) qui présente au moins une surface de dépôt. Un ou plusieurs moulages (2) qui sont maintenus sur la surface de dépôt sont observés au moyen d'une caméra électronique (31), qui est reliée à un système de reconnaissance d'image (30) ou dans laquelle un tel système est intégré. Des moulages (2) ou des parties constitutives des moulages (2) qui sont positionnées correctement sur la surface de dépôt et qui ont été détectés comme pouvant être saisis par le robot (10) sont retirés de la surface de dépôt (21) au moyen du robot (10), en particulier les pièces moulées (4) qui sont détachées de la carotte (3).
PCT/EP2023/076506 2022-09-26 2023-09-26 Procédé et appareil pour séparer des pièces moulées d'un moulage déchargé d'une machine de moulage par injection WO2024068603A1 (fr)

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DE102022124626.4A DE102022124626A1 (de) 2022-09-26 2022-09-26 Verfahren und Vorrichtung zum Trennen von Formteilen von einem aus einer Spritzgießmaschine ausgegebenen Spritzling
DE102022124626.4 2022-09-26

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101535400B1 (ko) * 2015-01-23 2015-08-11 주식회사 헌트피앤아이 사출물 자동 절단장치
WO2017006990A1 (fr) * 2015-07-09 2017-01-12 株式会社フジクラ Procédé de coupe de grille et dispositif de coupe de grille
US20180099429A1 (en) * 2016-10-07 2018-04-12 Fanuc Corporation Method for cutting gate formed on molded article
CN109501115A (zh) * 2018-10-17 2019-03-22 珠海市欧科锐智能装备有限公司 一种注塑机的上下料系统

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19538062A1 (de) 1995-10-13 1997-04-17 Stocko Metallwarenfab Henkels Vorrichtung zur Entnahme von Angüssen und/oder Artikeln aus einer Spritzgießmaschine
JP5926351B2 (ja) 2014-10-23 2016-05-25 ファナック株式会社 射出成形システム
EP3431248A1 (fr) 2017-07-19 2019-01-23 Adolf Geiger Agencement doté d'un dispositif de prélèvement pour une machine de moulage par injection
CN208584739U (zh) 2018-06-20 2019-03-08 深圳市凯尔斯塑胶电子有限公司 去浇口凝料模具以及用于该模具的分离装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101535400B1 (ko) * 2015-01-23 2015-08-11 주식회사 헌트피앤아이 사출물 자동 절단장치
WO2017006990A1 (fr) * 2015-07-09 2017-01-12 株式会社フジクラ Procédé de coupe de grille et dispositif de coupe de grille
US20180099429A1 (en) * 2016-10-07 2018-04-12 Fanuc Corporation Method for cutting gate formed on molded article
CN109501115A (zh) * 2018-10-17 2019-03-22 珠海市欧科锐智能装备有限公司 一种注塑机的上下料系统

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