WO2020241478A1 - Appareil de robot et procédé de fabrication d'un article moulé - Google Patents

Appareil de robot et procédé de fabrication d'un article moulé Download PDF

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Publication number
WO2020241478A1
WO2020241478A1 PCT/JP2020/020253 JP2020020253W WO2020241478A1 WO 2020241478 A1 WO2020241478 A1 WO 2020241478A1 JP 2020020253 W JP2020020253 W JP 2020020253W WO 2020241478 A1 WO2020241478 A1 WO 2020241478A1
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WO
WIPO (PCT)
Prior art keywords
molded body
robot system
burr
holding
holding mechanism
Prior art date
Application number
PCT/JP2020/020253
Other languages
English (en)
Japanese (ja)
Inventor
憲吾 島田
優 五十嵐
Original Assignee
キョーラク株式会社
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
Priority claimed from JP2019124784A external-priority patent/JP7244758B2/ja
Application filed by キョーラク株式会社 filed Critical キョーラク株式会社
Priority to CN202080028544.2A priority Critical patent/CN113692334B/zh
Publication of WO2020241478A1 publication Critical patent/WO2020241478A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • B29C49/00—Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/42—Component parts, details or accessories; Auxiliary operations
    • B29C49/70—Removing or ejecting blown articles from 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
    • B29C49/00—Blow-moulding, i.e. blowing a preform or parison to a desired shape within a mould; Apparatus therefor
    • B29C49/42—Component parts, details or accessories; Auxiliary operations
    • B29C49/72—Deflashing outside the mould

Definitions

  • the present invention relates to a robot system that can be used to remove burrs from a molded product, and a method for manufacturing a molded product using the robot system.
  • Patent Document 1 a robot arm is driven to take out a molded body from a mold, the molded body is fixed to a deburring holding device, and deburring is performed in that state.
  • the present invention has been made in view of such circumstances, and provides a robot system that enables efficient removal of burrs from a molded product.
  • the robot system includes a robot arm, a robot hand, a holding mechanism, and a dividing mechanism.
  • the robot hand is attached to the robot arm, and the holding mechanism is provided on the robot hand.
  • the molded body is provided with a molded body and burrs provided around the molded body, and the dividing mechanism is in a state where the holding mechanism holds the molded body.
  • a robot system is provided that is configured to separate the burr from the molded body body.
  • the burr and the main body of the molded body are separated while the holding mechanism holds the molded body, so that the burr can be efficiently removed.
  • the robot system described above is a robot system including a body holding mechanism for holding the molded body body.
  • the dividing mechanism includes a deburring mechanism having an abutting body, and the burr and the abutting body are held in a state where the main body holding mechanism holds the molded body main body. It is a robot system configured to separate the burr and the molded body body by colliding with each other.
  • the deburring mechanism includes a pair of the abutting bodies, and the pair of abutting bodies has a variable size of an opening between the pair of abutting bodies.
  • a robot that collides the burr with the abutting body in a state where the molded body body can pass through the opening and the size of the opening is set so that the burr collides with the abutting body.
  • the dividing mechanism includes at least one protruding mechanism, the protruding mechanism includes a protruding portion, and the main body holding mechanism has a holding surface for holding the molded body main body.
  • the burr and the molded body body are separated by moving the abutting body in a direction from the holding surface toward the facing surface in a state where the protruding portion is in contact with the opposing surfaces.
  • the robot system according to the above is further provided with an inclined member including an inclined surface, the inclined surface is arranged below the deburring mechanism, and the deburring is divided by the deburring mechanism.
  • the projecting mechanism is arranged below the inclined surface, and the projecting portion projects from the inclined surface through a through hole provided in the inclined surface. , A robot system.
  • the burr includes a burr body and a thin wall portion, and the thin wall portion is smaller in wall thickness than the burr body and is provided along the peripheral edge of the molded body body.
  • the dividing mechanism is provided with at least one protruding mechanism, the protruding mechanism is provided with a protruding portion, and the protruding portion is such that the tip of the protruding portion is held by the holding mechanism while holding the molded body. It is a robot system configured to abut the thin-walled portion and damage the thin-walled portion at the tip to separate the burr main body and the molded body main body.
  • the robot system described above is a robot system including a burr holding mechanism for holding the burr body.
  • the robot system described above includes first and second molds that can be opened and closed, and the first and second molds are configured to be capable of molding a parison to form the molded body.
  • the holding mechanism is a robot system that holds the molded body in a state where the molded body is held in the first mold after forming the molded body.
  • the first mold is a robot system that is more easily engaged with the molded body than the second mold.
  • FIG. 3A is an enlarged view of the region A in FIG. 1
  • FIG. 3B is an enlarged view of the region A in FIG.
  • the state after opening the molds 1 and 2 from the state of FIG. 2 is shown.
  • the state after the molded body 4 is held by the holding mechanism 6a of the robot hand 6 from the state of FIG. 4 is shown.
  • the state after taking out the molded body 4 from the molds 1 and 2 from the state of FIG. 5 is shown.
  • FIG. 7 shows the state after the thin-walled portion 4b2 is damaged in a part region 4b21 of the thin-walled portion 4b2. From the state of FIG. 8, the state immediately before the deburring mechanism 8 is used to separate the molded body 4a and the burr body 4b1 is shown.
  • FIG. 6 The state after the molded body body 4a and the burr body 4b1 are separated from the state of FIG. 10 by using the deburring mechanism 8 is shown. It is a figure corresponding to FIG. 6 in the 2nd Embodiment of this invention. It is a figure corresponding to FIG. 4 in the 3rd Embodiment of this invention. It is a figure corresponding to FIG. 5 in the 3rd Embodiment of this invention. It is a figure corresponding to FIG. 6 in the 3rd Embodiment of this invention. It is a figure corresponding to FIG. 8 in the 3rd Embodiment of this invention. It is a figure corresponding to FIG. 2 in the 4th Embodiment of this invention. It is a figure corresponding to FIG.
  • FIGS. 1 to 11 a method for producing a molded product according to the first embodiment of the present invention will be described.
  • FIG. 7 and FIG. 9 show in detail the shapes and arrangements of the main body holding mechanism 6a1, the protruding mechanism 6b1 and the molded body 4, the other figures show the shapes and arrangements of these configurations for convenience of illustration. The arrangement is schematically shown. Therefore, the shapes and arrangements of the above configurations in FIGS. 7 and 9 do not match those in the other figures.
  • the method for manufacturing a molded product of the present embodiment includes a molding step, a holding step, and a dividing step. Further, it is preferable to perform the whole circumference dividing step after the dividing step.
  • 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 on the robot hand 6.
  • the dividing mechanism 6b includes a protruding mechanism 6b1 and a deburring mechanism 8.
  • the protrusion mechanism 6b1 is provided on the robot hand 6, and the deburring mechanism 8 is separated from the robot hand 6.
  • the parison 3 is molded using the first and second molds 1 and 2 that can be opened and closed to form the molded body 4.
  • the parison 3 is formed by extruding the molten resin from a slit provided in the head 5, and is arranged between the first and second molds 1 and 2.
  • the molten resin can be formed by melt-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 a mixture thereof.
  • a foaming agent may or may not be added to the molten resin. When a foaming agent is added to the molten resin, the parison 3 becomes a foamed parison.
  • the parison 3 may be tubular or on a sheet.
  • the molds 1 and 2 include cavities 1a and 2a and pinch-off portions 1b and 2b provided along the periphery thereof, respectively.
  • the mold 1 is provided with an undercut structure portion 1c.
  • the undercut structure is a structure in which an engaging structure is formed between the molded body and the mold, and is, for example, a reverse taper shape.
  • the undercut structure portion 1c may be provided inside the cavity 1a or outside the pinch-off portion 1b.
  • the undercut structure portion 1c is preferably provided in a portion of the molded body body 4a that is removed after molding (for example, if the molded product is a duct, a bag portion provided in the opening) or a burr main body 4b1. In this case, the engaging portion 4c (see FIG. 6) formed by the undercut structure portion 1c does not remain in the final product, which is the molded product.
  • Molded by closing the molds 1 and 2 and molding the parison 3 in the cavities 1a and 2a in that state with the parison 3 arranged between the molds 1 and 2, as shown in FIG. Body 4 is obtained.
  • Examples of the molding method of the parison 3 include blow molding and vacuum forming.
  • the molded body 4 includes a molded body main body 4a which is a product (molded product) and burrs 4b provided around the molded body 4a.
  • the molded body body 4a has a shape that follows the inner surface shape of the cavities 1a and 2a.
  • the molded body body 4a is preferably a hollow body.
  • the hollow body may be one in which the inside is air like a duct, or may be one in which the inside of the hollow body is filled with a filler such as foam like a sandwich panel panel.
  • the burr 4b includes a burr main body 4b1 and a thin-walled portion 4b2.
  • the thin wall portion 4b2 has a smaller wall thickness than the burr body 4b1.
  • the thin portion 4b2 is provided along the peripheral edge of the molded body body 4a.
  • the thin-walled portion 4b2 is a portion formed by compressing the parison 3 at the pinch-off portions 1b and 2b to make the wall thickness extremely thin. Of the parison 3, the portion outside the pinch-off portions 1b and 2b is the burr body 4b1.
  • the wall thickness of the thin portion 4b2 is, for example, 0.001 to 0.5 mm, and specifically, for example, 0.001, 0.01, 0.05, 0.1, 0.2, 0.3, It is 0.4 and 0.5 mm, and may be within the range between any two of the numerical values exemplified here.
  • the molded body 4 can be taken out by opening the molds 1 and 2. Since the undercut structure 1c is provided in the cavity 1a, as shown in FIG. 3B, the molded body 4a and the mold 1 are in an engaged state, and the molded body 4 is hard to come off from the mold 1. Become. On the other hand, since the mold 2 does not have the undercut structure portion, the molded body 4 can be smoothly removed from the mold 2. Therefore, the mold 1 is more easily engaged with the molded body 4 than the mold 2, and when the molds 1 and 2 are opened after molding, as shown in FIG. 4, the molded body 4 is a mold. It remains engaged with the mold 1 and moves with the mold 1.
  • Robot hand 6 The holding step and the dividing step are performed by using the robot hand 6 shown in FIG.
  • the robot hand 6 is used by being attached to the robot arm 7.
  • the robot arm 7 has a function of moving the robot hand 6.
  • the robot arm 7 may have the number of axes required to realize the various steps included in the method of the present embodiment, and preferably has 6 or more axes.
  • the robot hand 6 includes a holding mechanism 6a and a protruding mechanism 6b1 on the base 6c.
  • the holding mechanism 6a is configured to hold the molded body 4.
  • the protrusion mechanism 6b1 is configured such that the thin-walled portion 4b2 is damaged at at least one point of the thin-walled portion 4b2 while the holding mechanism 6a holds the molded body 4 to separate the burr main body 4b1 and the molded body 4a.
  • the holding mechanism 6a includes a main body holding mechanism 6a1 that holds the molded body main body 4a.
  • the main body holding mechanism 6a1 is a suction pad having a function of holding (sucking) the molded body 4a by a suction force, but may hold the molded body 4a by another configuration. ..
  • the protrusion mechanism 6b1 includes a protrusion 6b11 and an actuator 6b12 for driving the protrusion 6b11.
  • the actuator 6b12 is configured so that the position of the tip of the protrusion 6b11 can be displaced.
  • the protruding portion 6b11 is configured to damage the thin-walled portion 4b2 by abutting the tip of the protruding portion 6b11 against the thin-walled portion 4b2 as the actuator 6b12 is driven, thereby separating the burr body 4b1 and the molded body 4a. ..
  • the thin portion 4b2 may be damaged by strongly colliding the tip of the protruding portion 6b11 with the thin portion 4b2, or may be damaged by strongly pressing the tip of the protruding portion 6b11 against the thin portion 4b2. Further, when the tip of the protruding portion 6b11 is sharp, the thin portion 4b2 may be damaged by cutting the thin portion 4b2 at the tip of the protruding portion 6b11.
  • the protrusion mechanism 6b1 is composed of, for example, a cylinder mechanism.
  • the cross-sectional shape of the tip of the protruding portion 6b11 is not particularly limited, and may be circular or any other shape.
  • the tip of the protrusion 6b11 may be flat, curved, or sharp.
  • the molded body 4 is configured by providing burrs 4b around a substantially L-shaped molded body main body 4a.
  • the main body holding mechanism 6a1 is provided at a plurality of locations (2 locations), and the protruding mechanism 6b1 is also provided at a plurality of locations (5 locations).
  • the plurality of projecting mechanisms 6b1 are arranged at intervals along the peripheral edge of the molded body body 4a. More specifically, the two protrusion mechanisms 6b1 are arranged near one end of the L-shape, the two protrusion mechanisms 6b1 are arranged near the other end of the L-shape, and the remaining one protrusion mechanism 6b1 , Located inside the L-shaped corner. In each case, the tip of the protruding portion 6b11 is provided at a position where it abuts against the thin-walled portion 4b2.
  • 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 main body holding mechanism 6a1 is brought into contact with the molded body main body 4a. The molded body 4a is attracted and held.
  • the molded body 4 is taken out from the molds 1 and 2 by moving the robot hand 6 as shown in FIG.
  • the engaging portion 4c formed by the undercut structure portion 1c can be elastically deformed and separated from the undercut structure portion 1c.
  • the burr main body 4b1 since the burr main body 4b1 is connected to the head 5, the burr main body 4b1 is torn off from the head 5 or the burr main body 4b1 is cut using a cutting mechanism (not shown), and the state shown in FIG. And.
  • Dividing step By driving the actuator 6b12 from the state of FIG. 6 and abutting the tip of the protruding portion 6b11 against the thin-walled portion 4b2, as shown in FIG. 8, the thin-walled portion 4b2 is damaged at at least one point of the thin-walled portion 4b2.
  • the burr body 4b1 and the molded body 4a are separated.
  • the protrusion mechanisms 6b1 are provided at five locations, the thin portion 4b2 in the region 4b21 near the portion where the five protrusions 6b11 are abutted against the thin portion 4b2. Is damaged.
  • the molded body 4a and the burr body 4b1 are connected in a part of the region 4b22 of the thin portion 4b2.
  • an all-around dividing step is performed to divide the molded body 4a and the burr main body 4b1 on the entire circumference of the molded body 4a.
  • All-around division step In the all-around division step, as shown in FIG. 10, the deburring mechanism 8 is used to divide the molded body 4a and the burr body 4b1 on the entire circumference of the molded body 4a.
  • the deburring mechanism 8 is preferably provided with a pair of abutting bodies 8a.
  • An opening (gap) 8b is provided between the pair of abutting bodies 8a.
  • the pair of abutting bodies 8a are configured so that the size of the opening 8b is variable.
  • This process can be carried out by the following method.
  • the molded body 4 is moved so as to pass through the molded body 4 so that the molded body 4 is on the left side of the deburring mechanism 8.
  • the opening 8b is narrowed so that the molded body 4a can pass through, but the burr main body 4b1 cannot pass through, as shown in FIG.
  • the molded body 4 is relatively moved with respect to the deburring mechanism 8 so that the burr main body 4b1 abuts on the abutting body 8a and the molded body 4a passes through the opening 8b.
  • the molded body 4 is moved to the right relative to the deburring mechanism 8.
  • the thin portion 4b2 is damaged on the entire circumference of the molded body 4a, and only the molded body 4a passes through the opening 8b, and as shown in FIG. 11, the molded body main body is covered on the entire circumference of the molded body 4a. 4a and the burr body 4b1 are separated. Since a part of the thin-walled portion 4b2 4b21 has already been damaged in the dividing step, the remaining region 4b22 of the thin-walled portion 4b2 is easily damaged starting from the damaged portion.
  • only the molded body 4 may be moved, only the deburring mechanism 8 may be moved, or both may be moved.
  • the debris 4b23 of the damaged thin-walled portion 4b2 is connected to the molded body body 4a separated from the burr main body 4b1 in the whole circumference dividing step.
  • a molded product can be obtained by appropriately removing the debris 4b23 using a cutter or the like, or by removing a portion unnecessary for the molded product (for example, a bag portion formed in the opening in the case of a duct). ..
  • the tip of the protruding portion 6b11 is abutted against the thin portion 4b2 from the state of FIG. 6, but in this method, the molded body body 4a is held by the impact when the protruding portion 6b11 is abutted. There is a risk that it will deviate from 6a.
  • the facing surface 4a1 facing the holding surface 4a3 in which the holding mechanism 6a holds the molded body 4 is in contact with the contact member 12 separated from the robot hand 6.
  • the burr main body 4b1 and the molded body main body 4a are separated. That is, in this state, the protruding portion 6b11 is abutted against the thin-walled portion 4b2.
  • the holding mechanism 6a includes a burr holding mechanism 6a2 for holding the burr main body 4b1.
  • the burr holding mechanism 6a2 includes, for example, a holding portion 6a21 for holding the burr main body 4b1 and an actuator 6a22 for driving the holding portion 6a21.
  • the actuator 6a22 is configured so that the sandwiching portion 6a21 can be displaced and the sandwiching portion 6a21 can be opened and closed when the sandwiching portion 6a21 sandwiches the burr body 4b1.
  • the burr holding mechanism 6a2 is provided one at a position above the molded body 4a and one at a position below the molded body 4a.
  • the robot hand 6 has a base 6d.
  • the base 6c and the base 6d are connected via an actuator 6e, and the distance between them is variable.
  • the burr holding mechanism 6a2 is provided on the base 6d.
  • the robot arm 7 is connected to the base 6d.
  • the robot hand 6 is moved between the molds 1 and 2 in the open state, and as shown in FIG. 14, the burr main body 4b1 is moved by the burr holding mechanism 6a2. Hold the molded body 4 by sandwiching it.
  • the molded body 4 may be taken out from the molds 1 and 2 in this state, or the main body holding mechanism 6a1 may be brought into contact with the molded body 4a to suck and hold the molded body 4a.
  • the molded body main body 4a may be held by the main body holding mechanism 6a1.
  • the molded body 4 is taken out from the molds 1 and 2 by moving the robot hand 6 as shown in FIG.
  • the main body holding mechanism 6a1 holds the molded body 4a, and after taking out the molded body 4 from the mold, the burr holding mechanism 6a2 sandwiches the burr main body 4b1. You may.
  • the actuator 6b12 is driven to abut the tip of the protruding portion 6b11 against the thin-walled portion 4b2, as in the first embodiment.
  • the thin-walled portion 4b2 can be damaged at at least one point of the thin-walled portion 4b2.
  • the tip of the protruding portion 6b11 is abutted against the thin-walled portion 4b2 while the burr main body 4b1 is held by the burr holding mechanism 6a2, the force applied by the protruding portion 6b11 is likely to be concentrated on the thin-walled portion 4b2, and the thin-walled portion 4b2 is easily concentrated. 4b2 is easily damaged.
  • the tip of the protruding portion 6b11 is abutted against the thin-walled portion 4b2, it is preferable to move the holding portion 6a21 in the direction opposite to that of the protruding portion 6b11. As a result, a stronger force is applied to the thin-walled portion 4b2, so that the thin-walled portion 4b2 is easily damaged.
  • the fourth embodiment of the present invention will be described with reference to FIGS. 17 to 18.
  • the present embodiment is similar to the first embodiment, and the main differences are that the structure of the mold 1 is different and that the burr holding mechanism 10 is provided. Hereinafter, the differences will be mainly described.
  • the burr holding mechanism 10 is provided on each of the upper side and the lower side of the molds 1 and 2, and the burr holding mechanism 10 has a function of holding the burr main body 4b1.
  • the burr holding mechanism 10 may be mounted on the robot hand 6 or may be a mechanism separated from the robot hand 6.
  • the burr holding mechanism 10 may be provided only on one of the upper side and the lower side of the molds 1 and 2.
  • the burr main body 4b1 is sandwiched by the burr pinching mechanism 10 with the molds 1 and 2 closed.
  • the burr holding mechanism 10 is moved together with the mold 1. According to such a configuration, the molded body 4 can be moved together with the mold 1 without providing the undercut structure portion 1c in the mold 1.
  • the molded body 4 is placed between the molds 1 and 2, and the molded body 4 in this state is held by the holding mechanism 6a. You may. When holding by the holding mechanism 6a, the molded body 4 may be pressed against the mold 1. Further, the burr holding mechanism 10 may hold the molded body 4 and take it out from the molds 1 and 2. In this case, the holding mechanism 6a holds the molded body 4 after being taken out from the molds 1 and 2.
  • 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 difference in the configuration of the dividing mechanism 6b. Hereinafter, the differences will be mainly described.
  • the dividing mechanism 6b includes at least one protruding mechanism 9a provided on the base 9b separated from the robot hand 6.
  • the protrusion mechanism 9a includes a protrusion 9a1 and an actuator 9a2 for driving the protrusion 9a1, and the thin portion 4b2 can be damaged by the same action as the protrusion mechanism 6b1.
  • the projecting mechanism 9a is arranged as shown in FIG. 7, for example, similarly to the projecting mechanism 6b1.
  • the molded body 4 is pressed into the mold 1 by moving the robot hand 6 while the holding mechanism 6a holds the molded body 4 as shown in FIG. , 2 and then, as shown in FIG. 19, the molded body 4 is moved to a position where the tip of the protruding portion 9a1 faces the thin-walled portion 4b2.
  • the actuator 9a2 is driven to abut the tip of the protruding portion 9a1 against the thin-walled portion 4b2.
  • the thin-walled portion 4b2 can be damaged at at least one point of the thin-walled portion 4b2.
  • the sixth embodiment of the present invention will be described with reference to FIGS. 21 to 23.
  • the present embodiment is similar to the fifth embodiment for the protrusion mechanism 9a, and is similar to the first embodiment for the deburring mechanism 8.
  • the differences will be mainly described.
  • the molded body 4a and the burr main body 4b1 are separated by performing the entire circumference dividing step after partially damaging the thin-walled portion 4b2 in the dividing step. In one step, the molded body 4a and the burr body 4b1 are separated.
  • the dividing mechanism 6b includes a protruding mechanism 9a and a deburring mechanism 8.
  • This process can be carried out by the following method. First, the molded body 4 and the deburring mechanism 8 are arranged as shown in FIG. 21 by the same method as in the first embodiment.
  • the tip of the protrusion 9a1 is moved.
  • the contact body 8a is in contact with the thin-walled portion 4b2 and is in contact with the burr body 4b1.
  • the thin-walled portion 4b2 is damaged on the entire circumference of the molded body 4a, and the molded body 4a and the burr The main body 4b1 is separated.
  • the thin-walled portion 4b2 is first damaged at the tip of the protruding portion 9a1, is damaged, and the portion is the starting point, and the other portions are damaged.
  • the contact body 8a For the relative movement of the protrusion 9a1 and the contact body 8a, only the contact body 8a may be moved, only the protrusion 9a1 may be moved, or both may be moved. Further, as a method of moving the protruding portion 9a1, the entire protruding portion 9a may be moved, or only the protruding portion 9a1 may be moved by driving the actuator 9a2.
  • the seventh embodiment of the present invention will be described with reference to FIG. 24. This embodiment is similar to the sixth embodiment, and the main difference is the difference in the position of the protrusion mechanism 9a. Hereinafter, the differences will be mainly described.
  • the tip of the protrusion mechanism 9a is arranged so as to be in contact with or very close to the peripheral edge 4a2 of the molded body 4a.
  • the tip of the protrusion mechanism 9a is arranged so as to be in contact with or very close to the peripheral edge 4a2 of the molded body 4a.
  • the molded body 4a and the burr main body 4b1 are separated, most or all of the thin-walled portion 4b2 is connected to the burr main body 4b1, and the thin-walled portion 4b2 hardly remains in the molded body 4a. Will be.
  • the post-step of removing the debris of the thin portion 4b2 from the molded body body 4a can be omitted.
  • FIGS. 25 to 27 This embodiment is similar to the seventh embodiment, and the main difference is the difference in the configuration of the dividing mechanism 6b. Hereinafter, the differences will be mainly described.
  • the dividing mechanism 6b includes a protruding mechanism 9a and a deburring mechanism 8.
  • An inclined member 13 having an inclined surface 13a is arranged below the deburring mechanism 8.
  • the inclined surface 13a is provided with a through hole 13b.
  • the protrusion mechanism 9a is arranged below the inclined surface 13a.
  • the protruding portion 9a1 can protrude from the inclined surface 13a through the through hole 13b.
  • a plurality of projecting mechanisms 9a are provided, and the plurality of projecting mechanisms 9a are arranged at positions separated from each other.
  • the division step can be carried out by the following method.
  • the holding mechanism 6a holds the molded body 4 by the same method as in the first embodiment. More specifically, the main body holding mechanism 6a1 holds the molded body main body 4a on the holding surface 4a3.
  • the molded body 4 is moved so that the molded body 4 passes through the opening 8b, and the burr 4b Is placed at a position lower than the contact body 8a.
  • the protruding portion 9a1 is extended so that the tip of the protruding portion 9a1 is brought into contact with the facing surface 4a1 facing the holding surface 4a3.
  • 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.
  • the contact body 8a is moved from the holding surface 4a3 toward the facing surface 4a1 (in the direction of arrow X in FIG. 26).
  • the burr 4b and the contact body 8a1 collide with each other, and the burr 4b is separated from the molded body 4a.
  • the divided burrs fall on the inclined surface 13a, slide along the inclined surface 13a, and are conveyed toward the conveyor 14 arranged on the downstream side of the inclined surface 13a.
  • the burrs 4b placed on the conveyor 14 are conveyed to a burr crusher (not shown), crushed by the burr crusher, and reused.
  • the burr 4b may be caught on the protruding portion 9a1 (when the burr 4b is on the entire circumference of the molded body 4a, it is always caught on the protruding portion 9a1), but in that case, the protruding portion 9a1 is retracted after the dividing step.
  • the burr 4b slides down the inclined surface 13a when it is prevented from protruding from the inclined surface 13a.
  • the molded body 4a is still held by the main body holding mechanism 6a1 even after the burrs 4b are removed, and the robot arm 7 moves the molded body 4a to a place where the next step is performed in the same state. ..
  • the next step is a step of cutting the bag portion, so that the molded body body 4a is moved to a place where the bag portion cutting mechanism is provided.
  • the protrusion mechanism 9a and the deburring mechanism 8 After dividing the burr 4b, the protrusion mechanism 9a and the deburring mechanism 8 return to the state shown in FIG. 25, and the next processing of the molded body 4 is performed.
  • the burr 4b and the abutting body 8a1 collide with each other by moving the abutting body 8a downward from the state of FIG. 26, but the molded body 4 is moved upward from the state of FIG. 26.
  • the burr 4b and the contact body 8a1 may be made to collide with each other, or both the contact body 8a and the molded body 4 may be moved so as to approach each other.
  • the contact body 8a is moved downward from the state where the burr 4b is below the contact body 8a1, but the burr 4b is above the contact body 8a1.
  • the contact body 8a1 may be moved upward or the molded body 4 may be moved downward from the state in the above position.
  • the size of the opening 8b does not have to be variable, and instead of the pair of contact bodies 8a, the size is such that the molded body body 4a can pass through and the burr 4b collides with the contact body 8a.
  • One abutting body 8a having an opening of can be used. Further, in this case, since it is difficult for a force to be applied in the direction in which the molded body main body 4a is separated from the main body holding mechanism 6a1, the protruding mechanism 9a can be omitted.
  • Embodiments can also be implemented in the following aspects. -The actuators of the protrusion mechanisms 6b1 and 9a may be omitted if unnecessary.

Landscapes

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

Abstract

L'invention concerne un système de robot qui permet d'enlever efficacement des bavures d'un corps moulé.　Le système de robot selon la présente invention est pourvu d'un bras de robot, d'une main de robot, d'un mécanisme de maintien et d'un mécanisme de division, dans lequel : la main de robot est montée sur le bras de robot ; le mécanisme de maintien est disposé sur la main de robot et est configuré pour maintenir un corps moulé ; le corps moulé comprend un corps principal de corps moulé et une bavure disposée autour du corps principal de corps moulé ; et le mécanisme de division est configuré pour diviser la bavure et le corps principal de corps moulé dans un état dans lequel le corps moulé est maintenu par le mécanisme de maintien.
PCT/JP2020/020253 2019-05-28 2020-05-22 Appareil de robot et procédé de fabrication d'un article moulé WO2020241478A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202080028544.2A CN113692334B (zh) 2019-05-28 2020-05-22 机器人***、成型品的制造方法

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JP2019-099391 2019-05-28
JP2019099391 2019-05-28
JP2019-124784 2019-07-03
JP2019124784A JP7244758B2 (ja) 2019-05-28 2019-07-03 ロボットシステム、成形品の製造方法

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WO2020241478A1 true WO2020241478A1 (fr) 2020-12-03

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62128715A (ja) * 1985-11-30 1987-06-11 Toppan Printing Co Ltd 中空容器の口ばり落し装置
JP2015009324A (ja) * 2013-06-28 2015-01-19 ファナック株式会社 視覚センサ及び力センサを備えたバリ取り装置
JP2015160422A (ja) * 2014-02-28 2015-09-07 有限会社 小松原製作所 ロボットアームによる合成樹脂成型品のバリ取り装置
JP2016068216A (ja) * 2014-09-30 2016-05-09 ファナック株式会社 力制御を実行するロボットシステム
WO2016158257A1 (fr) * 2015-03-30 2016-10-06 キョーラク株式会社 Dispositif rotatif de moulage par soufflage et procédé de moulage par soufflage
JP2018103328A (ja) * 2016-12-27 2018-07-05 キョーラク株式会社 ロボットハンド及び成形体の製造方法
JP2019081331A (ja) * 2017-10-31 2019-05-30 キョーラク株式会社 バリ除去方法及びバリ除去装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62128715A (ja) * 1985-11-30 1987-06-11 Toppan Printing Co Ltd 中空容器の口ばり落し装置
JP2015009324A (ja) * 2013-06-28 2015-01-19 ファナック株式会社 視覚センサ及び力センサを備えたバリ取り装置
JP2015160422A (ja) * 2014-02-28 2015-09-07 有限会社 小松原製作所 ロボットアームによる合成樹脂成型品のバリ取り装置
JP2016068216A (ja) * 2014-09-30 2016-05-09 ファナック株式会社 力制御を実行するロボットシステム
WO2016158257A1 (fr) * 2015-03-30 2016-10-06 キョーラク株式会社 Dispositif rotatif de moulage par soufflage et procédé de moulage par soufflage
JP2018103328A (ja) * 2016-12-27 2018-07-05 キョーラク株式会社 ロボットハンド及び成形体の製造方法
JP2019081331A (ja) * 2017-10-31 2019-05-30 キョーラク株式会社 バリ除去方法及びバリ除去装置

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