Yushin Precision Equipment Co., Ltd.

Fumitake Watanabe

Atsushi Shirasaki

Kazutaka Ando

Koji Tachibana

Koji Ikeda

Hiroki Kida

Takayo Kotani

Sanai Kubo

Provided is an apparatus for taking out a molded product, which is capable of determining occurrence of a suction error and/or likelihood of a suction error of the molded product with high accuracy and of knowing a cause thereof. A pressure data storing section stores time-series pressure data from a pressure detector. A suction error cause determining section determines occurrence of a suction error and/or likelihood of a suction error of a molded product by a suction member on a basis of a time-series comparison result obtained by comparing the stored time-series pressure data with predetermined time-series reference data. When the suction error cause determining section determines the occurrence of the suction error and/or the likelihood of the suction error, the suction error cause determining section determines a cause of the occurring suction error and a solution therefor based on a time-series change pattern.

Apparatus for taking out molded product

There is provided a control system for an apparatus for taking out a molded product, the apparatus performing appropriate operation when a collision occurs while a servo system control section is manually operated. When a collision detection section outputs an operation stop command, a deviation clearing section performs clearing operation to bring deviations in a servo system control section to zero with the servo system control section kept on. Positioning is completed as the deviations are brought to zero, which enables operation to be performed again. When a retracting operation is performed after the operation is stopped, servomotors are operated according to an operation command, which allows smooth retraction from the collision state.

Control system for apparatus for taking out molded product that detects collision based on torque

A method of estimating a normal vector to an attachment mounted to an approach frame of an apparatus for taking out a molded product and a normal vector to a die mounted to a molding machine is provided. A normal vector to a take-out head is estimated through computation using a coordinate/depth determination section and a normal vector computation section on the basis of depth data or coordinate data on three mounting members. Three or more extending portions are specified from the image, the extending portions being each a part of a fixed die or a movable die or a part of a surrounding component and extending in a direction that coincides with the open direction for the dies. A normal vector to the die is estimated through computation on the basis of the depth data or coordinate data on the specified extending portions.

Method and system for estimating normal vector to die and normal vector to attachment

The three-dimensional geometry of an attachment is measured before work is started. A maximum dimension of a take-out headin the X direction, a maximum dimension of the take-out headin the Y direction, and a maximum dimension of the take-out headin the Z direction are measured on the basis of an image of the take-out headcaptured by at least imaging devices Cand Cbefore the take-out headstarts work with the take-out headbeing mounted to an elevating frameB of an apparatusfor taking out a molded product, as an orthogonal three-axis robot.

Method and system for measuring three-dimensional geometry of attachment

There is provided an apparatus for taking out a molded product, the apparatus being capable of suppressing displacement vibration of an attachment mounted at a leading end of an approach frame by means of active control using an electromagnetic actuator that has necessary power. One or more electromagnetic actuators are disposed at a portion of the approach frame, positioned opposite to the attachment with respect to a movable base. An active vibration suppressing system suppresses the displacement vibration of the attachment by causing the one or more electromagnetic actuators to generate a vibration in the same phase as the displacement vibration of the attachment.

An image display device displays an image such that a pair of reference symmetric structure portions, e.g. a pair of guide pins, are included in a captured image displayed on a display section, the pair of reference symmetric structure portions being located symmetrically with respect to a second virtual plane which extends in the opening direction and the vertical direction and includes a virtual center line of the molding apparatus which extends in the opening direction. A teaching execution section is used to determine the lateral position of an approach frame in the take-out operation by changing the position of the approach frame such that the center of an imaging range is located at a middle position between the pair of reference symmetric structure portions included in the captured image.

Teaching method for system for taking out molded product and apparatus for taking out molded product

An apparatus for taking out a molded product is provided, the apparatus being capable of suppressing displacement vibration of an attachment mounted at a leading end of each of one or more approach frames by active control using one or more electromagnetic actuators. The apparatus includes an active vibration suppressing system. One or more electromagnetic actuators are mounted to the attachment of each approach frame or each approach frame.

An apparatus for taking out a molded product that is capable of suppressing displacement vibration of an attachment in a shorter time than ever without using a large-scaled electric actuator. An active controller performs active control in conjunction with the positioning, control by the servomotor. At the beginning of the active control, the positioning control is primarily performed by the servomotor, and then the active control is positively performed by the active controller using an electric actuator. Compared with when only the active control is performed for vibration suppression, a lighter and smaller electric actuator can be employed.

An apparatus for taking out a molded product that is capable of suppressing displacement vibration of an attachment in a shorter time than ever without using a large-scaled electric actuator. An active controller starts active control after the amplitude of displacement vibration of the take-out head as an attachment has been attenuated to a predetermined setting by means of positioning control by a servomotor or when the amplitude can be considered as having been attenuated to the predetermined setting. The positioning control is first performed by the servomotor, and then the active control is performed by the active controller using an electric actuator which is light in weight and small in size.

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Kyoto, Japan

Fumitake Watanabe