• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:

    公开号:AT510154A4
    申请号:T17772010
    申请日:2010-10-25
    公开日:2012-02-15
    发明作者:Erwin Bannack；Juergen Pleyer；Johannes Rella
    申请人:Wittmann Kunststoffgeraete；
    IPC主号:
    专利说明:

    I * * 2 4 ../21.10.10
    The invention relates to a method for handling or for handling and transporting workpieces, in particular for removing injection molded articles from an injection molding machine, with a, a programmable control and regulating unit and at least one suction nozzle having, handling machines, wherein for detecting or sucking the workpiece a, on the automatic handling machine, possibly via a gripper, arranged suction nozzle generated, negative pressure is used. Furthermore, the invention also relates to a device for carrying out the method.
    The problem that occurs when removing workpieces from an injection mold, have been addressed many times. Thus, EP 0 729 405 B1 discloses the removal of an optical plate from an injection mold by means of negative pressure. In this document, the main focus is on a shortening of the handling time, with a reduction in the mass and a shortening of the path for the robot arm are sought.
    Furthermore, from WO 2007/010850 a control device for a molding machine is known. By this control device, the operation mode in which the engine is operated is set and operated on the basis of a certain state of the engine. As described in this document, the productivity of molded products can thereby be improved.
    From DE 1 604 598 A2 an apparatus for demolding light moldings, in particular plastic bottles is known, in which also for removal from the mold suppressor is used. This device is intended to ensure demolding without manual handling.
    Further, for example, from DE 296 06 853 U1 a gripper device for removing thin-walled injection molded parts from an injection molding tool *
    It is known that the gripper device is provided with a plurality of suction grippers. This gripper device should avoid unwanted deflection, especially of CD cases.
    Finally, from DE 10 2005 061 193 A1 discloses a handling method is known, wherein a loading of the machine with production parts from a production part memory by means of a handling device, which is associated with a placement robot takes place.
    It is known, as indicated above, that injection molded articles are removed from an injection molding machine by means of suction nozzles. Especially with older injection molding machines, the problem arises that the opening stroke is not carried out without tolerance, which makes it difficult to grasp the workpiece with the gripper. Inaccurate detection of the workpiece can lead to production defects or production stoppages. Likewise, an inaccurate detection when handling injection-molded articles via suction nozzles, for example when breaking down a buffer file, leads to disruptions in the production process.
    The object of the invention is therefore to provide a method of the type mentioned, on the one hand avoids the above disadvantages and on the other hand, the overall economy of the system is not reduced.
    The problem is solved by the invention.
    The inventive method is characterized in that when approaching the suction nozzle to the workpiece, the suction nozzle is activated and the suppression is continuously or permanently measured and upon reaching an adjustable or determined threshold value of the negative pressure, the forward movement of the handling machine, preferably in a braking stopped is and the workpiece is sucked by the suction nozzle. With the invention, it is possible for the first time to find the shape and the workpiece exactly ". and to take care of it. The movement of the
    V
    V
    Handling machines, also called Entformachse, is called by the use of, preferably analog, suction nozzles, also called vacuum nozzles. The method according to the invention is based on the fact that, as the suction nozzles approach the workpiece, the pressure increases. The suppression is measured continuously or permanently in the smallest units of time. Upon reaching a threshold value of the negative pressure, which is for example 20 to 40 percent of Ansaugunterdruckes, the movement of the handling machine via the control unit is stopped. This threshold value of the negative pressure means that the suction nozzle is just before the contact, for example about 0.5 to 1 cm, away from the workpiece. Due to the preprogrammed braking distance of the handling machine, the suction nozzle touches the workpiece during its stoppage and can be sucked in for transport. The Entformhub or recording of the workpiece is thus not bound to any fixed position of the injection molding tool. This flexible, yet accurate, approach of the suction nozzle to the workpiece minimizes the likelihood of workpiece damage due to excessive pressure or poor detection.
    Of course, it is also within the scope of the invention to use the method according to the invention also for "finding" the parts when destacking from a workpiece buffer.
    According to a particular feature of the invention, the forward movement or the braking operation takes place after reaching the threshold value until the stop with a delayed speed. As a result, a careful recording of the workpiece is guaranteed. Due to this gentle workpiece holder, the term Smart Vacuum will also become known in the art for this method according to the invention.
    According to one embodiment of the invention, the suppression is measured in an interval of 4 milliseconds. In the in-house test run, such a period of time has turned out to be optimal for the measurement.
    According to a further particular embodiment of the invention, the measurement of the negative pressure takes place analogously and this measured value is digitized. As a result, the threshold of the control unit can be fed easily.
    According to a development of the invention for programming the control unit of the automatic handling machine, the basic parameters such as Umschlagstrecke or removal distance, opening path of the injection molding machine via a teaching method (teach-in) and, for example, size, shape, weight, location and surface structure of the Workpiece for the threshold empirically determined and entered. By including these factors, also seen as a calibration, the process is customizable and applicable to virtually all types of injection molding machine.
    The invention is also based on the object to provide a device for carrying out the method.
    The inventive device for carrying out the method is characterized in that the handling machine is movable with a, acted upon by a programmable control unit, the drive that optionally provided with a gripper, handling machine has at least one suction nozzle with an air line and that in the air line of the suction nozzle is provided a pressure cell, the measured value of the control unit is supplied. With the device according to the invention, it is possible for the first time to immensely increase the production quality with only minimal effort. The looping of a pressure cell into the suction line combines impeccable quality with high reliability. This innovation also ensures consistent functionality.
    The invention will be explained in more detail with reference to an embodiment, which is illustrated in the drawing.
    It shows:
    ··· ** ····· MM t · ·
    Fig. 1 shows schematically a tool room of an injection molding machine with the handling machine and
    Fig. 2 is a diagram of the removal process of the handling machine.
    According to FIG. 1, an injection molding machine 1 with the open mold halves 2, 3 is shown. An automatic handling machine 4 is retracted into the open mold halves 2, 3 for the removal of a workpiece 5. The position A of the handling machine 4 is the entry into the open mold.
    In position B, the automatic handling machine 4 is located in the region of the workpiece 5.
    The automatic handling machine 4 is movable with a, acted upon by a programmable control and regulating unit, drive. The handling machine 4 is provided with a gripper 6 and has Saugdüse7 with an air line.
    In the air line of the suction nozzle a pressure cell 8 is provided.
    When the suction nozzles 7 approach the workpiece 5, the suction nozzles 7 are activated. The closer the suction nozzles 7 approach the workpiece, the negative pressure -p increases. This suppression -p is continuously or permanently measured and upon reaching an adjustable or determined threshold value of the negative pressure -p, the forward movement of the automatic handling machine 4, preferably in a braking operation, is stopped. When the suction nozzles 7 touch the workpiece 5, the workpiece 5 is sucked by the suction nozzles 7. The measured value of the pressure cell 8 is fed to the control unit. The suppression -p can be measured in an interval of 4 milliseconds. In this case, the measurement of the negative pressure is analog, wherein this measured value is digitized for processing in the control unit.
    Of course, the forward movement or the braking operation can be carried out after reaching the threshold value to the stop with a delayed speed. Μ · Ι «Φ *« ΜΙ ························································································.
    For programming the control unit of the automatic handling machine 4, the basic parameters, such as Umschiagstrecke or removal distance, opening path of the injection molding machine via a learning method (teach-in) and size, shape, weight, position and surface structure of the workpiece 5 for the threshold empirically determined and entered.
    According to FIG. 2, in a diagram on the one hand, with a continuous line, the path s of the automatic handling device 4 over time t and, on the other hand, the negative pressure p, are shown in percentages% of the suction pressure of the workpiece over time t.
    From the diagram it can be seen that in the entry phase of the handling machine 4, up to the area A, no suppression -p is given. In addition, the path is covered very quickly. In this area, the suction nozzles 7 are not yet activated, but are approaching the workpiece 5.
    In position A, the suction nozzles 7 are activated, the measurements begin and the depression -p reaches approximately the set value. From position A, the suction nozzles 7 approach the workpiece 5 at a reduced speed.
    Approximately in the position B, the suction nozzles 7 approach the workpiece 5 on and the suppression -p increases to about 20%. If this value is assumed or defined as a threshold value, the braking operation of the automatic handling machine 4 starts here. The suppression -p, of course, becomes larger for the removal operation. Due to the delayed speed until stopping a gentle removal - area C - guaranteed.
    In the region D, the workpiece 5 is moved out of the tool room or the injection mold.
    权利要求:
    Claims (6)
    [1]
    ·· »·

    1. A method for handling or for handling and transport of workpieces, in particular for the removal of injection molded articles from an injection molding machine, with a, a programmable control and regulating unit and at least one suction nozzle having, handling machines, said for detecting or sucking in the workpiece, over which the automatic vacuum generator, optionally via a gripper, arranged suction, is used, characterized in that when approaching the suction nozzle (7) to the workpiece (5) the suction nozzle (7) is activated and the negative pressure (-p) is measured continuously or permanently and upon reaching an adjustable or determined threshold value of the negative pressure <- p), the forward movement of the handling machine (4), preferably in a braking operation, is stopped and the workpiece (5 ) is sucked by the suction nozzle (7).
    [2]
    2. The method according to claim 1, characterized in that the forward movement or the braking operation takes place after reaching the threshold value to the stop with a delayed speed.
    [3]
    3. The method according to claim 1 or 2, characterized in that the negative pressure (-p) is measured in an interval of 4 milliseconds.
    [4]
    4. The method according to one or more of claims 1 to 3, characterized in that the measurement of the negative pressure (-p) takes place analogously and this measured value is digitized.
    [5]
    5. The method according to one or more of claims 1 to 4, characterized in that for programming the control unit of the automatic handling machine (4), the basic parameters, such as * ··

    Envelope distance or removal distance, opening path of the injection molding machine via a Lemverfahren (teach-in) and, for example, size, shape, weight, position and surface structure of the workpiece (5) for the threshold empirically determined and entered.
    [6]
    6. Device for carrying out the method according to one or more of claims 1 to 5, characterized in that the handling machine (4) is movable with a, acted upon by a programmable control and regulating unit, the drive that, optionally with a gripper ( 6) provided, handling machine (4) has at least one suction nozzle (7) with an air line and that in the air line of the suction nozzle (7) a pressure cell (8) is provided, the measured value of the control unit is supplied. Wittmann Kunststoffgeräte GmbH

    Mag. Marius Ba & rs. Peter Pescoller
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    引用文献:
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