• 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:
    The invention relates to a device for handling or handling and transporting workpieces (5), in particular for removing injection molded articles from an injection molding machine, wherein a handling machine (4) provided with a programmable control and regulating unit (10) with a at least one suction nozzle (7) for detecting or sucking the workpiece (5) having, gripper (6) is provided. In the gripper (6) of the handling machine (4) is a distance-measuring device (8) for detecting the distance (a1 + a2) from the gripper (6) to a reference point or a reference surface (9), for example, to the, preferably movable, mold half ( 2) with the workpiece (5) arranged. The measured value of the distance measuring device (8) is fed to the control and regulation unit (10). The distance measuring device (8) may be a light transit time measuring device, in particular a time-of-flight (TOF) sensor.
    公开号:AT517874A1
    申请号:T683/2015
    申请日:2015-10-21
    公开日:2017-05-15
    发明作者:
    申请人:Wittmann Kunststoffgeräte Gmbh；
    IPC主号:
    专利说明:

    The invention relates to a device for handling or for handling and transport of workpieces, in particular for removing injection molded articles from an injection molding machine, wherein a, provided with a programmable control unit, handling machine with a, at least one suction nozzle for detecting or sucking the Workpiece having, gripper is provided.
    The problem that occurs when removing workpieces from an injection mold, have been addressed many times. Especially older injection molding machines or machines of Asian design open the injection mold slightly differently with each cycle. Likewise, operators of injection molding machines can adjust the mold opening position in any mode on the control unit. As a result, reliable gripping of the injection-molded part by means of the removal robot located gripper can not be guaranteed. There is even the possibility of a collision between injection mold and removal gripper or automatic handling machine.
    Thus, from AT 510 154 B1 a device and 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 known. In this method, as the suction nozzle approaches the workpiece, the suction nozzle is activated and the vacuum is measured continuously. Upon reaching an adjustable or determined threshold value of the negative pressure, the forward movement of the handling machine, preferably in a braking operation, stopped and the workpiece is sucked by the suction nozzle.
    EP 0 729 405 B1 discloses the removal of an optical plate from an injection mold by means of negative pressure. The main focus is laid in this document on a shortening of the handling time, with a
    Reduction in mass and a shortening of the way for the robot arm to be 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 is known, wherein the gripper device is provided with a plurality of suction pads. 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.
    The serious disadvantage of the processes which work with negative pressure can be seen in the fact that a measurement of the negative pressure can take place only in the very last part, ie shortly before the workpiece removal. For this reason, the speed of the gripper during workpiece removal must be selected to be correspondingly slow, since there is a risk that the gripper will damage the mold half.
    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 increases.
    The problem is solved by the invention.
    The device according to the invention is characterized in that a distance-measuring device for detecting the distance from the gripper to a reference point or a reference surface, for example to the preferably movable tool half with the workpiece, is arranged in the gripper of the automatic handling device and that the measured value of the distance Measuring device of the control unit is supplied. The invention makes it possible for the first time to move the gripper much faster for removal movement, ie when approaching the workpiece, since the measurement of the distance from the mold half, ie a reference point or a reference surface, to the suction nozzle already after retraction of the gripper the opening area of the mold can take place. The starting point of the measurement can thus be extended immensely by the approach path, which optionally allows a higher initial speed or a longer movement of the gripper at high speed. As a result, the total speed of removal is increased seriously, which of course contributes to the rational efficiency of the system, compared to the solutions according to the prior art. Furthermore, the shape and the workpiece are exactly "found" and taken over with care. The movement of the automatic handling machine, also called the ejection axis, is controlled by the measured value of the distance measuring device which is fed to the control unit.
    The distance measuring device is arranged directly in the gripper, so that it can be moved permanently to the determined removal position with optimized and maximum removal speed.
    According to a particular feature of the invention, the distance measuring device is a light transit time measuring device, in particular a time-of-flight (TOF) sensor. Such sensors are available on the market so cheaply that for each product, and thus for each gripper, the one or more fixed in the gripper sensors can be exchanged. The control unit can be attached immovably to the handling machine via a connection. The product change can also be carried out faster, since the TOF sensor is already arranged on the gripper.
    According to an alternative feature of the invention, the distance measuring device is a laser measuring device which measures in accordance with the triangulation principle. In this principle, a light beam falls on the reference surface at a slight angle and is reflected at an acute angle and thereby re-enters the sensor at a point slightly offset from the starting point. The distance is then calculated using the triangular geometry. In addition to eliminating the product-dependent adjustment of the sensor, thereby the measurement accuracy can be increased. The fact that the laser moves with the gripper on the open mold plate, the distance to be measured is reduced. The resolution can therefore be increased with a constant value range relative to a maximum distance reduced in steps.
    According to a particular embodiment of the invention, the connection of the distance measuring device to the control and regulation unit is a wireless and wireless data connection, wherein the sensor board of the TOF sensor is supplied with a battery. This eliminates a cable connection from the distance
    Measuring device to the control unit, whereby a change of the gripper is very simplified. In addition, a fault or error source for operation is avoided by the wireless connection.
    According to a particular alternative embodiment of the invention, the connection from the distance measuring device to the control and regulation unit is a wireless and wireless data connection, wherein the sensor board of the TOF sensor is powered on the basis of energy harvesting or kinetic energy harvesting. Both the Energy Harvesting or Kinetic Energy Harvesting connection is wireless. The advantages of such a connection are obvious.
    It is also an object of the invention to provide a method for handling or for handling and transporting workpieces, in particular for removing injection-molded articles from an injection molding machine, using a device according to the above statements.
    The inventive method is characterized in that the approach of the gripper to the workpiece, the distance measuring device is activated or is and the distance and / or the distance to capturing or suction of the workpiece is measured continuously or permanently and the measured value of programmable control unit is supplied and upon reaching an adjustable or determined distance and / or path, the forward movement of the handling machine, preferably in a braking operation, is stopped and the workpiece is sucked by the suction nozzle. The method according to the invention is based on the distance or the path being measured when the gripper approaches the workpiece. The distance is measured continuously or permanently. Upon reaching an adjustable value of the distance, the movement of the automatic handling machine is slowed down via the control unit until it stops when touching 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. By this flexible, but accurate, approach of the gripper or the suction nozzle to the workpiece, the probability of damage to the workpiece by excessive pressure or by poor detection is minimized. In reality, the suction nozzle can take up to 5 mm clearance.
    Of course, it is also within the scope of the invention, the inventive method for "finding" the parts when unstacking from a workpiece buffer or "finding" the storage position on a stack o. The like. Use.
    According to a feature of the invention, the forward movement or the braking operation takes place up to the stop with a delayed speed. As already mentioned, it is of course advantageous if the speed of the automatic handling machine is slowed down before the contact with the suction nozzle.
    According to a particular embodiment of the invention for programming the control unit of the automatic handling machine, the basic parameters, such as envelope distance 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 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 will be explained in more detail with reference to an embodiment, which is illustrated in the drawing.
    It shows:
    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 automatic handling machine 4 is the entry into the open mold, wherein in position A of the automatic handling machine 4 has already reached the point for the release of the measurement on the reference surface 9.
    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 automatic handling machine 4 is provided with a gripper 6 and has at least one suction nozzle 7. In the automatic handling machine 4 is a programmable control and regulation unit 10, optionally provided with an independent sensor evaluation unit.
    In the gripper 6 of the automatic handling machine 4 is a distance measuring device 8, for example, the TOF sensor, for detecting the distance ai + a2Ver gripper 6 to a reference point or a reference surface 9, for example, preferably movable, tool half 2 with the workpiece 5, arranged. The measured value ai + a2, ie the distance from the reference surface 9 to the distance measuring device 8 of the entering automatic handling machine 4 in the position A, is fed to the control and regulation unit 10.
    The distance measuring device 8 may be a light transit time measuring device, in particular a time-of-flight (TOF) sensor.
    An alternative solution would be to provide the distance measuring device 8 as a laser measuring device, which measures according to the triangulator principle.
    The connection from the distance-measuring device 8 to the control and regulation unit 10 or the sensor evaluation unit is preferably a wireless and wireless data connection, wherein the sensor board of the TOF sensor is supplied with a battery. As an alternative, elegant solution, the connection from the distance measuring device 8 to the control unit 10 could be a wireless and wireless data connection, wherein the sensor board of the TOF sensor is powered on the basis of energy harvesting or kinetic energy harvesting.
    When the gripper 6 approaches the workpiece 5, the suction nozzles 7 are activated. The closer the suction nozzles 7 approach the workpiece, the smaller the distance a- . This distance ai + a2 is continuously or permanently measured and upon reaching an adjustable or determined threshold value of the distance, for example at the distance a2, the forward movement of the handling machine 4, preferably in a braking operation, stopped. When the suction nozzles 7 touch the workpiece 5, the workpiece 5 is sucked by the suction nozzles 7. The distance ai + a2 can be measured in an interval of 4 milliseconds. In this case, the measurement of the distance ai + a2 could take place analogously, whereby this measured value is already digitized for processing in the sensor or in the control and regulation unit 10.
    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.
    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 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 solid line, the path s of the automatic handling device 4 is shown over the time t and, on the other hand, the distance a is dashed over the time t.
    It can be seen from the diagram that the distance measuring device 8 begins to be measured in the entry phase A of the automatic handling machine 4 in the mold opening. In addition, the path is covered very quickly. In this
    Area the suction nozzles 7 are not yet activated, but approach the workpiece 5. Of course, the suction nozzles could be activated earlier.
    In position A, the suction nozzles 7 are activated, the measurements begin and the distance ai approaches the set value a2. Preferably, from the threshold value or at most from the position A, the gripper 6 approaches the workpiece 5 at a reduced speed.
    Approximately in the position B, the suction nozzles 7 and the gripper 6 approach the workpiece 5 and the distance a2 is reached. If this value is assumed or defined as a threshold value, the braking operation of the automatic handling machine 4 starts here. The suppression of the suction nozzles 7 can of course become larger for the removal process. Due to the delayed speed until stopping a gentle removal is ensured.
    权利要求:
    Claims (8)
    [1]
    claims:
    1. A device for handling or for handling and transport of workpieces, in particular for removing injection molded articles from an injection molding machine, wherein a, provided with a programmable control unit, handling machine with a, at least one suction nozzle for detecting or sucking the workpiece having Gripper is provided, characterized in that in the gripper (6) of the handling machine (4) a distance measuring device (8) for detecting the distance (ai +82) from the gripper (6) to a reference point or a reference surface (9), for example, to the, preferably movable, mold half (2) with the workpiece (5) is arranged, and that the measured value of the distance-measuring device (8) of the control unit (10) is supplied.
    [2]
    2. Device according to claim 1, characterized in that the distance measuring device (8) is a light transit time measuring device, in particular a time-of-flight (TOF) sensor.
    [3]
    3. Device according to claim 1, characterized in that the distance measuring device (8) is a laser measuring device which measures according to the triangulator principle is.
    [4]
    4. Device according to claim 1 or 2, characterized in that the connection of the distance measuring device (8) to the control and regulating unit (10) is a wireless and wireless data connection, wherein the sensor board of the TOF sensor supplied with a battery is.
    [5]
    5. Device according to claim 1 or 2, characterized in that the connection of the distance-measuring device (8) to the control unit (10) is a wireless and wireless data connection, wherein the sensor board of the TOF sensor based on energy- Harvesting or kinetic energy harvesting is supplied.
    [6]
    6. 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, using a device according to one or more of claims 1 to 5, characterized in that at the approach of the gripper (6) the workpiece (5) the distance-measuring device (8) is activated or is and the distance (ai, ai) and / or the path to the detection or suction of the workpiece (5) is measured continuously or permanently and the measured value of Programmable control unit (10) is supplied and upon reaching an adjustable or determined distance (da) and / or path, the forward movement of the handling machine (4), preferably in a braking operation is stopped and the workpiece (5) from the suction nozzle ( 7) is sucked.
    [7]
    7. The method according to claim 6, characterized in that the forward movement or the braking operation is carried out until the stop with a delayed speed.
    [8]
    8. The method according to claim 6 or 7, characterized in that for programming the control unit (10) 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 learning method (teach-in ) and, for example, size, shape, weight, position and surface structure of the workpiece (5) are empirically determined and entered.
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    同族专利:
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    KR20180117591A|2018-10-29|
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    CN108290332A|2018-07-17|
    WO2017066814A1|2017-04-27|
    CN108290332B|2021-02-05|
    引用文献:
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    JP2006231878A|2005-02-28|2006-09-07|Yushin Precision Equipment Co Ltd|Take out device of molded product|
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    JPH07106442B2|1986-10-23|1995-11-15|東洋機械金属株式会社|Clamp position remote adjustment device for automatic unloader for die casting machine|
    JP3247405B2|1991-10-18|2002-01-15|株式会社日本製鋼所|Method and apparatus for removing a molded product from an extruder|
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    JP5866398B2|2013-05-15|2016-02-17|東芝機械株式会社|Molding system and method for manufacturing molded article|
    AU2013254931B2|2013-11-07|2019-03-28|The Commonwealth Of Australia|Vibration energy conversion device|
    JP5949734B2|2013-11-29|2016-07-13|トヨタ自動車株式会社|Abnormality determination system and determination method thereof|DE102019132840A1|2019-12-03|2021-06-10|Fipa Holding Gmbh|GRIPPER FOR HANDLING OBJECTS|
    法律状态:
    2021-07-15| HC| Change of the firm name or firm address|Owner name: WITTMANN TECHNOLOGY GMBH, AT Effective date: 20210525 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA683/2015A|AT517874B1|2015-10-21|2015-10-21|Device for handling, handling and transporting workpieces|ATA683/2015A| AT517874B1|2015-10-21|2015-10-21|Device for handling, handling and transporting workpieces|
    US15/769,572| US20180304512A1|2015-10-21|2016-10-12|Device for transfer and/or handling and transport of workpieces|
    KR1020187011773A| KR20180117591A|2015-10-21|2016-10-12|Apparatus for transporting and / or treating and transporting a workpiece|
    EP16831561.2A| EP3365149B1|2015-10-21|2016-10-12|Device for transfer and/or handling and transport of workpieces|
    PCT/AT2016/000089| WO2017066814A1|2015-10-21|2016-10-12|Device for transfer and/or handling and transport of workpieces|
    CN201680061738.6A| CN108290332B|2015-10-21|2016-10-12|Device for transporting and/or processing and transporting workpieces|
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