Insert forming system

Abstract

An object of the present invention is to provide an insert forming system that can hold one or more insert workpieces in the correct position when the inner tray is in a state where it is inclined relative to the pallet, and that can release one or more insert formed products in a correct position. When the inner tray 11, in which the insert workpiece W is stored, is in a state where it is inclined relative to the pallet 9, the device for removing a formed product changes the position and orientation of the removal head 51 based on the imaging data obtained by sensing the state by the imaging device 8 and removes the insert workpiece(s) W positioned in the inner tray 11.Furthermore, the one or more insert molded products MA, which are held by the removal head 51 in the predetermined proper position of the released position, are released on the basis of the imaging data obtained by capturing the condition by the imaging device 8 prior to the release of the one or more insert molded products MA, which are held by the removal head 51 in the release position.

Description

TECHNICAL AREA

[0001] The present invention relates to an insert forming system for insert forming. BACKGROUND

[0002] Japanese patent application No. 2005-53161 (Patent Document 1) discloses a forming system in which a sheet is an insert. The forming system places a sheet from a number of sheets (insert), held by a transport element, onto a sheet-holding element provided on an approach frame mounted on a mold removal device, and transports it into a mold. If the insert is not a sheet, a transport device comprising a conveyor is used to transport the insert to a waiting position where the insert is held by a removal head mounted on the approach frame of the mold removal device and transported into the mold. DOCUMENTS ON THE STATE OF THE TECHNOLOGY PATENT DOCUMENT

[0003] Patent document 1: Japanese patent application no. 2005-53161 (March 3, 2005) BRIEF DESCRIPTION OF THE INVENTIONAL TECHNICAL TASK

[0004] A transport device is configured to hold one or more insert workpieces in an upward-opening pallet in a position where the one or more insert workpieces are held in one or more workpiece securing recesses of an inner tray that includes the one or more workpiece securing recesses, and to transport the pallet to a waiting position via a conveyor. However, the position in which the inner tray is arranged within the pallet is not always constant and may be in a state where the inner tray is inclined relative to the pallet. In the aforementioned case, the one or more insert workpieces cannot be held in the proper position by a removal head of a formed product removal device.Furthermore, it may be necessary to release one or more insert molded products, removed from a mold, into their proper position at a released position. However, an insert molding system capable of meeting these tasks and requirements would inevitably be expensive.

[0005] An object of the present invention is to provide an insert forming system that can hold one or more insert workpieces in the proper position when the inner tray is in the state in which the inner tray is inclined relative to the pallet, and that can release one or more insert formed products in a proper position in a released position. TECHNICAL SOLUTION

[0006] An insert molding system used in the present invention comprises a molding device, a device for removing a molded product, and a transport device. The device for removing a molded product comprises a removal frame, an approach frame movably mounted on the removal frame, a removal head mounted at a pointed end of the approach frame, and an operating control unit that controls the operation of the removal frame and the approach frame, as well as the operation of the removal head. The removal head is used to insert one or more inserts into the mold after holding the insert(s) and to transport one or more molded products to a released position after removing the molded products from the mold.The transport device moves the one or more workpieces to a waiting position, where they are held by the pick-up head. The transport device can also be configured to move a pallet to the waiting position, and its structure is arbitrary. The pallet contains an internal tray with one or more workpiece clamping recesses that hold the workpieces. The transport device can be, for example, a general-purpose stacker. A position change mechanism can be provided to change the position of the pick-up head relative to the workpiece. In the aforementioned case, the operational control system manages the operation of the position change mechanism.

[0007] In the present invention, one or more imaging devices are provided to capture the arrangement state of one or more insert parts, positioned in the waiting position before the pick-up head holds the one or more insert parts, and / or the state of the inner tray, positioned in the released position before the pick-up head releases the one or more inserted products. The one or more imaging devices can be of any type, provided they are capable of acquiring imaging data that includes information determining the arranged position of the inner tray within the pallet.Furthermore, the operational control system controls the device for removing a molded product in order to hold the one or more insert workpieces in the waiting position in the proper position by the removal head and / or to release the one or more insert-molded products, which are held in a proper position of the released position by the removal head, based on the imaging data acquired by the one or more imaging devices.

[0008] According to the present invention, one or more insert workpieces can be removed from the inner tray, whereby the device for removing a formed product changes the position and orientation of the removal head based on the imaging data obtained by capturing the state of the inner tray by the imaging device, even when the inner tray in which the one or more insert workpieces are stored is arranged in a state in which the inner tray is inclined relative to the pallet.The one or more insert-molded products held by the pick-up head can be released in the released position into a predetermined proper position based on the imaging data obtained by capturing a state of the released position by the one or more imaging devices before the one or more insert-molded products held by the pick-up head in the released position are released.Consequently, according to the invention, it is possible to provide a simple structure and an inexpensive insert forming system that can hold one or more insert workpieces in the inner tray when the inner tray is inclined relative to the pallet, and that can release the one or more inserted products into the predetermined proper position when it is necessary to release the one or more inserted products into the predetermined proper position.

[0009] When the one or more imaging devices are positioned in the released position and can capture imaging data with information used to determine the appropriate arranged position of retaining recesses of the inner tray for the one or more formed products, which correspond to the one or more receiving recesses that receive the one or more inserted products, the one or more inserted products can be safely released into the one or more receiving recesses for the formed product.

[0010] The waiting position and the released position can be located in the same place, and the inner tray in the released position can also serve as the inner tray in the waiting position. Consequently, not only are the components or devices that make up the insert forming system reduced, but the installation space is also smaller.

[0011] Although the number and installation location of the one or more imaging devices are optional, the one or more imaging devices are provided in the position in which the imaging data of the sampling frame or the approach frame can be acquired. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a diagram illustrating a schematic perspective view of an embodiment for an insert forming system according to the invention. Fig. Figure 2 is a diagram illustrating a block diagram of components and peripheral equipment used to control a device for removing a shaped product according to the present embodiment. Fig. Figure 3 is a diagram illustrating a situation in which, in the present embodiment, an insert workpiece is removed from an inner storage area positioned in a waiting position. Fig. Figure 4A is a diagram illustrating an example of the case where an imaging device records an arranged state of the inner tray in the pallet, and Fig. 4B is a diagram used to illustrate a state in the case of releasing a molded insert product into the inner tray. DESCRIPTION OF EXECUTION FORMS

[0012] An example of an embodiment of an insert forming system according to the invention is described in detail below with reference to the drawings. Fig. Figure 1 is a diagram illustrating a schematic perspective view of an embodiment of an insert molding system 1 according to the invention, and the insert molding system 1 comprises a molding device 3, a device 5 for removing a molded product, a transport device 7, and an imaging device 8, mounted on a removal frame 53B of the device 5 for removing a molded product. The device 5 for removing a molded product comprises a removal head 51 with a suction nozzle 51A, a position change mechanism 52 for changing the position of the removal head 51, a movement mechanism 53 for moving the removal head 51, a drive device 54 for driving the movement mechanism 53, and an operating control 55. Fig. 2), which applies an operating command to the drive device 54. The position change mechanism 52 includes a function for pivoting the removal head 51 relative to the approach frame 53C contained in the movement mechanism 53 and for rotating the removal head 51 with the Z-axis as the central axis (θ-axis). It should be noted that the position of the removal head 51 can be changed by controlling the movement mechanism 53 without changing the position change mechanism 52, depending on the configuration of the movement mechanism 53.

[0013] The motion mechanism 53 is a well-known three-axis motion mechanism, that is, a motion mechanism of a type having XYZ axes. The motion mechanism 53 comprises a side frame 53A extending in the Y direction, the removal frame 53B, which is movably mounted on the side frame 53A and extends in the X direction, two approach frames 53C and 53D moving in the Y direction, and the removal frame 53B moving in the Z direction. The removal head 51 is mounted on the approach frame 53C by the position change mechanism 52, and the approach frame 53D is used as a rotor shaft. The operating controller 55 of the present embodiment is configured to control an arithmetic device such as a CPU, etc.to include, and performs an operational control of the position change mechanism 52 which changes the position of the removal head 51 and an operational control of the drive device 54 which drives the movement mechanism 53.

[0014] Fig. Figure 1 illustrates a state in which the removal frame 53B is positioned at one end of the side frame 53A, in which the removal frame 53B extends together with the forming device 3, and in front of which a plurality of insert workpieces W, held by the removal head 51, are inserted into the space between a fixed mold 31 and a movable mold (not illustrated in the figures). As shown in Fig. Figure 3, which will be described in detail later, illustrates that the multitude of insert workpieces W placed in the inner storage compartment 11, arranged in the pallet 9 on the transport conveyor 71 of the transport device 7, are drawn in by the suction nozzle 51A of the removal head 51 and, by the movement mechanism 53 in a state in which the movement mechanism 53 has moved the removal frame 53B to the other end of the side frame 53A, into the Fig. 1 illustrated position transported. As in Fig. As illustrated in Figure 1, three insert workpieces W are stored in a state in which the three insert workpieces W are in three workpiece fastening recesses 11A [ Fig. 4A] of the inner storage tray 11, which includes the three workpiece fastening recesses 11A, are received and the pallet 9 is moved by the transport conveyor 71 into a waiting position [in a position in the Fig. 1 and Fig. 3 illustrated state] is transported.

[0015] The operating control 55 operates the position change mechanism 52, which changes the position of the movement mechanism 53 and the position of the removal head 51 according to the operating sequence in order to move the removal frame 53B from the in Fig. 3 illustrated positions in the Fig. The approach frame 53C is moved to the position shown in Figure 1 to move the pick-up head 51, located at the tip end of the approach frame 53C, into the space between the fixed mold 31 and the movable mold (not shown in Figure 1) and to attach the insert W, held by the pick-up head 51, to the fixed mold 31. When the movement mechanism 53 lifts the approach frame 53C upwards, the forming device 3 performs a forming operation after moving the movable mold towards the fixed mold 31 and closing the molds. When the forming operation is complete and the forming device 3 opens the movable mold, the inserted products, comprising the insert W, appear in a state where the inserted products are attached to the fixed mold 31.In the aforementioned state, the forming device 3 pushes the formed products out of the fixed mold 31 by means of an ejector pin extending. Then, the movement mechanism 53 inserts the removal head 51 into the space between the fixed mold 31 and the movable mold, and then the suction nozzle 51A of the removal head 51 draws in the formed products MA. Then, the movement mechanism 53 transports the drawn-in, insert-molded products MA [. Fig. 4A] into a released position. In the released position, suction through the suction nozzle 51A is enabled, and the molded insert products MA are released into the released position. Note that, for practical reasons, only one molded insert product MA can be in Fig. 4B illustrates this.

[0016] In the present embodiment, it should be noted that the released position is located in the inner tray 11 in the pallet 9 on the conveyor 71 of the transport device 7. Consequently, in the present embodiment, the inner tray 11 serves as a means for the insert workpiece W and the inserted products MA [ Fig. 4B] transported.

[0017] The imaging device 8 is attached laterally to the sampling frame 53B. As shown in Fig. As illustrated in Figure 3, the imaging device 8 captures an arrangement state of the inner tray 11, comprising the three insert workpieces W and positioned in the waiting position (which is shown in Figure 3). Fig. 3 illustrated position), before the three insert workpieces W are held by the removal head 51. When the insert-molded products held by the removal head 51 are released into the released position (the same as the waiting position in the present embodiment), the imaging device 8 detects a state of the waiting position before release, as shown in Fig. 4(A) shown.

[0018] As in Fig. As illustrated in Figure 4A, a commercially available optical camera can be used as the imaging device 8. The imaging device 8 used in the present embodiment acquires the imaging data, which includes information that determines the arranged position of the inner tray 11 in the pallet 9 (information that determines how the inner tray 11 is inclined and arranged relative to the pallet 9). From the information on the arranged position of the inner tray 11 in the pallet 9, the inclination of the inner tray 11 in the pallet 9 can be determined.Consequently, the operating controller 55 determines the position in the X direction, the position in the Y direction, the position in the Z direction, and the angle of the θ-axis (the angle to the Z-axis as the central axis) for the removal head 51, determined by the conditions for the secure holding of the three insert workpieces W by the suction nozzles 51A attached to the removal head 51, in order to apply the determined position and angle information to the drive device 54. The drive device 54 receives the information and generates drive commands based on the information and applies the drive commands to servo motors that drive the approach frame 53C and the removal frame 53B contained in the motion mechanism 53, as well as to servo motors contained in the position change mechanism 52.As a result, the suction nozzles 51A can properly position the three insert workpieces W in the three workpiece fastening recesses 11A in the pallet 9, positioned in the waiting position on the transport conveyor 71 of the transport device 7, as shown in . Fig. Shown at 3, hold.

[0019] The imaging device 8 detects the state of the released position and acquires the imaging data before the three insert-molded products MA held by the removal head 51 are in the released position, as shown in Fig. Figure 4A illustrates the process of releasing the product. The inclination of the inner tray 11 in the pallet 9 can be determined by the imaging data. Consequently, the operating controller 55 determines the position in the X direction, the position in the Y direction, the position in the Z direction, and the angle of the θ-axis (the angle to the Z-axis as the central axis) for the removal head 51, determined by the conditions for the safe release of the three insert molded products MA by the suction nozzles 51A, attached to the removal head 51 in the three receiving recesses for the molded product (in this embodiment, the three workpiece fixing recesses 11A also serve as the three receiving recesses for the three insert molded products), in order to apply the determined position and angle information to the drive device 54.The drive device 54 receives the information and generates drive commands based on that information, applying the drive commands to the servomotors that drive the approach frame 53C and the removal frame 53B, contained in the movement mechanism 53, as well as to the servomotors contained in the position change mechanism 52. As a result, the three insert-molded products MA are placed in the three holding recesses for the molded product (workpiece fixing recesses 11A) in the pallet 9, positioned in the waiting position on the transport conveyor 71 of the transport device 7, as shown in [reference]. Fig. 4B illustrates, properly released. Note that for the sake of simplicity in Fig. 4B only illustrates one insert-molded product MA, but in the present embodiment three insert-molded products MA are simultaneously released into three retaining recesses (11A) for the molded product.

[0020] According to the embodiment described above, when the inner tray 11, which holds the insert workpiece W, is arranged in a state in which the inner tray 11 is inclined in the pallet 9, the device 5 for removing a formed product can change the position and orientation of the removal head 51 based on the imaging data obtained by detecting the state by the imaging device 8 and can remove the workpieces W positioned in the inner tray 11.Since the state of the released position is detected by the imaging device 8 prior to the release of the insertable products MA held by the removal head 51 into the released position, and the imaging data acquired by the imaging device 8 are used to release the insertable products held by the removal head 51 into the released position, the insertable products held by the removal head 51 can also be released into the predetermined proper position in the released position.Consequently, according to the present embodiment, the insert workpieces W can be held in the inner tray 11 by the removal head 51 if the inner tray 11 is arranged in a state in which the inner tray 11 is inclined relative to the pallet 9, and / or the insert-molded products MA can be released into a predetermined proper position if it is necessary to release the insert-molded products MA into a proper position.

[0021] A program is included to confirm the arranged state (inclination) of the inner storage 11 in relation to the pallet 9 from the imaging data acquired by the imaging device 8 and to change the position of the removal head in the operating program used in the arithmetic device of the operating control 55 of the present embodiment.

[0022] In the present embodiment, one imaging device 8 captures images of the inside of the pallet 9 in the waiting position and the released position, but two imaging devices can capture images of the inside of the pallet 9 in the waiting position and the released position, respectively. Furthermore, the required data can be acquired using three or more imaging devices.

[0023] Although the imaging device 8 is mounted on the removal frame 53B in the present embodiment, the imaging device can be installed at any location, provided that the aforementioned imaging data is acquired. For example, the imaging device can be provided on the approach frame 53C or can be provided independently outside the device 5 for removing a molded product.

[0024] Furthermore, in the present embodiment, the released position and the waiting position are in the same position, and the same inner storage 11 is used, but the released position and the waiting position can also be provided in different positions.

[0025] In the embodiment described above, a plurality of (3) insert workpieces W and a plurality of (3) insert-molded products MA are held simultaneously by the removal head 51, but the present invention can of course also be applied if the removal head 51 holds one insert workpiece W and one insert-molded product MA.

[0026] In the embodiment described above, the suction nozzles 51A are attached to the extraction head 51, but instead of the suction nozzles, a chuck can also be attached to the extraction head 51. COMMERCIAL APPLICABILITY

[0027] According to the present embodiment, it is possible to provide an inexpensive insert forming system with a simple configuration that can hold one or more insert workpieces in the proper position when the inner tray is in the state where the inner tray is inclined relative to the pallet, and / or can release one or more insert formed products MA into a predetermined proper position when it is necessary to release the one or more insert formed products MA into a proper position in the released position. REFERENCE MARK 1 Insert forming system 3 Shaping device 5 Device for removing a shaped product 51 Extraction head 51A Suction nozzle 52 Position change mechanism 53 Mechanism of movement 53A side frame 53B Sampling frame 53C, 53D approach frame 54 Drive device 55 Operational control 7 Transport device 71 conveyor belts 8 Imaging device 9 pallets 11 inner storage 11A Workpiece fastening recess 31 fixed form 80 optical camera W one or more insert workpieces MA one or more inset products QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2005-53161

[0002] JP 2005-53161

[0003]

Claims

[1] Inlay forming system (1), comprising: a forming device (3) with a mold for insert forming, a device for removing a formed product (5), comprising a removal frame (53B), an approach frame (53C, 53D) movably provided on the removal frame (53B), a removal head (51) provided at a pointed end of the approach frame (53C, 53D), and an operating control (55) that controls the operation of the removal frame (53B) and the approach frame (53C, 53D). a control of the removal head (51), wherein the removal head (51) is used for inserting one or more insert workpieces (W) into the mold after holding the one or more insert workpieces (W) and transporting one or more insert-molded products (MA) into a released position after removing the one or more insert-molded products (MA) from the mold, and a transport device (7) which transports the one or more insert workpieces (W) to a waiting position where the one or more insert workpieces (W) are held by the removal head (51), characterized by , that: the transport device (7) is configured to transport a pallet (9) into the waiting position, wherein the pallet (9) contains an inner storage compartment (11) with one or more workpiece fastening recesses (11A) in which the one or more insert workpieces (W) are received, one or more imaging devices (8) are provided to detect an arrangement state of the inner storage (11) positioned in the waiting position before the one or more insert workpieces (W) are held by the removal head (51), or a state of the inner storage (11) positioned in the released position before the one or more insert workpieces (W) are released by the removal head (51), wherein one or more imaging devices (8) acquire imaging data containing information that determines an arranged position of the inner tray (11) in the palette (9), and The operating control (55) controls the device for removing a formed product (5) to hold the one or more insert workpieces (W) in the proper position in the waiting position by the removal head (51) or to release the one or more insert formed products (MA) held by the removal head (51) in a proper position of the released position based on the imaging data acquired by the one or more imaging devices (8). [2] Inlay forming system (1), comprising: a forming device (3) with a mold for insert forming, a device for removing a formed product (5), comprising a removal frame (53B), an approach frame (53C, 53D) movably provided on the removal frame (53B), a removal head (51) provided at a pointed end of the approach frame (53C, 53D), and an operating control (55) that controls the operation of the removal frame (53B) and the approach frame (53C, 53D). a control of the removal head (51), wherein the removal head (51) is used for inserting one or more insert workpieces (W) into the mold after holding the one or more insert workpieces (W) and transporting one or more insert-molded products (MA) into a released position after removing the one or more insert-molded products (MA) from the mold, and a transport device (7) which transports the one or more insert workpieces (W) to a waiting position where the one or more insert workpieces (W) are held by the removal head (51), characterized by , that: the transport device (7) is configured to transport a pallet (9) into the waiting position, wherein the pallet (9) contains an inner storage compartment (11) with one or more workpiece fastening recesses (11A) in which the one or more insert workpieces (W) are received, one or more imaging devices (8) are provided to detect an arrangement state of the inner tray (11) positioned in the waiting position before the one or more insert workpieces (W) are held by the removal head (51), and a state of the inner tray (11) positioned in the released position before the one or more insert workpieces (W) are released by the removal head (51), wherein one or more imaging devices (8) acquire imaging data containing information that determines an arranged position of the inner tray (11) in the palette (9), and The operating control (55) controls the device for removing a formed product (5) to hold the one or more insert workpieces (W) in the proper position in the waiting position by the removal head (51) or to release the one or more insert formed products (MA) held by the removal head (51) in a proper position of the released position based on the imaging data acquired by the one or more imaging devices (8). [3] Insert forming system according to claim 1 or 2, wherein: the one or more imaging devices (8) are positioned in the released position and acquire the imaging data which contains information which is used to determine a corresponding arranged position of one or more retaining recesses of the inner tray (11) for formed products, comprising one or more suitable recesses for receiving formed products which receive the one or more insert-molded products (MA). [4] Insert forming system according to claim 3, wherein: the waiting position and the released position are in the same position and the inner storage (11) in the released position also serves as the inner storage (11) in the waiting position. [5] Insert forming system according to claim 1 or 2, wherein: the one or more imaging devices (8) are provided in the position in which the imaging data of the sampling frame (53B) or the approach frame (53C, 53D) can be acquired. [6] Insert forming system according to claim 1 or 2, wherein: the transport device (7) is a transport conveyor (71).

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