Molded product removal machine

Abstract

To provide an apparatus for taking out a molded product capable of displaying information for facilitating adjustment on a display screen when performing adjustment for shortening a take-out time and a cycle time.SOLUTION: An apparatus for taking out a molded product comprises: a set condition storing section 15 for storing operating conditions set by an operation setting unit 11; an operation time counting section 17 for counting, according to an operation sequence, an actual operation time from a time when multiple set operations are started until a time when the operations are completed; an operation time storing section 19 for storing the actual operation times counted by the operation time counting section 17; a display section 23 including a display screen 21; a display control section 25; and a data computing section 27. The display control section 25 displays, on the display screen 21, identification of at least a plurality of set operations set by the operation sequence, set values of the multiple set operations; and the actual operations times which are corresponding to the set operations and are stored in the operation time storing section 19.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a molded product remover that displays information on a display screen to facilitate a teaching operation. [Background technology]

[0002] JP 2019-018349 A (Patent Document 1) discloses a technology for storing multiple operation times in chronological order, measuring multiple cycle times, calculating the difference between each cycle time, and displaying the difference in chronological order on a display screen.

[0003] Furthermore, Japanese Patent Laid-Open Publication No. 2006-305932 (Patent Document 2) discloses a technique for showing how the monitored items (filling time, time to measure molten resin in a barrel, time to remove a molded product from a mold, etc.) fluctuate against a reference value during the cycle time required to mold a molded product.

[0004] Furthermore, Japanese Patent No. 4815077 (Patent Document 3) discloses a technique for detecting the operation time of a moving object and comparing the detected value with upper and lower limit values ​​that are set based on actual values ​​obtained in advance from trial operations. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-018349 A [Patent Document 2] JP 2006-305932 A [Patent Document 3] Patent No. 4815077 Summary of the Invention [Problem to be solved by the invention]

[0006] Patent documents 1 to 3 disclose the display of part of information useful for making adjustments to shorten the take-out time and cycle time. However, these publications do not disclose any suitable technology for facilitating the teaching work when making adjustments to shorten the take-out time and cycle time. As a procedure for shortening the take-out time, it is possible to first set the speed to high speed, but since vibration may increase, adjustments are made to reduce acceleration and deceleration at the same time. Also, if the moving stroke is short, even if the speed is set to high speed, the actual speed may not increase to the set value, and take-out time may not be shortened. In such a case, adjustments are made to increase acceleration and deceleration as much as vibration can tolerate. Therefore, it is difficult to shorten the take-out time by simply increasing the speed, and it is necessary to adjust multiple parameters, namely speed and acceleration and deceleration, while checking the degree of vibration. There are also cases where it is desired to shorten the cycle time separately from the take-out time. For example, when considering a process in which a product is transferred to a subsequent process machine on the release side, it is necessary to operate the molded product take-out machine so that the timing of transfer to the subsequent process machine and the timing of release are synchronized. After the product is taken out, the product is released by performing a traverse operation and a downward operation. If the operation of the take-out robot cannot keep up with the downstream process machine, it is necessary to speed up the lateral movement or downward movement. However, speeding up the lateral movement will increase power consumption due to the large moving mass. On the other hand, speeding up the vertical movement will increase vibration of the arm during delivery. Therefore, adjustments must be made while checking the balance for each movement. In other words, adjustments to shorten take-out time or cycle time are not as simple as setting a specific movement to be faster, but are advanced tasks that involve checking for vibrations and any resulting take-out or delivery errors in order to meet the desired time.

[0007] Therefore, currently, the operator observes the state of vibration and picking errors, adjusts the speed and acceleration / deceleration for each operation, and teaches by observing the take-out time or one cycle time. However, conventionally, although the take-out time usually includes the time for the operations of lowering, pulling forward, pulling backward, and lifting, the time taken for each operation is not displayed. Therefore, during the adjustment process, the operator cannot know which operation adjustment contributed the most to reducing the time.

[0008] An object of the present invention is to provide a molded product removal machine that can display information on a display screen to facilitate adjustments when making adjustments to shorten removal time and cycle time. [Means for solving the problem]

[0009] The molded product removal machine of the present invention includes an operation control unit that controls an operation of removing a molded product from an open mold of a molding machine by the removal head and transporting the removed molded product to a predetermined position and releasing it by moving the removal head according to an operation sequence that has been set in advance by a teaching operation and stored in a memory unit, an operation time counting unit that counts an actual operation time from the start to the completion of a plurality of set operations according to the operation sequence, an operation time memory unit that chronologically stores the plurality of operation times counted by the operation time counting unit, a display unit with a display screen, and a display control unit. The display control unit includes a display control unit that displays, on the display screen, display data that is used at least when performing the teaching operation and when changing the setting conditions of the operation sequence stored in the memory unit. In the present invention, the display control unit displays, on the display screen, at least an identification display of the plurality of set operations set in the operation sequence, the setting values ​​of the plurality of set operations, and at least one of the actual operation times and the increase / decrease amount of the actual operation times stored in the operation time memory unit corresponding to the plurality of set operations.

[0010] When the set values ​​of the plurality of set operations and at least one of the actual operation times and the increase / decrease amount of the actual operation times stored in the operation time storage unit corresponding to the plurality of set operations are displayed on the display screen as in the present invention, at least one of the actual operation times and the increase / decrease amount corresponding to the set values ​​of the set operations for teaching performed by the operator each time a cycle after setting is completed is displayed on the display screen. When making adjustments to shorten the take-out time and cycle time, the operator can judge whether the set values ​​contribute to shortening the actual operation time by looking at the actual operation times or the increase / decrease amount. As a result, even if the operator is not an expert, the operator can immediately confirm whether the time can be shortened in each set operation depending on the setting method. When the difference in cycle time is displayed as in Patent Document 1, only an expert with a certain degree of skill can understand which set value of the set operation contributes to shortening the cycle time. However, according to the present invention, at least one of the actual operation time and the increase / decrease amount is displayed corresponding to the set value of the set operation, so that the optimization of the settings for time reduction can be easily performed.

[0011] The operation time storage unit further includes a data calculation unit that calculates the amount of increase or decrease in the actual operation time from the time series data stored in the time series, and it is preferable that an increase or decrease display showing the calculated amount of increase or decrease in the actual operation time is also displayed on the display screen. Actual measurement This is an amount equivalent to the difference in operating time. By displaying the amount of increase or decrease, it is possible to quickly determine whether the setting is good or bad from the amount of increase or decrease, even if the previous setting value is not memorized.

[0012] The identification display of the setting operation may be at least one of an operation content display and a symbol corresponding to the operation content display.

[0013] The display control unit is preferably configured to allow the setting values ​​of the multiple setting operations to be changed via the display screen or another display screen, which allows the setting values ​​of the setting operations to be changed while viewing the display results on the display screen, thereby improving operability.

[0014] The set values ​​of the multiple setting operations may be displayed as percentages, with the highest physical set value of the setting target being 100%. In this way, the user can intuitively recognize whether the set value adjustment is satisfactory or not.

[0015] The set values ​​of the multiple setting operations that are the setting targets are effective in shortening the time in teaching. For example, it is preferable that the setting targets include selectable speed, acceleration, and deceleration of the setting operations, as well as removal position information and timer setting time. In particular, the selection or adjustment of the speed, acceleration, deceleration, or timer of the setting operations is effective in shortening the time.

[0016] It is preferable that the set values ​​for the multiple setting operations can be set individually, which allows for detailed settings and increases convenience.

[0017] The display control unit preferably displays the setting operation currently being performed during operation so as to distinguish it from other setting operations, making it possible to adjust the setting values ​​for the next cycle while one cycle is in progress.

[0018] The display control unit may display the amount of increase or decrease between the actual cycle time of the current cycle and the actual cycle time of the previous cycle on the display screen each time one cycle is completed. In this way, it is possible to see how the set values ​​of each setting operation affect one cycle time, so that even an unskilled person can gradually learn effective setting value selection or adjustment techniques. [Brief description of the drawings]

[0019] [Figure 1] 1 is a block diagram showing a main part of a configuration of a molded product removal machine of the present embodiment for removing a molded product from a molding machine. [Diagram 2] FIG. 11 is a diagram used to explain an operation process set by an operation sequence. [Diagram 3] FIG. 13 is a diagram showing an example of a display on a display screen. [Figure 4] FIG. 13 is a diagram illustrating an example of a setting value change input screen. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] An embodiment of the molded product removal machine of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a block diagram showing the main components of the configuration of a molded product removal machine 1 of this embodiment for removing a molded product from a molding machine. The molded product removal machine 1 includes a removal head 3 equipped with a suction nozzle and the like, a moving mechanism 5 for moving the removal head 3, a drive unit 7 for driving the moving mechanism 5, and an operation control unit 9 for giving an operation command to the drive unit 7. When the moving mechanism 5 is a well-known three-axis moving mechanism, i.e., an XYZ-type moving mechanism, when performing a removal operation to remove a molded product as shown in FIG. 2, the moving mechanism 5 moves the removal head 3 equipped with a suction nozzle along the Z-axis and Y-axis in the following order: standby position (start position of descent) → descending position → removal position → extraction position → raised position. At the removal position, the moving mechanism 5 uses the suction nozzle to suck and remove the molded product pushed out of the molding die of the molding machine by the protruding operation of the ejector pin. The moving mechanism 5 then moves the removal head 3 equipped with the suction nozzle from the raised position to an open position (not shown). At the open position, the suction by the suction nozzle is released and the molded product is released at the open position.

[0021] The operation control unit 9 is configured with a calculation device such as a CPU, and executes operation control of the suction nozzle and control of the drive unit 7 that drives the movement mechanism 5. In this embodiment, the operation control unit 9 controls the operation of removing a molded product from the open mold of the molding machine by the removal head 3 by operating the movement mechanism 5 in accordance with the operation sequence that is set in advance by the operation setting unit 11 and stored in the operation sequence storage unit 13 during the teaching operation, and transports the removed molded product to a predetermined position and releases it.

[0022] In this embodiment, the apparatus further includes a setting condition storage unit 15 for storing some operation conditions set by the operation setting unit 11, which will be described later, in order to assist the teaching operation, an operation time counting unit 17 for counting the actual operation time from the start to the completion of a plurality of set operations according to an operation sequence, an operation time storage unit 19 for chronologically storing the plurality of operation times counted by the operation time counting unit 17, a display unit 23 having a display screen 21, a display control unit 25, and a data calculation unit 27. In this embodiment, the display unit 23 has a touch switch function that allows the switch to be turned on and off by touching a button (switch unit) on the display screen 21. In this embodiment, the display unit 23 also serves as the display unit of the controller of the molded product extracting machine.

[0023] In this embodiment, the operation of the take-out head 3 moving between the multiple positions shown in FIG. 2 is the "multiple setting operations", and the time from the start of movement between each position to the completion of the movement is the "actual operation time".

[0024] The operation time counter 17 counts the actual operation time t of the take-out head 3 moved by the moving mechanism 5, for example, based on the output of an encoder mounted on a servo motor included in the driving device 7 and the count information of a CPU mounted thereon. Specifically, the movement of the servo motor moving from the starting position to the target position is detected by the output of the encoder, and the CPU clock is counted until the operation is stopped, to count the operation time t. The display control unit 25 displays on the display screen 21 display data used at least when performing a teaching operation and when changing the operation sequence stored in the operation sequence storage unit 13 and the setting conditions stored in the setting condition storage unit 15. In this embodiment, the display control unit 25 displays on the display screen 21 at least the identification display of the multiple setting operations set in the operation sequence, the setting values ​​of the multiple setting operations, and the actual operation time t stored in the operation time storage unit 19 corresponding to the multiple setting operations.

[0025] 3 shows an example of the display on the display screen 21 when assisting with the teaching work. In this example, the setting item column 21A lists symbols such as "P00" and "S00" as identification displays for each setting operation, and items such as "Removal position," "Waiting for lower condition on removal side," and "Waiting for product removal forward movement."

[0026] In addition, the setting value for each setting operation set by the operation setting unit 11 and stored in the setting condition storage unit 15 is described in the setting value column 21B. Here, the setting value is displayed in %, with the maximum value of the physical setting value of the setting object of the setting operation being 100%. In this embodiment, the setting values ​​as the setting conditions of the multiple setting operations stored in the setting condition storage unit 15 by the operation setting unit 11 include physical setting values ​​such as the speed, acceleration, and deceleration as the setting object of the setting operation, as well as removal position information and the setting time of the timer. For example, if the setting value is the speed, acceleration, or deceleration, the setting value is displayed with the maximum value of these being 100%. In this embodiment, after pressing the individual setting button 23G on FIG. 3, pressing any of the "acceleration" button 23G1, "speed" button 23G2, and "deceleration" button 23G3 selects the physical setting value in the setting operation. When the individual setting button is not pressed, the physical setting value previously determined for each setting operation is automatically selected. When the % display is used, the magnitude of the setting value can be determined intuitively.

[0027] In Fig. 3, if the setting operation is "S04 Pull forward" and the individual setting is "speed", then the setting value of "50%" means that the maximum settable speed is 100%, and a speed of "50%" is set. Setting values ​​for multiple setting operations are effective in shortening teaching time. In particular, selecting or adjusting the speed, acceleration, deceleration or timer of the setting operation is effective in shortening the cycle time.

[0028] Furthermore, the measurement section column 21C in Fig. 3 displays the operation time t actually measured for each set operation. For the set operation "S04 Pull out forward", the measured value of "1.50 seconds" (actual operation time) is the actual time it took for the take-out head to move from the "down position" to the "take-out position" in Fig. 2. By knowing the actual operation time, you can get a feel for the quality of the settings in real time intervals.

[0029] In the increase / decrease value column 21D in FIG. 3, the result of calculation of the increase / decrease amount of the actual measured operation time t by the data calculation unit 27 from the time series data stored in the operation time storage unit 19 in a time series is shown as an increase / decrease value (increase / decrease amount). The increase / decrease value is an amount equivalent to the difference (tf-tl) between the actual measured operation time tf of the previous cycle and the operation time tl of the following cycle. If the increase / decrease value (amount) is displayed, it is possible to quickly determine whether the setting is good or bad from the increase / decrease value even if the previous setting value is not stored. In this embodiment, both the actual measured operation time (measurement value) and the increase / decrease value (increase / decrease amount) are displayed on the display screen, but in the present invention, it is sufficient to display at least one of the actual measured operation time (measurement value) and the increase / decrease value (increase / decrease amount). Of course, if both are displayed, the convenience for the user is improved.

[0030] In the one cycle time column 21E in Fig. 3, the actual cycle time of the cycle and the amount of change between the actual cycle time of the cycle and the actual cycle time of the previous cycle are displayed each time a cycle is completed. In the example of Fig. 3, "10.56 seconds" is the actual cycle time of the cycle, and "-0.13 seconds" is the amount of change in the cycle time of the cycle compared to the previous cycle time. This amount of change is also calculated by the data calculation unit 27. In this example, it can be seen that the cycle time has been shortened by 0.13 seconds.

[0031] In this embodiment, the display control unit 25 displays the setting operation currently being executed during operation so as to distinguish it from other setting operations. In the example of Fig. 3, the background color of the display part of the setting item "T00 Product extraction and centrifugation waiting" is changed to indicate that it is the item currently being executed. In this way, since the currently executed item can be identified during one cycle of operation, it is also possible to adjust the setting value for the next cycle for the execution item before the currently executed item during operation.

[0032] By looking at the display shown in Figure 3, it is possible to see how the set values ​​for each setting operation affect one cycle time, so even if you are not an expert, you can gradually learn effective setting value selection or adjustment techniques.

[0033] According to this embodiment, the set value of the setting operation for teaching performed by the operator each time a cycle after setting is completed, the actual measured operation time t corresponding to the set value, the increase / decrease value of the operation time of the setting operation, the cycle time, and the increase / decrease amount of the cycle time are displayed on the display screen. When making adjustments to shorten the take-out time and the cycle time, the operator can judge whether the set value contributes to shortening the actual operation time by looking at the actual measured operation time t. As a result, even if the operator is not an expert, the operator can immediately confirm whether the time can be shortened in each setting operation depending on the setting method. Note that in the case of only displaying the difference in cycle time as in Patent Document 1, only an expert to a certain degree can understand which setting operation set value contributes to shortening the cycle time. However, according to this embodiment, the actual operation time t is displayed corresponding to the set value of the setting operation, so that the optimization of the setting for time shortening can be easily performed.

[0034] In this embodiment, the display control unit 25 is configured to change the set values ​​of a plurality of setting operations via the display screen or another display screen. FIG. 4 shows an example of an input screen for changing the set value. The display in FIG. 4 is an input screen for changing the set value of the setting item "pull forward" in FIG. 3. This screen may be displayed separately from the display screen in FIG. 3, or may be displayed superimposed on the screen in FIG. 3 so that a part of the display of the screen in FIG. 3 remains. In this embodiment, when displaying the set value change input screen in FIG. 4, the "change setting" button in FIG. 3 is touched and then the setting item "pull forward" is touched to display it on the display screen. In this way, the set value of the setting operation can be changed while viewing the display result on the display screen, which improves workability. In the input screen in FIG. 4, the set value and the correction value are displayed in %. The unit of increase or decrease when the "+" or "-" switch is pressed once is determined by selecting "unit". The "unit" display of 100 is pressed when selecting the % display as the display.

[0035] In the above embodiment, the increase or decrease is displayed together with the measured value, but it is also possible to display only the measured value or only the increase or decrease on the display screen 21.

[0036] In the above embodiment, the setting value is displayed as a percentage of the maximum value of the condition for the setting item, but it is of course possible to display the actual setting value. [Industrial Applicability]

[0037] According to the present invention, the actual operation time corresponding to the setting value of the setting operation for teaching performed by the operator is displayed on the display screen every time a cycle is completed after multiple settings, so that when the operator makes an adjustment to shorten the removal time and cycle time, he or she can judge whether the setting value contributes to shortening the actual operation time by looking at the actual operation time. As a result, even if the operator is not an expert, he or she can immediately confirm whether the time can be shortened in each setting operation by changing the setting method. [Explanation of symbols]

[0038] 1 Molded product removal machine 3 Extraction head 5 Moving mechanism 7. Drive unit 9. Operation control section 11 Operation setting section 13 Operation sequence memory unit 15 Setting condition memory section 17 Operation time counter 19 Operation time memory unit 21 Display screen 23 Display section 25 Display control section 27 Data Calculation Section

Claims

1. an operation control unit that controls an operation of moving the removal head in accordance with an operation sequence that has been preset by a teaching operation and stored in a memory unit, so as to remove a molded product from an open mold of the molding machine by the removal head, and to transport the removed molded product to a predetermined position and release it; an operation time counter that counts an actual operation time from the start to the completion of a plurality of setting operations according to the operation sequence; an operation time storage unit that stores a plurality of operation times counted by the operation time counting unit in chronological order; and a display unit having a display screen; A molded product extracting machine including a display control unit that displays on the display screen display data used at least when performing the teaching operation and when changing setting conditions of the operation sequence stored in the memory unit, the display control unit displays on the display screen at least an identification display of a plurality of set operations set in the operation sequence, setting values ​​of the plurality of set operations, and at least one of the actual measured operation times and the amount of increase or decrease in the actual measured operation times stored in the operation time memory unit corresponding to the plurality of set operations.

2. A data calculation unit is further provided which calculates an increase or decrease in the actual measured operation time from the time series data stored in the operation time storage unit in a chronological order, 2. The molded product extracting machine according to claim 1, wherein the display control unit displays an increase / decrease display indicating an amount of increase / decrease in the actually measured operating time on the display screen together with the actually measured operating time.

3. 3. The molded product remover according to claim 2, wherein the amount of increase or decrease is an amount corresponding to a difference between the actually measured operation time of a previous cycle and the actually measured operation time of a subsequent cycle.

4. 2. The molded product extractor according to claim 1, wherein the identification indication of the set operation is at least one of an operation content indication and a symbol corresponding to the operation content indication.

5. 5. The molded product extractor according to claim 1, wherein the display control unit is configured to enable changing of the set values ​​of the plurality of setting operations via the display screen or another display screen.

6. 2. The molded product remover according to claim 1, wherein the set values ​​of the plurality of setting operations are expressed as percentages, with the maximum physical set value of the setting object being 100%.

7. 7. The molded product remover according to claim 6, wherein the setting objects include at least one of the speed, acceleration and deceleration of the set operation, the removal position information, and the timer time limit of the timer.

8. The molded product remover according to claim 7 , wherein the set values ​​of the plurality of set operations can be set individually.

9. 9. The molded product removing machine according to claim 1, wherein the display control unit displays the setting operation currently being executed during operation in a manner that distinguishes it from other setting operations.

10. The molded product removal machine according to any one of claims 1 to 9, wherein the display control unit displays, each time a cycle is completed, the amount of increase or decrease between the actual cycle time of the current cycle and the actual cycle time of the previous cycle on the display screen.

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