Molded product removal machine and teaching method thereof

Abstract

The present invention provides a molded product removal machine and a teaching method thereof that can reduce the burden on the operator in searching for the opening-related position before performing opening-side teaching. [Solution] The operation control device is provided with a search operation unit 27 that, before performing the teaching operation on the opening side, automatically moves the upper and lower frames 5 and the withdrawal frame 7 according to a predetermined search algorithm so that the image of the opening-related position, which includes a part of the marker, is included in the image captured by the imager 15, in order to search for the opening-related position. The teaching operation execution unit performs the teaching operation on the opening side starting from the opening-related position determined by the search.

Description

Technical Field

[0001] The present invention relates to a molded product take-out machine and a teaching method thereof.

Background Art

[0002] Japanese Patent Publication No. 4823752 (Patent Document 1) discloses a molded product removal machine that eliminates the need for the operator to move during teaching and saves the time and effort required to reattach the imaging device. This molded product removal machine includes a removal head (chuck part) configured to hold a molded product, a teaching means for teaching the movement of the removal head (chuck part) from the time the molded product produced by the molding machine is removed from the mold and transported to a transport device (conveyor device or box pallet) in an open position, an operation control means for controlling the movement of the removal head (chuck part) according to the taught content, an imaging device positioned to capture images of the box pallet (transport device) in an open position, and a display that displays images captured by the imaging device at least during teaching. The movement mechanism of the molded product removal machine is an orthogonal type movement mechanism comprising an upper and lower frame that moves in the vertical direction, an extraction frame that moves the upper and lower frame in the extraction direction, and a traverse frame that moves the extraction frame in a traverse direction perpendicular to the vertical direction and the extraction direction. The imaging device is mounted on upper and lower bases that support the upper and lower frames in the moving mechanism that moves the extraction head (chuck part), and is positioned to image the transport device (conveyor device or box pallet). During teaching, the image captured by the imaging device is displayed on a display. Patent Document 1 states that the operator can perform teaching while viewing the image displayed on the display, so there is no need to move the transport device for teaching, and there is no need to reattach the imaging device, thus saving time and effort. Patent Document 1 also states that the teaching means stores a reference image captured by the imaging device in a storage means when the stopping position of the extraction head (chuck part) is taught for one or more objects, such as the device, molded product, or markers provided thereon, and the operation control means captures the object with the imaging device when the extraction head (chuck part) moves to the stopping position, and provides notification if the difference between the image captured at the current time and the reference image stored in the storage means exceeds an acceptable range. Here, "stopping position" refers to the stopping position taught by teaching. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Patent No. 4823752 [Overview of the project] [Problems that the invention aims to solve]

[0004] In the invention described in Patent Document 1, when teaching the release side to release the molded product from the extraction head, the operator searches for a marker in the image while looking at the image to find the stopping position (release position) and determine the release position. However, in a structure where the mounting of the imaging device is limited to a position above the extraction head moved by an orthogonal movement mechanism, the imaging device cannot be moved freely as in a multi-axis movement mechanism, and therefore imaging cannot be performed at any angle. Moreover, since the release position is determined arbitrarily, the task of searching for a marker related to the release position while looking at the image is a considerable burden and time-consuming task for the operator.

[0005] The object of the present invention is to provide a molded product removal machine and a teaching method thereof that can reduce the burden on the operator in searching for the opening-related position before performing teaching on the opening side. [Means for solving the problem]

[0006] The present invention provides an improved molded product removal machine comprising: a moving mechanism comprising upper and lower frames that move vertically, an extraction frame that moves the upper and lower frames in the extraction direction, a traverse frame that moves the extraction frame in a traverse direction perpendicular to the vertical and extraction directions, and an extraction head attached to the upper and lower frames to hold the molded product; a teaching operation execution unit that performs teaching operations; a control command creation unit that creates control commands necessary for transporting the molded product held by the extraction head to the release position based on information obtained by the teaching operation execution unit through extraction-side teaching operations when the molded product is removed by the extraction head and release-side teaching operations when the molded product is released from the extraction head; an operation control device comprising a control unit that controls the positions of the upper and lower frames, the extraction frame and the operation of the extraction head based on the control commands; and an imager attached to an upper and lower base that supports the upper and lower frames or the upper and lower frames to image the extraction head from above.

[0007] In this invention, the operation control device includes a search operation unit that, before performing the teaching operation on the opening side, automatically moves the upper and lower frames and the withdrawal frame according to a predetermined search algorithm so that an image of the opening-related position is included in the image captured by the imager, thereby searching for the opening-related position. In this specification, the opening-related position is a position related to the starting position for automatically or manually starting the teaching operation on the opening side to determine the opening position (the position in which the extraction head releases the molded product). The opening-related position is a position close to the opening position, but it is not the opening position itself, but rather a position that serves as the starting point for automatically or manually starting the teaching operation on the opening side. The teaching operation execution unit then performs the teaching operation on the opening side starting from the opening-related position.

[0008] According to the present invention, the search unit automatically moves the upper and lower frames and the withdrawal frame so that the image of the open-related position is included in the image captured by the imager, thereby searching for the open-related position. After the search unit automatically searches for the open-related position, the operator only needs to manually or automatically determine the open position starting from the open-related position through an open-side teaching operation. Therefore, according to the present invention, the operator does not need to search for the open-related position themselves, and the burden on the operator and the working time are greatly reduced.

[0009] Preferably, one or more markers are placed at the open-related positions, and the search operation unit includes a search algorithm storage unit that stores the search algorithm, a movement command unit that provides movement commands to the control unit to move the upper and lower frames and the withdrawn frame according to the search algorithm, a determination unit that determines whether or not one or more markers are included in the image captured by the imager during the movement operation according to the movement command, and a position information storage unit that stores the positions of the upper and lower frames and the withdrawn frame as open-related positions when the determination unit determines the presence of one or more markers. In this way, automatic searching of open-related positions by the search operation unit can be easily realized using hardware such as a computer.

[0010] The search algorithm executed by the movement command unit starts from an initial position where the withdrawn frame is located at the traverse-direction end of the traverse frame and the upper and lower frames are closest to the traverse frame. When moving the upper and lower frames from the starting point to the furthest point, or when returning the upper and lower frames from the furthest point to the starting point, the unit moves the withdrawn frame and the upper and lower frames so as to continuously image multiple planned open-related positions corresponding to positions where one or more markers can be placed using the imager. The movement stops when the imager has captured a portion of the markers. The determination unit is configured to determine an open-related position, which is the starting position for automatically or manually starting open-side teaching, from the position information of the upper and lower frames and the withdrawn frame at the time the movement stops. In this specification, multiple planned open-related positions are positions where one or more markers can be placed, and an open-related position is determined when one or more markers are placed at one of these multiple planned open-related positions.

[0011] Using the search algorithm described above, the automatic search starts from the lateral limit position or its vicinity, where there is a high probability that an open position will be set. This has the advantage of relatively shortening the time required for the automatic search.

[0012] The search algorithm can be configured to perform the following steps: First, the extracted frame is moved along the transverse frame to the transverse end and the upper and lower frames are moved to their initial positions closest to the transverse frame. Then, a first movement step is performed in which the extracted frame is moved along the transverse frame towards the end opposite to the transverse end (the transverse limit). After that, a second movement step is performed in which the upper and lower frames are moved along the extracted frame to the position furthest from the transverse frame. After that, the extracted frame is moved a predetermined distance towards the transverse end, and then a third movement step is performed in which the upper and lower frames are moved along the extracted frame to the position closest to the transverse frame. After that, the extracted frame is moved a predetermined distance towards the transverse end, and then a fourth movement step is performed in which the upper and lower frames are moved along the extracted frame to the position furthest from the transverse frame. When performing the first and second movement steps, or when repeating the third and fourth movement steps, the movement process is stopped when the imager captures a portion of one or more markers.

[0013] Another search algorithm can be configured to perform the following steps: First, move the extracted frame along the transverse frame to the transverse end and move the upper and lower frames to their initial positions closest to the transverse frame. Then, perform a first movement step in which the upper and lower frames move along the extracted frame away from the transverse frame while moving the extracted frame along the transverse frame toward the end opposite to the transverse end (transverse limit). Next, perform a second movement step in which move the upper and lower frames along the extracted frame to the position closest to the transverse frame. Then, perform a third movement step in which move the extracted frame a predetermined distance toward the transverse end and then move the upper and lower frames along the extracted frame to the position furthest from the transverse frame. Finally, perform a fourth movement step in which move the extracted frame a predetermined distance toward the transverse end and then move the upper and lower frames along the extracted frame to the position closest to the transverse frame. Furthermore, when performing the first and second movement steps, and when performing the movement process that repeats the third and fourth movement steps, the movement process is stopped when the imager captures a portion of the marker.

[0014] The search algorithm used in this invention is not limited to the specific algorithm described above.

[0015] If the system includes an image display device that displays images captured by the imaging device on a screen, the image display device only needs to have the function of displaying the images captured by the imaging device on the screen when the manual operation command unit is operated manually by the operator. This makes manual operation easier.

[0016] The teaching operation execution unit includes a manual operation command unit. The open-side teaching operation may be performed by manual operation using the manual operation command unit, starting from the open-related position, or the open-side teaching operation may be performed automatically, starting from the open-related position.

[0017] The moving mechanism includes a head mounting surface on which the head is attached, and a posture control device that controls the posture of the head. Preferably, the control unit controls the posture control device so that the head is in a position that does not obstruct imaging before the search operation unit performs the search operation. In this way, the search operation can be performed with the widest possible imaging range.

[0018] In the teaching method for the molded product removal machine with the above configuration, before performing the opening-side teaching operation, a search operation is performed to search for the opening-related position by automatically moving the upper and lower frames and the extraction frame according to a predetermined search algorithm so that the image of the opening-related position is included in the image captured by the imager. The teaching operation execution unit then performs the opening-side teaching operation automatically or manually using the opening-related position obtained through the search. [Brief explanation of the drawing]

[0019] [Figure 1] This diagram shows the configuration of the moving mechanism of an embodiment of a molded product removal machine mounted on a molding machine according to this embodiment. [Figure 2] This is a perspective view showing the imager mounted on upper and lower bases that support the upper and lower frames to move vertically. [Figure 3] This is a block diagram showing the configuration of the control system in this embodiment. [Figure 4] This is a block diagram showing the specific configuration of the search operation unit. [Figure 5] Figures (A) through (D) illustrate an example of a semi-automatic method for determining the opening-related position when the opening-related position can be estimated to some extent. [Figure 6] This figure is used to illustrate an example of automatically searching for open-related positions by automatically moving the upper and lower frames and the extracted frame using the first search algorithm. [Figure 7] Figures (A) through (C) are used to illustrate an example of using a second search algorithm to search for markers in a short amount of time. [Figure 8]The flowchart shows the algorithm of a computer program used when implementing a second search algorithm using computer software. [Figure 9] (A) to (C) are diagrams for explaining an example in the case of using a third search algorithm for searching for markers in a short time, similar to the second search algorithm. [Figure 10] The flowchart shows the algorithm of a computer program used when implementing a third search algorithm using computer software. [Figure 11] (A) and (B) are diagrams used for explaining the timing of the search. [Figure 12] It is a diagram used for explaining the teaching operation.

Embodiments for Carrying Out the Invention

[0020] A preferred embodiment of the molded product removal machine of the present invention will be described in detail below with reference to the drawings. Figure 1 is a diagram showing the configuration of the moving mechanism 3 of the embodiment of the molded product removal machine 1 mounted on a molding machine MM. Figure 2 is a perspective view showing the imager 15 mounted on upper and lower bases 6 that support the upper and lower frames 5 to move in the vertical direction. Figure 3 is a block diagram showing the configuration of the control system of this embodiment. In these figures, the moving mechanism 3 includes upper and lower frames 5 that move in the vertical direction, a removal frame 7 that moves the upper and lower frames 5 in the removal direction, a traverse frame 9 that moves the removal frame 7 in the vertical direction and a traverse direction perpendicular to the removal direction, an attitude control device 11 (Figure 2) attached to the upper and lower frames 5, and a removal head 13 attached to the head mounting surface of the attitude control device 11 (Figure 2). Figure 2 is a perspective view showing the imager 15, which consists of a camera, mounted on upper and lower bases 6 that support the upper and lower frames 5 to move in the vertical direction. The upper and lower frame 5 is composed of a first upper and lower frame half 5A fixed to the upper and lower base 6 and a second upper and lower frame half 5B that is supported by the first upper and lower frame half 5A so as to be slidable in the vertical direction. An attitude control device 11 is mounted on the tip of the second upper and lower frame half 5B, and a retrieval head 13 is mounted on a retrieval head mounting surface (not shown) of the attitude control device 11. Before the search operation unit 27 (Figure 3) performs the search operation, the control unit 25 (Figure 3) controls the attitude control device so that the retrieval head 13 is in an orientation that does not obstruct imaging.

[0021] Figure 3 is a block diagram showing the configuration of the control system in this embodiment. In this control system, the operation control device 17 includes a teaching operation execution unit 19 that performs teaching operations, a control command creation unit 21 that creates control commands necessary to perform a transport operation to release the molded product held by the extraction head at the release position based on information obtained by the teaching operation execution unit 19 through extraction-side teaching operations when the extraction head 13 extracts the molded product and release-side teaching operations when the molded product is released from the extraction head, a control command storage unit 23 that stores the control commands, a control unit 25 that controls the positions of the upper and lower frames 5 and the extraction frame 7 and the operation of the extraction head 13 based on the control commands, and a search operation unit 27 which will be described later. In this embodiment, the imager 15 that images the extraction head 13 from above is mounted on the upper and lower base 6 that supports the upper and lower frames 5, but the imager 15 may be mounted on the upper and lower frames 5. The image display device 16 that displays the image captured by the imager 15 on the display screen 16A is configured by a controller which also serves as an input unit.

[0022] Before performing the teaching operation on the opening side, the search operation unit 27 automatically moves the upper and lower frames 5 and the withdrawal frame 7 according to a predetermined search algorithm so that the image of the opening-related position is included in the image captured by the imager 15, thereby searching for the opening-related position. As shown in Figure 6, for this search, when the withdrawal frame 7 and the traverse frame 9 are in their initial positions, one or more markers M are placed at one of the multiple opening-related planned positions rp selected from among the multiple opening-related planned positions assumed in the region R between the withdrawal frame 7 and the traverse frame 9. The multiple opening-related planned positions are multiple positions from which the extraction head 13 can be lowered by moving the withdrawal frame 7 and the upper and lower frames 5. The number of multiple opening-related planned positions that can be assumed in region R is determined by the resolution of the movement of the withdrawal frame 7 and the upper and lower frames 5. If the resolution of the movement of the withdrawal frame 7 and the upper and lower frames 5 is coarse, the number of multiple opening-related planned positions decreases, and if the resolution of the movement of the withdrawal frame 7 and the upper and lower frames 5 is fine, the number of multiple opening-related planned positions increases. In Figure 6, the center of marker M is placed at one planned release-related position rp. The marker M is placed by the operator. In this example, the planned release-related position rp where the center of marker M is placed becomes the release-related position to be searched. In this embodiment, this release-related position (rp), determined according to the search algorithm described later, is used as the starting point for the teaching operation on the release side. In the teaching operation on the release side, the teaching operation is performed automatically or manually, and the position where the removal head 13 starts to descend when the release operation is performed, and the position where the removal head 13 releases the molded product are determined. Note that marker M may be specially created, but for example, when the molded product is stored in a storage container, the storage container itself becomes the marker. Also, when the molded product is released onto a pallet or conveyor, the pallet or conveyor itself or a part thereof becomes the marker.

[0023] Figure 4 is a block diagram showing the specific configuration of the search operation unit 27. Figures 5 and 6 are diagrams used to explain an example of the operation of the search operation unit 27. Preferably, the search operation unit 27 includes a search algorithm storage unit 27A that stores the search algorithm, a movement command unit 27B that gives a movement command to the control unit 25 to move the upper and lower frames 5 and the withdrawn frame 7 according to the search algorithm, a determination unit 27C that determines whether or not one or more markers M are included in the image captured by the imager 15 during the movement operation according to the movement command, and a position information storage unit 27D that stores the positions of the upper and lower frames 5 and the withdrawn frame 7 as open-related positions when the determination unit 27C determines the presence of one or more markers.

[0024] The search algorithm stored in the search algorithm storage unit 27A is configured to start from an initial position [shown in Figure 6] where the withdrawn frame 7 is located at the lateral end of the lateral frame 9 and the upper and lower frames 5 are closest to the lateral frame 9, move the upper and lower frames 5 to the furthest point from the starting point [shown in Figure 5(C)], and then move the upper and lower frames 5 back from the furthest point to the starting point, so that the imager 15 can continuously image multiple release-related planned positions rp where one or more markers M can be placed, and stop moving when the imager 15 has imaged a part of the marker M. The zigzag arrows in Figure 6 show an example of the movement route of the search algorithm. The determination unit 27C is configured to determine the release-related position (rp) from the positions of the upper and lower frames 5 and the withdrawn frame 7 at the time the movement is stopped. In this specification, multiple planned open-related positions are positions where one or more markers M can be placed, and an open-related position is set by placing one or more markers at one of these multiple planned open-related positions.

[0025] In this way, the automatic search for the open-related position by the search operation unit 27 can be easily realized using hardware such as a computer. The teaching operation execution unit 19 then performs the teaching operation on the open side, starting from the open-related position found by the search operation unit 27. In this example, as shown in Figure 3, a manual operation command unit 19A is provided in the teaching operation execution unit 19 so that the teaching operation on the open side is performed manually. Of course, the teaching operation execution unit 19 may also perform the teaching operation on the open side automatically.

[0026] In this embodiment, the reason why the search operation unit 27 automatically searches for the open-related position according to the search algorithm will be explained. Figures 5(A) to (D) illustrate an example of semi-automatic determination of the open-related position when the open-related position can be estimated to some extent. If the open-related position can be estimated to some extent, the imager 15 is moved by moving the upper and lower frames 5 and the withdrawn frame 7 to the estimated position as shown in Figure 5(A), and the movement is stopped when the marker M placed at the open-related position is captured by the imager 15. Then, as shown in Figure 5(C), the imager 15 is lowered while fine-tuning the upper and lower frames 5 and the withdrawn frame 7 to fine-tune the position of the imager 15, so that the position where the marker is completely in the center of the captured image as shown in Figure 5(D) can be determined as the open position. The problem with semi-automatic determination of the open-related position is that the open-related position is not always constant and changes depending on how the system is used. When the open-related position changes, it is difficult to semi-automatically move the upper and lower frames 5 and the withdrawn frame 7 to the open-related position. Furthermore, the imager 15 is typically mounted to image the extraction head 13 and the molded product, and its angle cannot be adjusted. This problem also hinders the automatic movement of the imager 15 to the release-related position.

[0027] Therefore, in one embodiment of the present invention, by continuously imaging multiple potential open-related positions in a region R (Figure 6) that can be open-related positions with the imager 15, the upper and lower frames 5 and the withdrawn frame 7 are automatically moved using a search algorithm to a position where at least a part of the marker M can be imaged, and the open-related positions are searched for. Figure 6 is a diagram used to explain a first embodiment in which the upper and lower frames 5 and the withdrawn frame 7 are automatically moved using the first search algorithm to automatically search for open-related positions. In this example, the first search algorithm moves the upper and lower frames 5 and the withdrawn frame 7 to move the imager 15 from the initial position toward the transverse limit, then moves from the transverse limit in a direction perpendicular to the transverse axis, and then moves toward the initial position, repeating a long zigzag path. In this path, if the marker M of the opening destination is at the furthest position (farthest point) shown in Figure 6, the path to reach the position of marker M will be considerably long. However, even in such cases, the operator does nothing in particular; the system can automatically detect the opening-related position (rp) by continuously imaging the planned opening-related position from the starting point of the initial position to the furthest point.

[0028] Figures 7(A) to 7(C) are diagrams used to illustrate a second embodiment in which a second search algorithm is used to search for marker M in a shorter time than the first embodiment in Figure 6. Figure 8 is a flowchart of the algorithm of a computer program used when the second search algorithm is implemented using computer software. The second search algorithm is configured to perform the following steps. First, the withdrawal frame 7 is moved along the transverse frame 9 to the transverse end and the upper and lower frames 5 are moved to the initial position (starting point) closest to the transverse frame 9. Then, the withdrawal frame 7 is moved along the transverse frame 9 toward the end in the opposite direction to the transverse end (transverse limit) in a first movement step (steps S1 and S2). In this step, the imager 15 continuously images multiple open-related planned positions during this movement process, and when the imager 15 images a part of marker M, the search is stopped and the open-related planned position in which the imager 15 has imaged a part of marker M is designated as an open-related position (step S3). If the imager 15 does not image a portion of the marker M during this process, a second movement step is performed in which the upper and lower frames 5 are moved along the withdrawal frame 7 to the position furthest from the traverse frame 9 (farthest point) (step S4). In this step as well, the imager 15 continuously images multiple release-related planned positions during this movement process, and when the imager 15 images a portion of the marker M, the search is stopped and the release-related planned position in which the imager 15 has imaged a portion of the marker M is designated as the release-related position (step S5). If the imager 15 does not image a portion of the marker M, then the withdrawal frame 7 is moved a predetermined distance toward the end in the traverse direction, and then a third movement step is performed in which the upper and lower frames 5 are moved along the withdrawal frame 7 to the position closest to the traverse frame 9 (step S6). In this step as well, the imager 15 continuously images multiple potential open-related positions during this third movement process. When the imager 15 images a portion of the marker M, it stops searching and sets the potential open-related position where the imager 15 has captured a portion of the marker M as the open-related position (step S7).When the imager 15 does not image part of the marker M, a fourth movement step is performed in which the withdrawal frame 7 is moved a predetermined distance toward the end in the lateral direction, and then the upper and lower frames 5 are moved along the withdrawal frame 7 to the position furthest from the lateral frame 9 (these steps S6 and S7 are repeated). Subsequently, when the movement process is performed by repeating the third and fourth movement steps, the movement process is stopped when the imager 15 images part of the marker M, and the planned release-related position where the imager 15 images part of the marker M is set as the release-related position.

[0029] Figures 9(A) to (C) are used to illustrate a third embodiment in which a third search algorithm is used to search for marker M in a short time, similar to the second search algorithm. Figure 10 is a flowchart of the algorithm of a computer program used when the third search algorithm is implemented using computer software. In the third search algorithm, first the extracted frame 7 is moved along the horizontal frame 9 to the end in the horizontal direction and the upper and lower frames 5 are moved to the initial position (starting point) closest to the horizontal frame 9. Then, a first movement step is performed in which the upper and lower frames 5 are moved along the extracted frame 7 in the direction away from the horizontal frame 9, while the extracted frame 7 is moved along the horizontal frame 9 toward the end in the direction opposite to the horizontal end (horizontal limit) (steps S11, S12). In this step, the upper and lower frames 5 are located at the furthest point furthest from the initial position (starting point) [Figure 9(C)]. The imager 15 continuously images multiple planned open-related positions in the movement process of the first movement step, and when the imager 15 images a portion of the marker M, it stops searching and sets the planned open-related position where the imager 15 has captured a portion of the marker M as the open-related position (step S13). Subsequently, a second movement step is performed in which the upper and lower frames 5 are moved along the withdrawal frame 7 to the position closest to the traverse frame 9 (step S14). In this second movement step as well, the imager 15 continuously images multiple planned open-related positions in the movement process, and when the imager 15 images a portion of the marker M, it stops searching and sets the planned open-related position where the imager 15 has captured a portion of the marker M as the open-related position (step S15). If the imager 15 does not image a portion of the marker M, then the withdrawal frame 7 is moved a predetermined distance toward the end in the traverse direction, and then a third movement step is performed in which the upper and lower frames 5 are moved along the withdrawal frame 7 to the position furthest from the traverse frame 9 (step S16). In this third step as well, the imager 15 continuously images multiple planned open-related positions in the moving process, and when the imager 15 images a portion of the marker M, it stops searching and sets the planned open-related position where the imager 15 has captured a portion of the marker M as the open-related position (step S17).If the imager 15 does not image part of the marker M, a fourth movement step is performed in which the withdrawal frame 7 is moved a predetermined distance toward the end in the lateral direction, and then the upper and lower frames 5 are moved along the withdrawal frame 7 to the position closest to the lateral frame 9 (repeating steps S16 and S17 again). Thereafter, when the movement process is performed by repeating the third and fourth movement steps, the movement process is stopped when the imager 15 images part of the marker M, and the planned release-related position where the extraction 15 images part of the marker M is set as the release-related position.

[0030] Using the second and third search algorithms described above, the automatic search is performed with the location of the furthest point where an open position is most likely to be set, or its vicinity, as the center of the search, which has the advantage of relatively shortening the time required for the automatic search. It should be noted that the present invention is not limited to using only the first to third search algorithms; even when using other search algorithms, if the search is performed automatically, that search is included in the search described in the present invention.

[0031] According to this embodiment, the search operation unit 27 automatically moves the upper and lower frames 5 and the withdrawal frame 7 so that the image of the open-related position is included in the image captured by the imager 15, thereby searching for the open-related position. Therefore, after the search operation unit 27 has automatically searched for the open-related position, the operator only needs to manually determine the open position starting from the open-side teaching operation. Accordingly, according to this embodiment, the operator does not need to search for the open-related position themselves, and the burden on the operator and the working time are greatly reduced.

[0032] The timing of the search operation by the search operation unit 27 can be any point before the open-side teaching operation is performed. For example, as shown in Figure 11(A), the search operation unit 27 may be activated before the extraction-side teaching operation is performed, or as shown in Figure 11(B), the search operation unit 27 may be activated after the extraction-side teaching operation but before the open-side teaching operation is performed.

[0033] Furthermore, the teaching operations for the extraction side and the opening side may be performed using either automatic teaching or manual teaching, as shown in Figure 12. [Industrial applicability]

[0034] According to the present invention, the operator does not need to search for the release-related position themselves, significantly reducing the operator's burden and working time. [Explanation of symbols]

[0035] 1 Molded product removal machine 3 Moving mechanism 5. Upper and lower frames 7. Extraction Frame 9 horizontal frames 11 Attitude control device 13. Extraction head 15. Imager 16 Image display device 19. Teaching Operations Department 21 Control Command Creation Unit 23 Control Command Storage Unit 25 Control Unit 27 Search operation part 27A Search Algorithm Memory Unit 27B Movement command section 27C Judgment section 27D Location information storage unit

Claims

1. A moving mechanism comprising: an upper and lower frame that moves in the vertical direction; an extraction frame that moves the upper and lower frame in the extraction direction; a lateral frame that moves the extraction frame in a lateral direction perpendicular to the vertical direction and the extraction direction; and an extraction head attached to the upper and lower frame for holding a molded product. A teaching operation execution unit that performs teaching operations, The operation control device includes a control command creation unit that creates control commands necessary for transporting the molded product held by the extraction head to the release position, based on information obtained by the extraction side teaching operation when the extraction head extracts the molded product and when the extraction head releases the molded product, based on the information obtained by the teaching operation execution unit, and a control command storage unit that stores the control commands, and a control unit that controls the positions of the upper and lower frames, the extraction frame and the operation of the extraction head based on the control commands, A molded product removal machine equipped with upper and lower bases that support the upper and lower frames, or an imager mounted on the upper and lower frames that images the removal head from above, The aforementioned operation control device includes a search operation unit that, before performing the opening-side teaching operation, automatically moves the upper and lower frames and the withdrawal frame according to a predetermined search algorithm so that the image of the opening-related position is included in the image captured by the imager, thereby searching for the opening-related position. The aforementioned teaching operation unit is a molded product removal machine that performs the teaching operation on the opening side, starting from the opening-related position.

2. One or more markers are placed at the aforementioned open-related positions. The molded product removal machine according to claim 1, wherein the search operation unit comprises a search algorithm storage unit for storing the search algorithm, a movement command unit for providing the control unit with a movement command to move the upper and lower frames and the extraction frame according to the search algorithm, a determination unit for determining whether or not the image captured by the imager during a movement operation according to the movement command contains one or more markers, and a position information storage unit for determining and storing the release-related position from the positions of the upper and lower frames and the extraction frame when the determination unit determines the presence of one or more markers.

3. The search algorithm executed by the movement command unit is configured to move the pull-out frame and the upper and lower frames so that the imager continuously captures multiple open-related planned positions where one or more markers can be placed, starting from an initial position where the pull-out frame is located at the lateral end of the lateral frame and the upper and lower frames are closest to the lateral frame, when moving the upper and lower frames from the starting point to the furthest point, or when returning the upper and lower frames from the furthest point to the starting point, and when the imager captures a portion of the one or more markers, the movement is stopped. The molded product removal machine according to claim 2, wherein the determination unit is configured to determine the release-related position from the positions of the upper and lower frames and the extraction frame at the time the movement is stopped.

4. The aforementioned search algorithm is: A first movement step is performed in which the extraction frame is moved along the transverse frame to the transverse end and the upper and lower frames are moved to their initial positions closest to the transverse frame, and then the extraction frame is moved along the transverse frame toward the end opposite to the transverse end (transverse limit). Subsequently, a second movement step is performed to move the upper and lower frames along the pull-out frame to the position furthest from the traverse frame. Subsequently, a third movement step is performed in which the extracted frame is moved a predetermined distance toward the end in the lateral direction, and then the upper and lower frames are moved along the extracted frame to the position closest to the lateral frame. Subsequently, a fourth movement step is performed in which the extracted frame is moved a predetermined distance toward the end in the lateral direction, and then the upper and lower frames are moved along the extracted frame to the position furthest from the lateral frame. The molded product removal machine according to claim 3, wherein the machine is configured to stop the moving process when the imager captures an image of a part of the one or more markers when the first moving step and the second moving step are performed, and when the moving process is performed by repeating the third moving step and the fourth moving step.

5. The aforementioned search algorithm is: A first movement step is performed in which the extraction frame is moved along the transverse frame to the transverse end and the upper and lower frames are moved to their initial positions closest to the transverse frame, while the upper and lower frames are moved along the extraction frame away from the transverse frame, and the extraction frame is moved along the transverse frame toward the end opposite to the transverse end (transverse limit). Subsequently, a second movement step is performed to move the upper and lower frames along the pull-out frame to the position closest to the traverse frame. Subsequently, a third movement step is performed in which the extracted frame is moved a predetermined distance toward the end in the lateral direction, and then the upper and lower frames are moved along the extracted frame to the position furthest from the lateral frame. Subsequently, a fourth movement step is performed in which the extracted frame is moved a predetermined distance toward the end in the lateral direction, and then the upper and lower frames are moved along the extracted frame to the position closest to the lateral frame. The molded product removal machine according to claim 3, wherein the machine is configured to stop the moving process when the imager captures an image of a part of the one or more markers when the first and second moving steps and when the moving process of repeating the third and fourth moving steps are performed.

6. The aforementioned teaching operation execution unit includes a manual operation command unit, The molded product removal machine according to claim 1, wherein the opening-side teaching operation is performed by manual operation using the manual operation command unit, starting from the opening-related position.

7. The system includes an image display device that displays the image captured by the aforementioned camera on a display screen. The molded product removal machine according to claim 6, wherein the image display device has a function to display an image captured by the camera on the display screen when the manual operation command unit is operated manually by an operator.

8. The molded product removal machine according to claim 1, wherein the teaching operation execution unit automatically performs the opening-side teaching operation starting from the opening-related position.

9. The moving mechanism includes a head mounting surface on which the head is attached, and a posture control device for controlling the posture of the head. The molded product removal machine according to claim 1, wherein the control unit controls the posture control device so that the removal head is in a position that does not obstruct imaging before the search operation unit performs the search operation.

10. A moving mechanism comprising: an upper and lower frame that moves in the vertical direction; an extraction frame that moves the upper and lower frame in the extraction direction; a lateral frame that moves the extraction frame in a lateral direction perpendicular to the vertical direction and the extraction direction; and an extraction head attached to the upper and lower frame for holding a molded product. A teaching operation execution unit that performs teaching operations, The operation control device includes a control command creation unit that creates control commands necessary for transporting the molded product held by the extraction head to the release position, based on information obtained by the extraction side teaching operation when the extraction head extracts the molded product and when the extraction head releases the molded product, based on the information obtained by the teaching operation execution unit, and a control command storage unit that stores the control commands, and a control unit that controls the positions of the upper and lower frames, the extraction frame and the operation of the extraction head based on the control commands, A teaching method for a molded product removal machine, comprising an upper and lower base supporting the upper and lower frames, or an imager mounted on the upper and lower frames for imaging the removal head from above, Before performing the open-side teaching operation, a search operation is performed to search for the open-related position by automatically moving the upper and lower frames and the withdrawal frame according to a predetermined search algorithm so that the image of the open-related position is included in the image captured by the imager. A teaching method for a molded product removal machine, wherein the teaching operation execution unit performs the opening-side teaching operation automatically or manually, starting from the opening-related position determined by the search.

Images