JP7360044B2 - Molded product manufacturing method - Google Patents

Description

The present invention relates to a method for manufacturing a molded article.

Patent Document 1 discloses a technique for removing burrs provided on the circumferential surface of a molded body by cutting them with a cutter.

Japanese Patent Application Publication No. 2020-1100

In the method of Patent Document 1, the burr is cut along a specific cutting line set by teaching. In this method, the accuracy of burr cutting may decrease if the molded product is positioned in an inclined state or if the degree of shrinkage of the molded product varies.

The present invention has been made in view of these circumstances, and provides a method for manufacturing a molded product that can improve the cutting accuracy of burrs provided on the peripheral surface of the molded product.

According to the present invention, there is provided a method for manufacturing a molded article, which includes a measuring step, a correction step, and a burr cutting step, and in the measuring step, the circumferential surface of the molded article is measured while the molded article is positioned. The position of at least one point is measured, and in the correction step, a master cutting line is corrected based on the measurement result in the measurement step to determine a corrected cutting line, and in the burr cutting step, the corrected cutting line is Accordingly, a method for cutting burrs provided on the circumferential surface of the molded body is provided.

In the present invention, the position of at least one point on the circumferential surface of the molded body is measured, the cutting line is corrected based on the measurement result, and the burr is cut along the corrected cutting line. Therefore, even if the molded body is positioned in an inclined state or the degree of shrinkage of the molded body varies, the burr can be cut with high precision.

Various embodiments of the present invention will be illustrated below.
Preferably, in the method described above, in the measuring step, at least one of the amount of inclination and the amount of expansion/contraction of the molded body is measured, and in the correction step, the master cutting is performed based on the measurement result in the measuring step. This method corrects at least one of the amount of inclination and the amount of expansion/contraction of a line.
Preferably, in the method described above, the correction of the amount of expansion/contraction is performed by translating a part of the cutting line before correction.
Preferably, in the method described above, the cutting of the burr is performed by moving a cutter for cutting the burr while pressing it against the circumferential surface.
Preferably, the method for manufacturing a molded product includes a burr cutting step and a burr removal step, and in the burr cutting step, burrs provided on the peripheral surface of the molded product are cut and dropped onto a burr processing table. In the burr removal step, the burr is removed from the burr processing table by rotating the burr processing table.
Preferably, in the method described above, in the burr removal step, the burr processing table is rotated by 90 degrees or more.
Preferably, in the method described above, the burr processing table includes a molded body mounting body and a burr catcher, the burr catcher being located adjacent to the molded body mounting body, It is provided at a position lower than the upper surface of the body mounting body, and in the burr cutting step, the burr is cut and dropped onto the burr receiver while the molded body is fixed to the upper surface of the molded body mounting body. , is the method.
Preferably, the method described above includes a positioning step before the burr cutting step, and in the positioning step, the molded body is placed on a suction pad and the molded body is moved from the suction pad toward the molded body. In this method, the molded body is positioned by moving the molded body while blowing out air.
Preferably, the method described above includes a positioning step before the burr cutting step, and in the positioning step, the molded object is moved by pushing the peripheral surface of the molded object with a positioning block. In this method, the positioning block is provided with a positioning surface that contacts the peripheral surface of the molded body and an interference avoidance groove for avoiding interference with the burr.
Preferably, in the method described above, in the burr cutting step, the burr is cut along a cutting line determined based on the amount of inclination and the amount of expansion/contraction of the molded body.

FIG. 1A is a perspective view of the molded body 4, and FIG. 1B is an enlarged view of region B in FIG. 1A. FIG. 2A is a perspective view of the manufacturing system 10 for the molded product 4b, and FIG. 2B is an enlarged view of region B in FIG. 2A. 3A is a diagram in which the molded body mounting body 3c, burr receiver 3f, and pole 3g are removed from FIG. 2B, and FIG. 3B is an enlarged view of region B in FIG. 3A. FIG. 2A is a perspective view corresponding to FIG. 2A for explaining the loading process. 5A is a front view of FIG. 4, and FIG. 5B is an enlarged view of region B in FIG. 5A. FIG. 6A is a perspective view corresponding to FIG. 2A for explaining the positioning process, and FIG. 6B is an enlarged view of region B in FIG. 6A. 7A is a perspective view corresponding to FIG. 2A for explaining the positioning process, and FIG. 7B is an enlarged view of region B in FIG. 7A viewed from a different angle. FIGS. 8A to 8D are explanatory diagrams of the cutting line determination process. FIG. 9A shows the cutting line before correction, and FIG. 9B shows the cutting line after correction. FIG. 10A is a perspective view corresponding to FIG. 2A for explaining the burr cutting process, and FIG. 10B is an enlarged view of region B in FIG. 10A. FIG. 11A is a perspective view corresponding to FIG. 2A for explaining the burr cutting process, and FIG. 11B is an enlarged view of region B in FIG. 11A. FIG. 2A is a perspective view corresponding to FIG. 2A for explaining a burr removal process.

Embodiments of the present invention will be described below. Various features shown in the embodiments described below can be combined with each other. Further, the invention is established independently for each characteristic matter.

1. Manufacturing system 10 for molded product 4b
As shown in FIGS. 1 and 2, a manufacturing system 10 for a molded product 4b according to an embodiment of the present invention includes a moving robot hand 1, a cutting robot hand 2, and a burr processing table 3.

The manufacturing system 10 is used to cut the burr 4a provided on the peripheral surface 4c of the molded body 4 shown in FIG. 1 to obtain a molded product 4b. The molded product 4 is a molded product formed using a pair of split molds, and may be any one of a blow molded product, a vacuum molded product, an injection molded product, and the like. The burr 4a is formed on the mating surfaces of the split molds. Further, the molded body 4 may be in a state immediately after opening the split mold and taken out, or it may be in a state after pretreatment is performed on the molded product obtained by opening the split mold. It may be.

The pretreatment includes a process to remove some of the burrs formed during molding with a split mold. In particular, when a molded object is formed by a method such as blow molding or vacuum forming in which a parison or resin sheet is sandwiched between split molds to form a molded object, large burrs are likely to form around the molded product 4b. Therefore, as a pre-treatment, it is preferable to perform a process to remove portions other than the burr 4a among the burrs formed during molding.

The molded product 4b is, for example, a board-shaped member such as a luggage board. The molded article 4b may be used as a final product as it is, or may be made into a final product by performing post-processing on the molded article 4b.

The robot hands 1 and 2 are used by being attached to a robot arm of a robot (not shown). The robot arm has a function of moving the robot hand 1. The robot arm may be of any type as long as it has the number of axes necessary to implement various processes described below, and preferably has six or more axes.

The robot hand 1 is used to hold the molded body 4 formed in the previous process and move it to the burr processing table 3. The robot hand 1 includes a base 1a, an arm 1b, and a suction pad 1c. The base 1a is attached to a robot arm. Arm 1b is provided to extend from base 1a. The arms 1b have an elongated shape and are provided in pairs. The suction pad 1c is configured to be able to suction the molded body 4 by vacuum suction. The suction pad 1c is provided on the arm 1b. A plurality of suction pads 1c (three in this embodiment) are provided on each arm 1b.

In one example, among the three suction pads 1c provided on each arm 1b, two suction pads 1c on the tip 1b1 side are connected to the first vacuum system, and the remaining one suction pad 1c is connected to the second vacuum system. It is composed of According to such a configuration, if the molded object 4 has a size that can be sucked by the three suction pads 1c, the molded object 4 will be suctioned by activating the first and second vacuum systems, and the molded object 4 will be sucked by the three suction pads 1c. If the molded article 4 is relatively small and cannot be suctioned by the suction pad 1c, only the first vacuum system can be operated, and the two suction pads 1c on the tip side can suction the molded article 4. Thereby, air leaks can be prevented when a small molded body 4 is adsorbed.

The robot hand 2 includes a base 2a, a cutter 2b, and a distance measuring device 2c. The cutter 2b and the distance measuring device 2c are fixed to the base 2a. The cutter 2b is, for example, an ultrasonic cutter, and is used to cut the burr 4a by moving the cutter 2b along the circumferential surface 4c of the molded product 4 at the boundary between the burr 4a and the molded product 4b. The cutter 2b can be biased in a direction perpendicular to the width direction of the blade of the cutter 2b, so that the burr 4a can be cut by moving the cutter 2b while pressing it against the circumferential surface 4b. The biasing can be performed by a spring, a cylinder mechanism, or the like. The distance measuring device 2c is used to measure the distance between the distance measuring device 2c and the circumferential surface 4c of the molded body 4. The circumferential surface of the compact 4 is measured using the distance measuring device 2c at a plurality of measurement points along the circumferential surface 4c of the compact 4 while the compact 4 is fixed to the burr processing table 3. The coordinates of a plurality of measurement points along the line 4c can be obtained, and thereby the amount of inclination and the amount of expansion/contraction of the molded body 4 can be calculated. The robot hand 2 is configured to cut the burr 4a along a cutting line determined based on the calculated inclination amount and expansion/contraction amount. According to such a configuration, even if the molded body 4 is fixed to the burr processing table 3 in an inclined state, or even if the amount of expansion and contraction of the molded body 4 varies greatly, the burr 4a can be cut with high precision. can do.

The number of robot hands 2 may be one or two or more. By performing ranging and cutting using a plurality of robot hands 2, processing speed can be increased.

The burr processing table 3 includes a base 3a, a delivery suction unit 3b, a molded body mounting body 3c, a fixed suction unit 3d, a positioning unit 3e, a burr catcher 3f, a pole 3g, and a rotation unit 3h.

The rotation unit 3h includes a rotation drive section 3h1 and a bearing section 3h2. The base 3a is sandwiched between the rotation drive section 3h1 and the bearing section 3h2, and is configured to be rotationally driven by the rotation drive section 3h1 while being supported by the bearing section 3h2. The angle of the rotating shaft of the rotary drive with respect to the horizontal plane is preferably 45 degrees or less, more preferably 30 degrees or less, and even more preferably 5 degrees or less. Specifically, this angle is, for example, 0, 5, 10, 15, 20, 25, 30, 35, 40, 45 degrees, and is within the range between any two of the numerical values exemplified here. Good too.

The delivery suction unit 3b includes a drive unit 3b1 and a suction pad 3b2. The drive unit 3b1 is preferably a cylinder mechanism, and includes a fixed part 3b11 fixed to the base 3a, and a moving part 3b12 configured to be movable (preferably slidable) relative to the fixed part 3b11. The suction pad 3b2 is configured to be able to suction the molded body 4 by vacuum suction, and is fixed to the moving part 3b12.

The molded body mounting body 3c is preferably a wall fixed to the base 3a, and the burr 4a is cut off while the molded body 4 is placed and fixed on the molded body mounting body 3c. The molded body 4 is fixed onto the molded body mounting body 3c by a fixed suction unit 3d.

A plurality of fixed suction units 3d are arranged at positions where the molded bodies 4 can be suctioned. The fixed suction unit 3d is preferably arranged at a position adjacent to the outer periphery of the molded body 4. In this case, the molded body 4 is less likely to be misaligned when cutting the burr 4a. Each fixed suction unit 3d includes a support column 3d1 and a suction pad 3d2. The suction pad 3d2 is fixed to the support column 3d1, and the support column 3d1 is fixed to the base 3a. The suction pad 3d2 is configured to be able to suction the molded body 4 by vacuum suction.

As shown in FIGS. 2 and 3, a plurality of positioning units 3e are arranged along the outer periphery of the molded body 4. As shown in FIGS. Each positioning unit 3e includes a pedestal 3e1, a drive unit 3e2, and a positioning block 3e3. The pedestal 3e1 is fixed to the base 3a. The drive unit 3e2 is preferably a linear slider mechanism, and includes a fixed part 3e21 fixed to the pedestal 3e1, and a moving part 3e22 configured to be movable (preferably slidable) relative to the fixed part 3e21. The positioning block 3e3 is fixed to the moving part 3e22. The drive unit 3e2 moves the positioning block 3e3, and the positioning block 3e3 pushes the peripheral surface 4c of the molded body 4 to move the molded body 4, thereby positioning the molded body 4. The positioning block 3e3 includes a positioning surface 3e31 that contacts the circumferential surface 4c of the molded body 4, and an interference avoidance groove 3e32 for avoiding interference with the burr 4a.

As shown in FIG. 2B, the burr receiver 3f is provided at a position adjacent to the molded body mounting body 3c and lower than the upper surface 3c1 of the molded body mounting body 3c. Thereby, the burr 4a can be cut and the molded body 4 can be dropped onto the burr receiver 3f while the molded body 4 is fixed on the upper surface of the molded body mounting body 3c. Wiring and piping necessary for driving various units are arranged around the molded body mounting body 3c, but if the cut burr 4a becomes entangled with the wiring or piping, trouble may occur. In this embodiment, the occurrence of trouble is suppressed by dropping the burr 4a onto the burr receiver 3f. The burr 4a on the burr receiver 3f can be removed by rotating the burr processing table 3 with the rotation unit 3h and dropping the burr 4a. A conveyor (not shown) may be installed below the burr processing table 3, and in this case, the burr 4a can be dropped onto the conveyor and moved by the conveyor to a disposal or regeneration line.

As shown in FIG. 2B, the burr receiver 3f is arranged at the same height as the moving part 3e22 or at a higher position. This prevents the fallen burr 4a from being caught by the moving part 3e22. The position where the burr receiver 3f is fixed is not limited, and the burr receiver 3f may be fixed to the base 3a or the molded body mounting body 3c, for example.

As shown in FIG. 2B, the pole 3g is fixed to the base 3a at a position adjacent to the positioning block 3e3. As shown in FIG. 10B, the upper end 3g1 of the pole 3g is at a position higher than the burr 4a when the molded body 4 is placed on the upper surface 3c1 of the molded body mounting body 3c. As shown in FIG. 10B, when cutting the burr 4a, the positioning block 3e3 is moved back so that the tip 3e33 of the positioning block 3e3 is further away from the burr 4a than the pole 3g. This prevents the burr 4a from getting caught on the positioning block 3e3. Although it is preferable that the pole 3g has a cylindrical shape, it may have another shape as long as the above purpose can be achieved.

2. Method for manufacturing molded article A method for manufacturing molded article 4b using manufacturing system 10 will be described. This method includes a carrying-in process, a positioning process, a cutting line determining process, a burr cutting process, a carrying-out process, and a burr removal process. Each step will be explained below.

2-1. Carrying-in Process As shown in FIGS. 2 to 5, in the carrying-in process, the molded body 4 is carried into the burr processing table 3 using the robot hand 1. The specific steps are as follows.

In the initial state, as shown in FIG. 2B, the suction pad 3b2 of the delivery suction unit 3b rises, and the difference in height between the top surface of the suction pad 3b2 and the top surface 3c1 of the molded object mounting body 3c is the difference between the arm 1b and the suction pad 3b2. It is larger than the total height of the pad 1c.

First, the molded body 4 placed on a mounting table (not shown) provided outside the burr processing table 3 is adsorbed by the suction pad 1c of the robot hand 1 shown in FIG. 2A, and in this state, the robot hand 1 is By moving, the molded body 4 is moved onto the suction pad 3b2. At this time, as shown in FIG. 5B, the robot hand 1 is moved so that the arm 1b is placed between the molded object 4 and the molded object mounting body 3c. As a result, the molded body 4 is located above the arm 1b, so that the molded body 4 is prevented from unintentionally coming off the suction pad 1c.

Thereafter, the molded body 4 is suctioned by the suction pad 3b2, the suction by the suction pad 1c is released, and the arm 1b is removed from the space between the molded body 4 and the molded body mounting body 3c.

2-2. Positioning Step As shown in FIGS. 6 and 7, in the positioning step, the molded object 4 is positioned by moving it on the burr processing table 3. The specific steps are as follows.

First, as shown in FIG. 6B, with the positioning block 3e3 of the positioning unit 3e retracted, the drive unit 3b1 shown in FIG. to release the suction by the suction pad 3b2. In this state, the molded body 4 is placed on the suction pad 3d2. As shown in FIG. 5B, the upper surface 3d21 of the suction pad 3d2 is located at a slightly higher position than the upper surface 3c1 of the molded body mounting body 3c, so the molded body 4 is not placed on the upper surface 3c1 of the molded body mounting body 3c. Even if the molded body 4 is in contact with the upper surface 3c1 of the molded body mounting body 3c, at least a part of the load of the molded body 4 is applied to the suction pad 3d2.

In this state, when moving the molded body 4 in the in-plane direction (that is, the in-plane direction of the surface constituted by the plurality of suction pads 3d2), the molded body 4 must be slid on the suction pads 3d2. When the load of the molded body 4 is applied to the suction pad 3d2, the frictional force between the molded body 4 and the suction pad 3d2 is large, and the suction pad 3d2 may be deformed when the molded body 4 is moved. . If the suction pad 3d2 is deformed, the suction and fixation of the molded body 4 by the suction pad 3d2 may become insufficient.

Therefore, in this embodiment, air is blown from the upper surface 3d21 of the suction pad 3d2 toward the molded body 4 to move the molded body 4 while reducing the load applied from the molded body 4 to the suction pad 3d2. This reduces the frictional force between the molded body 4 and the suction pad 3d2, and suppresses deformation of the suction pad 3d2 when the molded body 4 moves.

The molded body 4 can be moved using the positioning unit 3e. Specifically, the drive unit 3e2 shown in FIG. 3A is driven to advance the positioning block 3e3 toward the circumferential surface 4c of the molded body 4, and as shown in FIG. 7B, the positioning surface 3e31 of the positioning block 3e3 is moved forward. The molded body 4 can be moved by bringing the circumferential surface 4c of the molded body 4 into contact with the molded body 4 and pushing the circumferential surface 4c. Further, the molded body 4 can be positioned by sandwiching the molded body 4 between the positioning blocks 3e3 of the plurality of positioning units 3e. Further, during positioning, the burr 4a is accommodated in the interference avoidance groove 3e32, so that the burr 4a is prevented from interfering with positioning.

After the positioning by the positioning block 3e3 is completed, the suction pad 3b2 is raised and the molded body 4 is lifted by the suction pad 3b2, thereby separating the molded body 4 from the suction pad 3d2, and then the step of lowering the suction pad 3b2 is performed. You may prepare. By performing this step, even if the suction pad 3d2 is deformed during positioning of the molded body 4, the suction pad 3d2 can be returned to its original shape when the molded body 4 is lifted by the suction pad 3b2.

Next, the molded body 4 is sucked by the suction pad 3d2 to fix the position of the molded body 4. Moreover, the molded object 4 is pressed against the upper surface 3c1 of the molded object mounting body 3c by the suction pad 3d2 adsorbing the molded object 4. According to such a configuration, the molded body 4 is stably held on the upper surface 3c1 of the molded body mounting body 3c.

Thereafter, the drive unit 3e2 shown in FIG. 3A is driven to move the positioning block 3e3 back away from the circumferential surface 4c of the molded body 4. At this time, as shown in FIG. 10B, the positioning block 3e3 is moved back so that the tip 3e33 of the positioning block 3e3 is further away from the burr 4a than the pole 3g. This prevents the burr 4a cut in the burr cutting process described later from getting caught on the positioning block 3e3.

2-3. Cutting Line Determination Process The cutting line determination process includes a measurement process and a correction process. As shown in FIG. 8, in the measurement process, the position of at least one point on the circumferential surface 4c of the molded body 4 is measured with the molded body 4 positioned, and in the correction process, the position of at least one point on the circumferential surface 4c of the molded body 4 is measured based on the measurement results in the measurement process. The master cutting line L0 is corrected to determine the corrected cutting line L2. In one example, as shown in FIG. 8, in the cutting line determination step, the coordinates of a plurality of measurement points along the circumferential surface 4c of the compact 4 are measured while the compact 4 is fixed to the burr processing table 3. The amount of inclination and the amount of expansion/contraction of the molded body 4 are calculated based on the measured coordinates, and the corrected cutting line L2 for cutting the burr 4a is determined based on the calculated amount of inclination and the amount of expansion/contraction.

The coordinates can be measured using the distance measuring device 2c. Since the distance measuring device 2c has its own coordinates and orientation known, the coordinates of the measuring point can be obtained by measuring the distance from the distance measuring device 2c to the measuring point on the circumferential surface 4c.

Here, the cutting line determination method will be specifically explained.

A master cutting line L0 serving as a reference is taught and stored in the robot to which the robot hand 2 is attached, based on the XY-axis coordinates shown in FIG. 8B. The master cutting line L0 can be determined by teaching the robot the cutting line using a master work. As the master work, a cooled molded body may be used, or a molded body immediately after molding may be used. In the former case, there is an advantage that the dimensions do not change during the teaching operation, and in the latter case, the temperature and dimensions are similar to the molded object when the burr cutting process is actually performed, so the accuracy of burr cutting is improved. There is an advantage to doing so. Therefore, we first perform teaching using a cold molded body to temporarily determine the master cutting line, and then use the molded body immediately after molding to fine-tune the temporarily determined master cutting line to improve accuracy. It is preferable to increase it. Moreover, it is preferable that the master cutting line L0 is arranged so that the intersection of a straight line parallel to the X-axis and a straight line parallel to the Y-axis coincides with the origin of the XY coordinates.

Furthermore, the master cutting line L0 may be changed based on historical data from past cycles. For example, the next cycle may be carried out using the immediately previous corrected cutting line L2 as the master cutting line L0, or the next cycle may be carried out using the cutting line obtained by averaging the past corrected cutting lines L2 as the master cutting line L0. May be implemented.

The master cutting line L0 is a cutting line when the molded body 4 is fixed to the burr processing table 3 without tilting in the plane and the size of the molded body 4 is a standard size. However, in reality, the molded body 4 may be tilted when it is fixed to the burr processing table 3, and there is also variation in the amount of expansion and contraction when the molded body 4 is cooled after molding. Therefore, if the burr 4a is cut along the master cutting line L0, the burr 4a may not be removed sufficiently or the molded product 4b may be damaged. Therefore, it is necessary to correct the master cutting line L0 based on the amount of inclination and the amount of expansion/contraction of the molded body 4. Hereinafter, an example of a method for correcting the cutting line will be explained, taking as an example a case where the molded body 4 is fixed to the burr processing table 3 in an inclined state and the molded body 4 is smaller than the standard size molded body 4d. explain.

First, coordinates of measurement points A to C shown in FIG. 8A are obtained. Based on the coordinates of measurement points A to C, a straight line Lx connecting measurement points A and B and a straight line Ly passing through measurement point C and perpendicular to straight line Lx are determined.

Next, as shown in FIG. 8C, the XY axes of the robot are rotated so that they coincide with the straight lines Lx and Ly. As a result, the master cutting line L0 is also rotated to become the corrected cutting line L1.

Next, the coordinates of measurement points D and E illustrated in FIG. 8A are obtained. Based on the coordinates of the measurement points D to E, the amount of expansion/contraction of the molded body 4 in the X-axis direction and the Y-axis direction is determined.

Next, as shown in FIG. 8D, the corrected cutting line L2 is obtained by expanding or contracting the corrected cutting line L1 based on the respective expansion/contraction amounts in the X-axis direction and the Y-axis direction. Note that instead of determining the amount of expansion/contraction for each of the two axes, one amount of expansion/contraction may be determined and the corrected cutting line L1 may be similarly expanded/contracted based on that amount of expansion/contraction to obtain the corrected cutting line L2.

Since the corrected cutting line L2 is a cutting line determined based on the amount of inclination and the amount of expansion/contraction of the molded body 4, the burr 4a can be appropriately removed by cutting the burr 4a along the corrected cutting line L2. can do.

In the above explanation, both the amount of inclination and the amount of expansion/contraction of the molded body 4 are measured, and both the amount of inclination and the amount of expansion/contraction of the master cutting line L0 are corrected based on the measurement results. You may measure and correct only one of them.

By the way, to correct the amount of expansion/contraction, multiply the values of the X and Y coordinates of the point group that defines the cutting line before correction (e.g. master cutting line L0 or post-correction cutting line L1) by a coefficient corresponding to the amount of expansion/contraction. However, depending on the control program, it may not be possible to change the values of the X and Y coordinates at the same time, or it may not be possible to multiply the values by coefficients. In such a case, the amount of expansion/contraction may be corrected by moving part of the cutting line before correction in parallel.

Correction of the amount of expansion/contraction by parallel movement will be described in more detail with reference to FIG. 9 .

FIG. 9A shows the cutting line L before correction. The cutting line L is a line that smoothly connects the points A to T, and when the points A to T move, the cutting line L also moves. The horizontal direction in FIGS. 9A and 9B is the X-axis direction, and the vertical direction is the Y-axis direction. The cutting line L connects two lines Ly0 and Ly1 parallel to the Y axis, two lines Lx0 and Lx1 parallel to the X axis, a curved line Lc1 connecting lines Ly0 and Lx1, and lines Ly1 and Lx1. It is composed of a curved line Lc2.

Here, when the position of the circumferential surface of the molded body 4 was measured by the method described above, it was found that the molded body 4 was 0.2 mm smaller in the X-axis direction and 0.1 mm smaller in the Y-axis direction than the standard-sized molded body 4d. do.

In this case, expansion/contraction in the X-axis direction can be realized by moving the line Ly1 by −0.2 mm in the X-axis direction without moving the line Ly0. In one example, as shown in FIG. 9B, line Ly1 can be moved by moving the X coordinates of points D to H (underlined points) close to line Ly1 by -0.2 mm. The point to be moved can be adjusted as appropriate. For example, point D may not be moved, or point I may be moved.

Further, by moving the line Lx1 by −0.1 mm in the Y-axis direction without moving the line Lx0, expansion/contraction in the Y-axis direction can be realized. In one example, as shown in FIG. 9B, the line Lx1 can be moved by moving the Y coordinates of points I to N (bold points) close to the line Lx1 by -0.1 mm. The point to be moved can be adjusted as appropriate. For example, point I may not be moved, or point O may be moved.

According to such a method, the amount of expansion/contraction can be easily corrected.

On the other hand, in the above method, correction may not be performed appropriately in a region that is not parallel to either the X-axis or the Y-axis (hereinafter, non-parallel region, eg, curved lines Lc1, Lc2). However, to cut the burr 4a, the cutter 2b is moved while being pressed against the circumferential surface 4b1 by urging the cutter 2b in a direction perpendicular to the direction in which the cutting line extends (in other words, the width direction of the blade of the cutter 2b). According to such a method, the cutter 2b can be moved along the circumferential surface 4b1 even in non-parallel portions, and the burr 4a can be cut with high precision.

2-4. Burr Cutting Step As shown in FIGS. 10 and 11, in the burr cutting step, the burr 4a provided on the peripheral surface 4c of the compact 4 is cut and dropped onto the burr processing table 3. As a result, the molded body 4 is separated into a burr 4a and a molded product 4b.

The burr 4a can be cut along the corrected cutting line L2 determined in the cutting line determining step. As shown in FIG. 11B, the burr 4a falls onto the burr receiver 3f. The molded article 4b is placed on the molded article mounting body 3c, and is in a state of being sucked by the suction pad 3d2. The circumferential surface 4b1 of the molded product 4b coincides with the circumferential surface 4c of the molded body 4.

The burr 4a may be either annular or non-annular. If the cut burr 4a is thin and light, the burr 4a may not fall and may adhere to the molded product 4b due to static electricity or the like. Such burrs 4a pose a problem in that there is a risk that the molded product 4b may fall at an unintended location after being carried out from the burr processing table 3. Therefore, it is preferable to cut the burr 4a so that the thin and light burr 4a is not separated from the thicker and heavier burr 4a.

2-5. Carrying out process In the carrying out process, the molded product 4b is carried out from the burr processing table 3.

Specifically, the adsorption of the molded product 4b by the suction pad 3d2 is released, the molded product 4b is adsorbed by the suction pad 3b2, and the suction pad 3b2 is raised. Next, the arm 1b is inserted into the space between the molded article 4b and the molded article mounting body 3c so that the suction pad 1c faces upward (see FIG. 4). Next, the suction of the molded product 4b by the suction pad 3b2 is released, and the molded product 4b is suctioned by the suction pad 1c. Next, in this state, the molded product 4b is carried out from the burr processing table 3 by moving the robot hand 1.

2-6. Burr Removal Step As shown in FIG. 12, in the burr removal step, the burr 4a is removed from the burr treatment table 3 by rotating the burr treatment table 3. As a result, the burr 4a placed on the burr receiver 3f falls under the action of gravity and is removed. The fallen burr 4a is carried by a conveyor or the like and recycled or disposed of.

The burr processing table 3 is rotated by being driven by a rotational drive section 3h1 while being supported by a bearing section 3h2. The rotation angle of the burr processing table 3 is preferably 90 degrees or more, for example, 90 to 270 degrees, preferably 120 to 240 degrees, and specifically, for example, 90, 120, 150, 180, 210, 240 and 270 degrees, and may be within the range between any two of the numerical values exemplified here. By rotating the burr processing table 3 at such an angle, the burr 4a can be deburred even if the burr 4a is annular or elongated and easily caught by another member. It can be dropped from the platform 3.

The burr removal step may be performed each time the burr cutting step is performed, or each time the burr cutting step is performed a plurality of times.

1: Mobile robot hand 1a: Base 1b: Arm 1b1: Tip 1c: Suction pad 2: Cutting robot hand 2a: Base 2b: Cutter 2c: Distance measuring device 3: Burr processing table 3a: Base 3b: Delivery suction unit 3b1 : Drive unit 3b11 : Fixed part 3b12 : Moving part 3b2 : Suction pad 3c : Molded object mounting body 3c1 : Top surface 3d : Fixed suction unit 3d1 : Support column 3d2 : Suction pad 3d21 : Top surface 3e : Positioning unit 3e1 : Pedestal 3e2 : Drive Unit 3e21 : Fixed part 3e22 : Moving part 3e3 : Positioning block 3e31 : Positioning surface 3e32 : Interference avoidance groove 3e33 : Tip 3f : Burr catcher 3g : Pole 3g1 : Upper end 3h : Rotating unit 3h1 : Rotation drive part 3h2 : Bearing part 4 : Molded object 4a: Burr 4b: Molded object 4b1: Peripheral surface 4c: Peripheral surface 4d: Molded object 10: Manufacturing system L0: Master cutting line L1: Post-correction cutting line L2: Post-correction cutting line

Claims (9)

A method for manufacturing a molded article, the method comprising:
Equipped with a measurement process, a correction process, and a burr cutting process,
In the measurement step, the position of at least one point on the circumferential surface of the molded body is measured with the molded body positioned,
In the correction step, a master cutting line is corrected based on the measurement results in the measurement step to determine a corrected cutting line,
In the burr cutting step, burrs provided on the circumferential surface of the molded body are cut along the corrected cutting line ;
In the measurement step, the amount of expansion and contraction of the molded body is measured,
In the correction step, the amount of expansion/contraction of the master cutting line is corrected based on the measurement result in the measurement step . A method for manufacturing a molded article, the method comprising:
Equipped with a measurement process, a correction process, and a burr cutting process,
In the measurement step, the position of at least one point on the circumferential surface of the molded body is measured with the molded body positioned,
In the correction step, a master cutting line is corrected based on the measurement results in the measurement step to determine a corrected cutting line,
In the burr cutting step, burrs provided on the circumferential surface of the molded body are cut along the corrected cutting line;
In the measuring step, at least one of the amount of inclination and the amount of expansion/contraction of the molded body is measured,
In the correction step, at least one of the inclination amount and the expansion/contraction amount of the master cutting line is corrected based on the measurement results in the measurement step,
A method in which the amount of expansion/contraction is corrected by moving a part of the cutting line before correction in parallel. The method according to claim 1 or claim 2 ,
The method includes cutting the burr by moving a cutter for cutting the burr while pressing it against the peripheral surface. A method for manufacturing a molded article, the method comprising:
Equipped with burr cutting process and burr removal process,
In the burr cutting step, burrs provided on the circumferential surface of the molded body are cut and dropped onto a burr processing table;
In the burr removal step, the burr is removed from the burr processing table by rotating the burr processing table ;
In the burr removal step, the burr processing table is rotated by 120 degrees or more . 5. The method according to claim 4 ,
The burr processing table includes a molded body mounting body and a burr receiver,
The burr receiver is provided at a position adjacent to the molded body mounting body and lower than the upper surface of the molded body mounting body,
In the burr cutting step, the burr is cut and the burr is dropped onto the burr receiver while the molded body is fixed to the upper surface of the molded body mounting body. A method for manufacturing a molded article, the method comprising:
Equipped with burr cutting process and burr removal process,
In the burr cutting step, burrs provided on the circumferential surface of the molded body are cut and dropped onto a burr processing table;
In the burr removal step, the burr is removed from the burr processing table by rotating the burr processing table ;
The burr processing table includes a molded body mounting body and a fixed adsorption unit,
The fixed suction unit includes a suction pad configured to be able to suction the molded body by vacuum suction,
The method , wherein the molded body is fixed on the molded body mounting body by the fixed suction unit . A method for manufacturing a molded article, the method comprising:
Equipped with burr cutting process and burr removal process,
In the burr cutting step, burrs provided on the circumferential surface of the molded body are cut and dropped onto a burr processing table;
In the burr removal step, the burr is removed from the burr processing table by rotating the burr processing table;
A positioning step is provided before the burr cutting step,
In the positioning step, the molded body is positioned by placing the molded body on a suction pad and moving the molded body while blowing air toward the molded body from the suction pad. . A method for manufacturing a molded article, the method comprising:
Equipped with burr cutting process and burr removal process,
In the burr cutting step, burrs provided on the circumferential surface of the molded body are cut and dropped onto a burr processing table;
In the burr removal step, the burr is removed from the burr processing table by rotating the burr processing table;
A positioning step is provided before the burr cutting step,
In the positioning step, the molded body is positioned by pushing the peripheral surface of the molded body with a positioning block to move the molded body,
The method, wherein the positioning block includes a positioning surface that comes into contact with the peripheral surface of the molded body, and an interference avoidance groove for avoiding interference with the burr. The method according to any one of claims 4 to 8 ,
In the burr cutting step, the burr is cut along a cutting line determined based on the amount of inclination and the amount of expansion/contraction of the molded body.