AT507257A3 - HANDLING PART FOR INJECTION MOLDING MACHINE WITH ACTIVE CUSHIONING - Google Patents

HANDLING PART FOR INJECTION MOLDING MACHINE WITH ACTIVE CUSHIONING Download PDF

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Publication number
AT507257A3
AT507257A3 AT0140708A AT14072008A AT507257A3 AT 507257 A3 AT507257 A3 AT 507257A3 AT 0140708 A AT0140708 A AT 0140708A AT 14072008 A AT14072008 A AT 14072008A AT 507257 A3 AT507257 A3 AT 507257A3
Authority
AT
Austria
Prior art keywords
molding machine
injection molding
control unit
handling part
handling device
Prior art date
Application number
AT0140708A
Other languages
German (de)
Other versions
AT507257A2 (en
AT507257B1 (en
Inventor
Hubert Dipl Ing Dr Gattringer
Wolfgang Dipl Ing Hoebarth
Original Assignee
Engel Austria Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Engel Austria Gmbh filed Critical Engel Austria Gmbh
Priority to AT0140708A priority Critical patent/AT507257B1/en
Priority to DE102009040434.1A priority patent/DE102009040434B4/en
Publication of AT507257A2 publication Critical patent/AT507257A2/en
Publication of AT507257A3 publication Critical patent/AT507257A3/en
Application granted granted Critical
Publication of AT507257B1 publication Critical patent/AT507257B1/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1635—Program controls characterised by the control loop flexible-arm control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
    • B29C2045/7633—Take out or gripping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76177—Location of measurement
    • B29C2945/76314—Auxiliary devices
    • B29C2945/76317—Auxiliary devices robots, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76344—Phase or stage of measurement
    • B29C2945/76421—Removing or handling ejected articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76494—Controlled parameter
    • B29C2945/76568—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76494—Controlled parameter
    • B29C2945/76595—Velocity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39186—Flexible joint

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)
  • Moulds For Moulding Plastics Or The Like (AREA)

Abstract

Steuereinheit (1) für ein Handlinggerät (2) einer Spritzgießmaschine, wobei das Handlinggerät (2) ein motorisch angetriebenes Endstück in Form eines Aufnahme- bzw. Übernahmekopfes umfasst, welches zum Bewegen eines Spritzgussteils (3) dient, und wobei die Steuereinheit (1) einen elektronischen Speicher (5) aufweist, in dem die Daten einer Sollbahn für das Endstück abgelegt sind, entlang welcher das Endstück mittels der Steuereinheit (1) bewegbar ist, wobei die Sollbahn unter Berücksichtigung der elastischen Eigenschaften zumindest einer Komponente des Handlinggeräts (2) berechnet ist.Control unit (1) for a handling device (2) of an injection molding machine, wherein the handling device (2) comprises a motor-driven end piece in the form of a receiving or transfer head, which serves for moving an injection molded part (3), and wherein the control unit (1) an electronic memory (5), in which the data of a desired trajectory are stored for the tail along which the end piece by means of the control unit (1) is movable, wherein the desired trajectory calculated taking into account the elastic properties of at least one component of the handling device (2) is.

AT0140708A 2008-09-10 2008-09-10 HANDLING PART FOR INJECTION MOLDING MACHINE WITH ACTIVE CUSHIONING AT507257B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AT0140708A AT507257B1 (en) 2008-09-10 2008-09-10 HANDLING PART FOR INJECTION MOLDING MACHINE WITH ACTIVE CUSHIONING
DE102009040434.1A DE102009040434B4 (en) 2008-09-10 2009-09-07 Method for moving injection-molded parts

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
AT0140708A AT507257B1 (en) 2008-09-10 2008-09-10 HANDLING PART FOR INJECTION MOLDING MACHINE WITH ACTIVE CUSHIONING

Publications (3)

Publication Number Publication Date
AT507257A2 AT507257A2 (en) 2010-03-15
AT507257A3 true AT507257A3 (en) 2011-06-15
AT507257B1 AT507257B1 (en) 2011-08-15

Family

ID=41809010

Family Applications (1)

Application Number Title Priority Date Filing Date
AT0140708A AT507257B1 (en) 2008-09-10 2008-09-10 HANDLING PART FOR INJECTION MOLDING MACHINE WITH ACTIVE CUSHIONING

Country Status (2)

Country Link
AT (1) AT507257B1 (en)
DE (1) DE102009040434B4 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BR112012025004A2 (en) 2010-04-01 2021-05-04 Athena Automation Ltd. injection molding machine, combination of an injection molding machine and a side-entry robot apparatus to interact with the machine, and method of manipulating molded articles produced by an injection molding machine
AT519508B1 (en) 2016-10-18 2018-11-15 Engel Austria Gmbh Regulating device for a handling device
DE102017101290B4 (en) 2017-01-24 2022-01-20 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Device for moving a workpiece
DE102018125919A1 (en) 2017-10-23 2019-04-25 Engel Austria Gmbh Method for moving a movable platen
AT520516B1 (en) 2017-12-01 2019-05-15 Engel Austria Gmbh Handling device for a molding machine
DE102018208126A1 (en) * 2018-05-23 2019-11-28 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Method for handling a workpiece with the aid of a removal tool and machine for carrying out the method
AT522575B1 (en) 2019-09-30 2020-12-15 Engel Austria Gmbh Handling device and method for controlling or regulating such
AT522695B1 (en) 2019-11-15 2021-01-15 Engel Austria Gmbh Handling device and method for recognizing a condition
DE102022129291A1 (en) 2022-11-07 2024-05-08 Arburg Gmbh + Co Kg Method for moving at least one end effector

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59103106A (en) * 1982-12-06 1984-06-14 Hitachi Ltd Manipulator control method and device
JP2637164B2 (en) * 1988-05-16 1997-08-06 宏文 三浦 Controller for flexible manipulator
US5049797A (en) * 1990-07-02 1991-09-17 Utah State University Foundation Device and method for control of flexible link robot manipulators
JPH04241606A (en) * 1991-01-14 1992-08-28 Yaskawa Electric Corp Method for evaluating impedance control area of articulated force control manipulator
JP3355420B2 (en) * 1993-11-18 2002-12-09 株式会社椿本チエイン Control method of industrial robot
JP3350310B2 (en) * 1995-08-22 2002-11-25 株式会社荏原製作所 Robot arm linear actuator
JP3120028B2 (en) * 1995-11-02 2000-12-25 株式会社神戸製鋼所 Control method for machine having link mechanism
ATE199787T1 (en) * 1996-10-08 2001-03-15 Siemens Ag METHOD AND CONTROL STRUCTURE FOR TORQUE PRECONTROL OF NUMERICALLY CONTROLLED, ELASTIC AND THUS VIBRATING MULTI-MASS SYSTEMS
JPH117313A (en) * 1997-06-18 1999-01-12 Fanuc Ltd Numerical controller
DE19803171C2 (en) * 1998-01-28 2001-05-10 Theo Hillers Gmbh Device for handling preformed inserts and manufactured workpieces of an injection molding machine
DE19809088C1 (en) 1998-02-25 1999-09-30 Siemens Ag High-voltage circuit breaker with an insulating nozzle
DE19848420C1 (en) 1998-10-21 2000-04-13 Richard Herbst Plastic injection molding machine with handling device
DE19848419C1 (en) 1998-10-21 2000-01-20 Richard Herbst Injection molding machine on frame with handling equipment mounted on separate frame
DE19918140A1 (en) * 1999-04-01 2000-10-12 Deutsch Zentr Luft & Raumfahrt Measuring arrangement for controlling robots, machine tools and the like as well as a measuring method carried out with this measuring arrangement
JP2002264056A (en) * 2001-03-07 2002-09-18 Kawasaki Heavy Ind Ltd Anti-vibration control method for industrial robots
JP2005305584A (en) * 2004-04-20 2005-11-04 Fuji Electric Fa Components & Systems Co Ltd Arm mechanism motion analyzer
DE102004026707A1 (en) * 2004-05-28 2005-12-22 Technische Universität Kaiserslautern Hybrid robot controlling method, involves determining obligating conditions for motion possibilities of link coordinating system for each link, and assigning value relative to another coordinating system to former system
DE102006053158A1 (en) * 2006-11-10 2008-05-15 Kuka Roboter Gmbh Robot controller, robot and method for controlling a robot

Also Published As

Publication number Publication date
AT507257A2 (en) 2010-03-15
AT507257B1 (en) 2011-08-15
DE102009040434B4 (en) 2016-09-29
DE102009040434A1 (en) 2010-05-12

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MM01 Lapse because of not paying annual fees

Effective date: 20230910