An injection molding system includes: an injection molding machine configured to operate in accordance with a command generated using a first language, and inject a molten material into a mold to mold a molded object; a robot configured to operate in accordance with a command generated using a second language, and convey the molded object; and a control device configured to control the injection molding machine and the robot. When determining that an error occurs in at least one of the injection molding machine and the robot, the control device transmits, to the injection molding machine, a command generated using the first language and for causing the injection molding machine to execute a return operation, and transmits, to the robot, a command interpretable by the second language and for causing the robot to execute a return operation, so as to cause the injection molding machine and the robot to execute the return operations.

There are provided an apparatus for taking out a molded product that allows a physical amount such as the mass of the taking portion to be easily acquired with a relatively simple configuration. A posture reversing mechanism is provided between the elevating arm and the taking portion to change the direction of the taking portion between an unreversed state in which the taking portion is directed to be able to take hold of the molded product molded in the die, and a reversed state in which the length of the taking portion in the vertical direction is shorter than that in the unreversed state. A sensor detects vibration of the elevating arm. A mass estimating section estimates the mass of the taking portion on the basis of vibration of the elevating arm detected by the sensor when the taking portion is in the reversed state.

A method of estimating a normal vector to an attachment mounted to an approach frame of an apparatus for taking out a molded product and a normal vector to a die mounted to a molding machine is provided. A normal vector to a take-out head is estimated through computation using a coordinate/depth determination section and a normal vector computation section on the basis of depth data or coordinate data on three mounting members. Three or more extending portions are specified from the image, the extending portions being each a part of a fixed die or a movable die or a part of a surrounding component and extending in a direction that coincides with the open direction for the dies. A normal vector to the die is estimated through computation on the basis of the depth data or coordinate data on the specified extending portions.

An injection molding system includes: an injection molding machine configured to operate in accordance with a command generated using a first language, and inject a molten material into a mold to mold a molded object; a robot configured to operate in accordance with a command generated using a second language, and convey the molded object; and a control device configured to control the injection molding machine and the robot. When determining that an error occurs in at least one of the injection molding machine and the robot, the control device transmits, to the injection molding machine, a command generated using the first language and for causing the injection molding machine to execute a return operation, and transmits, to the robot, a command interpretable by the second language and for causing the robot to execute a return operation, so as to cause the injection molding machine and the robot to execute the return operations.

A relay device and a pressure detection device are provided that are configured to eliminate the necessity of calibrating an output value from a pressure sensor in the pressure detection device even when a mold is replaced. A relay device for a pressure detection device provided with a pressure sensor (S1 to Sn) configured to detect an inner pressure in a cavity (CT) of a mold of an injection molding machine is provided. The relay device is integrally fixed to the mold. The relay device includes a storage configured to store specific information of the pressure sensor (S1 to Sn) provided to the mold to detect the inner pressure of the cavity (CT), the cavity (CT) being defined between a fixed-side mold and a movable-side mold of the mold.

There are provided an apparatus for taking out a molded product that allows a physical amount such as the mass of the taking portion to be easily acquired with a relatively simple configuration. A posture reversing mechanism is provided between the elevating arm and the taking portion to change the direction of the taking portion between an unreversed state in which the taking portion is directed to be able to take hold of the molded product molded in the die, and a reversed state in which the length of the taking portion in the vertical direction is shorter than that in the unreversed state. A sensor detects vibration of the elevating arm. A mass estimating section estimates the mass of the taking portion on the basis of vibration of the elevating arm detected by the sensor when the taking portion is in the reversed state.

A relay device and a pressure detection device are provided that are configured to eliminate the necessity of calibrating an output value from a pressure sensor in the pressure detection device even when a mold is replaced. A relay device for a pressure detection device provided with a pressure sensor (S1 to Sn) configured to detect an inner pressure in a cavity (CT) of a mold of an injection molding machine is provided. The relay device is integrally fixed to the mold. The relay device includes a storage configured to store specific information of the pressure sensor (S1 to Sn) provided to the mold to detect the inner pressure of the cavity (CT), the cavity (CT) being defined between a fixed-side mold and a movable-side mold of the mold.

A die casting machine includes a plurality of ejector pins capable of advancing and retracting together with respect to the internal portion of a die; an electric motor capable of driving the plurality of ejector pins; a position sensor capable of detecting the positions of the plurality of ejector pins; a force sensor capable of detecting the pressure which is given to the molding material inside the die by the plurality of ejector pins; a display device capable of displaying images, and a control device controlling the electric motor and display device. The control device includes a drive control part which controls the electric motor so as to generate a driving force making the plurality of ejector pins advance to the inside of the die after the start of injection and before die opening, and a display control part which controls the display device so as to display the position detected by a position sensor and the pressure detected by a force sensor along a common time axis.

A method of estimating a normal vector to an attachment mounted to an approach frame of an apparatus for taking out a molded product and a normal vector to a die mounted to a molding machine is provided. A normal vector to a take-out head is estimated through computation using a coordinate/depth determination section and a normal vector computation section on the basis of depth data or coordinate data on three mounting members. Three or more extending portions are specified from the image, the extending portions being each a part of a fixed die or a movable die or a part of a surrounding component and extending in a direction that coincides with the open direction for the dies. A normal vector to the die is estimated through computation on the basis of the depth data or coordinate data on the specified extending portions.

An acceleration distance for acceleration at a set acceleration rate, required for an ejection start position passing speed in an ejection start position, is obtained, and a position behind the ejection start position by the acceleration distance is set as an advance start position of an ejector. Thus, an ejector plate can start to move at an optimal speed.