A method for the continuous storage of internal operating states and visualization of past sequences of operations, as well as to a robot and/or robot controller, wherein the robot is preferably mounted on or next to a processing machine, in particular an injection molding machine and serves for the removal, handling, manipulation or further processing of injection molded parts which have just been produced. The robot controller records data, in particular changes of state, positions, internal parameters, time stamps, etc., and in case of occurrence of an error this most recently recorded information is linked to the error and stored, whereby the changes of state until the occurrence of the respective error are simulated and visually displayed for an analysis on the basis of a virtual model of the physical robot.

A method of operating an injection molding machine includes translating a movable platen from a closed position to a part transfer position by overshooting the transfer position in an opening direction away from a stationary platen to an over-travel position, and then translating the moving platen back to the transfer position in a closing direction, opposite the opening direction. Movement of a take-out device towards an advanced position, in which the take-out device reaches between mold halves carried by the stationary and movable platens, occurs while the movable platen is moving between the over-travel and transfer positions, prior to coming to rest in the transfer position. When resting in the transfer position, the method includes transferring molded articles from a first mold section mounted to the movable platen to retained engagement on the take-out device reaching between the platens.

A control device for a handling device includes a storage medium, a processing unit, an output for outputting signals, and an input for receiving signals from the handling device. A waiting phase is conducted before an actuation of an end-of-arm tool mounted to an end-of-arm of a handling arm. The signals received by the input represent a dynamic parameter of the end-of-arm and a threshold value corresponds to a specific dynamic parameter of the end-of-arm stored in the storage medium. The signals received by the input can be compared with the threshold value by a comparison unit of the control device, and an end of the waiting phase can be determined when reaching the threshold value. Depending on a curve of the dynamic parameter, the threshold value can be determined and the end of the waiting phase can be determined when reaching the threshold value.

An image display device displays an image such that a pair of reference symmetric structure portions, e.g. a pair of guide pins, are included in a captured image displayed on a display section, the pair of reference symmetric structure portions being located symmetrically with respect to a second virtual plane which extends in the opening direction and the vertical direction and includes a virtual center line of the molding apparatus which extends in the opening direction. A teaching execution section is used to determine the lateral position of an approach frame in the take-out operation by changing the position of the approach frame such that the center of an imaging range is located at a middle position between the pair of reference symmetric structure portions included in the captured image.

An image display device displays an image such that a pair of reference symmetric structure portions, e.g. a pair of guide pins, are included in a captured image displayed on a display section, the pair of reference symmetric structure portions being located symmetrically with respect to a second virtual plane which extends in the opening direction and the vertical direction and includes a virtual center line of the molding apparatus which extends in the opening direction. A teaching execution section is used to determine the lateral position of an approach frame in the take-out operation by changing the position of the approach frame such that the center of an imaging range is located at a middle position between the pair of reference symmetric structure portions included in the captured image.

An injection molding system according to an aspect of the present disclosure is for performing insert molding, and includes: an opening-closing mechanism configured to open and close a pair of molds; an injection device configured to inject a resin into a space that is formed between the pair of molds when the pair of molds has been closed; and a positioning mechanism having a holding member configured to hold an insert part, the positioning mechanism configured to position the insert part between the pair of molds, and to cause the holding member to continue holding the insert part between the pair of molds even after the opening-closing mechanism starts to operate to close the pair of molds.

A work holding mechanism includes a body part having a three-dimensional shape including at least a recess or a protrusion, and an adsorption part for holding a work by adsorbing the work onto the body part in conformity to the three-dimensional shape of the recess or the protrusion provided in the body part. The work is held by being adsorbed in conformity to the three-dimensional shape of the body part, and, therefore, the amount of usage of the work in a work molding system can be reduced as compared with when the work is held so as to have a flat shape.

There is provided an apparatus for taking out a molded product that facilitates setting of a user-set lower limit value while maintaining on-off control. A negative pressure control portion includes a determining portion for determining a pressure valve resumption time period that is used to resume a suctioning operation such that an inflection point does not become lower than a user-set lower limit value. The negative pressure control portion continuously performs an off operation, which is performed to keep a pressure valve closed until the pressure valve resumption time period elapses after the suctioning operation is stopped, and an on operation, which is performed to open the pressure valve and keep the pressure valve open until a negative pressure reaches a stable value or an upper limit set value, until suctioning of a molded product is canceled.

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 work holding mechanism includes a body part having a three-dimensional shape including at least a recess or a protrusion, and an adsorption part for holding a work by adsorbing the work onto the body part in conformity to the three-dimensional shape of the recess or the protrusion provided in the body part. The work is held by being adsorbed in conformity to the three-dimensional shape of the body part, and, therefore, the amount of usage of the work in a work molding system can be reduced as compared with when the work is held so as to have a flat shape.