Apparatus for taking out molded product, method of estimating mass of taking portion of the apparatus, and method of taking out molded product

An apparatus for taking out a molded product molded in a die of a molding machine, the apparatus being operable to transfer the molded product out of the molding machine and comprising:

• a taking portion configured to take hold of the molded product molded in the die;
• an arm provided to be capable of advancing and retracting in an opening direction of the die and moving up and down;
• a posture reversing mechanism provided between the arm and the taking portion to change a 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 a length of the taking portion in a vertical direction is shorter than that in the unreversed state;
• a sensor configured to detect vibration of the arm;
• and
• a center-of-gravity estimating section configured to estimate a center-of- gravity position of the taking portion on a basis of a mass of the taking portion acquired in advance and the vibration of the arm detected by the sensor when the taking portion is in the unreversed state.

A method of estimating a mass of a taking portion of a traverse-type apparatus for taking out a molded product molded in a die of a molding machine to be transferred out of the molding machine, the method comprising:

• changing a direction of the taking portion such that a length of the taking portion in a vertical direction is shorter than that in a state in which the taking portion is able to take hold of the molded product molded in the die;
• vibrating an elevating arm of the apparatus in a state after the direction of the taking portion is changed;
• detecting the vibration;
• and
• estimating a mass of the taking portion on a basis of the detected vibration of the elevating arm.