Method for removing injection-molded items

A method for removing injection-molded items from an injection-molding machine via a robot, the injection-molding machine and the robot each having a separate drive, and each drive being acted on by a separate open- and closed-loop control unit that is separately programmable, at least the open- and closed-loop control unit of the robot contains a computing element, and the injection-molding machine being equipped with at least one signaling device for signaling a detected position of the mold, the method comprising:

• applying a signal of the signaling device to the open- and closed-loop control unit of the robot;
• recalculating a motion sequence of the robot based on the open- and closed-loop control unit of the robot after each removal cycle;
• and
• for each next removal cycle, moving the robot from a start position at a recalculated start time determined by a timer,
• wherein the signaling device transmits a signal for detecting the mold-open position and another signaling device transmits another signal for detecting the mold-closed position,
• wherein the open- and closed-loop control unit of the robot further comprises a time-measuring element, and the method further comprises measuring a time period that is a time from a positive edge of the signal for detecting the mold-closed position up to a positive edge of the signal for detecting the mold-open position by the time-measuring element;
• and
• storing the measured time period in the open- and closed-loop control unit of the robot.

A device for performing a method of removing injection-molded items from a mold of an injection-molding machine via a robot, the method comprising applying a signal of a signaling device to the open- and closed-loop control unit of a robot, recalculating a motion sequence of the robot based on the open- and closed-loop control unit of the robot after each removal cycle;

• for each next removal cycle, moving the robot from a start position at a recalculated start time determined by a timer, measuring a time period that is a time from a negative edge of the signal for detecting the mold-closed position up to a positive edge of the signal for detecting the mold-open position with the time-measuring element;
• and storing the measured time period in the open- and closed-loop control unit of the robot the device comprising:
• the robot;
• the injection-molding machine, wherein the injection-molding machine and the robot each have a separate drive, and each drive being acted on by a separate open- and closed-loop control unit that is separately programmable;
• the injection-molding machine comprising at least one signaling device for signaling a detected position of the mold to the open- and closed-loop control unit of the robot;
• the open- and closed-loop control unit of the robot having at least a computing element, the time-measuring element for measuring the time period that is the time from the negative edge of the signal for detecting the mold-closed position up to the positive edge of the signal for detecting the mold-open position, and the timer for recalculating the start time;
• and
• the at least one signaling device being connectable to the open- and closed-loop control unit of the robot for applying the signal of the signaling device to the open- and closed-loop control unit of the robot.