CELL DEVICE

A cell device includes a housing including an accommodation space and a door connected to the accommodation space, a movable device arranged in the accommodation space, and an operation section arranged in the accommodation space and configured to operate the movable device, wherein the door includes a light blocking section having a light blocking property and a light transmitting section having light transmissivity and in a state where the door is closed, the light blocking section overlaps with the operation section when the housing is viewed from a door side along a normal direction of the door. The operation section is arranged in the accommodation space so as to face the door and is arranged further to the door side than is the movable device.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is based on, and claims priority from JP Application Serial Number 2023-140247, filed Aug. 30, 2023, the disclosure of which is hereby incorporated by reference herein in its entirety.

BACKGROUND OF THE INVENTION

1. Technical Field

The present disclosure relates to a cell device.

2. Related Art

JP-A-2016-083823 discloses an injection molding system including an injection molding machine and a robot. In such an injection molding system, an injection molding machine cover surrounding an operation range of a robot is provided, and when the injection molding machine cover is opened, operations of the robot and the injection molding machine are stopped. This ensures the safety of the injection molding system.

Although the arrangement of an operation section for operating the robot in JP-A-2016-083823 is not particularly described, if the operation section is arranged outside the injection molding machine, a user may erroneously operate the operation section during an operation of the injection molding system.

SUMMARY OF THE INVENTION

A cell device of the present disclosure includes a housing including an accommodation space and a door connected to the accommodation space; a movable device arranged in the accommodation space; and an operation section arranged in the accommodation space and configured to operate the movable device, wherein the door includes a light blocking section having a light blocking property and a light transmitting section having light transmissivity and in a state where the door is closed, the light blocking section overlaps with the operation section when the housing is viewed from a door side along a normal direction of the door.

DETAILED DESCRIPTION OF THE INVENTION

Hereinafter, a cell device of the present disclosure will be described in detail based on a preferred embodiment shown in the accompanying drawings.

FIG.1is a front view showing a cell device according to a preferred embodiment.FIG.2is a front view showing the cell device with the door opened.FIG.3is a cross-sectional view showing the inside of a placement base.FIG.4is a top view of the placement base.FIG.5is a front view of the placement base.FIG.6is a top view of the cell device.FIGS.7and8are cross-sectional views of a hand.

In each of the drawings except forFIGS.7and8, an X-axis, a Y-axis, and a Z-axis, which are three axes orthogonal to each other, are shown. Hereinafter, a direction along the X-axis is also referred to as an X-axis direction, a direction along the Y-axis is also referred to as a Y-axis direction, and a direction along the Z-axis is also referred to as a Z-axis direction. An arrow side of each axis is also referred to as a “plus side”, and a side opposite to an arrow is also referred to as a “minus side”. A plus side in the Z-axis direction is also referred to as “upper” and a minus side is referred to as “lower”.

A cell device1shown inFIG.1includes a housing2, a robot5and an injection molding machine6as movable devices installed in the housing2, and a control device9that controls driving of the robot5and the injection molding machine6.

As shown inFIG.1, the housing2includes a first housing unit3, a second housing unit4connected to the first housing unit3on a minus side in the X-axis direction. The second housing unit4can be attached to and detached from the first housing unit3, and is connected to the first housing unit3using various metal fittings such as bolts. Although not shown, the housing2is provided with wheels and a stopper, and the cell device1can be moved to an arbitrary installation place using the wheels and can be fixed to that place using the stopper.

As shown inFIG.1, the first housing unit3includes a base section31, a cover member32arranged on an upper side of the base section31, a first accommodation space S1defined by the cover member32, and a door33attached to the cover member32so as to be openable and closable. The robot5is accommodated in the first accommodation space S1. In the present embodiment, side walls positioned on both sides of the cover member32in the X-axis direction are removed for the convenience of an operation of the robot5, but the present disclosure is not limited to this, and at least one side in the X-axis direction may be closed with a side wall according to an operation of the robot5. The first housing unit3is provided with a sensor (not shown) for detecting opening and closing of the door33. When the door33is opened during an operation of the cell device1, the cell device1is urgently stopped for safety.

The base section31includes a second accommodation space S2formed inside. Therefore, the second accommodation space S2is positioned below the first accommodation space S1. The control device9is accommodated in the second accommodation space S2.

The door33is arranged on a front surface of the cover member32and is connected to the first accommodation space S1. Therefore, a user can access the first accommodation space S1by opening the door33. The door33is a single door that opens outwardly. An opening and closing axis J of door33is provided at an end section of a plus side in the X-axis direction. The door33includes a frame-shaped frame331as a light blocking section, a window section332as a light transmitting section attached to the inside of the frame331, and a handle333attached to the frame331. The handle333is attached to an end section on a minus side in the X-axis direction which is opposite to the opening and closing axis J. Thus, the door33can be opened and closed with a smaller force.

The frame331has a light blocking property. Therefore, in a state where the door33is closed, a portion of the first accommodation space S1that needs to be can be hidden by the frame331. In other words, it can be made invisible to a user. On the other hand, the window section332has light transmissivity. Therefore, even in a state where the door33is closed, the inside of the first accommodation space S1, particularly, the robot5can be visually observed through the window section332. Therefore, the state of the robot5can be monitored during an operation of the cell device1. For example, the frame331is made of various metal materials such as aluminum and stainless steel, and the window section332is made of light transmitting materials such as transparent glass and transparent plastic.

As shown inFIG.2, the first housing unit3is arranged in the first accommodation space S1, and includes a placement base34for supporting the robot5. The placement base34includes a placement section341arranged so as to be spaced apart from an upper surface of the base section31and a frame-shaped side wall342surrounding four sides of a space S11formed between the placement section341and the base section31. The robot5is supported on the placement section341. Further, as shown inFIG.3, a wiring group LG including at least one wiring L for electrically connecting the robot5and the control device9is accommodated in the space S11in the placement base34. In this way, by accommodating the wiring group LG in the placement base34, it is possible to route the wiring group LG while avoiding a work area of the robot5above the placement base34. Therefore, the wiring group LG is less likely to be exposed in a work area of the robot5, and the possibility that the wiring group LG interferes with the robot5is reduced. Therefore, stable operation of the cell device1is realized. In particular, in the present embodiment, since the side wall342surrounds the entire circumference of the space S11, the wiring L is less likely to protrude to the outside of the placement base34, and the above-described effect becomes more remarkable. However, the present disclosure is not limited thereto, and a portion of the side wall342may be removed, and a portion of the space S11may be opened to the outside from that portion.

As shown inFIG.2, the first housing unit3further includes an interlock device39, which is a safety device for restricting opening and closing of the door33. The interlock device39is arranged on a front surface section342aof the side wall342of the placement base34, that is, a portion of the side wall342facing the door33. According to such an arrangement, since the interlock device39can be arranged outside a work area of the robot5, the possibility that the interlock device39interferes with the robot5is reduced. It is also possible to secure a larger work area of the robot5.

The interlock device39includes an electromagnet391. When the electric current flowing through the electromagnet391is increased with the door33closed, the door33is firmly attracted to the electromagnet391, and the door33is locked. In this state, the door33cannot be opened. On the other hand, when the electric current flowing through the electromagnet391is reduced or the energization of the electromagnet391is stopped, the door33is unlocked and can be opened. In the cell device1, the door33is locked while the cell device1is operating normally, and the lock of the door33is released when the door33needs to be opened, for example, when the cell device1is stopped normally or when the cell device1is stopped urgently due to occurrence of an abnormality. This makes it possible to enhance the safety of the cell device1. However, the configuration of the interlock device39, the timing of unlocking, and the like are not particularly limited.

The interlock device39is desirably arranged in the vicinity of the handle333. Therefore, in the present embodiment, the interlock device39is arranged at an end section of the front surface section342aon a minus side in the X-axis direction. As a result, when the door33is opened, the stress applied to the door33due to attraction force of the electromagnet391can be suppressed, and damage or deformation of the door33can be effectively suppressed. However, the arrangement of the interlock device39is not particularly limited.

Here, the description will return to the door33. As described above, the door33includes the frame-shaped frame331. As shown inFIGS.4and5, the frame331is arranged so as to overlap the placement base34when the cell device1is viewed from a front surface side (a door33side) in a state where the door33is closed. That is, the front surface section342aof the placement base34and the frame331face each other. With the door33closed, the inner surface of the frame331is in contact with the electromagnet391. Therefore, as described above, by configuring the frame331of a metal material, in particular a magnetic material, it is possible to lock the door33more reliably and firmly.

Furthermore, since the frame331has a light blocking property, in a state in which the door33is closed, the front surface section342ais hidden by the door33. Therefore, by arranging the interlock device39on the front surface section342a, which is a portion to be hidden, the interlock device39can be hidden from a user during operation of the cell device1. The interlock device39is a device that is not used by a user except for inspection, maintenance, and the like, that is, during normal operation. Therefore, by using the door33to hide the interlock device39, unnecessary information that enters a user's field of view can be reduced. As a result, the user can perform work using the cell device1more intensively.

In particular, in the present embodiment, when the cell device1is viewed from the front surface side (a door33side) in a state where the door33is closed, the frame331is arranged so as to overlap the entire region of the side wall342. Therefore, since the interlock device39is hidden by the frame331wherever the interlock device39is arranged within the front surface section342a, the design flexibility of the arrangement of the interlock device39increases. However, this is not a limitation, and at least a part of the side wall342may not overlap the frame331and may be visible through the window section332.

The first housing unit3has been described above. Next, the second housing unit4will be described. As shown inFIG.1, the second housing unit4includes a base section41. Unlike the first housing unit3described above, the second housing unit4does not include a cover member on an upper side of the base section41, and the space at the upper side of the base section41is open.

Although the housing2has been described above, the housing2is not particularly limited. For example, the second housing unit4may be omitted depending on the configuration of the cell device1. At least one housing unit may be further connected to the second housing unit4on a minus side in the X-axis direction. At least one housing unit may be further connected to the first housing unit3on a plus side in the X-axis direction. The second housing unit4may be provided with a cover member similar to that of the first housing unit3to define an accommodation space for accommodating the injection molding machine6. The door33is not limited to an opening door, and may be, for example, a sliding door, a folding door, or the like.

As shown inFIG.1, the injection molding machine6is supported on the second housing unit4. The injection molding machine6molds a molded article MD from a resin material. As shown inFIGS.1and6, the injection molding machine6is a vertical injection molding machine, and includes a material storage section61for storing a resin material, a molding die62that is provided with an upper side molding die621and a lower side molding die622and that partitions a cavity according to the shape of the molded article MD, an injection unit63for melting the resin material stored in the material storage section61and for injecting the molten resin material into the molding die62, and a movement mechanism64for moving the lower side molding die622.

The injection unit63is fixed to the base section41of the second housing unit4via a plurality of pillars65. The material storage section61is arranged on an upper side of the injection unit63, and the upper side molding die621is arranged to the lower side of the injection unit63. Further, the lower side molding die622is arranged to the lower side of the upper side molding die621, and the molding die62is opened and closed by moving the lower side molding die622vertically (in the Z-axis direction) with respect to the upper side molding die621. The lower side molding die622that has been moved to the lower side is moved forward and backward (Y-axis direction) by the movement mechanism64. Hereinafter, a state in which the molding die62is open and the lower side molding die622is positioned directly below the upper side molding die621is also referred to as a first state, and a state (state shown inFIG.6) in which the lower side molding die622is moved forward (a minus side in the Y-axis direction) from the first state is also referred to as a second state.

Such an injection molding machine6is driven as follows. First, the molding die62is closed. Next, a molten resin material is injected into the molding die62from the injection unit63. Thus, a cavity of the molding die62is filled with the resin material. Then, the resin material in the cavity is cooled and cured to obtain the molded article MD. Next, the molding die62is opened to bring the lower side molding die622into the first state, and the lower side molding die622is moved forward by the movement mechanism64into the second state. Then, the molded article MD in the lower side molding die622is pushed upward by a pin (not shown) arranged in the lower side molding die622, thereby releasing the molded article MD from the lower side molding die622. The molded article MD thus released from the molding die is gripped by the robot5and transported to a predetermined position.

Although the injection molding machine6has been described above, the injection molding machine6is not particularly limited as long as it can mold the molded article MD.

As shown inFIG.2, the robot5is arranged in the first accommodation space S1and is supported on the placement section341of the placement base34. By supporting the robot5on the placement section341, the placement base34functions as a spacer, allowing the robot5to be installed at a desired height with respect to the injection molding machine6. That is, the placement base34is determined so that the robot5has a desired height with respect to the injection molding machine6.

The robot5grips the molded article MD molded by the injection molding machine6and transports the molded article MD to a predetermined position. The robot5is a SCARA robot (horizontal articulated robot), and includes a base50fixed to the placement section341, a first arm51that pivots around the Z-axis with respect to the base50, a second arm52that pivots around the Z-axis with respect to the first arm51, and a spline shaft53that is arranged at a tip end section of the second arm52and that extends in the Z-axis direction. The spline shaft53is rotatable around its central axis with respect to the second arm52and is movable up and down along the central axis. A hand54for gripping the molded article MD is attached to a lower end section of the spline shaft53.

Although not particularly limited, the distance between the placement section341of the placement base34and the upper end of the first accommodation space S1, denoted as D1, and the height of the robot5, denoted as D2, it is desirable that D1/D2is 1.1 or more and 1.3 or less. With such dimensions, it is possible to suppress the overall height of the housing2to a low level while sufficiently securing a work area of the robot5. By suppressing the overall height of the housing2, the cell device1can be reduced in size, and maintainability can be improved.

The hand54is not particularly limited as long as it can grip the molded article MD, and in the present embodiment, the hand54is a parallel movement type air chuck driven using compressed air (hereinafter, also referred to as “air”) as a fluid. As shown inFIGS.7and8, such a hand54includes an air cylinder540including a body541and a piston542that protrudes and retreats with respect to the body541, a pair of claw sections544aand544bthat open and close along a guide provided in the body541, and a pair of levers545a,545bthat are positioned between the piston542and the claw sections544aand544band that transmit the movement of the piston542to the claw sections544aand544b. The body541is formed with a rod side air intake port541acommunicating with a space on a rod side of the piston542, and a head side air intake port541bcommunicating with a space on a head side of the piston542.

The rod side air intake port541ais connected to a solenoid valve72via a first air pipe71a, and the head side air intake port541bis connected to the solenoid valve72via a second air pipe71b. Although not shown, the solenoid valve72is, for example, connected to a compressed air supply device such as a compressor installed in a factory or the like via a regulator. The solenoid valve72can switch air supply direction. As shown inFIG.7, when air is supplied from the rod side air intake port541aand discharged from the head side air intake port541b, the piston542retreats into the body541, the claw sections544aand544bclose, and the molded article MD can be gripped. On the other hand, as shown inFIG.8, when air is supplied from the head side air intake port541band discharged from the rod side air intake port541a, the piston542protrudes from the body541, the claw sections544aand544bopen, and the molded article MD can be released.

A first speed controller73afor adjusting the flow speed of air is arranged in the middle of the first air pipe71a, and a second speed controller73bfor adjusting the flow speed of air is arranged in the middle of the second air pipe71b. By adjusting the flow speed of air by the first speed controller73aand the second speed controller73b, it is possible to adjust the moving speed of the piston542, that is, the opening and closing speed of the claw sections544aand544b.

As shown inFIGS.4and5, the solenoid valve72includes a lever-type switch721, which is a switching section for switching air supply direction. For example, in a case where the robot5is urgently stopped in a state of gripping the molded article MD, an operation of removing the molded article MD from the robot5is required for a recovery operation. In this case, by operating the switch721to reverse the flow of air in the hand54and open the claw sections544aand544b, the molded article MD can be easily removed. However, the configuration of the switching section is not particularly limited, and may be a button type, a slide type, a dial type, a touch panel type, or the like.

The first speed controller73aincludes a screw-type (dial-type) knob731aas a fluid speed adjustment section for adjusting the flow speed of air flowing through the first air pipe71a. As the screw-type knob731ais tightened, a tip end section of the knob731aprotrudes into the first air pipe71aand blocks the inside of the pipe, so that the flow speed of air is reduced accordingly. Similarly to the first speed controller73a, the second speed controller73balso includes a screw-type knob731bas a fluid speed adjustment section for adjusting the flow speed of air flowing through the second air pipe71b. However, the configuration of the fluid speed adjustment section is not particularly limited, and may be a lever type, a button type, a touch panel type, or the like.

Hereinafter, the switch721and the knobs731aand731bare collectively referred to as an “operation section70”.

As shown inFIGS.4and5, the operation section70is arranged on the placement base34in the first accommodation space S1. By arranging the operation section70on the placement base34in this manner, the operation section70can be arranged outside a work area of the robot5, so that the possibility that the operation section70interferes with the robot5is reduced. The body of a user is unlikely to collide with the robot5during an operation of the operation section70, the safety of the cell device1is improved, and the failure of the robot5can be suppressed. By arranging the operation section70outside the work area of the robot5, it is also possible to secure work area for the robot5that is that much wider.

In particular, the operation section70is arranged on the front surface section342aof the placement base34. That is, the operation section70is arranged to face the door33. According to such an arrangement, when the door33is opened, the operation section70appears on a front side, so that the operation section70can be easily operated. In particular, as described above, since the frame331is arranged so as to overlap the entire region of the side wall342, the entire operation section70is hidden by the frame331wherever the operation section70is arranged within the front surface section342a. Therefore, the design flexibility of the arrangement of the operation section70increases. Furthermore, the operation section70is arranged on a door33side rather than the robot5, that is, on a front surface side. According to such an arrangement, it is possible to approach the operation section70without being obstructed by the robot5, and it is easy to operate the operation section70.

By thus arranging the operation section70on the front surface section342aof the placement base34, the operation section70can be hidden by the door33in the same manner as the interlock device39described above. Therefore, it is possible to reduce unnecessary information from entering the field of view of a user during normal operations. As a result, the user can perform work using the cell device1more intensively. Since the operation section70can be covered with the door33, it is possible to effectively suppress an erroneous operation of the operation section70by a user during normal operations.

In particular, there is no opportunity to use the switch721and the knobs731aand731bincluded in the operation section70used except for inspection, adjustment, maintenance, recovery work from emergency stop, and the like. Specifically, the switch721is mainly used in a state where the door33is opened at the time of recovery from emergency stop of the robot5. The knob731aand731bare mainly used in a state where the door33is opened at the time of adjustment of the robot5before an operation. Therefore, the switch721and the knobs731aand731bare used only in a state in which the door33is opened, and are not used in a state in which the door33is closed. Therefore, even if the switch721and the knobs731aand731barranged in the first accommodation space S1are covered by the door33, opening and closing of the door33does not complicate operations of the operation section70. Therefore, an erroneous operation of the operation section70can be suppressed without sacrificing usability.

In the present embodiment, the operation section70includes the switch721and the knobs731aand731b, however, the configuration of the operation section70is not particularly limited as long as it is not operated in a state where the door33is closed and is operated when the door33is open. For example, a main power button of the cell device1may also be included. The entire operation section70does not necessarily overlap the light blocking section, and at least a part of the operation section70may overlap and be hidden by the light blocking section to the extent that a user cannot visually recognize the operation section70. The light blocking property of the light blocking section may be a light blocking property to the extent that a user cannot visually recognize the operation section70.

As shown inFIG.1, the control device9is arranged in the second accommodation space S2of the first housing unit3. The control device9controls the driving of the injection molding machine6and the robot5in conjunction with each other. The control device9is formed of, for example, a computer, and includes a processor (CPU) that processes information, a memory that is communicably connected to the processor, and an external interface that is connected to an external device. Various programs executable by the processor are stored in the memory, and the processor can read and execute the various programs and the like stored in the memory.

In particular, as shown inFIG.3, the control device9is electrically connected to the robot5via the wiring L accommodated in the placement base34. Therefore, by arranging the control device9below the placement base34, it is easy to connect the wiring L and the control device9. The length of the wiring L can be shortened.

Above, the cell device1has been described. As described above, the cell device1includes the housing2including the first accommodation space S1as an accommodation space and the door33connected to the first accommodation space S1, the robot5as a movable device arranged in the first accommodation space S1, and the operation section70arranged in the first accommodation space S1and configured to operate the robot5. The door33includes the frame331as a light blocking section having a light blocking property, and the window section332as a light transmitting section having light transmissivity. In a state where the door33is closed, when the housing2is viewed from a door33side along a normal direction of the door33, the frame331overlaps the operation section70. According to such a configuration, during an operation of the cell device1, the operation section70is hidden and does not enter a user's field of view. Therefore, it is possible to reduce unnecessary information that enters the field of view of a user. As a result, the user can perform work using the cell device1more intensively. Since the operation section70can be covered with the door33, it is possible to effectively suppress erroneous operations of the operation section70by a user.

As described above, the operation section70is not operated in a state where the door33is closed, but is operated in a state where the door33is open. Thus, the operation section70is operated only when the door33is open, that is, by arranging the operation section70, which has no opportunity to be operated, in the first accommodation space S1and covering the operation section70with the door33, the opening and closing of the door33do not complicate operations of the operation section70. Therefore, an erroneous operation of the operation section70can be suppressed without sacrificing usability.

As described above, the operation section70is arranged in the first accommodation space S1so as to face the door33. According to such a configuration, when the door33is opened, the operation section70appears on a front side, and thus the operation section70is easily operated.

As described above, the operation section70is arranged on a door33side rather than the robot5, that is, on a front surface side. According to such a configuration, it is easy to approach the operation section70, and it is easy to operate the operation section70.

As described above, the housing2includes the placement base34that is arranged in the first accommodation space S1and on which the robot5is supported. The operation section70is arranged on the side wall342of the placement base34. According to such a configuration, since the operation section70can be arranged outside a work area of the robot5, the possibility that the operation section70interferes with the robot5is reduced. The body of a user is unlikely to collide with the robot5during an operation of the operation section70, the safety of the cell device1is improved, and the failure of the robot5can be suppressed. By arranging the operation section70outside the work area of the robot5, it is also possible to secure work area for the robot5that is that much wider.

Further, as described above, in a state where the door33is closed, the frame331overlaps the entire region of the side wall342when the housing2is viewed from a door33side along a normal direction of the door33. Thus, even if the operation section70is arranged at any position of the side wall342, since it is hidden by the frame331, the design flexibility of the arrangement of the operation section70increases.

As described above, the operation section70includes the knobs731aand731bas fluid speed adjustment sections for adjusting the speed of compressed air, which is the fluid supplied to the robot5. Such knobs731aand731bare used in a state where the door33is opened at the time of adjustment of the robot5before an operation, and are not used at the time of normal operations, that is, in a state where the door33is closed. Therefore, the knobs731aand731bare suitable as the operation section70, and by covering the knobs731aand731bwith the door33, it is possible to suppress an erroneous operation of the knobs731aand731b.

As described above, the operation section70includes the switch721as a switching section that switches supply direction of compressed air supplied to the robot5. Such a switch721is used in a state where the door33is opened at the time of recovery from emergency stop of the robot5, and is not used at the time of normal operations, that is, in a state where the door33is closed. Therefore, the switch721is suitable as the operation section70, and by covering the switch721with the door33, it is possible to suppress an erroneous operation of the switch721.

As described above, the cell device1includes the interlock device39that is arranged in the first accommodation space S1and that restricts opening and closing of the door33. In a state where the door33is closed, the frame331overlaps with the interlock device39when the housing2is viewed from a door33side along a normal direction of the door33. According to such a configuration, during an operation of the cell device1, the interlock device39is hidden and does not enter the field of view of a user. Therefore, it is possible to reduce unnecessary information that enters the field of view of a user. As a result, the user can perform work using the cell device1more intensively.

Although the cell device of the present disclosure has been described above based on the shown embodiment, the present disclosure is not limited thereto, and the configuration of each section can be replaced with an arbitrary configuration having the same function. Any other component may be added to the present disclosure.