KR200495567Y1 - Take-out robot device for injection molding machine - Google Patents

Abstract

The present invention is a horizontal moving unit installed in an injection molding machine and reciprocating horizontally along the Y-axis direction for a take-out robot device for an injection molding machine for automatically taking out and transporting an injection molded product from the mold core of the injection molding machine. class; A first rotation motor provided in an installation frame coupled to one side of the horizontal movement unit and operated to drive, a first rotation flange directly connected to the first rotation motor to transmit rotational force, and the first rotation flange to be rotatable a first rotation unit rotating along the XZ plane direction about the Y axis, including a first arm connected to each other; A second rotary motor provided at the end of the first arm for driving operation, a second rotary flange directly connected to the second rotary motor to transmit rotational force, and a second rotatably connected along the second rotary flange a second rotation unit rotating along the XZ plane direction about the Y axis including the arm; and a hand unit provided at the end of the second arm to grip the injection product of the injection molding machine, wherein the second arm has a horizontal position of the second arm that is higher than a position of a second rotation shaft of the second rotation flange. The hand unit is connected to one end to have a low phase, and an extended part having a predetermined length and a bent part having a shorter length compared to the extended part are formed in a "L" shape to form a movement range and operation of the take-out robot device Injection molding that can minimize the installation space of the device as the overall size of the device is miniaturized. It relates to a take-out robot device.

Description

Take-out robot device for injection molding machine

The present invention relates to a take-out robot device for an injection molding machine for automatically taking out and transporting an injection molded product installed in an injection molding machine and injection-molded from a mold core of the injection molding machine.

In general, injection molding is a processing method of injecting a plasticized molding material (synthetic resin) into the cavity of a mold and curing it to make an injection product, which is a finished product.

Such an injection molding process is usually built with an automated system using an injection molding machine. In particular, when a mold is opened in an injection molding machine, a take-out robot is used as an automated facility used to take out and transport the completed injection product, and the take-out robot is used. is performing the ejection of the injection product by repeating automatic operation along a preset route.

In relation to this technology, Patent Document 1 relates to an insert nut and an injection product transport robot. Among transport robots that orthogonally transport forward, backward, left and right, and up and down, an insertion jig and a withdrawal jig are vertically coupled to a vertical transfer bar, In the insert nut and injection product transport robot, which vacuum-sucks the supplied insert nut and then inserts the vacuum-adsorbed insert nut into the drawn-out cavity together with the suction and withdrawal of the injection product from the cavity of the injection mold, through the injection product extraction jig A camera is installed at the bottom of the front and rear transfer bar of the transfer robot so that the operator can check whether all the insert nuts are inserted into the insert position of the ejected article when the injection product with the insert nut is sucked out and returned to the original position by adsorption.

However, with the background of Patent Document 1, various injection molding machines have been developed, but these are a situation in which technical problems to be improved are exposed.

Looking at this, in the case of Patent Document 1, because the take-out operation of the injection molding machine or the operation of moving the finished injection product depends on manpower, or a take-out robot with a monotonous movable range consisting of simple linear motion is used, the movement range of the take-out robot and The operating angle is very limited, and the overall size of the device is enlarged by securing a straight range of motion, so there is a problem in that it is not efficient because a considerable space is required for the installation of the device.

In order to solve this problem, Patent Document 2 discloses a take-out robot device for taking out and transporting an injection product of an injection molding machine, comprising: a horizontal movement unit capable of horizontal reciprocating movement in the Y-axis direction; It is connected to the moving side of the horizontal movement unit using a first driving unit, a first arm is connected to the first driving unit, a second rotation motor is connected to a side end of the first arm, and a second rotation motor is connected to the second rotation motor. a first rotation unit for causing the first and second arms to rotate along the XZ plane about the Y axis through the rotational force of the first and second driving units by connecting the two arms, respectively; Connected to the tip of the second arm using a first hand shaft, the hand taking out the injection product in front of the first hand shaft rotates along the XZ plane around the Y axis and rotates in place in the Y axis direction, respectively. It is configured to include a second rotation unit coupled to perform.

However, in Patent Document 2, as in the operating state shown in FIGS. 1A to 1C , the minimum intervening distance that does not interfere with the rotation of the first and second arms in order to take out the injection product from the injection molding machine through the device is 700 mm or less. Since it is difficult to rescue, it is difficult to improve productivity.

KR 20-0421394 Y1 KR 10-1842371 B1

In order to solve the above problems, the present invention allows the arm of the take-out robot device to be rotatable with multi-joints, while improving the operation to be performed in a wide angle range so that the movement range and the operation angle of the take-out robot are freely made without restrictions An object of the present invention is to provide a take-out robot device for an injection molding machine in which the overall size of the device is miniaturized so that the installation space of the device is also not limited.

In addition, the present invention improves the structure to have a flow path that can connect various cables for controlling the take-out robot to the arm end of the take-out robot, so that the cable connection is very simple and there is no interference with the operation of the take-out robot device. There is another purpose.

In order to achieve the above object, the present invention is a horizontal movement unit that reciprocates horizontally along the Y-axis direction; A first rotation motor provided in an installation frame coupled to one side of the horizontal movement unit and operated to drive, a first rotation flange directly connected to the first rotation motor to transmit rotational force, and the first rotation flange to be rotatable a first rotation unit rotating along the XZ plane direction about the Y axis, including a first arm connected to each other; A second rotary motor provided at the end of the first arm for driving operation, a second rotary flange directly connected to the second rotary motor to transmit rotational force, and a second rotatably connected along the second rotary flange a second rotation unit rotating along the XZ plane direction about the Y axis including the arm; and a hand unit provided at the end of the second arm to grip the injection product of the injection molding machine, wherein the second arm has a horizontal position of the second arm greater than a position of a second rotation shaft of the second rotation flange. The hand unit is connected to one end to have a low phase, and an extended part having a predetermined length and a bent part having a shorter length than the extended part are formed separately in an “L” shape. Provide robotic devices.

By providing the present invention configured as described above, the take-out operation is very fast because the movement range and the operating angle of the take-out robot device are freely performed without restrictions, and the take-out robot device can be used regardless of the size and shape of the injection molding machine), and the device As the overall size is miniaturized, it is possible to minimize the installation space of the device.

1a, 1b, and 1c are exemplary views showing the installation and operation state of the take-out robot device for an existing injection molding machine.
2 is an overall configuration diagram showing a take-out robot device for an injection molding machine according to the present invention.
3 is a block diagram showing a first rotation unit, a second rotation unit and a hand unit applied to the take-out robot device for an injection molding machine according to the present invention.
4 is a side view showing a first rotating unit, a second rotating unit and a hand unit applied to the take-out robot device for an injection molding machine according to the present invention.
5A, 5B, and 5C are exemplary views showing the installation and operation state of the take-out robot device for an injection molding machine according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement the present invention.

As shown in FIGS. 2 to 5 , the take-out robot device 1 for an injection molding machine of the present invention has a first rotation unit 200 and a second rotation on the horizontal movement unit 100 installed in the injection molding machine 10 . The unit 300 and the hand unit 400 are sequentially rotatably connected so that an injection product manufactured through the injection molding machine 10 can be drawn out and moved through the robot arm movement.

Looking at the take-out robot device 1 according to this schematically, a horizontal movement unit 100 that enables horizontal reciprocating movement, a first rotation unit 200 that performs a rotation operation respectively, and a rotation operation that are performed respectively It is configured to include a second rotation unit (300).

First, the horizontal movement unit 100 enables horizontal movement in the Y-axis direction, and functions to move the take-out robot device 1 horizontally in the Y-axis direction to the injection molding machine.

For example, the horizontal movement unit 100 is manufactured as a linear actuator, and the linear actuator is a mechanism that performs reciprocating motion in a straight line. It can be applied in various types, such as reciprocating by a rack and pinion, or reciprocating by a solenoid using an electromagnet for mechanical motion.

The horizontal moving unit 100 may include a rail 110 horizontally installed in a predetermined length corresponding to the entire length of the injection molding machine 10 and a moving cart 120 horizontally moving along the rail 110 . have.

Any one part of the rail 110 may include a counter 140 for counting the number of times of movement of the moving bogie 120 .

At this time, the horizontal movement unit 100 may further include an extension function of the working radius that enables one take-out robot device 1 to operate while reciprocating a plurality of injection molding machines 10 according to the length extension of the horizontal reciprocating movement. can

Here, the take-out robot device 1 further includes selectively applying the horizontal movement unit 100, using the horizontal movement unit 100 to install the take-out robot device 1 in the injection molding machine 10, or, When the horizontal movement unit 100 is not applied, the method further includes installing the take-out robot device 1 to the injection molding machine 10 using the first rotation motor 210 of the first rotation unit 200 .

When the horizontal movement unit 100 is selected and applied, the take-out robot device 1 is installed in the injection molding machine 10 by coupling the side end of the horizontal movement unit 100 to an arbitrary position of the injection molding machine 10 by bolting and fixing it. can

Conversely, the horizontal movement unit 100 is not applied, and the side end of the first rotation motor 210 of the first rotation unit 200 to be described later is coupled to an arbitrary position of the injection molding machine 10 by bolting to fix it. The take-out robot device 1 can be installed in the injection molding machine 10 without the moving unit 100 .

That is, the first rotation unit 200 is provided in the installation frame 130 coupled to one side of the horizontal movement unit 100 and is directly connected to the first rotation motor 210 and the first rotation motor 210 for driving operation. It can be rotated along the XZ plane direction around the Y axis, including the first rotation flange 220 that transmits the rotational force, and the first arm 230 that is rotatably connected along the first rotation flange 220. have.

In addition, the horizontal movement unit 100 further includes an extension function of the working radius that enables one take-out robot device 1 to operate while reciprocating a plurality of injection molding machines 10 according to the length extension of the horizontal reciprocating movement. .

In this case, as the reciprocating length of the horizontal movement unit 100 is increased to correspond to the length at which the plurality of injection molding machines 10 are located and extended, one take-out robot device 1 reciprocates the plurality of injection molding machines 10 . This makes it possible to extend the working radius, and automatically and manually control the take-out robot device 1 for each injection molding machine 10 through the operation control of the control panel.

And, the first rotation unit 200 is connected using a first rotation motor 210 to the moving side of the horizontal movement unit 100, the first arm 230 is connected to the first rotation motor 210, The second rotation motor 310 is connected to the side end of the first arm 230, and the second arm 330 is connected to the second rotation motor 310, so that the first and second arms 220 and 240 are first, The first rotation unit 200 according to the basic embodiment of the present invention by performing a rotation operation along the XZ plane about the Y axis through the rotational force of the second driving units 210 and 230, the first rotation motor 210, the second It is composed of a first arm 230 , a second rotary motor 310 , and a second arm 330 .

For example, the first rotation unit 200 is selectively coupled to the injection molding machine 10 or the horizontal movement unit 100, and further includes a first rotation motor 210 for transmitting the rotational force to the first arm 230 do.

The first rotary motor 210 is directly coupled to the injection molding machine 10 by bolting when the horizontal movement unit 100 is not used. can be installed

As the shaft penetrates the first rotation motor 210 in the installation frame 130 that enables installation in the injection molding machine 10, the first rotation flange 220 provided at one end of the first arm 230 is Since the shaft of the first rotation motor 210 is fixed, the rotational force of the first rotation motor 210 is transmitted to the first arm 230 via the first rotation flange 220 .

In addition, the first rotation unit 200 is shaft-coupled to the first rotation motor 210 and the power of the first rotation motor 210 is transmitted to the first arm ( 230) is further included.

The first arm 230 is made of a straight housing having a space therein, and has a bolt fastening structure to be fixed after being shaft-coupled to the first rotary motor 210 and the second rotary motor 310 at both ends, respectively. , a structure in which various bearings supporting rotational motion are provided as the shaft-coupled part.

In addition, the first rotation unit 200 is a second rotation motor 310 coupled to the other end of the first rotation motor 210 as the end of the first arm 230 , and transmitting rotational force to the second arm 330 . further includes

The second rotation motor 310 is a second rotation motor 310 in a state in which the second rotation motor 310 is fixed to one side of the second arm 330, after the shaft of the second rotation motor 310 passes through the second arm 330 The shaft of the second rotary motor 310 is fixed to the second rotary flange 320 provided at one end of the first arm 230 , and the body of the second rotary motor 310 is attached to the second arm 330 . Since the shafts of the second rotation motor 310 are respectively fixed to the first arm 230 , the rotational force of the second rotation motor 310 can be transmitted to the second arm 330 .

In addition, the first rotation unit 200 is coupled between the second rotation motor 310 and the first arm 230, and the power of the second rotation motor 310 is transmitted to rotate along the XZ plane about the Y axis. It further includes a second arm 330 for performing an operation.

The second arm 330 can minimize the distance between the lines in the mold opening, and the horizontal position of the extension part 331 having a predetermined length so as to be able to enter the mold opening without interference from the mold is adjusted by the second rotation. The hand unit 400 is connected to one end so as to have a lower phase than the position of the second rotation shaft 321 of the flange 320, and the second rotation flange 320 is connected to the opposite end, but the extension part 331 It may be divided into a bent portion 333 having a shorter length than that and formed in a “L” shape.

Therefore, in the present invention, as the first rotation unit 200 is added, the first arm 230 and the second arm 330 transmit the rotational force of the first rotation motor 210 and the second rotation motor 310 step by step. Rotational operation is possible, so taking-out operation is possible with a free operation range.

In addition, the second rotation unit 300 is connected to the tip of the second arm 330 using a first hand shaft 411 , and a hand unit 400 that takes out the injection product to the front of the first hand shaft 411 . ) is to perform a rotation operation along the XZ plane around the Y axis and a rotation operation around the Y axis, respectively.

The second rotation unit 300 is provided at the end of the first arm 230 with a second rotation motor 310 for driving operation, and a second rotation flange directly connected to the second rotation motor 310 to transmit rotational force ( 320) and the second arm 330 rotatably connected along the second rotation flange 320 may be rotatably operated along the XZ plane direction with respect to the Y axis.

A first hand shaft 411 coupled to the tip of the second arm 330 of the first rotation unit 200 may be further included.

In addition, it may include a hand unit 400 provided at the end of the second arm 330 to hold the injection product of the injection molding machine (10).

At this time, since the first hand shaft 411 is connected to the second arm 330 , it is possible to rotate along the XZ plane about the Y axis in the same way as the second arm 330 .

The hand unit 400 may include a first hand operation unit 410 , a second hand operation unit 420 , and a hand vise (not shown).

The first hand operating unit 410 is provided at the end of the second arm 330 to rotate along the XZ plane direction with respect to the Y axis, and the second hand operating unit 420 includes the first hand operating unit ( 410) may be connected to one side of the first hand shaft 411 to rotate along the YZ plane direction with respect to the X axis.

In addition, a hand vise (not shown) is provided at the end of the second hand operation unit 420 to grip the injection product.

The first hand shaft 411 and the reference line 331a formed on the extension 331 of the second arm 330 should be positioned below the second rotation shaft 321 of the second rotation flange 320 .

At this time, the Y-axis and the X-axis of the hand unit 400 on both sides of the front side of the first hand operation unit 410 and the second hand operation unit 420 are respectively axially coupled in the lateral direction to have a rotatable structure.

That is, the hand unit 400 is formed as a 'L'-shaped channel by the bevel gear meshing, so that the first hand shaft 411 in the Y-axis direction and the second hand shaft 421 in the X-axis direction are orthogonal to each other. The hand vice is detachably coupled to the cable holder of the second hand operation unit 420, and the first hand operation unit 410 and the second hand operation unit 410 and the second hand operation unit respectively through a servo motor and a clutch provided in the hand vice. By driving and rotating the unit 420, it is easily rotated about the Y-axis and the X-axis, so that the hand vice can be accurately positioned at the location of the injection product.

The hand unit 400 is coupled to a cylindrical structure with a flange structure having a bearing that can rotate in place and a bevel gear type frame structure, and takes out the injection product by suction using hydraulic pressure or by using hydraulic pressure or pneumatic tongs directly to the injection product. It can be taken out by a gripping method, and a take-out unit (not shown) can be provided in front of the hand unit 400 according to the usage method.

In this case, the second rotation motor 310 has a structure in which the driving shaft of the second rotation motor 310 is provided adjacent to the first hand shaft 411 in a state where it is fixed to the rear of the second arm 330 , and the second rotation The motor 310 and the first hand shaft 411 have a structure connected at a right angle.

Here, the second hand operating unit 420 is coupled to the rear end of the second arm 330 to provide a rotational force, and the second hand operating unit 420 is axially connected to the front end of the second hand operating unit 420 . is connected to the first hand shaft 411 penetrating into the first hand shaft 411 of the first hand operation unit 410 to rotate around the X-axis.

In this case, the second hand operating unit 420 is fixed to the rear of the second arm 330 , and the drive shaft tip of the second hand operating unit 420 is fixedly connected to the rear end of the first hand shaft 411 . to be.

The first hand shaft 411 is preferably inserted so as not to interfere with the first hand shaft 411 which is inserted through the inside of the first hand shaft 411 as a centrifugal shaft, and the rear end of the second hand operating part 420 is ) can be connected to

2 to 4 , the take-out robot device 1 is installed in the first injection molding machine 10 using either the horizontal moving unit 100 or the first rotating unit 200 to install the take-out robot device 1 It can be, but in the present invention, it is shown that it is installed using the horizontal movement unit (100).

At this time, when the take-out robot device 1 is installed in the injection molding machine 10, the second rotation unit 300 together with the first rotation unit 200 using the horizontal movement unit 100 in the horizontal direction (Y-axis) will be moved round-trip.

The first rotation unit 200 causes the first arm 230 to rotate along the XZ plane about the Y axis by the power of the first rotation motor 210 , and by the power of the second rotation motor 310 . By causing the second arm 330 to rotate along the XZ plane about the Y axis, the take-out robot device 1 can perform a multi-joint operation.

2 to 4 , in the case of the hand unit 400 , the rotational force of the second rotation motor 310 is transmitted to the X axis of the hand unit 400 through the first hand operation unit 410 , and the hand unit 400 ) enables rotational operation along the XZ plane about the Y axis, and transmits the rotational force of the second hand operation unit 420 to the Y axis of the hand unit 400 through the second hand operation unit 420 to Since the unit 400 is capable of rotating in place in the Y-axis direction, the hand unit 400 can also perform joint motion and in-place rotating motion.

Therefore, in the present invention, the take-out operation is very fast and the take-out robot device 1 can be used regardless of the size and shape of the injection molding machine 10 because the movement range and the operating angle of the take-out robot device 1 are not limited, and the take-out operation is performed freely. , since the overall size of the device is miniaturized, the installation space of the device is also not limited.

The operating state of the take-out robot device 1 constructed by the present invention will be described with reference to the accompanying drawings.

First, according to FIG. 5A , in the initial raised state of the take-out robot device 1 , the first arm 230 of the first rotation unit 200 closely rotates toward the horizontal movement unit 100 around the first rotation shaft 221 . is positioned, and the second arm 330 of the second rotation unit 300 rotates about the second rotation shaft 321 so that the second arm 330 is positioned in a horizontal position to have a 'L'-shaped structure.

At this time, in the extension 331 of the second arm 330 , the reference line 331a in the longitudinal direction virtually has a vertical distance T compared to the second rotation shaft 321 by the bent portion 333 .

Next, according to FIG. 5B, in the intermediate descending state, the first arm 230 and the second arm 330 are rotated downward along the XZ plane about the first rotation shaft 221 and the second rotation shaft 321, respectively. The hand unit 400 is located at the center of the ejection part of the injection molding machine 10 .

At this time, the second arm 330 vertically enters the space of the maximum interline distance L2 of the injection molding machine 10 , and it enters quickly without interference from the injection molding machine 10 , thereby shortening the entry time.

Finally, according to FIG. 5C , the advancing state is an operation in which the hand unit 400 is rotated and positioned so as to coincide with the center of the ejection part of the injection molding machine 10 .

As shown in Table 1 below according to the operation as described above, when the cycle time according to the conventional 'ㄱ'-type structure and the 'ㄴ'-type structure of the present invention is compared, the mold opening speed and the acceleration/deceleration time are It is the same, and according to each structure of the present take-out robot device 1, the leading distance (L1) of the 'L'-shaped structure is 700mm, and the 'L'-shaped structure has a difference of 400mm between the leading distance (L2). have.

[Table 1]

As described above, as the maximum interline distance L2 is shortened in the present invention, the operating cycle time can be further shortened, so it can be seen that the production is increased in the case of a one-day cumulative cycle.

According to the embodiment, the same as the existing operating conditions, the injection molding machine 10 has a stroke speed of 0.5 m/s and an acceleration/deceleration of 0.5 seconds. Mold opening (型閉) is 1.29 seconds, and mold closing is 1.28 seconds, so the driving time for one cycle can be reduced from 30 seconds to 28.8 seconds.

As shown in Table 2, it can be seen that the productivity is further improved by applying the 'ㄴ'-shaped structure compared to the 'ㄱ'-shaped structure as a result of the production obtained by operating the device of the present invention for one month. As can be seen from the graphic shown in , the productivity gradually increases as the days pass.

[Table 2]

By providing the present invention configured as described above, the take-out operation is very fast because the movement range and the operating angle of the take-out robot device are freely performed without restrictions, and the take-out robot device can be used regardless of the size and shape of the injection molding machine), and the device As the overall size is miniaturized, it is possible to minimize the installation space of the device.

[Figure 1]

The terms and words used in the present specification and claims described above should not be construed as being limited to conventional or dictionary meanings, and the present inventors properly understand the concept of terms to describe their own design in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined

Therefore, the configurations shown in the drawings and embodiments described in this specification are only one of the most preferred embodiments of the present invention, and do not represent all the technical ideas of the present invention, so they can be substituted at the time of the present application. It should be understood that there may be various equivalents and variations that exist.

1: Takeout robot device 10: Injection molding machine
100: horizontal movement unit 110: rail
120: moving bogie 130: installation frame
140: counter 200: first rotation unit
210: first rotation motor 220: first rotation flange
221: first rotation shaft 230: first arm
300: second rotation unit 310: second rotation motor
320: second rotation flange 321: second rotation shaft
330: second arm 331: extension
331a: baseline 333: bend
400: hand unit 410: first hand operation unit
411: first hand shaft 420: second hand operation unit
421: second hand axis

Claims (5)

In the take-out robot device (1) for taking out and transporting an injection product from the injection molding machine (10),
a horizontal movement unit 100 that reciprocates horizontally along the Y-axis direction;
A first rotation motor 210 that is provided in the installation frame 130 coupled to one side of the horizontal movement unit 100 and operates to drive, and a first rotation directly connected to the first rotation motor 210 to transmit rotational force A first rotation unit 200 including a flange 220 and a first arm 230 rotatably connected along the first rotation flange 220 to rotate along the XZ plane direction about the Y axis and ;
A second rotary motor 310 provided at the end of the first arm 230 for driving operation, a second rotary flange 320 directly connected to the second rotary motor 310 to transmit rotational force; a second rotation unit 300 including a second arm 330 rotatably connected along the second rotation flange 320 and rotating along the XZ plane direction about the Y axis;
It is provided at the end of the second arm 330 and is configured to include a hand unit 400 for holding the injection product of the injection molding machine 10,
The second arm 330 can minimize the interline distance in the mold opening, and the horizontal position of the extension part 331 having a predetermined length so that it can enter the mold opening without interference from the mold is the second The hand unit 400 is connected to one end so as to have a lower phase than the position of the second rotation shaft 321 of the rotation flange 320, and the second rotation flange 320 is connected to the opposite end, but the extension part 331 ), divided into a bent portion 333 having a shorter length than that of the injection molding machine, characterized in that it is formed in a “L” shape.
The method according to claim 1,
The first hand shaft 411 and the reference line 331a formed on the extension 331 of the second arm 330 are positioned below the second rotation shaft 321 of the second rotation flange 320 . A take-out robot device for an injection molding machine.
The method according to claim 1,
The hand unit 400,
a first hand operation unit 410 provided at the end of the second arm 330 to rotate along the XZ plane about the Y axis;
a second hand operation unit 420 connected to one side of the first hand axis 411 of the first hand operation unit 410 and rotated along the YZ plane with respect to the X axis;
The take-out robot device for an injection molding machine, characterized in that it includes a hand vise (not shown) provided at the end of the second hand operation unit (420) to hold the injection product.
The method according to claim 1,
The horizontal moving unit 100,
a rail 110 horizontally installed in a predetermined length corresponding to the entire length of the injection molding machine 10;
It is configured to include a moving bogie 120 that moves horizontally along the rail 110,
A take-out robot device for an injection molding machine, characterized in that it includes a counter (140) for counting the number of times the moving cart (120) moves on one part of the rail (110).
The method according to claim 1,
The horizontal moving unit 100,
A take-out robot for an injection molding machine, characterized in that it further includes a function of extending a working radius that enables one take-out robot device (1) to operate while reciprocating a plurality of injection molding machines (10) according to the length extension of the horizontal reciprocating movement Device.

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