| 摘要 |
PROBLEM TO BE SOLVED: To take out a formed product without developing the strain and the breakage in the formed product and the damage of a die by controlling at least any one of an ejector pin and a formed product holding part based on a shifting amount of the ejector pin for ejecting the formed product from the die, an attitude of the formed product or an attitude or a position of the formed product holding part. SOLUTION: The shifting amount of the ejector pin 4 during taking-out of the formed product as a signal Sc of a stroke sensor 10, the position of the formed product 1 as a signal of a formed product sensor and the attitude and the position of the holding part 2 for formed product 1 as a signal Sa of a robot controller 11, are transmitted to an arithmetic unit 9, respectively. Based on these signals, at least any one of the ejector pin 4 by outputting a signal Oc to a die casting machine sequencer 14 and the conveying robot 3 by outputting a signal Or to a robot controller 11 from the arithmetic unit 9, is controlled. At this time, the shifting amounts of the ejector pin 4 and the formed product 1 are controlled so as to always equal to both amounts to prevent the deformation and the breakage of the formed product 1.
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