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T12 · Control / AutomationRobotics & Automation in PlasticsShop-Floor Standard
3-Axis Cartesian Robot Demoulding Take-Out Time Formula
Calculates the mould-open time consumed by a high-speed top-entry Cartesian servo robot entering the mould space, gripping parts with end-of-arm tooling (EOAT), stripping from ejector pins, and exiting to safe clearance.
Mathematical Canonical Relation
Plain Formula: t_takeout = t_enter + t_grip + t_strip + t_exit
Live Engineering Parameter Solver
Input your production or test values below for instant, verified output.
Verified Engine
t_in
Range: 0.1 – 2 s
t_vac
Range: 0.05 – 0.8 s
t_ext
Range: 0.05 – 1 s
t_out
Range: 0.1 – 2 s
Calculated Engineering Result:
t_takeout = 0.95 seconds
Engineering Verification:Mould open time delay added to cycle.
When & Where to Apply
Use when calculating injection moulding overall cycle time and maximizing machine throughput in high-cavity packaging and medical moulding lines.
Common Engineering Pitfalls
- Assuming robot cycle time equals total machine cycle time (robot runs in parallel with cooling while mould is closed)
- Forgetting that only the mould-open portion (take-out time) directly increases overall cycle time
Physical Assumptions & Validity Limits
- Full servo acceleration and deceleration trajectories with S-curve smoothing
- Vacuum switch confirmation feedback time is included in t_grip
- Mould opening stroke is sufficient for EOAT clearance
Variable Symbols, SI Units & Dimensional Specifications
| Symbol | Variable Meaning | SI Unit | Typical Industrial Range |
|---|---|---|---|
| t_{takeout} | Total mould open take-out delay | seconds | — |
| t_{enter} | Robot vertical axis entry time into cavity | seconds | 0.45 |
| t_{grip} | Vacuum suction cup build & sensor confirmation | seconds | 0.15 |
| t_{strip} | Ejector stroke forward & part extraction | seconds | 0.25 |
| t_{exit} | Robot ascent out of mould to safe clearance | seconds | 0.45 |
Worked Industrial Numerical Example: High-Speed 32-Cavity Bottle Cap Demoulding Robot
Problem Statement:
A 32-cavity beverage closure mould uses a high-speed side-entry servo robot. Entry time = 0.35 s, vacuum grip = 0.10 s, ejector assist strip = 0.15 s, exit time = 0.35 s. Calculate total take-out time and percentage of 5.5 s overall cycle.
Step-by-Step Numerical Solution:
- Sum take-out components: 0.35 + 0.10 + 0.15 + 0.35 = 0.95 seconds
- Calculate cycle fraction: (0.95 / 5.5) * 100 = 17.27%
Final Answer: t_takeout = 0.95 seconds (17.3% of cycle)
💡 Engineering Interpretation: The robot take-out time is under 1.0 second, allowing a fast 5.5 second overall cycle yielding over 20,900 caps per hour from a single 32-cavity mould.
Authoritative Technical Reference & Source Provenance
Robotics and Automation in the Plastics Industry by Christian Hopmann (Hanser, 2018), 1st Edition, Page 45-52.
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