CN102962968B - Framework and control method of configuring manipulator on more than two injection moulding machines for production - Google Patents
Framework and control method of configuring manipulator on more than two injection moulding machines for production Download PDFInfo
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- CN102962968B CN102962968B CN201210475637.7A CN201210475637A CN102962968B CN 102962968 B CN102962968 B CN 102962968B CN 201210475637 A CN201210475637 A CN 201210475637A CN 102962968 B CN102962968 B CN 102962968B
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Abstract
The invention relates to a framework and a control method of configuring a manipulator on more than two injection moulding machines for production, wherein the control method comprises the steps that: an injection moulding machine controller feeds a corresponding injection moulding machine mould-opening signal back to a main controller; the main controller controls the manipulator to take pieces and unload pieces from one injection moulding machine via a manipulator controller; after the pieces are taken, the manipulator controller feeds a signal back to the main controller, and the main controller controls the injection moulding machine to be subjected to mould closing; and after the pieces are unloaded, the manipulator takes the pieces and unloads the pieces from the next injection moulding machine after mould opening. According to the framework and the control method, the main controller sends instructions to the manipulator controller and the more than two injection moulding machine controllers respectively, and the feedback signals of the manipulator controller and the injection moulding machine controllers are obtained respectively, thus achieving the purpose of finishing the piece-taking and piece-unloading operations of the more than two injection moulding machines during continuous production only by one manipulator, and greatly improving the working efficiency; and compared with the framework of configuring one manipulator for one injection moulding machine, the framework has the advantages that the cost is greatly saved. The framework and the control method disclosed by the invention are suitable for injection moulding machines for processing and producing plastics.
Description
Technical field
The present invention relates to injection machine, particularly a kind of more than two injection machines configure framework and the control method of a manipulator production.
Background technology
The process of injection machine is as follows: macromolecule (plastics) particle reaches flow regime through heating and plasticizing in barrel, under the promotion of screw rod, fill die cavity, when plastic melt in mould cooling curing to a certain extent after, mould is opened, take out product, namely complete an injection cycle.The process of pickup can be completed by workman, also can be completed by manipulator.There is due to manipulator pickup the advantages such as efficiency is high, cost is low, constant product quality, be therefore widely used.
At present, the injection machine of plastic processing factory is configured with taking mechanical hand mostly, but the form of configuration is all that an injection machine configures a manipulator.As can be seen from the process of injection machine work, working time of manipulator just terminates a bit of time after opening mould in injection machine cooling, account for greatly whole batch of production cycle less than 1/10 time, other times are all in idle waiting state.Therefore, a this manipulator configures the system architecture of an injection machine and control model not only wastes resource, and efficiency is lower.
Summary of the invention
In order to overcome above-mentioned technical problem, the object of the present invention is to provide a kind of more than two injection machines to configure framework that manipulator produces and control method, this framework and control method operating efficiency high and can be cost-saving.
The technical solution adopted in the present invention is:
More than two injection machines configure a framework for a manipulator production, comprising:
Processing and pick-off unit, comprise the injection moulding unit, the manipulator for pickup from arbitrary injection machine and inloading part that are made up of more than two injection machines;
Control system, comprise Manipulator Controller, master controller and the controller of plastic injection molding corresponding with injection machine quantity, described Manipulator Controller and arbitrary controller of plastic injection molding are all connected on master controller, described every platform controller of plastic injection molding is connected respectively an injection machine, and described Manipulator Controller is connected with manipulator.
As a further improvement on the present invention, described every platform injection machine with inloading part point for the circular layout in the center of circle.
As a further improvement on the present invention, be provided with free degree guide rail above described injection moulding unit, described manipulator is arranged on free degree guide rail.
As a further improvement on the present invention, described free degree guide rail comprises Three Degree Of Freedom guide rail, and described manipulator does three-dimensional motion on Three Degree Of Freedom guide rail.
More than two injection machines configure the control method of a manipulator production, controller of plastic injection molding by the injection moulding machine mould open signal feedback of correspondence to master controller, master controller controls manipulator pickup and inloading part from this injection machine respectively by Manipulator Controller, after pickup completes, Manipulator Controller feedback signal to master controller by this injection machine matched moulds of main controller controls, manipulator pickup and inloading part from the injection machine of next die sinking after inloading part completes.
As a further improvement on the present invention, when each injection machine starts, corresponding injection machine start by set date is successively controlled by master controller by each controller of plastic injection molding.
As a further improvement on the present invention, injection machine successively the time of start by set date and the setting of injection machine quantity comprise the following steps:
A. the process-cycle of injection machine and the pickup distance of manipulator and injection machine determine the pickup speed of manipulator;
B. manipulator pickup speed and determine start-up time of next injection machine to the pickup distance of next injection machine and injection cycle;
C. injection machine injection cycle and determine the quantity that injection machine is set start-up time.
As a further improvement on the present invention, each injection moulding machine mould open time staggers.
As a further improvement on the present invention, the pickup of every platform injection machine is apart from equal, and between two injection machines started successively, the time interval of die sinking is identical, and manipulator is identical with the time of inloading part to every platform workpiece-taking of plastic jetting-moulding machine.
As a further improvement on the present invention, pickup is started to next injection machine after manipulator completes inloading part to the last injection machine opened successively at once.
The invention has the beneficial effects as follows: the present invention sends instruction to Manipulator Controller and more than two controller of plastic injection molding respectively by master controller, and obtain the feedback signal of Manipulator Controller and controller of plastic injection molding respectively, thus reach the pickup and the inloading part work that only complete the injection machine in more than two continuous productions with a manipulator, substantially increase operating efficiency, compared with configuring a manipulator with an injection machine, save cost greatly.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the present invention is further described.
Fig. 1 is the structural representation of first embodiment of the invention;
Fig. 2 is the structural representation of second embodiment of the invention;
Fig. 3 is messaging diagrams of the present invention;
Fig. 4 is control flow chart of the present invention.
Detailed description of the invention
As shown in Figure 1, Figure 2 and Figure 3, a kind of more than two injection machines configure the framework that manipulator is produced, and comprise processing and pick-off unit and control system.Processing and pick-off unit are made up of the injection moulding unit 3 of more than two injection moulding units 3 one-tenth and a manipulator 1.Manipulator 1 can from arbitrary injection machine pickup and inloading part.
Control system, comprises Manipulator Controller, master controller and the controller of plastic injection molding corresponding with injection machine quantity.Manipulator Controller and arbitrary controller of plastic injection molding are all connected on master controller based on field data bus, realize real-time Communication for Power, started by main controller controls and stop, every platform controller of plastic injection molding is connected respectively an injection machine, control the startup of injection machine and the process of product, and the current state of injection machine is fed back to master controller, Manipulator Controller is connected with manipulator 1, control manipulator 1 and complete orbiting motion and the action such as pickup and inloading part, and the duty of manipulator 1 is fed back to master controller.
Fig. 1 is the first embodiment, has 5 injection machines, and every platform injection machine is with inloading part point for the circular layout in the center of circle, and distance between adjacent injection machine is equal.Fig. 2 is the second embodiment, has 4 injection machines, orthogonal layout centered by inloading part point.
Be provided with free degree guide rail 2 above injection moulding unit 3, manipulator 1 is arranged on free degree guide rail 2, can move, thus carry out the operation of pickup and inloading part from injection machine on free degree guide rail 2.
Free degree guide rail 2 is for having the Three Degree Of Freedom guide rail in x, y, z direction, and manipulator 1 does three-dimensional motion on Three Degree Of Freedom guide rail.
Due in the injection machine production process more than two, only need the operation carrying out pickup and inloading part with a manipulator 1, avoid the high cost collocation that an injection machine configures a manipulator 1, reduce equipment cost and production cost.
As Figure 1-Figure 4, a kind of more than two injection machines configure the control method that a manipulator 1 is produced, controller of plastic injection molding by the injection moulding machine mould open signal feedback of correspondence to master controller, master controller controls manipulator 1 pickup and inloading part from this injection machine respectively by Manipulator Controller, after pickup completes, Manipulator Controller feedback signal to master controller by this injection machine matched moulds of main controller controls, after inloading part completes, manipulator 1 pickup and inloading part from the injection machine of next die sinking, circulates so always.
As further preferred embodiment, when each injection machine starts, master controller sets start-up time, controls corresponding injection machine start by set date successively by master controller by each controller of plastic injection molding.
As a further improvement on the present invention, the setting of time of starting successively of injection machine and injection machine quantity comprises the following steps:
A. the injection cycle of injection machine and the pickup distance of manipulator 1 and injection machine determine the pickup speed of manipulator 1;
B. manipulator 1 pickup speed and determine start-up time of next injection machine to the pickup distance of next injection machine and injection cycle;
C. process-cycle of injection machine and start-up time the quantity that injection machine is set is determined.
As further preferred embodiment, each injection moulding machine mould open time staggers, and ensure that any two injection machines can not under the prerequisite of simultaneously die sinking, manipulator 1 completes maximum pickup number of times continuously, saves the stand-by period in pickup process, enhances productivity.
As further preferred embodiment, the ornaments of injection machine must ensure that manipulator 1 at every turn can with the shortest distance pickup, the pickup of every platform injection machine is apart from equal, between two injection machines started successively, the time interval of die sinking is identical, and manipulator 1 is identical with the time of inloading part to every platform workpiece-taking of plastic jetting-moulding machine.The control of such program is relatively simple.
As further preferred embodiment, pickup is started to next injection machine after manipulator 1 completes inloading part to the last injection machine opened successively at once, decrease the stand-by time of manipulator 1, enhance productivity.
This control method is exemplified below.
For the first embodiment, see Fig. 1 and Fig. 4, identical product is produced with the injection machine of same model, the injection cycle of injection machine is 50s, die sinking is last 5 s to the time of matched moulds, and the pickup distance of arbitrary injection machine is 3 m, therefore, in 5 seconds after die sinking, manipulator 1 needs the pickup distance brought into operation through 3 m from inloading part point to complete pickup, and therefore the pickup speed of manipulator 1 is 0.6 m/s; After pickup, manipulator 1 is back to the time of inloading part point is also 5s, i.e. pickup and the total 10s consuming time of inloading part.Because the injection cycle of every platform injection machine is identical, in order to the second injection machine when ensureing the 55s completed at the first injection machine inloading part just die sinking manipulator 1 is worked always, the start-up time of the second injection machine fixes on 10s; The like, the 10s slower in the start-up time of last injection machine start-up time of next injection machine; Stagger in order to ensure each injection moulding machine mould open time, ensure that any two injection machines can not simultaneously die sinking, 5 injection machines are set altogether, with inloading part point for the center of circle is circular uniform.Concrete participation following table.
Arranged the start-up time of each injection machine enter in master controller, the initial position of manipulator 1 is at inloading part point; The first injection machine is opened in the instruction that master controller sends startup to controller of plastic injection molding 1, after 10s, open the second injection machine successively, until open the 5th injection machine; When the first injection machine prepares die sinking, controller of plastic injection molding 1 sends instructions to master controller, and master controller sends driving device hand 1 pickup from the first injection machine in instruction to Manipulator Controller; Manipulator 1 to complete after pickup by Manipulator Controller feedback information to master controller, and the process of next batch by main controller controls first injection machine, meanwhile, manipulator 1 runs to inloading part place, the center of circle.After manipulator 1 arrives the center of circle and unloads the workpiece of the first injection machine, the second injection machine prepares die sinking, and manipulator 1 starts the second workpiece-taking of plastic jetting-moulding machine at once; By that analogy, complete the pickup of the 5th injection machine always, and constantly circulate, realize manipulator 1 continuously to 5 workpiece-taking of plastic jetting-moulding machine.
Above embodiment is to the citing of producing identical product and the injection machine of same model and carry out pickup and inloading part with a manipulator; in actual production; the injection machine of different model or its injection cycle of dissimilar process of producing product may be different; the time of die sinking and the time interval are also different; therefore the pickup of manipulator, inloading part speed also can change accordingly to some extent, but as long as with framework of the present invention and control method of the present invention carry out plastic processing production all should within protection scope of the present invention.
Claims (9)
1. more than two injection machines configure the framework that a manipulator is produced, and it is characterized in that, comprising:
Processing and pick-off unit, comprise be made up of the injection machine of more than two injection moulding unit (3), a manipulator (1) for pickup from arbitrary injection machine and inloading part;
Control system, comprise Manipulator Controller, master controller and the controller of plastic injection molding corresponding with injection machine quantity, described Manipulator Controller and arbitrary controller of plastic injection molding are all connected on master controller, described every platform controller of plastic injection molding is connected respectively an injection machine, and described Manipulator Controller is connected with manipulator (1);
Described controller of plastic injection molding by the injection moulding machine mould open signal feedback of correspondence to master controller, master controller controls manipulator (1) pickup and inloading part from this injection machine respectively by Manipulator Controller, after pickup completes, Manipulator Controller feedback signal to master controller by this injection machine matched moulds of main controller controls, manipulator (1) pickup and inloading part from the injection machine of next die sinking after inloading part completes.
2. more than two injection machines according to claim 1 configure the framework that manipulator is produced, and it is characterized in that: described every platform injection machine with inloading part point for the circular layout in the center of circle.
3. more than two injection machines according to claim 1 and 2 configure the framework that a manipulator is produced, it is characterized in that: described injection moulding unit (3) top is provided with free degree guide rail (2), and described manipulator (1) is arranged on free degree guide rail (2).
4. more than two injection machines according to claim 3 configure the framework that a manipulator is produced, it is characterized in that: described free degree guide rail (2) comprises Three Degree Of Freedom guide rail, and described manipulator (1) does three-dimensional motion on Three Degree Of Freedom guide rail.
5. more than two injection machines according to claim 1 configure the framework that a manipulator is produced, and it is characterized in that: when each injection machine starts, control corresponding injection machine start by set date successively by master controller by each controller of plastic injection molding.
6. more than two injection machines according to claim 5 configure the framework that a manipulator is produced, and it is characterized in that, the injection machine successively time of start by set date and the setting of injection machine quantity comprises the following steps:
The injection cycle of injection machine and manipulator (1) determine the pickup speed of manipulator (1) with the pickup distance of injection machine;
The pickup speed of manipulator (1) and determine start-up time of next injection machine to the pickup distance of next injection machine and injection cycle;
The process-cycle of injection machine and start-up time determine the quantity arranging injection machine.
7. more than two injection machines according to claim 1 or 5 or 6 configure the framework that a manipulator is produced, and it is characterized in that: each injection moulding machine mould open time staggers.
8. more than two injection machines according to claim 1 or 5 or 6 configure the framework that a manipulator is produced, it is characterized in that: the pickup of every platform injection machine is apart from equal, between two injection machines started successively, the time interval of die sinking is identical, and manipulator (1) is identical with the time of inloading part to every platform workpiece-taking of plastic jetting-moulding machine.
9. more than two injection machines according to claim 1 or 5 or 6 configure the framework that a manipulator is produced, and it is characterized in that: start pickup to next injection machine after manipulator (1) completes inloading part to the last injection machine opened successively at once.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210475637.7A CN102962968B (en) | 2012-11-21 | 2012-11-21 | Framework and control method of configuring manipulator on more than two injection moulding machines for production |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210475637.7A CN102962968B (en) | 2012-11-21 | 2012-11-21 | Framework and control method of configuring manipulator on more than two injection moulding machines for production |
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| CN102962968A CN102962968A (en) | 2013-03-13 |
| CN102962968B true CN102962968B (en) | 2015-07-22 |
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| CN201210475637.7A Expired - Fee Related CN102962968B (en) | 2012-11-21 | 2012-11-21 | Framework and control method of configuring manipulator on more than two injection moulding machines for production |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105729739A (en) * | 2016-02-24 | 2016-07-06 | 深圳市华成工业控制有限公司 | Control method and system for injection molding system |
| CN108145936A (en) * | 2016-12-06 | 2018-06-12 | 上海涛创自动化科技有限公司 | A kind of guard system of injection molding mechanical arm |
| CN107521054B (en) * | 2017-09-30 | 2019-12-17 | 柳州煜华科技有限公司 | automatic workpiece taking method of injection molding machine |
| CN110948803B (en) * | 2019-12-18 | 2024-09-24 | 天津市久跃科技有限公司 | Manual and electric adjusting grabbing mechanism of injection molding part taking machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4604026A (en) * | 1983-03-01 | 1986-08-05 | Dart Industries Inc. | Telescoping parts manipulator |
| WO2004069522A1 (en) * | 2003-02-05 | 2004-08-19 | G.M.P. Spa | Integrated plant for the production of articles made of reinforced polyurethane, relative method and polyurethane articles thus obtained |
| CN102225609A (en) * | 2011-05-27 | 2011-10-26 | 宁波伊士通技术股份有限公司 | Injection machine manipulator with automatic tracking function |
| CN202952503U (en) * | 2012-11-21 | 2013-05-29 | 广州市香港科大霍英东研究院 | Framework of configuring manipulator on more than two injection molding machines for production |
-
2012
- 2012-11-21 CN CN201210475637.7A patent/CN102962968B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4604026A (en) * | 1983-03-01 | 1986-08-05 | Dart Industries Inc. | Telescoping parts manipulator |
| WO2004069522A1 (en) * | 2003-02-05 | 2004-08-19 | G.M.P. Spa | Integrated plant for the production of articles made of reinforced polyurethane, relative method and polyurethane articles thus obtained |
| CN102225609A (en) * | 2011-05-27 | 2011-10-26 | 宁波伊士通技术股份有限公司 | Injection machine manipulator with automatic tracking function |
| CN202952503U (en) * | 2012-11-21 | 2013-05-29 | 广州市香港科大霍英东研究院 | Framework of configuring manipulator on more than two injection molding machines for production |
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