CN105984077A - Method of controlling injection molding machine manipulator, the injection molding machine manipulator, and driver thereof - Google Patents
Method of controlling injection molding machine manipulator, the injection molding machine manipulator, and driver thereof Download PDFInfo
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- CN105984077A CN105984077A CN201510040837.3A CN201510040837A CN105984077A CN 105984077 A CN105984077 A CN 105984077A CN 201510040837 A CN201510040837 A CN 201510040837A CN 105984077 A CN105984077 A CN 105984077A
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Abstract
The invention discloses a driver, which includes a rectifier module, N IGBT modules, a current calculation module and a control module. The output end of the rectifier module is connected to first output ends of the N IGBT modules. Output ends of the IGBT modules are connected to the input end of the current calculation module and are also connected to motors of a plurality of movement shafts in a one-to-one manner. A first input end of the control module is connected to an output end of the current calculation module. A second input end of the control module is connected to output ends of encoders in the movement shafts. The output end of the control module is connected to second input ends of the IGBT modules. N is the number of the movement shafts. By means of the technical scheme, driving operation of all movement shafts in a whole injection molding machine manipulator can be completed just by one driver, so that space is saved and the weight of the whole injection molding machine manipulator is reduced. The invention also provides the injection molding machine manipulator including the driver and a method of controlling the injection molding machine manipulator.
Description
Technical field
The present invention relates to mechanical hand technical field, particularly relate to a kind of control manipulator of injection machine
Method and manipulator of injection machine and driver thereof.
Background technology
Manipulator of injection machine is the machinery being equipped with specially for the injection production automation, and it can alleviate
Heavy physical work, improve working conditions and keep the safety in production.Manipulator of injection machine can imitate
The partial function of human upper limb, makes it carry goods according to pre-provisioning request by automatically controlling it
Or instrument of managing carries out production operation, thus realize automated production.
Manipulator of injection machine generally includes the portions such as execution system, drive system and control system
Point.Execution system is used for realizing the system that mechanical hand captures or discharges the multiple operational movement such as product,
It is made up of arm, wrist and hand etc..Drive system is for performing the offer of all parts of system
The system of power, is generally divided into startup, hydraulic pressure, the form such as electronic and mechanical.Control system is
By drive system is controlled, make execution system according to predetermined job requirement operation.Drive
Dynamic system, as the dynamical system of whole mechanical hand, has important effect.
At present, the drive system of manipulator of injection machine generally includes multiple driver, each driving
The kinematic axis that device is manipulator of injection machine provides and drives.Fig. 1 is 3 axle notes of prior art
The structure chart of the drive system of molding machine mechanical hand.As it is shown in figure 1, drive system comprises multiple driving
Dynamic device 1, wherein, each driver 1 includes 11, insulated gate bipolar of a rectification module
12, control module 13 of transistor npn npn (IGBT) module and an electric current algorithm module
14.Each IGBT module 12 is connected with the motor 15 of a kinematic axis, each motor 15 with
One encoder 16 connects.Power supply 17 is connected with each rectification module 11, logic controller 18
It is connected with each control module 13.
As a example by 3 kinematic axiss, then drive system needs 3 above-mentioned drivers, causes whole
Drive system overall weight is heavier, and it is bigger to take up room.
Summary of the invention
It is an object of the invention to provide a kind of driver, for alleviating the weight of manipulator of injection machine
With raising space availability ratio.Additionally, the purpose of the present invention also provides for a kind of this driver of comprising
Manipulator of injection machine.
For solving above-mentioned technical problem, the present invention provides a kind of driver, for injection machine machinery
Hands, including rectification module, insulated gate bipolar transistor IGBT module, electric current algorithm module
And control module,
The quantity of described rectification module, electric current algorithm module and control module is one, described
The quantity of insulated gate bipolar transistor IGBT module is N number of；
The outfan of described rectification module and N number of described insulated gate bipolar transistor IGBT mould
The first input end of block connects, to transmit electric energy to each described insulated gate bipolar transistor
IGBT module；
The outfan of each described insulated gate bipolar transistor IGBT module calculates with described electric current
The input of module connects, and the motor one of each kinematic axis with described manipulator of injection machine
One corresponding connection；
The first input end of described control module is connected with the outfan of described electric current algorithm module；
Second input of described control module and the coding of each kinematic axis of described manipulator of injection machine
The outfan of device connects, the outfan of described control module and each described insulated gate bipolar crystal
Second input of pipe IGBT module connects.
Wherein, N is the number of kinematic axis of described manipulator of injection machine.
Preferably, also include: for N number of described insulated gate bipolar transistor IGBT module,
The communication bus of communication between described electric current algorithm module and described control module.
Preferably, including: N number of kinematic axis, motor, encoder, logic controller and such as
Driver described in claim 1 or 2；
Each described kinematic axis is provided with motor and for gathering described motor actual speed
Encoder；
Described logic controller communicates to connect with the control module of described driver.
Preferably, described N number of kinematic axis includes: X-axis, Y-axis and Z axis.
Preferably, the quantity of the insulated gate bipolar transistor IGBT module of described driver is
3.
Preferably, described driver is arranged at the inside of casing of described X-axis.
Preferably, the end of the casing of described X-axis has the first opening, and described first opening sets
It is equipped with heat abstractor.
Preferably, described heat abstractor is exhaust fan.
Preferably, the side of the casing of described X-axis includes: for wiring and the described driving of inspection
Second opening of device.
Preferably, described logic controller is arranged at the inside of casing of described Z axis.
A kind of method controlling manipulator of injection machine, including:
Electric energy is transmitted to each insulated gate bipolar transistor being connected electrically by rectification module
IGBT module；
Logic controller according to the current action of described each kinematic axis of manipulator of injection machine to driving
Control module in dynamic device sends corresponding instruction；
Described instruction is sent to corresponding insulated gate bipolar transistor by described control module
IGBT module；
Described insulated gate bipolar transistor IGBT module controls connected electricity according to instruction
The rotating speed of machine；
Each encoder gathers the actual speed of connected described motor, and described reality is turned
Speed feeds back to described control module；
Electric current algorithm module obtains the theoretical rotational speed of each described motor, and by anti-for described theoretical rotational speed
It is fed to described control module；
Described control module analyzes described actual speed and described theoretical rotational speed, if there is deviation,
Then regulated by PID closed loop computing, until deviation is in allowed band；
Result is sent to described logic controller by described control module.
Driver provided by the present invention, by using a rectification module, an electric current to calculate
Module, a control module and N number of IGBT module, therefore a driver just can complete whole
The driving work of individual each kinematic axis of manipulator of injection machine, saves space and alleviates injection machine machinery
The weight that hands is overall.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention, will use required in embodiment below
Accompanying drawing do simple introduction, it should be apparent that, the accompanying drawing in describing below is only the present invention
Some embodiments, for those of ordinary skill in the art, do not paying creative work
On the premise of, it is also possible to other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the structure chart of the drive system of 3 axle manipulator of injection machine of prior art；
The structure chart of a kind of driver that Fig. 2 provides for the present invention；
The schematic layout pattern of a kind of manipulator of injection machine that Fig. 3 provides for the present invention；
The left view of the manipulator of injection machine that Fig. 4 provides for the present invention；
Fig. 5 is the front view of manipulator of injection machine provided by the present invention；
Fig. 6 is the top view of manipulator of injection machine provided by the present invention；
The flow chart of a kind of method controlling manipulator of injection machine that Fig. 7 provides for the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical side in the embodiment of the present invention
Case is clearly and completely described, it is clear that described embodiment is only the present invention one
Divide embodiment rather than whole embodiment.Based on the embodiment in the present invention, this area is common
Technical staff under not making creative work premise, the every other embodiment obtained,
Broadly fall into scope.
The core of the present invention is to provide a kind of mechanical hand and driver thereof.Additionally, also provide for one
The method controlling manipulator of injection machine.
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with the accompanying drawings
The present invention is described in further detail with detailed description of the invention.
Embodiment one
Driver, for manipulator of injection machine, including rectification module, insulated gate bipolar crystal
Pipe IGBT module, electric current algorithm module and control module.
The quantity of described rectification module, electric current algorithm module and control module is one, described
The quantity of insulated gate bipolar transistor IGBT module is N number of；
The outfan of described rectification module and N number of described insulated gate bipolar transistor IGBT mould
The first input end of block connects, to transmit electric energy to each described insulated gate bipolar transistor
IGBT module；
The outfan of each described insulated gate bipolar transistor IGBT module calculates with described electric current
The input of module connects, and the motor one of each kinematic axis with described manipulator of injection machine
One corresponding connection；
The first input end of described control module is connected with the outfan of described electric current algorithm module；
Second input of described control module and the coding of each kinematic axis of described manipulator of injection machine
The outfan of device connects, the outfan of described control module and each described insulated gate bipolar crystal
Second input of pipe IGBT module connects.
Wherein, N is the number of kinematic axis of described manipulator of injection machine.
The structure chart of a kind of driver that Fig. 2 provides for the present invention.In order to alleviate injection machine machinery
The weight of the drive system of hands, the drive system of the present invention only comprises a driver 2.Such as Fig. 2
Shown in, this driver 2 comprises a rectification module 21, electricity of 20,3 IGBT module
Stream algorithm module 22 and a control module 23.
Wherein, rectification module 20 is the power supply core of whole driver 2, by power supply 17 is
3 IGBT module 21 are powered.By this rectification module 20 can be by three-phase alternating current electric rectification
Unidirectional current is for 3 IGBT module 21.
Owing to motor 24 model of each kinematic axis of manipulator of injection machine is different, and IGBT mould
The power of block 21 needs to determine according to the model of motor 24, accordingly, it would be desirable to be each motion
Axle one IGBT module 21 of configuration.By corresponding with motor 24 for the outfan of IGBT module 21
Connect, to guarantee that each IGBT module 21 and each motor 24 match.Each IGBT mould
The outfan of block 21 also input with electric current algorithm module 22 is connected.
The current value of electric current algorithm module 22 Real-time Collection each IGBT module 21 output, and will
Data pass to the first input end of control module 23.The control module 23 data to getting
Judge, to guarantee that current value is in protection domain.
One encoder 25 is connected with a motor 24, and encoder 25 is for gathering with it even
The actual speed of the motor 24 connect, and result is transmitted to control module 23 by outfan
Second input.
Second input of control module 23 is connected with encoder 25, is gathered by encoder 25
The actual speed arrived analyzes and processes with theoretical rotational speed, and passes to logic controller 26.Work as logic
Controller 26 judges next step action after receiving the data of control module 23, and by next
The action command of step feeds back to control module 23.Control module 23 passes through its outfan by action
Instruction sends the second input to corresponding IGBT module 21.Each IGBT module 21
Remove to control the rotating speed of connected motor 24 according to the action command received.
The driver 2 that the present embodiment provides, by using 20, electric current of a rectification module
22, control module 23 of algorithm module and 3 IGBT module 21, therefore, one is driven
Dynamic device 2 just can complete the driving work of whole each kinematic axis of manipulator of injection machine, saves space
The weight overall with alleviating manipulator of injection machine.
It should be noted that the present embodiment is not specified by the number of manipulator of injection machine kinematic axis,
In being embodied as, it can be 2, it is also possible to be 3 or other number.Due to each fortune
Moving axis has a motor 24, depending on therefore the number of motor 24 is by the number of kinematic axis, with
Reason, an IGBT module 21 is connected with a motor 24, the therefore number of IGBT module 21
Mesh is also determined by the number of kinematic axis, if i.e. kinematic axis is 2, then motor 24 is 2
Individual, IGBT module 21 is also 2；If kinematic axis is 3, then motor 24 is 3,
IGBT module 21 is also 3.It is specifically illustrating additionally, Fig. 2 is only one, does not only represent
Can be 3 IGBT module 21.
On the basis of above-described embodiment, driver, also include: for N number of IGBT module,
The communication bus of communication between described electric current algorithm module and described control module.
In being embodied as, owing to control module and electric current algorithm module need for each IGBT
Module provides command signal, therefore to facilitate communication between modules, then uses communication total
Line is as transmission medium.
By communication bus as the communication line between modules, can believe with real-time exchange
Breath, carries out collaborative work, improves work efficiency.
It should be noted that the present embodiment is not specified by the particular type of communication bus, this communication
Bus can set according to practical situation, for example, it is possible to select CAN.
Embodiment two
Manipulator of injection machine, including: N number of kinematic axis, motor, encoder, logic controller
And the driver described in embodiment one；
Each described kinematic axis is provided with motor and for gathering described motor actual speed
Encoder；
Described logic controller communicates to connect with the control module of described driver.
As in figure 2 it is shown, due to the concrete structure of driver 2 in embodiment one the most specifically
Bright, wouldn't repeat here.Each motor 24 and encoder 25 are arranged at each kinematic axis, control
Communicating to connect between molding block 23 and logic controller 26, i.e. control module 23 is by encoder
25 actual speed collected pass to logic controller 26 with theoretical rotational speed analyzing and processing.When patrolling
Volume controller 26 judges next step action after receiving the data of control module 23, and will under
The action command of one step feeds back to control module 23.Control module 23 will be dynamic by its outfan
Make instruction and send the second input to corresponding IGBT module 21.Each IGBT module 21
Remove to control the rotating speed of connected motor 24 according to the action command received.
The manipulator of injection machine that the present embodiment provides, owing to driver 2 uses a rectification module
20,22, control module 23 of an electric current algorithm module and 3 IGBT module 21,
Therefore, driver 2 just can complete the driving work of whole each kinematic axis of manipulator of injection machine
Make, save space and alleviate the weight that manipulator of injection machine is overall.Additionally, logic controller 26
Have only to be connected with a control module 23, therefore connect up less, shorten to a certain extent
The response time of manipulator of injection machine.
In order to describe the concrete structure of the manipulator of injection machine that the present embodiment provides, the present invention in detail
Provide Fig. 3, Fig. 4, Fig. 5 and Fig. 6.A kind of manipulator of injection machine that Fig. 3 provides for the present invention
Schematic layout pattern；The left view of the manipulator of injection machine that Fig. 4 provides for the present invention；Fig. 5 is
The front view of the manipulator of injection machine that the present invention provides；The injection machine that Fig. 6 provides for the present invention
The top view of tool hands.
As one preferred embodiment, described N number of kinematic axis includes: X-axis, Y-axis and
Z axis.
In being embodied as, the application of 3 axle manipulator of injection machine is more, and Fig. 3 is with 3 motions
As a example by axle.But not representing can only be X-axis, Y-axis and Z axis these three axle, merely just one
Plant preferred mode.
As one preferred embodiment, the insulated gate bipolar transistor of described driver
The quantity of IGBT module is 3.
Owing to N number of kinematic axis includes: X-axis, Y-axis and Z axis, therefore IGBT module 21
Quantity be just 3.By rectification module 20, IGBT module 21, electric current algorithm module 22
With the connected mode that control module 23 uses embodiment one, and by control module 23 and logic control
Device 26 processed connects.
As one preferred embodiment, described driver is arranged at the casing of described X-axis
Internal.
In order to improve space availability ratio and attractive in appearance, driver can be arranged in X-axis casing
Portion, as shown in Figure 3.Owing to the modules in driver is independent, between modules
Use the mode of connection, therefore, it can be wholy set in driver the box house of X-axis.
By driver being arranged at the inside of X-axis casing, space availability ratio can be improved, and
The outward appearance making whole manipulator of injection machine is clean and tidy, it is simple to safeguard.
It should be noted that driver can be arranged on the optional position of manipulator of injection machine, if
The inside of the casing being placed in X-axis be one preferred embodiment.In other embodiments,
The inside of the casing of Y-axis or the inside of the casing of Z axis can also be arranged at, if kinematic axis
Possess the weight of carrying driver and place the space of driver.
As one preferred embodiment, the end of the casing of described X-axis has the first opening,
Described first opening is provided with heat abstractor.
Driver is wholy set in the inside of X-axis casing, and modules can dissipate in the course of the work
Caloric value, without heat abstractor, then the internal temperature that may cause X-axis casing is higher,
Affect the normal work of driver modules, even burn, initiation fire etc..Therefore, originally
Invention is provided with the first opening 30 in the end of X-axis casing, is provided with at the first opening 30
Heat abstractor 31.
By arranging heat abstractor 31 in the end of the casing of X-axis, can effectively distribute X-axis
The heat of box house, thus ensure the normal work of driver modules.
It should be noted that being provided with the first opening 30 in the end of X-axis casing is only a kind of
Preferred embodiment, representative can only arrange the first opening 30 in end, it is also possible to is side
Face or other place, this position can set according to practical situation, as long as heat radiation dress can be met
The installation put.Additionally, the one installed in heat abstractor 31 simply radiating mode, such as
, can also not enumerate using pottery as casing material to increase heat sinking function.
As one preferred embodiment, described heat abstractor is exhaust fan.
Due to the size of X-axis casing and the limited space of manipulator of injection machine, if heat abstractor
31 volumes are excessive, then cannot install.Exhaust fan belongs to common heat abstractor 31, and its volume has
Multiple Type, it is simple to select, and power is less, is suitable to the manipulator of injection machine that the present invention provides
Heat radiation work.
Selection exhaust fan, can be cost-effective as heat abstractor 31, and washability is bigger, it is simple to
Assemble.
It should be noted that select exhaust fan be one preferred embodiment, do not represent
Can only be exhaust fan, it is also possible to be the heat abstractor 31 of other form.
As one preferred embodiment, the side of the casing of described X-axis includes: be used for connecing
Line and the second opening of the described driver of inspection.
On the basis of the end of the casing of X-axis is provided with exhaust fan, for current check and just
In wiring, it is also possible to arrange the second opening 32 in the side of the casing of X-axis.This opening 32
Size can set according to practical situation.
By arranging the second opening 32, when needing wiring or checking the working condition of driver
Time, can operate very easily, it is not necessary to open the casing of whole X-axis, more hommization.
As one preferred embodiment, described logic controller is arranged at the case of described Z axis
The inside of body.
For each kinematic axis of Appropriate application, it is to avoid weight focuses on a kinematic axis, logic control
Device 26 processed can be arranged at the inside of the casing of Z axis.
Space availability ratio can be improved in the inside of the casing that logic controller 26 is arranged at Z axis.
Embodiment three
A kind of method controlling manipulator of injection machine, including:
Electric energy is transmitted to each insulated gate bipolar crystal being connected electrically by S10: rectification module
Pipe IGBT module；
S11: logic controller is according to the current action of described each kinematic axis of manipulator of injection machine
Control module in driver sends corresponding instruction；
Described instruction is sent to corresponding insulated gate bipolar crystal by S12: described control module
Pipe IGBT module；
S13: described insulated gate bipolar transistor IGBT module controls connected according to instruction
The rotating speed of motor；
S14: each encoder gathers the actual speed of connected described motor, and by described
Actual speed feeds back to described control module；
S15: electric current algorithm module obtains the theoretical rotational speed of each described motor, and by described theory
Speed feedback is to described control module；
S16: described control module analyzes described actual speed and described theoretical rotational speed, if existing
Deviation, then regulated by PID closed loop computing, until deviation is in allowed band；
Result is sent to described logic controller by S17: described control module.
The flow chart of a kind of method controlling manipulator of injection machine that Fig. 7 provides for the present invention.By
The control method that manipulator of injection machine in the method is embodiment two is corresponding, concrete hardware
Structure may refer to Fig. 2, and the present embodiment describes the manipulator of injection machine of present invention offer in detail
Control method.
In being embodied as, logic controller is the control core of manipulator of injection machine, each fortune
The action of moving axis is all to complete under the control of logic controller.Concrete process is:
Rectification module in driver electrically connects each IGBT module, can be by three-phase alternating current electric rectification
And transmit to each IGBT module.
Logic controller can according to the current action of each kinematic axis of manipulator of injection machine to
Control module sends corresponding instruction.Such as, this instruction comprises to have performed this instruction
The action that the coding (to distinguish each kinematic axis) of kinematic axis and needs perform.
After control module receives the instruction of logic controller, according to the information comprised in instruction,
By this instruction send to corresponding IGBT module, such as this instruction be the mechanical hand needing X-axis
Do action, then this instruction is sent to the IGBT module that X-axis is corresponding by control module.
After IGBT module receives this instruction, control connected according to the information of this instruction
The rotating speed of motor.
Encoder gathers the actual speed of connected motor, and actual speed feeds back to control
Molding block.
Due to the existence of error, in real process, the rotating speed of motor is possible can not be with IGBT mould
The rotating speed (theoretical rotational speed) that block controls is identical, and therefore, electric current algorithm module needs to obtain
The theoretical rotational speed of motor, and theoretical rotational speed is fed back to control module, in order to control module is to reason
Opinion rotating speed and actual speed are analyzed.
When control module judges theoretical rotational speed and actual speed there is deviation, need to pass through
PID closed loop computing regulates, until bias adjustment is in allowed band.
When in control module is by bias adjustment to allowed band, result is sent to logic
Controller.Logic controller, according to this result, carries out step S10 again.Each motion
The mechanical hand of axle constantly performs corresponding action according to instruction, until logic controller does not sends
Till instruction.
Above to a kind of method controlling manipulator of injection machine provided by the present invention and injection machine
Mechanical hand and driver thereof are described in detail.Specific case used herein is to the present invention
Principle and embodiment be set forth, the explanation of above example be only intended to help understand
The method of the present invention and core concept thereof.It should be pointed out that, the ordinary skill for the art
For personnel, under the premise without departing from the principles of the invention, it is also possible to the present invention is carried out some
Improving and modify, these improve and modify in the protection domain also falling into the claims in the present invention.
Claims (11)
1. a driver, for manipulator of injection machine, including rectification module, insulated gate pair
Bipolar transistor IGBT module, electric current algorithm module and control module, it is characterised in that
The quantity of described rectification module, electric current algorithm module and control module is one, described
The quantity of insulated gate bipolar transistor IGBT module is N number of；
The outfan of described rectification module and N number of described insulated gate bipolar transistor IGBT mould
The first input end of block connects, to transmit electric energy to each described insulated gate bipolar transistor
IGBT module；
The outfan of each described insulated gate bipolar transistor IGBT module calculates with described electric current
The input of module connects, and the motor one of each kinematic axis with described manipulator of injection machine
One corresponding connection；
The first input end of described control module is connected with the outfan of described electric current algorithm module；
Second input of described control module and the coding of each kinematic axis of described manipulator of injection machine
The outfan of device connects, the outfan of described control module and each described insulated gate bipolar crystal
Second input of pipe IGBT module connects.
Wherein, N is the number of kinematic axis of described manipulator of injection machine.
Driver the most according to claim 1, it is characterised in that also include: for N
Individual described insulated gate bipolar transistor IGBT module, described electric current algorithm module and described control
The communication bus of communication between molding block.
3. a manipulator of injection machine, it is characterised in that including: N number of kinematic axis, motor,
Encoder, logic controller and driver as claimed in claim 1 or 2；
Each described kinematic axis is provided with motor and for gathering described motor actual speed
Encoder；
Described logic controller communicates to connect with the control module of described driver.
Manipulator of injection machine the most according to claim 3, it is characterised in that described N
Individual kinematic axis includes: X-axis, Y-axis and Z axis.
Manipulator of injection machine the most according to claim 4, it is characterised in that described in drive
The quantity of the insulated gate bipolar transistor IGBT module of dynamic device is 3.
Manipulator of injection machine the most according to claim 4, it is characterised in that described in drive
Dynamic device is arranged at the inside of the casing of described X-axis.
Manipulator of injection machine the most according to claim 6, it is characterised in that described X
The end of the casing of axle has the first opening, and described first opening is provided with heat abstractor.
Manipulator of injection machine the most according to claim 7, it is characterised in that described scattered
Hot charging is set to exhaust fan.
Manipulator of injection machine the most according to claim 6, it is characterised in that described X
The side of the casing of axle includes: for wiring and the second opening of the described driver of inspection.
Manipulator of injection machine the most according to claim 6, it is characterised in that described in patrol
Collect the inside that controller is arranged at the casing of described Z axis.
11. 1 kinds of methods controlling manipulator of injection machine, it is characterised in that including:
Electric energy is transmitted to each insulated gate bipolar transistor being connected electrically by rectification module
IGBT module；
Logic controller according to the current action of described each kinematic axis of manipulator of injection machine to driving
Control module in dynamic device sends corresponding instruction；
Described instruction is sent to corresponding insulated gate bipolar transistor by described control module
IGBT module；
Described insulated gate bipolar transistor IGBT module controls connected electricity according to instruction
The rotating speed of machine；
Each encoder gathers the actual speed of connected described motor, and described reality is turned
Speed feeds back to described control module；
Electric current algorithm module obtains the theoretical rotational speed of each described motor, and by anti-for described theoretical rotational speed
It is fed to described control module；
Described control module analyzes described actual speed and described theoretical rotational speed, if there is deviation,
Then regulated by PID closed loop computing, until deviation is in allowed band；
Result is sent to described logic controller by described control module.
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| CN201510040837.3A CN105984077B (en) | 2015-01-27 | 2015-01-27 | A kind of method for controlling manipulator of injection machine and manipulator of injection machine and its driver |
| TW104112605A TWI601612B (en) | 2015-01-27 | 2015-04-20 | Method for controling a robot arm, a robot arm and a driver thereof |
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| CN201510040837.3A CN105984077B (en) | 2015-01-27 | 2015-01-27 | A kind of method for controlling manipulator of injection machine and manipulator of injection machine and its driver |
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| CN105984077B (en) | 2018-06-29 |
| TWI601612B (en) | 2017-10-11 |
| TW201627118A (en) | 2016-08-01 |
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