CN106198072A - A kind of method of testing of the five axis robot control systems for injection machine - Google Patents
A kind of method of testing of the five axis robot control systems for injection machine Download PDFInfo
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- CN106198072A CN106198072A CN201610502457.1A CN201610502457A CN106198072A CN 106198072 A CN106198072 A CN 106198072A CN 201610502457 A CN201610502457 A CN 201610502457A CN 106198072 A CN106198072 A CN 106198072A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/007—Subject matter not provided for in other groups of this subclass by applying a load, e.g. for resistance or wear testing
Abstract
The present invention relates to the field of intelligent control of injection machine, the method for testing of a kind of five axis robot control systems for injection machine；Described method of testing mainly includes no load test test, control program test, load production test and the miscellaneous part test that order is carried out；Test object be X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis, wherein Z axis be mechanical hand horizontal enter, horizontal shaft；X1 is the advance of mechanical hand principal arm, retreats axle；Y1 axle is the rising of mechanical hand principal arm, declines axle；X2 axle is the advance of mechanical hand auxiliary, retreats axle；Y2 axle is the rising of mechanical hand auxiliary, declines axle；The method of testing of the control system of the present invention mainly includes no load test test, control program test, load production test and the miscellaneous part test that order is carried out; the test of next step only can be carried out at preposition test passes rear; to guarantee mechanical hand and the stability of control system operation thereof and reliability; avoid production development accident, reduce the waste of manpower and materials.
Description
Technical field
The present invention relates to the field of intelligent control of injection machine, a kind of five axis robot control systems for injection machine
Method of testing.
Background technology
Data show, the production of whole world injection machine accounts for the 50% of integral plastics former at present, and injection-molded item accounts for
The 30% of whole world plastic total amount.The economic sustainable and stable development of China, plastics machinery industry has obtained rapid development, produces
Industry scale constantly expands, and its development speed comes out at the top in mechanical industry with created major economic indicators.According to incompletely statistics,
State-owned 546 native country plastics machinery manufacturers in Mu Qian, the 62.97% of injection machine annual production Yi Zhan world's injection machine annual production, to
Large-scale, ultra-large type injection machine quickly grows.Along with quickly increasing and the rapid expansion of plastics consumption of national economy, it is contemplated that not
Carry out several years Chinese injection machines and the yield welcoming a new round " is broken out " phase.Therefore, injection machine becomes the energy that plastic processing factory owner wants
Consumption equipment.
Injection function makes plastic one-shot forming, is also easy to realize automatization while improving production efficiency.Along with
Developing rapidly of plastic processing industry, the automaticity of injection molding apparatus is more and more higher.The injection machine of modernization more comes
The most configuration mechanical hands.Producing the special automation equipment being equipped with as injection, injection molding mechanical arm can imitate staff and hands
The function of arm, captures according to fixing program, and conveying object or the automaton of operation instrument, it can partly or entirely replace
Manpower, is engaged in some uninteresting, heavy repeated labors, thus alleviates heavy physical work, improves production environment and guarantee
Production safety, it is to avoid cause damage because of human operational error；Injection production efficiency, stable prod matter can also be improved simultaneously
Amount, rate of reducing the number of rejects and seconds, reduce production cost, the competitiveness of enhancing enterprise, therefore, injection molding mechanical arm effect in injection production
Become more and more important.
In China's Injection Industry, the more commonly used mainly quickly captures goods from mould and is sent to down by goods
The taking mechanical hand that one production process gets on, these mechanical hand major parts use hydraulic-driven or air pressure to drive.According to life
Producing product and the demand of mould, for the injection machine that some are relatively large, some manufacturers have to introduce five axle servos very
To above mechanical hand, such mechanical hand is walked crosswise, pulling row, up-downgoing all use servomotor to be controlled, stable, can
To carry out more complicated process.At present, although domestic Ye You enterprise is producing the injection mechanical hand using servo-drive, but
Aspect of performance is with same kind of products at abroad there is also bigger gap.
Under the trend of current digital information high speed development, particularly the proposition of " industry 4.0 " is to industrial control unit (ICU), letter
The breath aspect such as resource-sharing, multifunctional application is had higher requirement.Networking operation and remotely control become " industry 4.0 "
Important content.Realize field apparatus being managed and controlling, it is necessary to carry out communication with these equipment and be connected, carry out phase
Pass data exchange, with the purpose reaching management, control and monitor.And the management and manipulation to mechanical hand comes typically by program
Completing, therefore can a set of mechanical hand reliablely and stablely be operated, needing that control system is carried out every conventionally test can
Determine that a whole set of mechanical hand is the most qualified.
Summary of the invention
In order to realize the Based Intelligent Control of injection machine, it is desirable to provide a kind of test conventional injection molding machine realizes intelligentized
The method of manipulator control system, the method for testing of a kind of five axis robot control systems for injection machine.
The technical solution used in the present invention is: the method for testing of a kind of five axis robot control systems for injection machine,
Described method of testing mainly include order carry out no load test test, control program test, load production test and other
Unit test；Test object be X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis, wherein Z axle be mechanical hand horizontal enter, horizontal shaft；
X1 is the advance of mechanical hand principal arm, retreats axle；Y1 axle is the rising of mechanical hand principal arm, declines axle；X2 axle is mechanical hand auxiliary
Advance, retreat axle；Y2 axle is the rising of mechanical hand auxiliary, declines axle；Wherein said no load test test mainly include with
Lower step:
(1) setup parameter: assembled by servomotor, according to the electronic gear used, sets electronic gear in servo-driver
Compare parameter so that in servo-driver, relevant parameter keeps consistent with the parameter of electric machine in servo system controller.
(2) assembly mechanical hand: mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis zero point sensor block are fixedly mounted on axle
On track, by the pulse signal one_to_one corresponding of the mechanical location of mechanical hand Yu servomotor axle head encoder feedback so that machinery
It is all identical mechanical location that hands performs the electric initial point after work zero every time.
(3) test handler single shot occuracy: it is in order to inspecting manipuator exists that mechanical hand carries out the test of single positioning precision
In position fixing process, the command pulse number of the actual transmission of servo system controller is the most identical with Theoretical Calculation umber of pulse, specifically grasps
Make step as follows:
1) recording impulse number: during the test of single positioning precision, mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis first have to perform
Zero function, after having made zero, records the encoder for servo motor feedback arteries and veins that each axle reads on servo-driver when zero point
Strokes per minute.
2) umber of pulse is calculated: make mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis open from zero point with full speed speed respectively
Beginning, location moves to several different distances set and positions, and records after each axle has positioned and drive in servo
The encoder for servo motor feedback pulse number read on dynamic device, calculates the umber of pulse that servo system controller sends.
3) single positioning precision qualification rate is judged: by comparing several distances theoretical pulse relative to zero point of setting
The umber of pulse that number sends with servo system controller is the most qualified to judge mechanical hand single positioning precision.
(4) test repetitive positioning accuracy: when being tested by single positioning precision, then carry out resetting test, to ensure
The stability of mechanical hand running and reliability, shown in concrete grammar following steps:
1) each axle of mechanical hand moves back and forth: make mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis with full speed speed in zero point and pre-
Moving back and forth between the specified coordinate point first set, the data taking wherein 20-30 time are tested.
2) each axle feedback pulse number is recorded: record in wherein moving back and forth for 20-30 time by reading from servo-driver
Encoder for servo motor feedback pulse number, detect each axle repetitive positioning accuracy relative to specified coordinate point.
3) the resetting qualification rate of mechanical hand is judged: by recording the umber of pulse that servo-driver shows, observe pulse
The change of number, if the gap between data is between ± 1, then can determine whether that each axle precision in resetting is qualified.
Described control program test is under halted state, clicks on control display screen Archives button and can enter archives
The page, can carry out newly-built program, reproducer, loading program, amendment program and simulation program, concrete operation step at this page
The most as follows:
(1) newly-built program: newly-built mould title is wanted in the new files name text box input in controlling display screen, builds
Blank mould program, and program mould is named.
(2) reproducer: after name mould title, click on the mould title stored, the mould journey that can will have stored
Sequence copies in newly-built mould program and preserves.
(3) it is loaded into program: click on the mould program preserved, clicks on and be loaded into button, the mould journey chosen can be loaded onto
Sequence, runs this selected program when automatically running.
(4) amendment program: click on the mould program stored, then click on amendment button, loaded program can be entered
Row amendment.
(5) simulation program: new program be loaded into complete after, click on the simulation program switch controlled on display screen, screen
Will reveal whether the shape of mechanical hand on curtain, and programmable action is simulated, if the mechanical hand of display exists on screen
Set program in properly functioning, then control program test implant test passes.
Servomotor is mainly installed on a robotic arm and is electrical connected by described load production test, makes servomotor
Being in load operation conditions, then the various precision of test handler X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis, concrete operations walk
The most as follows:
(1) regulation parameter: electronic gear proportion relevant parameter in regulation servo-driver, makes in servo-driver relevant parameter and watches
In dress system controller, the parameter of electric machine keeps consistent, then adjusts the gain parameter that in servo-driver, position control is relevant.
(2) test each axle zero precision: mechanical hand zero accuracy test time, by mechanical hand be energized after be manually operated by
In mechanical hand, X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis move to optional position, then perform zero function, after zero completes,
On record servo-driver display floater, the umber of pulse of display, the most again moves to optional position by mechanical hand, again performs
Zero function also records the umber of pulse after having made zero, such repeatable operation, repeats 20-30 rezero operation, and record is every
The umber of pulse that servo-driver after once having made zero shows, when maximum impulse deviation number is ± 1, mechanical hand zero essence
It is qualified to spend.
(3) each axle initial point correction precision is tested: manual operation on the control panel, first by the zero deviation value of each axle
It is set as zero, then performs zero function, after zero completes, record each axle arteries and veins when zero point shown by servo-driver
Strokes per minute, then arranges the zero deviation value of each axle, then repeats zero function 20-30 time, and record has made zero every time
Umber of pulse shown by rear servo-driver, after initial point correction, after each axle zero, servo-driver display pulse value can calculate
Go out umber of pulse difference before and after initial point correction, recording impulse number maximum difference and minimal difference, the umber of pulse difference before and after revising
Qualified for initial point correction precision when ± 1.
(4) test repetitive positioning accuracy: after the zero precision of each axle, initial point correction accuracy test, then repeat
Assignment test, to ensure stability and the reliability that mechanical hand operates, shown in concrete grammar following steps:
1) each axle of mechanical hand moves back and forth: make mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis with full speed speed in zero point and pre-
Moving back and forth between the specified coordinate point first set, the parameter taking wherein 20-30 time does testing experiment.
2) each axle feedback pulse number is recorded: record in wherein moving back and forth for 20-30 time by reading from servo-driver
Encoder for servo motor feedback pulse number, detect each axle repetitive positioning accuracy relative to specified coordinate point.
3) the resetting qualification rate of mechanical hand is judged: by recording the umber of pulse that servo-driver shows, observe pulse
The change of number, is qualified to judge each axle precision in resetting.
The running of the sequence controlled machine hands that described miscellaneous part test is mainly loaded onto, then controls miscellaneous part
Taking out injection-molded finished and stub bar, mechanical hand is parked in the top of injection machine mould, and five electronic axle original positions of mechanical hand are all
Being 0, tool is vertical, and after injection moulding machine mould open, mechanical hand takes out finished product and stub bar, horizontal goes out to put stub bar into disintegrating machine, is put by finished product
To conveyer belt, concrete operating procedure is as follows:
(1) testing mould: after loading program, first mechanical hand is debugged start position, is transferred to automatic running status by mechanical hand,
Waiting injection moulding machine mould open, then programme-control Z axis sucker takes out finished product, and fixture takes out stub bar, mechanical hand by X1, X2, Y1,
The mould scope that moves from of Y2 axle, after successfully taking out material, system controls output permission pass mould signal, and then mechanical hand will material
Head and finished product are respectively put into appointment position, often put a finished product and start conveyer belt to conveyer belt and permit row 3 seconds, mechanical hand return
The standby sucker of start position, fixture molding machine locked mode, thimble, action of loosing core.
(2) test fixture: when clamp switch positive is tested, fixture takes thing success, then fixture detection signal is logical；Take thing
Failure, then fixture detection signal is disconnected, and when carrying out the anti-phase test of clamp switch, fixture takes thing success, then fixture detection signal
It is disconnected；Take thing failure, then fixture detection signal is logical.
(3) test sucker: when carrying out sucker switch positive detection, sucker takes thing success, then sucker detection signal is logical；Take
Thing failure, then sucker detection signal is disconnected；When carrying out the detection of sucker switch inverse, sucker takes thing success, then sucker detection letter
Number it is disconnected；Take thing failure, then sucker detection signal is logical.
(4) test safety door: when using safety door, at mechanical hand when automatically running, safety door signal is carried out whole process
Detection, as not having safety door signal to report to the police immediately；When not using safety door, mechanical hand is when automatically running, to safety door signal
Only detect during down maneuver in arm mould, as not having safety door signal to report to the police immediately, do not detect during other action.
(5) test pressure: when using pneumatic cylinder, starts program, and mechanical hand detected gas pressure, as gas pressure is not up to
Setting value, then can report to the police, and when not using pneumatic cylinder, mechanical hand not detected gas pressure, no matter whether gas pressure reaches to set
Value is all without warning.
(6) template in test: in use during template, starts program, and the signal of tire discharging device template detects, arm
Can report to the police without middle template signal when declining in mould, in not using during template, the signal of tire discharging device template does not detects.
Beneficial effects of the present invention: the method for testing of the control system of the present invention mainly includes the no load test that order is carried out
Test, control program test, load production test and miscellaneous part test, only under preposition test passes rear can be carried out
The test of one step, to guarantee mechanical hand and the stability of control system operation thereof and reliability, it is to avoid production development accident, subtracts
The waste of few manpower and materials.
Detailed description of the invention
A kind of five axis robot control systems for injection machine, mainly include that touch screen, five axle SERVO CONTROL are from plate, I/
O controls mainboard, driving means, supply unit and connection；Touch screen controls mainboard by connection with I/O and carries out communication；I/O
Controlling mainboard and carry out communication by connection and five axle SERVO CONTROL from plate, five axle SERVO CONTROL are from the electrical phase of plate and driving means
Even, supply unit divides two parts, described driving means to be to be provided with the servomotor of servo-driver；It is provided with on touch screen
Key area, state selecting switch, viewing area and emergency stop switch；When open mode selects to switch, viewing area can show
The state of mechanical hand, including real-time status and Z axis, X1 axle, X2 axle, Y1 axle, the real time position state of Y2 axle, and the energy of mould
Control the implanted chip on mainboard by the button operation of key area to I/O and control program, and each mechanical axis is carried out position
It is fixed to install；In the five axle manipulator of injection machine servo-control systems of the present invention, X1 axle, X2 axle, Y1 axle, Y2 axle select Fuji
ALPHA5SMART servosystem；Z axis selects Delta ASDA-AB servosystem.Servo system controller passes through DB25 joint and watches
Take driver CN1 port to connect, control servo-driver and run the status information simultaneously receiving servo-driver.
The method of testing of a kind of five axis robot control systems for injection machine, described method of testing mainly includes suitable
No load test test, control program test, load production test and the miscellaneous part test that sequence is carried out；The object of test is X1
Axle, X2 axle, Y1 axle, Y2 axle and Z axis, wherein Z axle be mechanical hand horizontal enter, horizontal shaft；X1 be mechanical hand principal arm advance, after
Move back axle；Y1 axle is the rising of mechanical hand principal arm, declines axle；X2 axle is the advance of mechanical hand auxiliary, retreats axle；Y2 axle is machine
The rising of tool hands auxiliary, decline axle；Wherein said no load test test mainly comprises the steps that
(1) setup parameter: assembled by servomotor, according to the electronic gear used, sets electronic gear in servo-driver
Compare parameter so that in servo-driver, relevant parameter keeps consistent with the parameter of electric machine in servo system controller.
(2) assembly mechanical hand: mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis zero point sensor block are fixedly mounted on axle
On track, by the pulse signal one_to_one corresponding of the mechanical location of mechanical hand Yu servomotor axle head encoder feedback so that machinery
It is all identical mechanical location that hands performs the electric initial point after work zero every time.
(3) test handler single shot occuracy: it is in order to inspecting manipuator exists that mechanical hand carries out the test of single positioning precision
In position fixing process, the command pulse number of the actual transmission of servo system controller is the most identical with Theoretical Calculation umber of pulse, specifically grasps
Make step as follows:
1) recording impulse number: during the test of single positioning precision, mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis first have to perform
Zero function, after having made zero, records the encoder for servo motor feedback arteries and veins that each axle reads on servo-driver when zero point
Strokes per minute.
2) umber of pulse is calculated: make mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis open from zero point with full speed speed respectively
Beginning, location moves to several different distances set and positions, and records after each axle has positioned and drive in servo
The encoder for servo motor feedback pulse number read on dynamic device, calculates the umber of pulse that servo system controller sends.
3) single positioning precision qualification rate is judged: by comparing several distances theoretical pulse relative to zero point of setting
The umber of pulse that number sends with servo system controller is the most qualified to judge mechanical hand single positioning precision.
(4) test repetitive positioning accuracy: when being tested by single positioning precision, then carry out resetting test, to ensure
The stability of mechanical hand running and reliability, shown in concrete grammar following steps:
1) each axle of mechanical hand moves back and forth: make mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis with full speed speed in zero point and pre-
Moving back and forth between the specified coordinate point first set, the data taking wherein 20-30 time are tested.
2) each axle feedback pulse number is recorded: record in wherein moving back and forth for 20-30 time by reading from servo-driver
Encoder for servo motor feedback pulse number, detect each axle repetitive positioning accuracy relative to specified coordinate point.
3) the resetting qualification rate of mechanical hand is judged: by recording the umber of pulse that servo-driver shows, observe pulse
The change of number, if the gap between data is between ± 1, then can determine whether that each axle precision in resetting is qualified.
Described control program test is under halted state, clicks on control display screen Archives button and can enter archives
The page, can carry out newly-built program, reproducer, loading program, amendment program and simulation program, concrete operation step at this page
The most as follows:
(1) newly-built program: newly-built mould title is wanted in the new files name text box input in controlling display screen, builds
Blank mould program, and program mould is named.
(2) reproducer: after name mould title, click on the mould title stored, the mould journey that can will have stored
Sequence copies in newly-built mould program and preserves.
(3) it is loaded into program: click on the mould program preserved, clicks on and be loaded into button, the mould journey chosen can be loaded onto
Sequence, runs this selected program when automatically running.
(4) amendment program: click on the mould program stored, then click on amendment button, loaded program can be entered
Row amendment.
(5) simulation program: new program be loaded into complete after, click on the simulation program switch controlled on display screen, screen
Will reveal whether the shape of mechanical hand on curtain, and programmable action is simulated, if the mechanical hand of display exists on screen
Set program in properly functioning, then control program test implant test passes.
Servomotor is mainly installed on a robotic arm and is electrical connected by described load production test, makes servomotor
Being in load operation conditions, then the various precision of test handler X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis, concrete operations walk
The most as follows:
(1) regulation parameter: electronic gear proportion relevant parameter in regulation servo-driver, makes in servo-driver relevant parameter and watches
In dress system controller, the parameter of electric machine keeps consistent, then adjusts the gain parameter that in servo-driver, position control is relevant.
(2) test each axle zero precision: mechanical hand zero accuracy test time, by mechanical hand be energized after be manually operated by
In mechanical hand, X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis move to optional position, then perform zero function, after zero completes,
On record servo-driver display floater, the umber of pulse of display, the most again moves to optional position by mechanical hand, again performs
Zero function also records the umber of pulse after having made zero, such repeatable operation, repeats 20-30 rezero operation, and record is every
The umber of pulse that servo-driver after once having made zero shows, when maximum impulse deviation number is ± 1, mechanical hand zero essence
It is qualified to spend.
(3) each axle initial point correction precision is tested: manual operation on the control panel, first by the zero deviation value of each axle
It is set as zero, then performs zero function, after zero completes, record each axle arteries and veins when zero point shown by servo-driver
Strokes per minute, then arranges the zero deviation value of each axle, then repeats zero function 20-30 time, and record has made zero every time
Umber of pulse shown by rear servo-driver, after initial point correction, after each axle zero, servo-driver display pulse value can calculate
Go out umber of pulse difference before and after initial point correction, recording impulse number maximum difference and minimal difference, the umber of pulse difference before and after revising
Qualified for initial point correction precision when ± 1.
(4) test repetitive positioning accuracy: after the zero precision of each axle, initial point correction accuracy test, then repeat
Assignment test, to ensure stability and the reliability that mechanical hand operates, shown in concrete grammar following steps:
1) each axle of mechanical hand moves back and forth: make mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis with full speed speed in zero point and pre-
Moving back and forth between the specified coordinate point first set, the parameter taking wherein 20-30 time does testing experiment.
2) each axle feedback pulse number is recorded: record in wherein moving back and forth for 20-30 time by reading from servo-driver
Encoder for servo motor feedback pulse number, detect each axle repetitive positioning accuracy relative to specified coordinate point.
3) the resetting qualification rate of mechanical hand is judged: by recording the umber of pulse that servo-driver shows, observe pulse
The change of number, is qualified to judge each axle precision in resetting.
The running of the sequence controlled machine hands that described miscellaneous part test is mainly loaded onto, then controls miscellaneous part
Taking out injection-molded finished and stub bar, mechanical hand is parked in the top of injection machine mould, and five electronic axle original positions of mechanical hand are all
Being 0, tool is vertical, and after injection moulding machine mould open, mechanical hand takes out finished product and stub bar, horizontal goes out to put stub bar into disintegrating machine, is put by finished product
To conveyer belt, concrete operating procedure is as follows:
(1) testing mould: after loading program, first mechanical hand is debugged start position, is transferred to automatic running status by mechanical hand,
Waiting injection moulding machine mould open, then programme-control Z axis sucker takes out finished product, and fixture takes out stub bar, mechanical hand by X1, X2, Y1,
The mould scope that moves from of Y2 axle, after successfully taking out material, system controls output permission pass mould signal, and then mechanical hand will material
Head and finished product are respectively put into appointment position, often put a finished product and start conveyer belt to conveyer belt and permit row 3 seconds, mechanical hand return
The standby sucker of start position, fixture molding machine locked mode, thimble, action of loosing core.
(2) test fixture: when clamp switch positive is tested, fixture takes thing success, then fixture detection signal is logical；Take thing
Failure, then fixture detection signal is disconnected, and when carrying out the anti-phase test of clamp switch, fixture takes thing success, then fixture detection signal
It is disconnected；Take thing failure, then fixture detection signal is logical.
(3) test sucker: when carrying out sucker switch positive detection, sucker takes thing success, then sucker detection signal is logical；Take
Thing failure, then sucker detection signal is disconnected；When carrying out the detection of sucker switch inverse, sucker takes thing success, then sucker detection letter
Number it is disconnected；Take thing failure, then sucker detection signal is logical.
(4) test safety door: when using safety door, at mechanical hand when automatically running, safety door signal is carried out whole process
Detection, as not having safety door signal to report to the police immediately；When not using safety door, mechanical hand is when automatically running, to safety door signal
Only detect during down maneuver in arm mould, as not having safety door signal to report to the police immediately, do not detect during other action.
(5) test pressure: when using pneumatic cylinder, starts program, and mechanical hand detected gas pressure, as gas pressure is not up to
Setting value, then can report to the police, and when not using pneumatic cylinder, mechanical hand not detected gas pressure, no matter whether gas pressure reaches to set
Value is all without warning.
(6) template in test: in use during template, starts program, and the signal of tire discharging device template detects, arm
Can report to the police without middle template signal when declining in mould, in not using during template, the signal of tire discharging device template does not detects.
The method of testing of the control system of the present invention mainly includes that the no load test that order is carried out is tested, control program is surveyed
Examination, load production test and miscellaneous part test, only can carry out the test of next step at preposition test passes rear, this
Servo-driver in invention uses position control mode, and strobe pulse command mode controls, and servo-control system is mainly by watching
Dress system controller and servosystem are constituted, and wherein system performance testing link is that can detecting system design meet performance requirement
Important step, to guarantee stability and the reliability that mechanical hand and control system thereof run, it is to avoid production development accident, reduce
The waste of manpower and materials.
Claims (4)
1. the method for testing for five axis robot control systems of injection machine, it is characterised in that: described method of testing
Mainly include no load test test, control program test, load production test and miscellaneous part test that order is carried out；Test
Object is X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis, wherein Z axle be mechanical hand horizontal enter, horizontal shaft；X1 is mechanical hand principal arm
Advance, retreat axle；Y1 axle is the rising of mechanical hand principal arm, declines axle；X2 axle is the advance of mechanical hand auxiliary, retreats axle；
Y2 axle is the rising of mechanical hand auxiliary, declines axle；Wherein said no load test test mainly comprises the steps that
(1) setup parameter: assembled by servomotor, according to the electronic gear used, sets electronic gear in servo-driver
Compare parameter so that in servo-driver, relevant parameter keeps consistent with the parameter of electric machine in servo system controller；
(2) assembly mechanical hand: mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis zero point sensor block are fixedly mounted on axle track
On, by the pulse signal one_to_one corresponding of the mechanical location of mechanical hand Yu servomotor axle head encoder feedback so that mechanical hand is every
Electric initial point after secondary execution work zero is all identical mechanical location；
(3) test handler single shot occuracy: it is in order to inspecting manipuator is in location that mechanical hand carries out the test of single positioning precision
During, the command pulse number of the actual transmission of servo system controller is the most identical with Theoretical Calculation umber of pulse, and concrete operations walk
The most as follows:
1) recording impulse number: during the test of single positioning precision, mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis first have to perform
Zero function, after having made zero, records the encoder for servo motor feedback arteries and veins that each axle reads on servo-driver when zero point
Strokes per minute；
2) calculate umber of pulse: make mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis respectively with full speed speed from the beginning of zero point, fixed
Position moves to several different distances set and positions, and records after each axle has positioned on servo-driver
The encoder for servo motor feedback pulse number read, calculates the umber of pulse that servo system controller sends；
3) judge single positioning precision qualification rate: by compare several distances of setting relative to zero point theoretical umber of pulse with
The umber of pulse that servo system controller sends is the most qualified to judge mechanical hand single positioning precision；
(4) test repetitive positioning accuracy: when being tested by single positioning precision, then carry out resetting test, to ensure machinery
The stability of hands running and reliability, shown in concrete grammar following steps:
1) each axle of mechanical hand moves back and forth: make mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis with full speed speed in zero point and pre-
Moving back and forth between the specified coordinate point first set, the data taking wherein 20-30 time are tested；
2) each axle feedback pulse number is recorded: record in wherein moving back and forth for 20-30 time by watching of reading from servo-driver
Take motor encoder feedback pulse number, detect each axle repetitive positioning accuracy relative to specified coordinate point；
3) the resetting qualification rate of mechanical hand is judged: by recording the umber of pulse that servo-driver shows, observe umber of pulse
Change, if the gap between data is between ± 1, then can determine whether that each axle precision in resetting is qualified.
The method of testing of a kind of five axis robot control systems for injection machine the most according to claim 1, its feature
It is: described control program test is under halted state, clicks on control display screen Archives button and can enter profile page
Face, can carry out newly-built program, reproducer, loading program, amendment program and simulation program, concrete operating procedure at this page
As follows:
(1) newly-built program: newly-built mould title is wanted in the new files name text box input in controlling display screen, builds
Blank mould program, and program mould is named；
(2) reproducer: after name mould title, click on the mould title stored, can be multiple by the mould program stored
Make in newly-built mould program and preserve；
(3) it is loaded into program: click on the mould program preserved, clicks on and be loaded into button, the mould program chosen can be loaded onto, from
This selected program is run during dynamic operation；
(4) amendment program: click on the mould program stored, then click on amendment button, loaded program can be repaiied
Change；
(5) simulation program: new program be loaded into complete after, click on the simulation program switch controlled on display screen, on screen
Will reveal whether the shape of mechanical hand, and programmable action is simulated, if the mechanical hand of display is setting on screen
Program in properly functioning, then control program test implant test passes.
The method of testing of a kind of five axis robot control systems for injection machine the most according to claim 1, its feature
It is: servomotor is mainly installed on a robotic arm and is electrical connected by described load production test, makes at servomotor
In load operation conditions, the then various precision of test handler X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis, concrete operation step
As follows:
(1) regulation parameter: electronic gear proportion relevant parameter in regulation servo-driver, makes in servo-driver relevant parameter and watches
In dress system controller, the parameter of electric machine keeps consistent, then adjusts the gain parameter that in servo-driver, position control is relevant；
(2) each axle zero precision is tested: during mechanical hand zero accuracy test, be manually operated machinery after being energized by mechanical hand
In hands, X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis move to optional position, then perform zero function, after zero completes, record
On servo-driver display floater, the umber of pulse of display, the most again moves to optional position by mechanical hand, again performs zero
Function also records the umber of pulse after having made zero, such repeatable operation, repeats 20-30 rezero operation, and record is each time
The umber of pulse that servo-driver after having made zero shows, when maximum impulse deviation number is ± 1, mechanical hand zero precision is closed
Lattice；
(3) test each axle initial point correction precision: manual operation on the control panel, first the zero deviation value of each axle is set
It is zero, then performs zero function, after zero completes, record the pulse when zero point shown by servo-driver of each axle
Number, then arranges the zero deviation value of each axle, then repeats zero function 20-30 time, after record has made zero every time
Umber of pulse shown by servo-driver, after initial point correction, after each axle zero, servo-driver display pulse value can calculate
Umber of pulse difference before and after initial point correction, recording impulse number maximum difference and minimal difference, the umber of pulse difference before and after revising is
When ± 1, initial point correction precision is qualified；
(4) test repetitive positioning accuracy: after the zero precision of each axle, initial point correction accuracy test, then carry out resetting
Test, to ensure stability and the reliability that mechanical hand operates, shown in concrete grammar following steps:
1) each axle of mechanical hand moves back and forth: make mechanical hand X1 axle, X2 axle, Y1 axle, Y2 axle and Z axis with full speed speed in zero point and pre-
Moving back and forth between the specified coordinate point first set, the parameter taking wherein 20-30 time does testing experiment；
2) each axle feedback pulse number is recorded: record in wherein moving back and forth for 20-30 time by watching of reading from servo-driver
Take motor encoder feedback pulse number, detect each axle repetitive positioning accuracy relative to specified coordinate point；
3) the resetting qualification rate of mechanical hand is judged: by recording the umber of pulse that servo-driver shows, observe umber of pulse
Change, is qualified to judge each axle precision in resetting.
The method of testing of a kind of five axis robot control systems for injection machine the most according to claim 1, its feature
It is: the running of the sequence controlled machine hands that described miscellaneous part test is mainly loaded onto, then controls miscellaneous part
Taking out injection-molded finished and stub bar, mechanical hand is parked in the top of injection machine mould, and five electronic axle original positions of mechanical hand are all
0, tool is vertical, and after injection moulding machine mould open, mechanical hand takes out finished product and stub bar, horizontal goes out to put stub bar into disintegrating machine, is put into by finished product
Conveyer belt, concrete operating procedure is as follows:
(1) testing mould: after loading program, first mechanical hand is debugged start position, is transferred to automatic running status by mechanical hand,
Waiting injection moulding machine mould open, then programme-control Z axis sucker takes out finished product, and fixture takes out stub bar, mechanical hand by X1, X2, Y1,
The mould scope that moves from of Y2 axle, after successfully taking out material, system controls output permission pass mould signal, and then mechanical hand will material
Head and finished product are respectively put into appointment position, often put a finished product and start conveyer belt to conveyer belt and permit row 3 seconds, mechanical hand return
The standby sucker of start position, fixture molding machine locked mode, thimble, action of loosing core；
(2) test fixture: when clamp switch positive is tested, fixture takes thing success, then fixture detection signal is logical；Take thing to lose
Lose, then fixture detection signal is disconnected, and when carrying out the anti-phase test of clamp switch, fixture takes thing success, then fixture detection signal is
Disconnected；Take thing failure, then fixture detection signal is logical；
(3) test sucker: when carrying out sucker switch positive detection, sucker takes thing success, then sucker detection signal is logical；Take thing to lose
Lose, then sucker detection signal is disconnected；When carrying out the detection of sucker switch inverse, sucker takes thing success, then sucker detection signal is
Disconnected；Take thing failure, then sucker detection signal is logical；
(4) test safety door: when using safety door, at mechanical hand when automatically running, carries out omnidistance detection to safety door signal,
As not having safety door signal to report to the police immediately；When not using safety door, mechanical hand is when automatically running, to safety door signal only at hands
Detect during down maneuver in arm mould, as not having safety door signal to report to the police immediately, do not detect during other action；
(5) test pressure: when using pneumatic cylinder, starts program, and mechanical hand detected gas pressure, as gas pressure not up to sets
Value, then can report to the police, and when not using pneumatic cylinder, mechanical hand not detected gas pressure, whether gas pressure reaches setting value all
Will not report to the police；
(6) template in test: in use during template, starts program, and the signal of tire discharging device template detects, in arm mould
Can report to the police without middle template signal during decline, in not using during template, the signal of tire discharging device template does not detects.
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