CN106514649A - Control system and control method for mechanical arm of injection molding machine - Google Patents
Control system and control method for mechanical arm of injection molding machine Download PDFInfo
- Publication number
- CN106514649A CN106514649A CN201510570404.9A CN201510570404A CN106514649A CN 106514649 A CN106514649 A CN 106514649A CN 201510570404 A CN201510570404 A CN 201510570404A CN 106514649 A CN106514649 A CN 106514649A
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- China
- Prior art keywords
- manipulator
- injection
- injection machine
- machine
- communication module
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
- B29C2045/7633—Take out or gripping means
Abstract
The invention relates to a control system and a control method for a mechanical arm of an injection molding machine. The control system comprises a controller, a driving device and an executing mechanism; the controller is provided with a communication module, a storage module, a process analysis module and an intelligent module; the intelligent is connected with the communication module and the storage module and is provided with a comparing unit, a calculating unit and a control unit, wherein the comparing unit, the calculating unit and the control unit are connected in sequence; the comparing unit is used for comparing position data of a moving die plate of the injection molding machine; the calculating unit is used for calculating a move location of the mechanical arm of the injection molding machine; and the control unit is used for controlling the mechanical arm of the injection molding machine to move. The control system provided by the invention can realize simultaneous implementation of movement of the mechanical arm of the injection molding machine and die opening of the moving die plate of the injection molding machine and can also save the time for the overall system by adopting a follow-up control method, so the work efficiency of the overall system is improved.
Description
Technical field
The present invention relates to a kind of manipulator control system and control method, more particularly, to a kind of injection machine
Manipulator control system and control method.
Background technology
Manipulator of injection machine can to a great extent improve production efficiency and reduce production cost, can
Stabilize and increase the quality of injecting products, it is to avoid unnecessary damage is caused because of artificial operational error
Lose, thus manipulator of injection machine injection production in operation will become it is more and more important.
It is existing manipulator of injection machine cycle of operation flow diagram as shown in Figure 1, when injection machine machinery
After handss receive the signal that injection moulding machine mould open is completed, manipulator of injection machine declines or advances to mechanical hand gripping product
Grade puts gripping product, and then manipulator of injection machine is retreated or rises to detection zone and detects whether to clamp
Workpiece, after manipulator of injection machine receives the machine-operated mould signal of injection, manipulator of injection machine is put product and waits note
The die sinking of molding machine completes signal, manipulator of injection machine and injection machine cooperating, it is ensured that manipulator of injection machine
Operation stability.
In this course, manipulator of injection machine takes product axle and only waits until that die sinking just moves after terminating
Enter specified location in mould and take product, then the work efficiency of manipulator of injection machine greatly will be reduced.
And the work efficiency of manipulator of injection machine determines the effect of plant produced injection-molded work to a great extent
Rate, manipulator of injection machine completes the time of a set of action becomes circulation time, and circulation time is longer, note
Molding machine robot work efficiency is lower, and the delivery action completed in the unit interval is fewer.
In view of above-mentioned existing manipulator of injection machine control method, the present inventor is based on and is engaged in such product
Product manufacture and design for many years abundant practical experience and Professional knowledge, and coordinate the utilization of scientific principle, actively plus
With research and innovation, to founding the manipulator of injection machine control system and control method of a kind of innovation, energy
It is enough to improve general existing manipulator of injection machine control system and control method so as to more practicality.
Through constantly research, design, and Jing after studying repeatedly sample and improve, really tool is created finally real
With the present invention of value.
The content of the invention
The present invention proposes a kind of manipulator of injection machine control system and control method, and its technology for solving is asked
The entitled servo antrol for realizing manipulator of injection machine and injection moulding machine mould open, so as to save manipulator of injection machine
Whole circulation time, improves robot work efficiency, improves the work efficiency of whole system.
The present invention solves its technical problem and employs the following technical solutions to realize.
A kind of manipulator of injection machine control system, including controller, driving means, actuator.Institute
State controller and be provided with communication module, memory module, flow process parsing module, intelligent object, the intelligent mould
Block is connected with communication module, memory module respectively；The intelligent object is provided with and compares Injection Motor Template
The comparing unit of position data, the computing unit for calculating manipulator of injection machine shift position and control injection
The control unit of machine mechanical hand movement, which is sequentially connected with.
The present invention is solved its technical problem and can also be realized by following technical measures.
Preferably, above-mentioned manipulator of injection machine control system, wherein comparing unit include input/output,
Comparator, memorizer, which is sequentially connected with；Computing unit includes diagnosis apparatuss, computer, memorizer,
Which is sequentially connected with；And control unit includes analyzer, instruction control unit, memorizer, which sequentially connects
Connect；Wherein comparator is connected with diagnosis apparatuss, and computer is connected with analyzer.
Preferably, above-mentioned manipulator of injection machine control system, wherein input/output and instruction control unit
It is connected with communication module respectively.
Preferably, a kind of above-mentioned manipulator of injection machine control system, wherein communication module are filled with driving
Connection is put, the driving means and actuator power connector, the actuator are provided with manipulator of injection machine
Take product axle.
Preferably, a kind of above-mentioned manipulator of injection machine control system, wherein flow process parsing module, intelligence
Can module, communication module be connected with the memory module of data storage respectively, the flow process parsing module with lead to
News module connection.
The present invention solves its technical problem and can also be achieved through the following technical solutions.
A kind of manipulator of injection machine control method, which comprises the steps：
Step one, the communication module of manipulator of injection machine receive injection moulding machine mould open commencing signal；
Step 2, communication module collection Injection Motor Template die sinking real time position data by injection machine machine
Servo antrol between tool handss and Injection Motor Template die sinking, by the comparing unit in intelligent object and calculating
Unit is realized the comparison to data, is calculated by below equation：
Wherein Z (t) represents manipulator of injection machine position, and P (t) represents Injection Motor Template die sinking position, k
Coefficient is represented, A represents manipulator of injection machine holding point position for constant, Pn-1Represent Injection Motor Template
Critical localisation, D represent that manipulator of injection machine takes product space to mould；
Manipulator of injection machine mobile position data is transferred to communication module by step 3, intelligent object, by
Communication module transfers data to driving means and drives the manipulator of injection machine of actuator to take the operation of product axle
Product space is taken to mould；
Step 4, detects whether to clamp product；
And step 5, manipulator of injection machine receives the machine-operated mould signal of injection and placed by communication module
Product, waits injection moulding machine mould open signal, and all data storages are in memory module.
The present invention is solved its technical problem and can also be realized by following technical measures.
Preferably, above-mentioned manipulator of injection machine control method, using comparing unit to note in step 2
Molding machine moving platen die sinking real time position is compared in real time with Injection Motor Template critical localisation.
Preferably, the data after comparing are sent in step 2 by above-mentioned manipulator of injection machine control method
Enter computing unit, the shift position of manipulator of injection machine is drawn by correspondence formula.
Preferably, above-mentioned manipulator of injection machine control method, manipulator of injection machine folder after step 3
When taking product, Injection Motor Template is molded also in operation.
The present invention has clear advantage and beneficial effect compared with prior art.By above-mentioned technical side
Case, a kind of manipulator of injection machine control system of the invention and control method can reach suitable technological progress
Property and practicality, and with the extensive value in industry, which at least has following advantages：
The present invention is not only capable of achieving mechanical hand and takes product and injection moulding machine mould open and to move synchronously carry out, while
Saved the time of whole system by this servo antrol mode, improved whole system work efficiency.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the present invention's
Technological means, and being practiced according to the content of description, and in order to allow the above-mentioned of the present invention and
Other purposes, feature and advantage can become apparent, and below especially exemplified by preferred embodiment, and coordinate attached
Figure, describes in detail as follows.
Description of the drawings
Fig. 1 is prior art manipulator of injection machine cycle of operation flow diagram；
Fig. 2 is the flow diagram of the present invention；
Fig. 3 is Control system architecture block diagram of the present invention；
Fig. 4 is the structured flowchart of intelligent object in Fig. 3；
Fig. 5 is the theory diagram of intelligent object in Fig. 3；
Fig. 6 is the coordinates computed schematic diagram of the present invention；
Fig. 7 is the present invention and manipulator of injection machine workflow sequential contrast schematic diagram at this stage.
【Primary clustering symbol description】
B：Manipulator of injection machine origin A：Manipulator of injection machine holding fix
C：The outer original position of manipulator of injection machine type
D：Manipulator of injection machine takes product space
Pn-1：Injection Motor Template critical localisation Pn：Die sinking end position
P(t)：Optional position Z (t) in injection moulding machine mould open way：The position of manipulator of injection machine
41：Quiet template 42：Moving platen
Specific embodiment
Further to illustrate the present invention to reach technological means and effect that predetermined purpose is taken,
Below in conjunction with accompanying drawing and preferred embodiment, to controlling according to a kind of manipulator of injection machine proposed by the present invention
System and control method its specific embodiment, structure, feature and its effect, describe in detail as after.
Refer to shown in Fig. 3, Fig. 3 is manipulator of injection machine Control system architecture block diagram of the present invention.
A kind of manipulator of injection machine control system, including controller, driving means, actuator.The control
Device processed is provided with communication module, memory module, flow process parsing module, intelligent object, the intelligent object point
It is not connected with communication module, memory module；The intelligent object is provided with and compares Injection Motor Template position
The comparing unit of data, the computing unit for calculating manipulator of injection machine shift position and control injection machine machine
The control unit of tool handss movement, which is sequentially connected with.
Communication module is connected with driving means, the driving means and actuator power connector, the execution
Mechanism is provided with manipulator of injection machine and takes product axle.Flow process parsing module, intelligent object, communication module point
It is not connected with the memory module of data storage, the flow process parsing module is connected with communication module.
Communication module is connected with controller of plastic injection molding, receives Injection Motor Template die sinking signal.Communication mould
The shift action of injection moulding machine mould open action and manipulator of injection machine is transferred to flow process parsing module by block, note
Molding machine molds mobile position data and the mobile position data of manipulator of injection machine is transferred to intelligent object；
Manipulator of injection machine motion flow is decomposed by flow process parsing module, while coordinating injection machine action；
By intelligent object analytical calculation manipulator of injection machine shift position and Injection Motor Template shift position
Relation, then compares, and substitutes into corresponding formula and calculated, by this real-time analysis, calculating
With the mode for comparing, so as to obtain a result, manipulator of injection machine shift position and action are determined；Stream
In the parsing action of journey parsing module and intelligent object, manipulator of injection machine needs mobile position data to be transferred to
Communication module, finally realizes being servo-actuated control between the movement of manipulator of injection machine and Injection Motor Template movement
System.In manipulator of injection machine motor process, all of data information is all stored by memory module.
Fig. 4 is referred to, the Fig. 4 is the structured flowchart of intelligent object in Fig. 3.Intelligent object is provided with and compares
Unit, computing unit, control unit.Comparing unit includes input/output, comparator, memorizer,
Which is sequentially connected with；Computing unit includes diagnosis apparatuss, computer, memorizer, and which is sequentially connected with；And
Control unit includes analyzer, instruction control unit, memorizer, and which is sequentially connected with；Wherein comparator with
Diagnosis apparatuss connect, and computer is connected with analyzer.
Comparing unit is realized the reception of data and is sent by input/output.Input/output receives number
According to and transfer data to comparator, comparator can be by injection moulding machine mould open real time position P (t) (see Fig. 6)
With Injection Motor Template critical localisation Pn-1(see Fig. 6) size is contrasted, and comparator is compared point
The result of analysis is sent to the diagnosis apparatuss in computing unit.All operating data or instruction can all be deposited
It is stored in memorizer.
Diagnosis apparatuss determining corresponding computing formula and transfer data to computer, by computer meter
The shift position of manipulator of injection machine is calculated, and the mobile location information of manipulator of injection machine is passed to into control
The analyzer of unit processed.All operating data or instruction can all be stored in memory.
Analyzer is analyzed to the data for receiving, it is determined that what operation carried out, is then passed through
Instruction control unit, sends operating control signal to communication module.All operating data or instruction
Will be stored in memorizer.
Refer to shown in Fig. 5, Fig. 6, wherein Fig. 5 is the theory diagram of intelligent object in Fig. 3, and Fig. 6 is this
The coordinates computed schematic diagram of invention.Manipulator of injection machine origin B is manipulator of injection machine under stopped status
Position, manipulator of injection machine holding fix A be start after in wait injection moulding machine mould open signal position
Put, to left movement, it is right that the quiet template 41 of injection machine is located at origin to Injection Motor Template 42 (as shown in Figure 6)
Side, now manipulator of injection machine receive injection moulding machine mould open signal and move from A points to C points, injection machine machine
It is manipulator of injection machine in taking product safety scope that outer original position C of tool hand-type is a critical point
Boundary point, the boundary point are come the constant for determining according to injection moulding machine mould open shift position.Work as note
42 die sinking position P of molding machine moving platen(t)For P(n-1)When, position Z (t) of manipulator of injection machine positioned at C points, together
When P(n-1)Become the critical localisation of Injection Motor Template 42.As 42 die sinking position P of Injection Motor Template(t)Greatly
In P(n-1)When, manipulator of injection machine moves to and product space D points is taken in mould, starts to take product, this
When Injection Motor Template 42 continue to move to.Therefore need to only compare appointing for Injection Motor Template 42 in the process
Meaning position P(t)With the critical localisation P of Injection Motor Template 42(n-1).So comparing unit passes through P(t)＞
P(n-1)When computing unit correspondence formula Z (t)=D show that data are transferred to control unit, P(t)≤P(n-1)When count
Calculate unit correspondence formula Z (t)=KP(t)+ A show that data are transferred to control unit.
A kind of manipulator of injection machine control method, which comprises the steps：
Step one, the communication module of manipulator of injection machine receive injection moulding machine mould open commencing signal；
Step 2, communication module collection Injection Motor Template die sinking real time position data by injection machine machine
Servo antrol between tool handss and Injection Motor Template die sinking, by the comparing unit in intelligent object and calculating
Unit is realized the comparison to data, is calculated by below equation：
Wherein Z (t) represents manipulator of injection machine position, and P (t) represents Injection Motor Template die sinking position, k
Coefficient is represented, A represents manipulator of injection machine holding point position for constant, Pn-1Represent Injection Motor Template
Critical localisation, D represent that manipulator of injection machine takes product space to mould；
Manipulator of injection machine mobile position data is transferred to communication module by step 3, intelligent object, by
Communication module transfers data to driving means and drives the manipulator of injection machine of actuator to take the operation of product axle
Product space is taken to mould；
Step 4, detects whether to clamp product；
And step 5, manipulator of injection machine receives the machine-operated mould signal of injection and placed by communication module
Product, waits injection moulding machine mould open signal, and all data storages are in memory module.
Real time position and Injection Motor Template are molded to Injection Motor Template using comparing unit in step 2
Critical localisation compares in real time.
Data after comparing in step 2 send into computing unit, draw injection machine machine by correspondence formula
The shift position of tool handss.
After step 3, during manipulator of injection machine gripping product, Injection Motor Template is molded also in operation.
Refer to shown in Fig. 2 to Fig. 6, in control system of the present invention, manipulator of injection machine is motor-driven with injection
Template 42 is a kind of servo antrol relation, i.e., when the communication module of manipulator of injection machine receives injection machine control
The die sinking signal of Injection Motor Template 42 of device transmission processed, manipulator of injection machine is with Injection Motor Template
The execution of 42 die sinking actions and shift position, manipulator of injection machine slowly move closer in mould and take product position
Put and now Injection Motor Template 42 is also in movement.
In control system of the present invention, manipulator of injection machine position Z (t) is molded with Injection Motor Template 42
It is as follows to there is relationship expression in position P (t)：
Wherein k is coefficient, and A is manipulator of injection machine holding point position, is a constant.If known note
Optional position P in the die sinking of molding machine moving platen 42 way(t), then coefficient k can be obtained.Example works as P(t)=P (n-1) when,
Z (t)=C, then calculate：
Formula (3) is substituted into formula (1), (2) to obtain：
Therefore as die sinking shift position P(t)≤Pn-1When, manipulator of injection machine shift position Z (t) is as follows：
| t1 | t2 | t3 | t4 | … | tn-3 | tn-2 | tn-1 | tn | |
| P(t)(die sinking position) | P1 | P2 | P3 | P4 | … | Pn-3 | Pn-2 | Pn-1 | Pn |
| Z(t)(position of manipulator) | Z1 | Z2 | Z3 | Z4 | … | Zn-3 | Zn-2 | Zn-1 | Zn |
During whole servo antrol, being broadly divided into two big steps is carried out.
The first step：If drawing P by comparator(t)≤P(n-1), manipulator of injection machine be located at point A and point C it
Between i.e. manipulator of injection machine also not when product safety position is taken, control as follows：
Assume to gather controller of plastic injection molding number by communication module every time t in actual moving process
Real time position is molded according to middle Injection Motor Template 42, P is recorded as1, then confirm to adopt formula in diagnosis apparatuss
(1) and by computer corresponding manipulator of injection machine shift position is calculated for Z1, computer is by number
According to analyzer is transferred to, analyzer can be analyzed to the data for receiving, it is determined that what carries out
Operation, then by instruction control unit, sends operating control signal to communication module.Communication module will
Control signal is sent to driving means, drives the manipulator of injection machine in actuator by driving means
Product axle is taken, the manipulator of injection machine is completed and is taken product axle Z1The movement of distance, realizes injection machine machinery
Servo antrol between the movement of handss and the die sinking of Injection Motor Template 42 are mobile.
Second step：If drawing P by comparator(t)＞ Pn-1, i.e., manipulator of injection machine in take product peace
During all positon, control as follows：
Injection Motor Template 42 in controller of plastic injection molding data is gathered by communication module and molds real time position
For Pn-1When, it is critical point now to correspond to manipulator of injection machine in the outer original position C point of type, is injection
Machine mechanical hand takes the boundary point of product safety scope.Work as P(t)＞ Pn-1When, now diagnosis apparatuss are confirmed using public
Formula (2) simultaneously calculates position Z (t)=D that manipulator of injection machine need to be moved to, computer by computer
Analyzer is transferred data to, analyzer can be analyzed to the data for receiving, it is determined that carrying out
What operation, then by instruction control unit, sends operating control signal to communication module.Communication mould
Block sends control signals to driving means, drives the injection machine machine in actuator by driving means
Tool handss take product axle, complete the manipulator of injection machine take product axle from C points to D points all apart from or part
The movement of distance, carries out product crawl, and the at the same time die sinking of Injection Motor Template 42 is dynamic after reaching D points
Make also in commission.In manipulator of injection machine motor process, all of data information all passes through storage
Module stores.
When detecting whether to clamp product after manipulator of injection machine gripping product, manipulator of injection machine receives note
Molding machine closes mould signal and product is put down wait injection moulding machine mould open signal.
Manipulator of injection machine cycle period can be shortened by the invention described above, manipulator of injection machine is improved
The work efficiency of work efficiency and whole system.
It is the present invention and manipulator of injection machine workflow sequential contrast schematic diagram at this stage to refer to Fig. 7.
Machine-operated mould, injection are wherein molded, storing, are penetrated and is moved back, cools down, molding and manipulator of injection machine is putting product
Product and return holding point when the present invention with control flow at this stage used by the time it is equal.If but taking product
During, manipulator of injection machine is using control flow at this stage, its manipulator of injection machine circulation time
Need Ts；And if using the present invention, manipulator of injection machine circulation time only needs to ts.Control at two kinds
As can be seen that the present invention compares the time that control flow at this stage can save Δ t in sequential chart processed.Assume
, in the course of work at this stage, the whole cycle period of manipulator of injection machine needs 5s for we, and this
Bright 4s can complete the whole do action of manipulator of injection machine.Control at this stage is compared to so
Flow process, in the present invention, manipulator of injection machine cycle period can save for 20% or so time.Meanwhile, if
Manipulator of injection machine cycle period is shorter, then the time accounting that manipulator of injection machine can be saved is brighter
It is aobvious.Because considering each side factors such as machine configuration, the difference of manipulator of injection machine performance, here,
We are stated the present invention and reach time-saving effect degree by percentage ratio, and not specific to can save
About how long.
The above, is only presently preferred embodiments of the present invention, and any form is not done to the present invention
On restriction, although the present invention is disclosed above with preferred embodiment, but is not limited to this
It is bright, any those skilled in the art, in the range of without departing from technical solution of the present invention, when can
A little change is made using the technology contents of the disclosure above or the Equivalent embodiments of equivalent variations are modified to,
In every case it is the content without departing from technical solution of the present invention, implements to more than according to the technical spirit of the present invention
Any simple modification, equivalent variations and modification that example is made, still fall within the model of technical solution of the present invention
In enclosing.
Claims (9)
1. a kind of manipulator of injection machine control system, including controller, driving means, actuator,
The controller is provided with communication module, memory module, flow process parsing module, intelligent object, the intelligence
Module is connected with communication module, memory module respectively, it is characterised in that：
The intelligent object is provided with and compares the comparing unit of Injection Motor Template position data, calculates injection
The computing unit of machine mechanical hand shift position and the control unit of control manipulator of injection machine movement, which is suitable
Secondary connection.
2. manipulator of injection machine control system according to claim 1, it is characterised in that wherein compare
Include input/output, comparator, memorizer compared with unit, which is sequentially connected with；
Computing unit includes diagnosis apparatuss, computer, memorizer, and which is sequentially connected with；
And control unit includes analyzer, instruction control unit, memorizer, which is sequentially connected with；Wherein
Comparator is connected with diagnosis apparatuss, and computer is connected with analyzer.
3. manipulator of injection machine control system according to claim 2, it is characterised in that wherein defeated
Enter/export and be connected with communication module with instruction control unit respectively.
4. manipulator of injection machine control system according to claim 1, it is characterised in that wherein lead to
News module is connected with driving means, the driving means and the actuator power connector, the execution machine
Structure is provided with manipulator of injection machine and takes product axle.
5. manipulator of injection machine control system according to claim 1, it is characterised in that wherein flow
Journey parsing module, intelligent object, communication module are connected with the memory module of data storage respectively, the stream
Journey parsing module is connected with communication module.
6. a kind of manipulator of injection machine control method, it is characterised in which comprises the steps：
Step one, the communication module of manipulator of injection machine receive injection moulding machine mould open commencing signal；
Step 2, communication module collection Injection Motor Template die sinking real time position data by injection machine machine
Servo antrol between tool handss and Injection Motor Template die sinking, by the comparing unit in intelligent object and calculating
Unit is realized the comparison to data, is calculated by below equation：
Wherein Z (t) represents manipulator of injection machine position, and P (t) represents Injection Motor Template die sinking position, k
Coefficient is represented, A represents manipulator of injection machine holding point position for constant, Pn-1Represent Injection Motor Template
Critical localisation, D represent that manipulator of injection machine takes product space to mould；
Manipulator of injection machine mobile position data is transferred to communication module by step 3, intelligent object, by
Communication module transfers data to driving means and drives the manipulator of injection machine of actuator to take the operation of product axle
Product space is taken to mould；
Step 4, detects whether to clamp product；
And step 5, manipulator of injection machine receives the machine-operated mould signal of injection and placed by communication module
Product, waits injection moulding machine mould open signal, and all data storages are in memory module.
7. manipulator of injection machine control method according to claim 6, it is characterised in that step 2
Middle employing comparing unit is to Injection Motor Template die sinking real time position and Injection Motor Template critical localisation reality
When compare.
8. manipulator of injection machine control method according to claim 7, it is characterised in that step 2
It is middle will compare after data send into computing unit, the movement of manipulator of injection machine is drawn by correspondence formula
Position.
9. manipulator of injection machine control method according to claim 6, it is characterised in that step 3
During manipulator of injection machine gripping product, Injection Motor Template is molded also in operation afterwards.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510570404.9A CN106514649B (en) | 2015-09-09 | 2015-09-09 | Manipulator of injection machine control system and control method |
| TW104143339A TWI611900B (en) | 2015-09-09 | 2015-12-23 | Control system and method for a mechanical arm of injection machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510570404.9A CN106514649B (en) | 2015-09-09 | 2015-09-09 | Manipulator of injection machine control system and control method |
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| CN106514649B CN106514649B (en) | 2019-03-12 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531572A (en) * | 2018-12-25 | 2019-03-29 | 西安拽亘弗莱工业自动化科技有限公司 | A method of based on the double drive manipulators of Soft- PLC control PET injection molding machine |
| CN110653850A (en) * | 2019-11-07 | 2020-01-07 | 珠海格力智能装备有限公司 | Method and device for testing manipulator, storage medium and processor |
| CN111531832A (en) * | 2020-05-11 | 2020-08-14 | 珠海格力智能装备有限公司 | Injection molding mechanical arm |
| CN112497689A (en) * | 2020-09-28 | 2021-03-16 | 宁波安信数控技术有限公司 | Method for controlling cooperative motion of manipulator and injection molding machine in mold |
| CN114536684A (en) * | 2022-04-26 | 2022-05-27 | 艾尔发智能科技股份有限公司 | Control method and control device for full-servo rapid taking-out of injection molding manipulator |
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| CN109531572A (en) * | 2018-12-25 | 2019-03-29 | 西安拽亘弗莱工业自动化科技有限公司 | A method of based on the double drive manipulators of Soft- PLC control PET injection molding machine |
| CN110653850A (en) * | 2019-11-07 | 2020-01-07 | 珠海格力智能装备有限公司 | Method and device for testing manipulator, storage medium and processor |
| CN111531832A (en) * | 2020-05-11 | 2020-08-14 | 珠海格力智能装备有限公司 | Injection molding mechanical arm |
| CN111531832B (en) * | 2020-05-11 | 2022-05-27 | 珠海格力智能装备有限公司 | Injection molding mechanical arm |
| CN112497689A (en) * | 2020-09-28 | 2021-03-16 | 宁波安信数控技术有限公司 | Method for controlling cooperative motion of manipulator and injection molding machine in mold |
| CN112497689B (en) * | 2020-09-28 | 2022-06-14 | 宁波安信数控技术有限公司 | Control method for cooperative motion in mold of manipulator and injection molding machine |
| CN114536684A (en) * | 2022-04-26 | 2022-05-27 | 艾尔发智能科技股份有限公司 | Control method and control device for full-servo rapid taking-out of injection molding manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI611900B (en) | 2018-01-21 |
| TW201710052A (en) | 2017-03-16 |
| CN106514649B (en) | 2019-03-12 |
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