CN106514649B - Manipulator of injection machine control system and control method - Google Patents
Manipulator of injection machine control system and control method Download PDFInfo
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- CN106514649B CN106514649B CN201510570404.9A CN201510570404A CN106514649B CN 106514649 B CN106514649 B CN 106514649B CN 201510570404 A CN201510570404 A CN 201510570404A CN 106514649 B CN106514649 B CN 106514649B
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- manipulator
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- injection machine
- machine
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Classifications
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- 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
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- 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
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- 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 kind of manipulator of injection machine control system and control methods, including controller, driving device, executing agency, the controller is equipped with communication module, memory module, process parsing module, intelligent object, which connect with communication module, memory module respectively；The intelligent object is equipped with the control unit for comparing the comparing unit of Injection Motor Template position data, the computing unit for calculating manipulator of injection machine shift position and control manipulator of injection machine movement, is sequentially connected with.The present invention can not only realize manipulator of injection machine and the mobile synchronous progress of Injection Motor Template die sinking, saved the time of whole system simultaneously also by this servo antrol mode, improved whole system working efficiency.
Description
Technical field
The present invention relates to a kind of manipulator control system and control methods, control more particularly, to a kind of manipulator of injection machine
System and control method.
Background technique
Manipulator of injection machine can largely improve production efficiency and reduce production cost, can stabilize and increase
The quality of injecting products avoids causing unnecessary loss because of artificial operation error, and manipulator of injection machine is being infused
Operation in modeling production will become more and more important.
It is existing manipulator of injection machine working cycles flow diagram as shown in Figure 1, when manipulator of injection machine receives note
Manipulator of injection machine declines or advances to manipulator clamping product space clamping product after the signal that molding machine die sinking is completed, and then infuses
Molding machine manipulator retreats or rises to detection zone and detects whether to clamp workpiece, and manipulator of injection machine receives injection molding organ's mould signal
Manipulator of injection machine puts product and the die sinking of injection molding machine is waited to complete signal, manipulator of injection machine and injection molding machine cooperating afterwards,
Guarantee manipulator of injection machine operation stability.
In this course, manipulator of injection machine takes product axis only to wait until just to move into finger in mold after die sinking
Positioning, which is set, takes product, then the working efficiency of manipulator of injection machine will be reduced greatly.And the work effect of manipulator of injection machine
Rate largely determines the efficiency of plant produced injection-molded work, and the time that manipulator of injection machine completes a set of movement becomes
Circulation time, circulation time is longer, and manipulator of injection machine working efficiency is lower, and the modulus movement completed in the unit time is more
It is few.
In view of above-mentioned existing manipulator of injection machine control method, the present inventor is based on being engaged in such product design manufacture
Practical experience and professional knowledge abundant for many years, and cooperate the utilization of scientific principle, it is subject to research and innovation, actively to found a kind of wound
New manipulator of injection machine control system and control method can improve general existing manipulator of injection machine control system and control
Method processed makes it with more practicability.By constantly studying, designing, and studied repeatedly sample and improve after, found finally
The present invention having practical value out.
Summary of the invention
The technical issues of present invention proposes a kind of manipulator of injection machine control system and control method, solves is realizes note
The servo antrol of molding machine manipulator and injection moulding machine mould open improves manipulator to save manipulator of injection machine entire circulation time
Working efficiency improves the working efficiency of whole system.
The present invention solves its technical problem and adopts the following technical solutions to realize.
A kind of manipulator of injection machine control system, including controller, driving device, executing agency.The controller is equipped with
Communication module, memory module, process parsing module, intelligent object, the intelligent object connect with communication module, memory module respectively
It connects；The intelligent object, which is equipped with, to be compared the comparing unit of Injection Motor Template position data, calculates the mobile position of manipulator of injection machine
The mobile control unit of the computing unit and control manipulator of injection machine set, is sequentially connected with.
The present invention, which solves its technical problem, to be realized by following technical measures.
Preferably, above-mentioned manipulator of injection machine control system, wherein comparing unit includes input/output, comparator, deposits
Reservoir is sequentially connected with；Computing unit includes determining device, calculator, memory, is sequentially connected with；And control unit includes
Analyzer, instruction control unit, memory, are sequentially connected with；Wherein comparator is connect with determining device, and calculator and analyzer connect
It connects.
Preferably, above-mentioned manipulator of injection machine control system, wherein input/output and instruction control unit respectively with communication
Module connection.
Preferably, a kind of above-mentioned manipulator of injection machine control system, wherein communication module is connect with driving device, the drive
Dynamic device is connected by power with executing agency, which is equipped with manipulator of injection machine and takes product axis.
Preferably, a kind of above-mentioned manipulator of injection machine control system, wherein process parsing module, intelligent object, communication
Module is connect with the memory module of storing data respectively, which connect with communication module.
The present invention, which solves its technical problem, to be achieved through the following technical solutions.
A kind of manipulator of injection machine control method comprising following steps:
The communication module of step 1, manipulator of injection machine receives injection moulding machine mould open commencing signal；
Step 2, communication module acquire Injection Motor Template die sinking real time position data and by manipulator of injection machine and injection molding
Servo antrol between the die sinking of motor-driven template, by intelligent object comparing unit and computing unit logarithm realized by following formula
According to comparison, calculate:
Wherein Z (t) indicates manipulator of injection machine position, and P (t) indicates that Injection Motor Template die sinking position, k indicate coefficient, A
Expression manipulator of injection machine holding point position is constant, Pn-1Indicate that Injection Motor Template critical localisation, D indicate that injection molding machine is mechanical
Product space is taken in hand to mould；
Manipulator of injection machine mobile position data is transferred to communication module by step 3, intelligent object, is passed by communication module
The manipulator of injection machine of transmission of data to driving device driving executing agency takes product axis to run to taking product space in mould；
Step 4 detects whether to clamp product；
And step 5, manipulator of injection machine receive injection molding organ's mould signal by communication module and place product, wait
Injection moulding machine mould open signal, all data are stored in memory module.
The present invention, which solves its technical problem, to be realized by following technical measures.
Preferably, above-mentioned manipulator of injection machine control method, using comparing unit to Injection Motor Template in step 2
Compared with being opened real time position and Injection Motor Template critical localisation in real time.
Preferably, above-mentioned manipulator of injection machine control method, the data after comparison are sent into computing unit in step 2,
The shift position of manipulator of injection machine is obtained by corresponding formula.
Preferably, above-mentioned manipulator of injection machine control method, infused when manipulator of injection machine clamping product after step 3
Molding machine moving template is opened also in operation.
The present invention has obvious advantages and beneficial effects compared with the existing technology.By above-mentioned technical proposal, the present invention
A kind of manipulator of injection machine control system and control method can reach comparable technical progress and practicability, and have in industry
Extensive utility value, at least have the advantage that
The present invention can not only realize that manipulator takes the mobile synchronous progress of product and injection moulding machine mould open, simultaneously also by it is this with
Dynamic control mode has been saved the time of whole system, and whole system working efficiency is improved.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention can
It is clearer and more comprehensible, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 is prior art manipulator of injection machine working cycles flow diagram；
Fig. 2 is flow diagram of the invention；
Fig. 3 is Control system architecture block diagram of the present invention；
Fig. 4 is the structural block diagram of intelligent object in Fig. 3；
Fig. 5 is the functional block diagram of intelligent object in Fig. 3；
Fig. 6 is coordinates computed schematic diagram of the invention；
Fig. 7 is the present invention and manipulator of injection machine workflow timing 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 initial 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): the position of any position Z (t): manipulator of injection machine of injection moulding machine mould open on the way
41: quiet template 42: moving template
Specific embodiment
Further to illustrate the present invention to reach the technical means and efficacy that scheduled purpose is taken, below in conjunction with attached
Figure and preferred embodiment, to a kind of manipulator of injection machine control system proposed according to the present invention and control method its specific implementation
Mode, structure, feature and its effect, detailed description is as follows.
It please refers to shown in Fig. 3, Fig. 3 is manipulator of injection machine Control system architecture block diagram of the present invention.A kind of injection molding machine machine
Tool hand control system, including controller, driving device, executing agency.The controller is equipped with communication module, memory module, stream
Journey parsing module, intelligent object, the intelligent object are connect with communication module, memory module respectively；The intelligent object be equipped with than
Compared with the comparing unit of Injection Motor Template position data, the computing unit of calculating manipulator of injection machine shift position and control injection molding
The mobile control unit of machine manipulator, is sequentially connected with.
Communication module is connect with driving device, which is connected by power with executing agency, which is equipped with note
Molding machine manipulator takes product axis.Process parsing module, intelligent object, communication module connect with the memory module of storing data respectively
It connects, which connect with communication module.
Communication module is connect with controller of plastic injection molding, is received Injection Motor Template and is opened signal.Communication module is by injection molding machine
The shift action of die sinking movement and manipulator of injection machine is transferred to process parsing module, injection moulding machine mould open mobile position data and note
The mobile position data of molding machine manipulator is transferred to intelligent object；By process parsing module by manipulator of injection machine motion flow
It decomposes, while injection molding machine being cooperated to act；Pass through intelligent object analytical calculation manipulator of injection machine shift position and injection molding machine dynamic model
The relationship of plate shift position, then compares, and substitutes into corresponding formula and calculated, by it is this it is real-time analysis, calculate with than
Compared with mode determine manipulator of injection machine shift position and movement to obtain a result；The parsing of process parsing module acts
And manipulator of injection machine needs mobile position data to be transferred to communication module in intelligent object, the final shifting for realizing manipulator of injection machine
Servo antrol between dynamic and Injection Motor Template is mobile.In manipulator of injection machine motion process, all data informations are all logical
Cross memory module storage.
Referring to Fig. 4, the Fig. 4 is the structural block diagram of intelligent object in Fig. 3.Intelligent object is equipped with comparing unit, calculates list
Member, control unit.Comparing unit includes input/output, comparator, memory, is sequentially connected with；Computing unit includes judgement
Device, calculator, memory, are sequentially connected with；And control unit includes analyzer, instruction control unit, memory, is sequentially connected
It connects；Wherein comparator is connect with determining device, and calculator is connect with analyzer.
Comparing unit realizes the reception and transmission of data by input/output.Input/output receives data and by data
It is transferred to comparator, comparator can be by injection moulding machine mould open real time position P (t) (see Fig. 6) and Injection Motor Template critical localisation Pn-1
(see Fig. 6) size compares, and the result of comparator comparative analysis is sent to the determining device in computing unit.All operations
In data or instruction can all be stored in memory.
Determining device determines corresponding calculation formula and transfers data to calculator, passes through calculator and calculates injection molding machine machine
The shift position of tool hand, and the mobile location information of manipulator of injection machine is passed to the analyzer of control unit.All operations
In data or instruction can all store in memory.
Analyzer analyzes the data received, it is determined that operation carried out, then passes through instruction control unit,
Operating control signal is issued to communication module.All running data or instruction can be all stored in memory.
It please refers to shown in Fig. 5, Fig. 6, wherein Fig. 5 is the functional block diagram of intelligent object in Fig. 3, and Fig. 6 is calculating of the invention
Coordinate schematic diagram.Manipulator of injection machine origin B is position of the manipulator of injection machine under shutdown status, and manipulator of injection machine waits
Position A is the position in waiting injection moulding machine mould open signal after starting, and Injection Motor Template 42 (as shown in Figure 6) moves downward,
The quiet template 41 of injection molding machine is located on the right side of origin, and manipulator of injection machine receives injection moulding machine mould open signal and moves from A point to C point at this time
Dynamic, the outer initial position C of manipulator of injection machine type is that a critical point is that manipulator of injection machine is in the side for taking product safety range
Boundary's point, the boundary point are the constants determined according to injection moulding machine mould open shift position.I.e. when Injection Motor Template 42 is opened
Position P(t)For P(n-1)When, the position Z (t) of manipulator of injection machine is located at C point, while P(n-1)As facing for Injection Motor Template 42
Boundary position.As 42 die sinking position P of Injection Motor Template(t)Greater than P(n-1)When, manipulator of injection machine is moved to takes product in mould
D point in position starts to take product, and Injection Motor Template 42 continues to move at this time.Therefore it need to only compare injection molding machine dynamic model in the process
Any position P of plate 42(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 correspond to formula Z (t)=D and show that data are transferred to control unit, P(t)≤P(n-1)When computing unit it is corresponding
Formula Z (t)=KP(t)+ A show that data are transferred to control unit.
A kind of manipulator of injection machine control method comprising following steps:
The communication module of step 1, manipulator of injection machine receives injection moulding machine mould open commencing signal；
Step 2, communication module acquire Injection Motor Template die sinking real time position data and by manipulator of injection machine and injection molding
Servo antrol between the die sinking of motor-driven template, by intelligent object comparing unit and computing unit logarithm realized by following formula
According to comparison, calculate:
Wherein Z (t) indicates manipulator of injection machine position, and P (t) indicates that Injection Motor Template die sinking position, k indicate coefficient, A
Expression manipulator of injection machine holding point position is constant, Pn-1Indicate that Injection Motor Template critical localisation, D indicate that injection molding machine is mechanical
Product space is taken in hand to mould；
Manipulator of injection machine mobile position data is transferred to communication module by step 3, intelligent object, is passed by communication module
The manipulator of injection machine of transmission of data to driving device driving executing agency takes product axis to run to taking product space in mould；
Step 4 detects whether to clamp product；
And step 5, manipulator of injection machine receive injection molding organ's mould signal by communication module and place product, wait
Injection moulding machine mould open signal, all data are stored in memory module.
Using comparing unit to Injection Motor Template die sinking real time position and Injection Motor Template critical localisation in step 2
In real time relatively.
The data after comparison are sent into computing unit in step 2, the movement of manipulator of injection machine is obtained by corresponding formula
Position.
Injection Motor Template is opened also in operation when manipulator of injection machine clamps product after step 3.
It please refers to shown in Fig. 2 to Fig. 6, manipulator of injection machine and Injection Motor Template 42 are one in control system of the present invention
Kind servo antrol relationship, i.e., when the communication module of manipulator of injection machine receives the Injection Motor Template 42 of controller of plastic injection molding transmission
It is opened signal, manipulator of injection machine shift position, manipulator of injection machine with the execution that 42 die sinking of Injection Motor Template acts
It slowly moves closer in mould and takes product space and Injection Motor Template 42 is also on the move at this time.
In control system of the present invention, manipulator of injection machine position Z (t) is deposited with 42 die sinking position P (t) of Injection Motor Template
It is as follows in relationship expression:
Wherein k is coefficient, and it is a constant that A, which is manipulator of injection machine holding point position,.If known Injection Motor Template 42
Any position P of die sinking on the way(t), then coefficient k can be found out.Example works as P(t)=P (n-1) when,
Z (t)=C, then be calculated:
Formula (3) are substituted into formula (1), (2) 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 entire servo antrol, it is broadly divided into two big steps and carries out.
Step 1: if obtaining P by comparator(t)≤P(n-1), manipulator of injection machine is injection molding machine between point A and point C
Manipulator also not when taking product safety position, controls as follows:
Assuming that acquiring injection molding machine in controller of plastic injection molding data by communication module every time t in actual moving process
Moving template 42 is opened real time position, is recorded as P1, then it is calculated pair in determining device confirmation using formula (1) and by calculator
The manipulator of injection machine shift position answered is Z1, calculator transfers data to analyzer, and analyzer can be to the data received
It is analyzed, it is determined that operation carried out, then by instruction control unit, issues operating control signal to communication module.
Communication module sends control signals to driving device, drives the manipulator of injection machine in executing agency to take production by driving device
Product axis completes the manipulator of injection machine and takes product axis Z1The movement of distance realizes that the movement of manipulator of injection machine and injection molding are motor-driven
Servo antrol between the die sinking of template 42 is mobile.
Step 2: if obtaining P by comparator(t)> Pn-1, i.e. manipulator of injection machine is in when taking product safety position, control
It makes as follows:
Acquiring Injection Motor Template 42 in controller of plastic injection molding data to be opened real time position by communication module is Pn-1When,
Manipulator of injection machine is corresponded at this time and is in the outer i.e. critical point of initial position C point of type, takes product safety range for manipulator of injection machine
Boundary point.Work as P(t)> Pn-1When, using formula (2) and manipulator of injection machine is calculated by calculator in determining device confirmation at this time
The position Z (t) that need to be moved to=D, calculator transfer data to analyzer, and analyzer can divide the data received
Analysis, then by instruction control unit, issues operating control signal to communication module it is determined that operation carried out.Communicate mould
Block sends control signals to driving device, drives the manipulator of injection machine in executing agency to take product axis by driving device,
Complete the manipulator of injection machine take product axis from C point to D point all apart from or partial distance movement, reach D point after produced
Product crawl, and the movement of 42 die sinking of Injection Motor Template at the same time is also in commission.In manipulator of injection machine motion process, institute
Some data informations are all stored by memory module.
It detects whether to clamp product after manipulator of injection machine clamps product, manipulator of injection machine receives injection molding organ's mould letter
Number by product put down wait injection moulding machine mould open signal.
Manipulator of injection machine cycle period can be shortened by aforementioned present invention, improve the working efficiency of manipulator of injection machine with
And the working efficiency of whole system.
Please referring to Fig. 7 is the present invention and manipulator of injection machine workflow timing contrast schematic diagram at this stage.Wherein it is molded
Organ's mould, storing, is penetrated and moves back, cools down, being opened and manipulator of injection machine present invention and existing rank when putting product and returning holding point at injection
The time used is equal in section control flow.If manipulator of injection machine uses control flow at this stage but in taking product process,
Its manipulator of injection machine circulation time needs Ts；And if the use present invention, manipulator of injection machine circulation time only need ts.?
As can be seen that the present invention can save the time of Δ t compared to control flow at this stage in two kinds of control sequential figures.Assuming that we are existing
During stage work, the entire cycle period of manipulator of injection machine needs 5s, and injection molding machine machinery can be completed in 4s of the present invention
The entire circulation action of hand.It is so compared to control flow at this stage, manipulator of injection machine cycle period can in the present invention
Save for 20% or so time.Meanwhile if manipulator of injection machine cycle period is shorter, then manipulator of injection machine can save when
Between accounting be just more obvious.Because of the various aspects factor such as difference in view of machine configuration, manipulator of injection machine performance, here, we
State the present invention by percentage and reach time-saving effect degree, without specific to can save how long.
The above described is only a preferred embodiment of the present invention, limitation in any form not is done to the present invention, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above are modified or are modified
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification made to the above embodiment, all of which are still within the scope of the technical scheme of the invention.
Claims (10)
1. a kind of manipulator of injection machine control system, including controller, driving device, executing agency, the controller is equipped with logical
Module, memory module, process parsing module, intelligent object are interrogated, which connect with communication module, memory module respectively,
It is characterized by:
The communication module acts injection moulding machine mould open and the shift action of manipulator of injection machine is transferred to process parsing module,
And the mobile position data of injection moulding machine mould open mobile position data and manipulator of injection machine is transferred to intelligent object；
The process parsing module decomposes manipulator of injection machine motion flow, while injection molding machine being cooperated to act；
The relationship of intelligent object the analytical calculation manipulator of injection machine shift position and Injection Motor Template shift position, so
After compare, and substitute into corresponding formula and calculated, by way of this real-time analysis, calculating compared with, to obtain knot
Fruit determines manipulator of injection machine shift position and movement；
Manipulator of injection machine needs mobile position data to be transferred to the communication in the parsing movement of process parsing module and intelligent object
Module, servo antrol between the final movement for realizing manipulator of injection machine and Injection Motor Template movement；
The servo antrol is when the communication module of manipulator of injection machine receives the injection molding machine mould of the controller transmission of injection molding machine
Plate be opened signal, manipulator of injection machine with the execution that injection moulding machine template die sinking acts and shift position, manipulator of injection machine are slow
Slowly it moves closer to and takes product space in mould and injection moulding machine template is also in movement at this time；
In manipulator of injection machine motion process, all data informations are all stored by memory module；
The intelligent object, which is equipped with, to be compared the comparing unit of Injection Motor Template position data, calculates the mobile position of manipulator of injection machine
The mobile control unit of the computing unit and control manipulator of injection machine set, is sequentially connected with.
2. manipulator of injection machine control system according to claim 1, it is characterised in that wherein comparing unit include input/
Output, comparator, memory, are sequentially connected with；Comparing unit realizes the reception and transmission of data by input/output, input/
Output receives data and transfers data to comparator, and comparator can be motor-driven by injection moulding machine mould open real time position P (t) and injection molding
Template critical localisation Pn-1Size compares, and the result of comparator comparative analysis is sent to the determining device in computing unit,
All running data or instruction can be all stored in memory；
Computing unit includes determining device, calculator, memory, is sequentially connected with；Determining device determines corresponding calculation formula simultaneously
Calculator is transferred data to, the shift position of manipulator of injection machine is calculated by calculator, and by the shifting of manipulator of injection machine
Dynamic location information passes to the analyzer of control unit；All running data or instruction can all store in memory；
And
Control unit includes analyzer, instruction control unit, memory, is sequentially connected with；Wherein comparator is connect with determining device, meter
Device is calculated to connect with analyzer；Analyzer analyzes the data received, it is determined that operation carried out, then passes through finger
Controller is enabled, issues operating control signal to communication module；All running data or instruction can all be stored in memory
In.
3. manipulator of injection machine control system according to claim 2, it is characterised in that wherein input/output and instruction control
Device processed is connect with communication module respectively.
4. manipulator of injection machine control system according to claim 1, it is characterised in that wherein communication module and driving fill
Connection is set, which is connected by power with the executing agency, which is equipped with manipulator of injection machine and takes product axis.
5. manipulator of injection machine control system according to claim 1, it is characterised in that wherein process parsing module, intelligence
Module, communication module are connect with the memory module of storing data respectively, which connect with communication module.
6. a kind of manipulator of injection machine control method, it is characterised in that it includes the following steps:
The communication module of step 1, manipulator of injection machine receives injection moulding machine mould open commencing signal；
Step 2, communication module acquisition Injection Motor Template die sinking real time position data are simultaneously motor-driven by manipulator of injection machine and injection molding
Template die sinking between servo antrol, by intelligent object comparing unit and computing unit by following formula realization to data
Compare, calculate:
Wherein Z (t) indicates manipulator of injection machine position, and P (t) indicates that Injection Motor Template die sinking position, k indicate that coefficient, A indicate
Manipulator of injection machine holding point position is constant, Pn-1Indicate that Injection Motor Template critical localisation, D indicate manipulator of injection machine extremely
Product space is taken in mould；
Compare any position P of Injection Motor Template(t)With the critical localisation P of Injection Motor Template(n-1), by the data after comparison
It is sent into computing unit, the shift position of manipulator of injection machine is obtained by corresponding formula；Comparing unit passes through P(t)> P(n-1)When count
Calculation unit corresponds to formula Z (t)=D and show that data are transferred to control unit, and comparing unit passes through P(t)≤P(n-1)When computing unit pair
Answer formula Z (t)=KP(t)+ A show that data are transferred to control unit；
Manipulator of injection machine mobile position data is transferred to communication module by step 3, intelligent object, transmits number by communication module
Product axis is taken to run to taking product space in mould according to the manipulator of injection machine to driving device driving executing agency；
Step 4 detects whether to clamp product；
And step 5, manipulator of injection machine receive injection molding organ's mould signal by communication module and place product, wait injection molding
Machine is opened signal, and all data are stored in memory module.
7. manipulator of injection machine control method according to claim 6, it is characterised in that use comparing unit in step 2
To Injection Motor Template die sinking real time position and Injection Motor Template critical localisation in real time compared with.
8. manipulator of injection machine control method according to claim 7, it is characterised in that by the number after comparison in step 2
According to computing unit is sent into, the shift position of manipulator of injection machine is obtained by corresponding formula；
When obtaining P by comparing unit(t)≤P(n-1), manipulator of injection machine is positioned at also not when taking product safety position, control is such as
Under: Injection Motor Template in controller of plastic injection molding data is acquired by communication module every time t in actual moving process and is opened
Mould real time position, is recorded as P1, using formula (1) and corresponding injection molding machine is then calculated by calculator in determining device confirmation
Manipulator shift position is Z1, calculator transfers data to analyzer, and analyzer can analyze the data received, really
Surely any operation should be carried out, then by instruction control unit, issues operating control signal to communication module；Communication module will be controlled
Signal processed is sent to driving device, drives the manipulator of injection machine in executing agency to take product axis by driving device, completing should
Manipulator of injection machine takes product axis Z1The movement of distance realizes that the movement of manipulator of injection machine and Injection Motor Template die sinking are moved
Between servo antrol.
9. manipulator of injection machine control method according to claim 7, it is characterised in that by the number after comparison in step 2
According to computing unit is sent into, the shift position of manipulator of injection machine is obtained by corresponding formula；
Work as P(t)> Pn-1When, determining device confirmation at this time uses formula (2) and manipulator of injection machine is calculated by calculator and needs to move
The position Z (t) moved=D, calculator transfer data to analyzer, and analyzer can analyze the data received, really
Surely any operation should be carried out, then by instruction control unit, issues operating control signal to communication module；Communication module will be controlled
Signal processed is sent to driving device, drives the manipulator of injection machine in executing agency to take product axis by driving device, completing should
Manipulator of injection machine take product axis from critical C point to take product D point all apart from or partial distance movement, arrival take product D
Product crawl is carried out after point, and the movement of Injection Motor Template die sinking at the same time is also in commission, moves in manipulator of injection machine
In the process, all data informations are all stored by memory module.
10. manipulator of injection machine control method according to claim 6, it is characterised in that injection molding machine is mechanical after step 3
Injection Motor Template is opened also in operation when hand clamps product.
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| 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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| CN109531572B (en) * | 2018-12-25 | 2022-02-11 | 西安拽亘弗莱工业自动化科技有限公司 | Method for controlling double-drive manipulator of PET injection molding machine based on soft PLC |
| CN110653850B (en) * | 2019-11-07 | 2021-03-12 | 珠海格力智能装备有限公司 | Method and device for testing manipulator, storage medium and processor |
| CN111531832B (en) * | 2020-05-11 | 2022-05-27 | 珠海格力智能装备有限公司 | Injection molding mechanical arm |
| 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 |
| CN114536684B (en) * | 2022-04-26 | 2022-07-19 | 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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| US7261547B2 (en) * | 2004-12-06 | 2007-08-28 | Husky Injection Molding System Ltd | Post mold cooling and parts retrieval apparatus |
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| TW201710052A (en) | 2017-03-16 |
| CN106514649A (en) | 2017-03-22 |
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