CN109228213A - A kind of control rod double operation injection molding mechanical arm teaching machine and its control method - Google Patents
A kind of control rod double operation injection molding mechanical arm teaching machine and its control method Download PDFInfo
- Publication number
- CN109228213A CN109228213A CN201811117061.0A CN201811117061A CN109228213A CN 109228213 A CN109228213 A CN 109228213A CN 201811117061 A CN201811117061 A CN 201811117061A CN 109228213 A CN109228213 A CN 109228213A
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- CN
- China
- Prior art keywords
- control
- injection molding
- mechanical arm
- molding mechanical
- control stick
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- 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
- B29C2045/7606—Controlling or regulating the display unit
-
- 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
- B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
- B29C2945/76—Measuring, controlling or regulating
- B29C2945/76003—Measured parameter
- B29C2945/76033—Electric current or voltage
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
The present invention relates to the injection molding mechanical arm teaching machines and its control method of a kind of operation of control rod double, it include: the controller being connect with injection molding mechanical arm, and the control stick being connect with the controller, the motion profile of the sensor collection control stick of the control stick, and the motion profile is sent to controller, controller is sent to the injection molding mechanical arm according to motion profile generation control instruction and is moved accordingly.The movement that technical solution provided by the invention passes through control control stick, motion profile is sent to controller, and then the movement of injection molding mechanical arm is controlled by controller, namely the movement of injection molding mechanical arm only can be controlled by adjusting control stick, it does not need to adjust on the whole, it is easy to operate and simple.
Description
Technical field
The invention belongs to operating technology field more particularly to a kind of control rod double operation injection molding mechanical arm teaching machine and its controls
Method processed.
Background technique
Injection molding mechanical arm is the machinery being specially equipped with for injection molding production automation, it can mitigate heavy physical strength labor
It moves, improve working conditions and keeps the safety in production；The partial function of human upper limb can be imitated, can carry out automatically controlling to it makes it
Product is conveyed according to pre-provisioning request or manages the automated production equipment that tool carries out production operation.Improve the life of injection moulding machine
Produce efficiency, stabilized product quality, reduce rejection rate, reduce production cost, the competitiveness for enhancing enterprise etc. is played extremely heavy
The effect wanted.
With the development that industrial machinery automates, three axis injection molding mechanical arms, five axis injection molding mechanical arms have been widely applied to
Various industries.Currently, the axis movement of the teaching machine of each three axis or five axis injection molding mechanical arms is all by conventional keys, interface
It realizes manual activity, if you need to adjust the speed speed of each axis, must just adjust on the whole.
Accordingly, it is desirable to provide a kind of control rod double operates injection molding mechanical arm teaching machine and its control method to solve existing skill
The deficiency of art.
Summary of the invention
In order to be adjusted on the whole when solving the problems, such as the speed speed for adjusting each axis in the prior art, this hair
It is bright to provide a kind of control rod double operation injection molding mechanical arm teaching machine and its control method.
A kind of control rod double operation injection molding mechanical arm teaching machine, comprising: the controller being connect with injection molding mechanical arm, Yi Jiyu
The control stick of controller connection, the motion profile of the sensor collection control stick of the control stick, and by the movement rail
Mark is sent to controller, and controller generates control instruction according to the motion profile and is sent to the injection molding mechanical arm progress accordingly
Movement.
Further, the control stick includes: the first control stick and the second control stick, the first control stick control injection molding
Movement of the manipulator in Z axis, movement of the second control stick control injection molding mechanical arm in X-axis and Y-axis.
Further, the teaching machine further include: three or the five axis switching switch being connect with the controller, for controlling the
Switching of two control sticks between the first X-axis and the first Y-axis and the second X-axis and the second Y-axis.
Further, the controller includes: sequentially connected comparator and voltage collector, and the comparator is for sentencing
Break the type of the control stick；The voltage collector is used to acquire the voltage of the control stick.
Further, the teaching machine further include: the display being connect with the controller, for showing the teaching machine
Operation interface.
A kind of injection molding mechanical arm, comprising: any of the above-described control rod double operates injection molding mechanical arm teaching machine.
A kind of control method of control rod double operation injection molding mechanical arm teaching machine, comprising:
Detect the voltage signal of control stick；
When detecting the voltage signal of the control stick, the voltage of control stick is acquired；
The voltage of the control stick is handled, control instruction is generated and is sent to injection molding mechanical arm.
Further, before the voltage for detecting the control stick, further includes:
Judge that the control stick is the first control stick or the second control stick.
Further, the voltage of the control stick is handled, generates control instruction and be sent to injection molding mechanical arm, wraps
It includes:
According to the positive and negative of voltage, the direction control command of injection molding mechanical arm is generated；
According to the size of voltage, the Bit andits control instruction of injection molding mechanical arm is generated.
Further, further includes:
Detection switch signal；
When detecting the switching signal, control three or five axis switching switch switches over operation.
Technical solution provided by the invention has the advantages that compared with the immediate prior art
Technical solution provided by the invention is connect by controller with control stick, and the signal of control stick is converted to control
The movement of instruction control injection molding mechanical arm.Motion profile is sent to controller by the movement of control control stick by the present invention, into
And the movement of injection molding mechanical arm is controlled by controller, that is, only can control injection molding mechanical arm by adjusting control stick
Movement, do not need to adjust on the whole, it is easy to operate and simple.
Detailed description of the invention
Fig. 1 is the schematic diagram of control rod double operation injection molding mechanical arm teaching machine in the present invention；
Fig. 2 is the method for the present invention flow chart.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, the present invention provides a kind of control rod doubles to operate injection molding mechanical arm teaching machine, comprising: with injection molding machine
The controller of tool hand connection, and the control stick being connect with the controller, the sensor collection control stick of the control stick
Motion profile, and the motion profile is sent to controller, controller generates control instruction according to the motion profile and sends
It is moved accordingly to the injection molding mechanical arm.
In the embodiment of the present application, it is connect by controller with control stick, and the signal of control stick is converted into control and is referred to
Enable the movement of control injection molding mechanical arm.Motion profile is sent to controller, in turn by the movement of control control stick by the present invention
The movement of injection molding mechanical arm is controlled by controller, that is, only can control injection molding mechanical arm by adjusting control stick
Movement, does not need to adjust on the whole, easy to operate and simple.
In some embodiments of the present application, the control stick includes: the first control stick 1 and the second control stick 2, and described
One control stick controls injection molding mechanical arm in the movement of Z axis, fortune of the second control stick control injection molding mechanical arm in X-axis and Y-axis
It is dynamic.
Control stick 1 controls the positive negative direction of manipulator Z axis for uniaxial control up and down；Control stick 2 is on twin shaft
Under, left and right control, control the positive negative direction positive negative direction of X2, Y2 axis (can switch to control) of X1, Y1 axis.
In some embodiments of the present application, the teaching machine further include: three or the five axis switching being connect with the controller
Switch, for controlling switching of second control stick between the first X-axis and the first Y-axis and the second X-axis and the second Y-axis.
It is one 0 and 1 switch, and 2 different axis can be switched over to control stick 2.
The controller includes: sequentially connected comparator and voltage collector, and the comparator is for judging the behaviour
The type of vertical pole；The voltage collector is used to acquire the voltage of the control stick.
The teaching machine further include: emergency stop switch, in emergency circumstances closing using movement；It is opened with energy key
It closes, just to can be carried out axis movement in manual pin；USB interface, due to upgrade procedure and backup and reduction parameter；Liquid crystal display
Screen, for showing the operation interface of teaching machine；Touch screen is touched and is used.
Implementation method of the present invention is: when control stick 1 or control stick 2 act, passing through the side of control stick 1 and control stick 2
Xiang Kefa issues cathode voltage or cathode voltage (cathode voltage motor turns toward positive direction, and cathode voltage turns toward negative direction), electricity
The size of pressure can determine (the small low velocity of voltage value, the big high speed of voltage value) according to the amount of movement of control stick, CPU determine again be
The voltage of control stick 1 or control stick 2 issues respective shaft movement instruction to motion controller, and motion controller receives movement
Instruction issues speed command and position command to each corresponding axis servo-driver.Wherein 2 control sticks only can control 3
The movement of axis (Z, X1, Y1), control stick 1 control Z axis, and control stick 2 controls X1, Y1, so the axis for increasing a physical switch is cut
It changes, when needing to switch X2, Y2 axis, is switched by 2 times, when the CPU of teaching machine receives switching signal amount, control stick 2 is in control
When X1, Y1 processed, it will do it and be switched to X2, Y2 axis, when control stick 2 is in control X2, Y2, will do it and be switched to X1, Y1 axis.
Based on identical inventive concept, the present invention also provides a kind of controls of control rod double operation injection molding mechanical arm teaching machine
Method processed, as shown in Figure 2, comprising:
Detect the voltage signal of control stick；
When detecting the voltage signal of the control stick, the voltage of control stick is acquired；
The voltage of the control stick is handled, control instruction is generated and is sent to injection molding mechanical arm.
In some embodiments of the present application, before the voltage for detecting the control stick, further includes: judge the manipulation
Bar is the first control stick or the second control stick.
In some embodiments of the present application, the voltage of the control stick is handled, control instruction is generated and is sent to
Injection molding mechanical arm, comprising:
According to the positive and negative of voltage, the direction control command of injection molding mechanical arm is generated；
According to the size of voltage, the Bit andits control instruction of injection molding mechanical arm is generated.
In some embodiments of the present application, further includes:
Detection switch signal；
When detecting the switching signal, control three or five axis switching switch switches over operation.
The present invention also provides a kind of injection molding mechanical arms, operate injection molding mechanical arm including any of the above-described control rod double
Teaching machine.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its
Combination is to realize.For hardware realization, processing unit be may be implemented in one or more specific integrated circuit (Application
Specific Integrated Circuits, ASIC), digital signal processor (Digital Signal Processing,
DSP), digital signal processing appts (DSP Device, DSPD), programmable logic device (Programmable Logic
Device, PLD), field programmable gate array (Field-Programmable Gate Array, FPGA), general processor,
In controller, microcontroller, microprocessor, other electronic units for executing herein described function or combinations thereof.
For software implementations, the techniques described herein can be realized by executing the unit of function described herein.Software generation
Code is storable in memory and is executed by processor.Memory can in the processor or portion realizes outside the processor.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided herein, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of device or unit
It connects, can be electrical property, mechanical or other forms.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the embodiment of the present invention is substantially
The part of the part that contributes to existing technology or the technical solution can embody in the form of software products in other words
Come, which is stored in a storage medium, including some instructions are used so that a computer equipment (can
To be personal computer, server or the network equipment etc.) execute all or part of each embodiment the method for the present invention
Step.And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc. are various can store program
The medium of code.
It should be noted that the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of control rod double operates injection molding mechanical arm teaching machine characterized by comprising the control being connect with injection molding mechanical arm
Device, and the control stick being connect with the controller, the motion profile of the sensor collection control stick of the control stick, and by institute
It states motion profile and is sent to controller, controller generates control instruction according to the motion profile and is sent to the injection molding mechanical arm
It is moved accordingly.
2. a kind of control rod double according to claim 1 operates injection molding mechanical arm teaching machine, which is characterized in that the manipulation
Bar includes: the first control stick and the second control stick, the first control stick control injection molding mechanical arm Z axis movement, described the
Two control sticks control injection molding mechanical arm in the movement of X-axis and Y-axis.
3. a kind of control rod double according to claim 2 operates injection molding mechanical arm teaching machine, which is characterized in that the teaching
Device further include: three or the five axis switching switch being connect with the controller, for controlling the second control stick in the first X-axis and the first Y
Switching between axis and the second X-axis and the second Y-axis.
4. a kind of control rod double according to claim 1 operates injection molding mechanical arm teaching machine, which is characterized in that the control
Device includes: sequentially connected comparator and voltage collector, and the comparator is used to judge the type of the control stick；The electricity
Pressure collector is used to acquire the voltage of the control stick.
5. a kind of control rod double according to claim 1 operates injection molding mechanical arm teaching machine, which is characterized in that the teaching
Device further include: the display being connect with the controller, for showing the operation interface of the teaching machine.
6. a kind of injection molding mechanical arm characterized by comprising control rod double operation injection molding a method as claimed in any one of claims 1 to 5
Manipulator teaching machine.
7. a kind of control method of control rod double operation injection molding mechanical arm teaching machine characterized by comprising
Detect the voltage signal of control stick；
When detecting the voltage signal of the control stick, the voltage of control stick is acquired；
The voltage of the control stick is handled, control instruction is generated and is sent to injection molding mechanical arm.
8. a kind of control method of control rod double operation injection molding mechanical arm teaching machine according to claim 7, feature exist
In before the voltage for detecting the control stick, further includes:
Judge that the control stick is the first control stick or the second control stick.
9. a kind of control method of control rod double operation injection molding mechanical arm teaching machine according to claim 7, feature exist
In, the voltage of the control stick is handled, generate control instruction be sent to injection molding mechanical arm, comprising:
According to the positive and negative of voltage, the direction control command of injection molding mechanical arm is generated；
According to the size of voltage, the Bit andits control instruction of injection molding mechanical arm is generated.
10. a kind of control method of control rod double operation injection molding mechanical arm teaching machine according to claim 7, feature exist
In, further includes:
Detection switch signal；
When detecting the switching signal, control three or five axis switching switch switches over operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811117061.0A CN109228213A (en) | 2018-09-25 | 2018-09-25 | A kind of control rod double operation injection molding mechanical arm teaching machine and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811117061.0A CN109228213A (en) | 2018-09-25 | 2018-09-25 | A kind of control rod double operation injection molding mechanical arm teaching machine and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109228213A true CN109228213A (en) | 2019-01-18 |
Family
ID=65056727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811117061.0A Pending CN109228213A (en) | 2018-09-25 | 2018-09-25 | A kind of control rod double operation injection molding mechanical arm teaching machine and its control method |
Country Status (1)
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| CN (1) | CN109228213A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111016107A (en) * | 2019-12-06 | 2020-04-17 | 深圳市山龙智控有限公司 | Injection molding machine mechanical arm demonstration system and demonstration method |
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| CN108021240A (en) * | 2017-12-26 | 2018-05-11 | 欧姆(重庆)电子技术有限公司 | The control system and method for control stick |
| CN209409236U (en) * | 2018-09-25 | 2019-09-20 | 珠海格力电器股份有限公司 | A kind of control rod double operation injection molding mechanical arm teaching machine |
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2018
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08267381A (en) * | 1995-03-30 | 1996-10-15 | Nippon Steel Corp | Robot manual feed control device |
| CN101278244A (en) * | 2005-10-06 | 2008-10-01 | Abb股份有限公司 | Control system and teaching kit for industry robot |
| CN101559601A (en) * | 2009-04-28 | 2009-10-21 | 广州亚陆控制系统有限公司 | Method and system for controlling manipulator |
| CN101999938A (en) * | 2010-10-15 | 2011-04-06 | 上海交通大学 | Manual operating device for bone surgery assisted robot |
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| CN111016107A (en) * | 2019-12-06 | 2020-04-17 | 深圳市山龙智控有限公司 | Injection molding machine mechanical arm demonstration system and demonstration method |
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