CN109571898A - A kind of manipulator of injection machine precision compensation system and method - Google Patents
A kind of manipulator of injection machine precision compensation system and method Download PDFInfo
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- CN109571898A CN109571898A CN201811430037.2A CN201811430037A CN109571898A CN 109571898 A CN109571898 A CN 109571898A CN 201811430037 A CN201811430037 A CN 201811430037A CN 109571898 A CN109571898 A CN 109571898A
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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
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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
- B29C45/78—Measuring, controlling or regulating of temperature
-
- 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
- B29C2945/7604—Temperature
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
The application discloses a kind of manipulator of injection machine precision compensation system and method, it is related to manipulator of injection machine technical field, the manipulator of injection machine precision compensation system on the x-axis crossbeam of manipulator of injection machine by being provided with the first temperature sensor and second temperature sensor, it is provided with third temperature sensor and the 4th temperature sensor on y-axis crossbeam, the 5th temperature sensor and the 6th temperature sensor are provided on z-axis crossbeam；Manipulator Controller obtains the temperature data of each temperature sensor acquisition, and according to the temperature data of each temperature sensor, calculates error of the manipulator of injection machine on x-axis, y-axis, z-axis direction；And accuracy compensation is carried out according to the error on x-axis, y-axis, z-axis direction respectively.The application improves the precision of manipulator of injection machine by compensating to the error that temperature generates.
Description
Technical field
This application involves manipulator of injection machine technical field more particularly to a kind of manipulator of injection machine precision compensation system and
Method.
Background technique
With the fast development of Injection Industry, manipulator of injection machine has become main in modern plastics product manufacturing industry
One of automation equipment.Automation loading and unloading are carried out using manipulator of injection machine, can be improved the quality of plastic products, improve labor
Dynamic condition, guarantees the progress of safety in production, improves production efficiency.
In actual production process, because of reasons such as rail friction and exterior temperature changes, each the zero of manipulator of injection machine
Component generates thermal deformation, causes to generate Thermal Error, influences the positioning accuracy of manipulator, and then influences the quality and production effect of product
Rate.
Summary of the invention
Technical problems to be solved in this application are, manipulator of injection machine in the process of running, because of rail friction and outer
Each components of the reasons such as portion's temperature change, manipulator of injection machine generate thermal deformation, cause to generate Thermal Error, influence manipulator
Positioning accuracy, and then influence the quality and production efficiency of product.
The application solves its technical problem, proposes a kind of manipulator of injection machine precision compensation system and method.Wherein, described
Manipulator of injection machine precision compensation system includes: manipulator of injection machine；The manipulator of injection machine has x-axis crossbeam, y-axis horizontal
Beam, z-axis crossbeam；The first temperature sensor and second temperature sensor are provided on the x-axis crossbeam；It is set on the y-axis crossbeam
It is equipped with third temperature sensor and the 4th temperature sensor；The 5th temperature sensor and the 6th temperature are provided on the z-axis crossbeam
Spend sensor；
Manipulator Controller；The Manipulator Controller obtains the temperature data of each temperature sensor acquisition, and according to
First temperature sensor and the temperature data of second temperature sensor determine the mistake of the manipulator of injection machine in the direction of the x axis
Difference determines the manipulator of injection machine in y-axis direction according to the temperature data of third temperature sensor and the 4th temperature sensor
On error, determine the manipulator of injection machine in z according to the temperature data of the 5th temperature sensor and the 6th temperature sensor
Error in axis direction；And accuracy compensation is carried out according to the error on x-axis, y-axis, z-axis direction respectively.
Optionally, x-axis, y-axis, the error on z-axis direction are specifically sensed according to corresponding temperature by Manipulator Controller respectively
Probability distribution between the temperature data and error and temperature of device measurement determines.
Optionally, the probability distribution between error and temperature is determined according to the experimental data that multiple groups are tested；
Wherein, every group of experimental data includes: error and first of the manipulator of injection machine on x-axis, y-axis, z-axis direction
Temperature sensor, second temperature sensor, third temperature sensor, the 4th temperature sensor, the 5th temperature sensor, the 6th temperature
Spend the temperature data of sensor acquisition.
Optionally, the probability distribution between error and temperature is expressed by following formula:
According to bayesian network structure, error E of the manipulator of injection machine on x-axis, y-axis, z-axis directionx、Ey、EzAnd temperature
Joint probability distribution indicated by following formula:
Wherein, the local joint probability distribution between temperature and error is indicated by formula:
Temperature is indicated the conditional probability distribution of error by following formula:
Error E of the manipulator of injection machine on x-axis, y-axis, z-axis directionx、Ey、EzProbability distribution in its scope of a variable can
Following formula indicates:
Wherein, { 1,2 ... 20 } j=, h={ 1,2 ... 20 }；
Ti(i=1,2 ..., 6) respectively correspond the first temperature sensor, second temperature sensor, third temperature sensor,
The temperature data that four temperature sensors, the 5th temperature sensor, the 6th temperature sensor acquire；Temperature variable domain is { Ti j| j=1,
2 ... 20 }, i.e., temperature is divided into several states；Similarly, the error variance domain of x-axis direction isY-axis
Error variance domain on direction isError variance domain on z-axis direction is Indicate that i-th of temperature sensor temperature value falls in j-th of scope of a variable, while x-axis direction error in experimental data
Fall in the sample size of h-th of scope of a variable；It is similarly availableWith
Optionally, the probability distribution between error and temperature is determined according at least to the experimental data of 400 groups of experiments.
Optionally, in experiment, error of the manipulator of injection machine on x-axis, y-axis, z-axis direction is respectively by x-axis laser position
Displacement sensor, y-axis laser displacement sensor, z-axis laser displacement sensor measurement obtain.
Optionally, the x-axis laser displacement sensor, y-axis laser displacement sensor, z-axis laser displacement sensor difference
It is fixed on corresponding bracket, the bracket fixes on the ground.
Optionally, each temperature sensor and each laser displacement sensor pass through A/D capture card for the signal of acquisition
It is sent to Manipulator Controller.
The manipulator of injection machine precision compensation method is applied to Manipulator Controller, comprising steps of
Obtain the first temperature sensor, second temperature sensor, third temperature sensor, the 4th temperature sensor, the 5th
The temperature data of temperature sensor, the 6th temperature sensor；Wherein, the first temperature sensor and second temperature sensor are installed on
On the x-axis crossbeam of manipulator of injection machine, third temperature sensor and the 4th temperature sensor are installed on the y-axis of manipulator of injection machine
On crossbeam, the 5th temperature sensor and the 6th temperature sensor are installed on the z-axis crossbeam of manipulator of injection machine；
Determine the manipulator of injection machine in x-axis according to the temperature data of the first temperature sensor and second temperature sensor
Error on direction determines the manipulator of injection machine according to the temperature data of third temperature sensor and the 4th temperature sensor
Error in the y-axis direction determines the injection molding machine according to the temperature data of the 5th temperature sensor and the 6th temperature sensor
The error of manipulator in the z-axis direction；
The displacement of x-axis, y-axis, z-axis is compensated according to the error on x-axis, y-axis, z-axis direction.
Optionally, x-axis, y-axis, the error on z-axis direction are specifically sensed according to corresponding temperature by Manipulator Controller respectively
Probability distribution between the temperature data and error and temperature of device measurement determines.
The technical solution of the application on the x-axis crossbeam of manipulator of injection machine by being provided with the first temperature sensor and
Two temperature sensors；Third temperature sensor and the 4th temperature sensor are provided on y-axis crossbeam；Is provided on z-axis crossbeam
Five temperature sensors and the 6th temperature sensor；The Manipulator Controller obtains the temperature number of each temperature sensor acquisition
According to, and determine the manipulator of injection machine in x-axis side according to the temperature data of the first temperature sensor and second temperature sensor
Upward error determines that the manipulator of injection machine exists according to the temperature data of third temperature sensor and the 4th temperature sensor
Error on y-axis direction determines the injection molding machine machine according to the temperature data of the 5th temperature sensor and the 6th temperature sensor
The error of tool hand in the z-axis direction；And accuracy compensation is carried out according to the error on x-axis, y-axis, z-axis direction respectively.By to temperature
The error that degree generates compensates, and improves the precision of manipulator of injection machine.
In addition, the manipulator of injection machine precision compensation system that the application proposes is simplified and stablized in structure, it is suitable for real
The environment of border production.In addition, the application is compensated by software approach, also it is relatively easy in maintenance and upgrade.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of manipulator of injection machine precision compensation system shown according to an exemplary embodiment.
Fig. 2 is a kind of flow chart of manipulator of injection machine precision compensation method shown according to an exemplary embodiment.
Specific embodiment
It is the specific embodiment of the application and in conjunction with attached drawing below, the technical solution of the application is further described,
But the application is not limited to these examples.
It is also understood that specific embodiment described herein is used only for understanding the application, it is not used to limit this Shen
Please.
Fig. 1 is a kind of schematic diagram of manipulator of injection machine precision compensation system shown according to an exemplary embodiment.
As shown, the manipulator of injection machine precision compensation system includes: manipulator of injection machine；The injection molding machine is mechanical
Hand has x-axis crossbeam 2, y-axis crossbeam 16, z-axis crossbeam 9；The first temperature sensor 1 and the second temperature are provided on the x-axis crossbeam 2
Spend sensor 3；Third temperature sensor 15 and the 4th temperature sensor 17 are provided on the y-axis crossbeam 16；The z-axis crossbeam
The 5th temperature sensor 8 and the 6th temperature sensor 10 are provided on 9；
Manipulator Controller 4；The Manipulator Controller 4 obtains the temperature data of each temperature sensor acquisition, and root
Determine the manipulator of injection machine in the direction of the x axis according to the temperature data of the first temperature sensor 1 and second temperature sensor 3
Error determines the manipulator of injection machine in y according to the temperature data of third temperature sensor 15 and the 4th temperature sensor 17
Error in axis direction determines the injection molding machine according to the temperature data of the 5th temperature sensor 8 and the 6th temperature sensor 10
The error of manipulator in the z-axis direction；And accuracy compensation is carried out according to the error on x-axis, y-axis, z-axis direction respectively.
It should be noted that temperature change can make manipulator of injection machine generate error on direction in x-axis, y-axis, z-axis；It can
According to the temperature on x-axis crossbeam 2, y-axis crossbeam 16, z-axis crossbeam 9 respectively to manipulator of injection machine on x-axis, y-axis, z-axis direction
Error estimated.Wherein, the relationship expression between temperature and error can be obtained by experimental method.
It is illustrated by taking the error in x-axis direction as an example below, it is necessary first to determine the first temperature sensor 1 and the second temperature
The relationship of the error on the temperature data and x-axis direction of sensor 3 is spent, so that Manipulator Controller 4 is according to the temperature data, really
Determine the error in x-axis direction.
The relationship of first temperature sensor 1 and the error on the temperature data and x-axis direction of second temperature sensor 3 needs
Data obtain through a large number of experiments；The first temperature sensor 1, second temperature sensor 3 can be established by experimental data
Temperature data and x-axis direction on error probability distribution.When manipulator of injection machine operation, manipulator of injection machine controller
4, according to the temperature data and above-mentioned probability distribution of the first temperature sensor 1 and second temperature sensor 3, determine injection molding machine
The error of manipulator in the direction of the x axis.
In addition, manipulator of injection machine is mainly caused by the temperature change on X-axis crossbeam 2 in the error of x-axis direction；Therefore,
In the error for determining X-direction, it is only necessary to consider the temperature data of the first temperature sensor 1 and second temperature sensor 3.Phase
Ying Di, the error on y-axis direction are corresponding with the temperature data of third temperature sensor 15, the 4th temperature sensor 17；Z-axis direction
On error it is corresponding with the 5th temperature sensor 8, the temperature data of the 6th temperature sensor 10.
It is compensated by the displacement to x-axis, y-axis, z-axis, temperature change can be reduced to the shadow of manipulator of injection machine precision
It rings, improves the running precision of manipulator of injection machine.
Specifically, manipulator of injection machine is respectively as follows: x, y, z in the displacement of x-axis, y-axis, z-axis；Manipulator of injection machine x-axis,
Y-axis, the error in z-axis direction are as follows: Δ x, Δ y, Δ z；After compensation are as follows: x+ Δ x, y+ Δ y, z+ Δ z；4 basis of Manipulator Controller
Compensated shift value is run.
In the embodiment of the present application, x-axis, y-axis, the error on z-axis direction are specifically by Manipulator Controller 4 respectively according to right
The probability distribution between the temperature data and error and temperature of temperature sensor measurement is answered to determine.
It should be noted that since temperature change can make manipulator of injection machine generate mistake on x-axis, y-axis, z-axis direction
Difference；Error in x-axis is related to the first temperature sensor 1, the temperature data of second temperature sensor 3, can be tested by multiple groups
Determine the error in x-axis and the first temperature sensor 1, second temperature sensor 3 temperature data between probability distribution.It is similar
Ground, it is also necessary to the temperature of the error and third temperature sensor 15, the 4th temperature sensor 17 on y-axis direction is obtained by experiment
The temperature of the error and the 5th temperature sensor 8, the 6th temperature sensor 10 in probability distribution and z-axis direction between data
Probability distribution between data.
In the embodiment of the present application, the probability distribution between error and temperature is determined according to the experimental data that multiple groups are tested；
Wherein, every group of experimental data includes: error and first of the manipulator of injection machine on x-axis, y-axis, z-axis direction
Temperature sensor 1, second temperature sensor 3, third temperature sensor 15, the 4th temperature sensor 17, the 5th temperature sensor
8, the temperature data of the 6th temperature sensor 10 acquisition.
In the embodiment of the present application, experimental data of the probability distribution between error and temperature according at least to 400 groups of experiments
It determines.It should be noted that the group number of experiment is more, the probability distribution of acquisition is more accurate.
In the embodiment of the present application, experiment when, error of the manipulator of injection machine on x-axis, y-axis, z-axis direction respectively by
X-axis laser displacement sensor 7, y-axis laser displacement sensor 14, the measurement of z-axis laser displacement sensor 12 obtain.
In the embodiment of the present application, the x-axis laser displacement sensor 7, y-axis laser displacement sensor 14, z-axis laser position
Displacement sensor 12 is separately fixed on corresponding bracket, and the bracket fixes on the ground.
Specifically, x-axis laser displacement sensor 7, y-axis laser displacement sensor 14, z-axis laser displacement sensor 12, point
It is not installed on the first mounting bracket 6, the second mounting bracket 13, in third mounting bracket 11.
In the embodiment of the present application, each temperature sensor and each laser displacement sensor will by A/D capture card
The signal of acquisition is sent to Manipulator Controller.
Specifically, the first temperature sensor 1, second temperature sensor 3, third temperature sensor 15, the 4th temperature sensing
Device 17, the 5th temperature sensor 8, the 6th temperature sensor 10 and x-axis laser displacement sensor 7, y-axis laser displacement sensing
Device 14, z-axis laser displacement sensor 12 signal output port be connected to signal acquisition module A/D capture card 5 analog quantity it is defeated
The analog signal of inbound port, 5 pairs of A/D capture card inputs carries out high-speed a/d conversion, is transmitted signal by bus after converting
To the Manipulator Controller 4 of injection molding machine.Further, the data processing module in Manipulator Controller 4 is filtered signal
Processing acquires the electromagnetic interference and noise jamming of signal to eliminate, and the filtering processing uses median average filter algorithm.
The processing to above-mentioned experimental data can be completed in Manipulator Controller 4, and is established general between error and temperature
Rate distributed model.I.e. Manipulator Controller 4 constantly acquires experimental data and establishes the probability Distribution Model between error and temperature.
In the embodiment of the present application, the bayesian network structure between error and temperature is established；Bayesian network structure is built
After vertical, the experimental data of acquisition is input in Bayesian network, and Bayesian network is trained study by experimental data, constantly
Rolling optimization is carried out, so that accuracy compensation model meets the characteristic of manipulator of injection machine, and then improves manipulator of injection machine precision
The accuracy of compensation model.After the completion of Bayesian network training, quantity of the experimental data in each scope of a variable is obtained,Indicate that i-th of temperature sensor temperature value falls in j-th of scope of a variable, while x-axis direction error in experimental data
Value falls in the sample size of h-th of scope of a variable, similarly availableWith
In the embodiment of the present application, the probability distribution between error and temperature is expressed by following formula:
According to bayesian network structure, error E of the manipulator of injection machine on x-axis, y-axis, z-axis directionx、Ey、EzAnd temperature
Joint probability distribution indicated by following formula:
Wherein, the local joint probability distribution between temperature and error is indicated by formula:
Temperature is indicated the conditional probability distribution of error by following formula:
Error E of the manipulator of injection machine on x-axis, y-axis, z-axis directionx、Ey、EzProbability distribution in its scope of a variable can
Following formula indicates:
Wherein, { 1,2 ... 20 } j=, h={ 1,2 ... 20 }；
Ti(i=1,2 ..., 6) respectively correspond the first temperature sensor 1, second temperature sensor 3, third temperature sensor
15, the temperature data that the 4th temperature sensor 17, the 5th temperature sensor 8, the 6th temperature sensor 10 acquire；Temperature variable domain
For { Ti j| j=1,2 ... 20 }, i.e., temperature is divided into several states；Similarly, the error variance domain of x-axis direction isError variance domain on y-axis direction isError on z-axis direction
Scope of a variable is Indicate that i-th of temperature sensor temperature value falls in the in experimental data
J scope of a variable, while x-axis direction error falls in the sample size of h-th of scope of a variable；It is similarly availableWith
According to above-mentioned new probability formula, error E of the manipulator of injection machine on x-axis, y-axis, z-axis direction is predictedx、Ey、
Ez。
Manipulator of injection machine precision compensation system shown in the embodiment of the present application is mechanical by software real-time compensation injection molding machine
The running precision of manipulator greatly improved in the error of hand.In addition, compensation process is mainly realized by software form, convenient for dimension
Shield and upgrading.
Fig. 2 is the flow chart of manipulator of injection machine precision compensation method shown according to an exemplary embodiment.The note
Molding machine Manipulator Accuracy compensation method is applied to Manipulator Controller, comprising steps of
Step S201 obtains the first temperature sensor, second temperature sensor, third temperature sensor, the 4th temperature and passes
Sensor, the 5th temperature sensor, the 6th temperature sensor temperature data；Wherein, the first temperature sensor and second temperature pass
Sensor is installed on the x-axis crossbeam of manipulator of injection machine, and third temperature sensor and the 4th temperature sensor are installed on injection molding machine
On the y-axis crossbeam of manipulator, the 5th temperature sensor and the 6th temperature sensor are installed on the z-axis crossbeam of manipulator of injection machine
On.
Step S202 determines the injection molding machine machine according to the temperature data of the first temperature sensor and second temperature sensor
The error of tool hand in the direction of the x axis determines the note according to the temperature data of third temperature sensor and the 4th temperature sensor
The error of molding machine manipulator in the y-axis direction is determined according to the temperature data of the 5th temperature sensor and the 6th temperature sensor
The error of the manipulator of injection machine in the z-axis direction.
Step S203 compensates the displacement of x-axis, y-axis, z-axis according to the error on x-axis, y-axis, z-axis direction.
In the embodiment of the present application, x-axis, y-axis, the error on z-axis direction are specifically by Manipulator Controller respectively according to right
The probability distribution between the temperature data and error and temperature of temperature sensor measurement is answered to determine.
It should be noted that since the corresponding manipulator of injection machine precision compensation method of Fig. 2 and injection molding machine above-mentioned are mechanical
Hand precision compensation system is corresponding, and concrete kind, which holds, refers to manipulator of injection machine precision compensation system above-mentioned, does not do here excessive
Repeat.
It should be noted that temperature sensor includes: the first temperature sensor 1, second temperature sensor 3, third temperature
Sensor 15, the 4th temperature sensor 17, the 5th temperature sensor 8, the 6th temperature sensor 10 are in x-axis crossbeam 2, y-axis crossbeam
16, the installation site on z-axis crossbeam 9 can determines according to actual conditions, and the application does not carry out its specific installation site specific
Restriction.
In addition, the installation of x-axis laser displacement sensor 7, y-axis laser displacement sensor 14, z-axis laser displacement sensor 12
Position meets measurement demand.
Currently, there is no the methods compensated to manipulator of injection machine precision therefore to develop one kind in related fields
Manipulator of injection machine precision compensation method has the manipulator of injection machine of research high precision int and high efficiency very important
Meaning.
In embodiment provided herein, it should be appreciated that described method and system is all schematically, in reality
By adjusting can difference in the implementation process of border.
Specific embodiment described herein is only to give an example to the application spirit.The affiliated technology neck of the application
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
Generation, but without departing from spirit herein or beyond the scope of the appended claims.
Claims (10)
1. a kind of manipulator of injection machine precision compensation system, which is characterized in that the manipulator of injection machine precision compensation system packet
It includes: manipulator of injection machine；The manipulator of injection machine has x-axis crossbeam, y-axis crossbeam, z-axis crossbeam；It is arranged on the x-axis crossbeam
There are the first temperature sensor and second temperature sensor；Third temperature sensor and the 4th temperature are provided on the y-axis crossbeam
Sensor；The 5th temperature sensor and the 6th temperature sensor are provided on the z-axis crossbeam；
Manipulator Controller；The Manipulator Controller obtains the temperature data of each temperature sensor acquisition, and according to first
Temperature sensor and the temperature data of second temperature sensor determine the error of the manipulator of injection machine in the direction of the x axis, root
The mistake of the manipulator of injection machine in the y-axis direction is determined according to the temperature data of third temperature sensor and the 4th temperature sensor
Difference determines the manipulator of injection machine in z-axis direction according to the temperature data of the 5th temperature sensor and the 6th temperature sensor
On error；And accuracy compensation is carried out according to the error on x-axis, y-axis, z-axis direction respectively.
2. manipulator of injection machine precision compensation system according to claim 1, which is characterized in that x-axis, y-axis, z-axis direction
On error specifically by Manipulator Controller respectively according to the temperature data of corresponding temperature sensor measurement and error and temperature
Between probability distribution determine.
3. manipulator of injection machine precision compensation system according to claim 2, which is characterized in that between error and temperature
Probability distribution is determined according to the experimental data that multiple groups are tested；
Wherein, every group of experimental data includes: error and first temperature of the manipulator of injection machine on x-axis, y-axis, z-axis direction
Sensor, second temperature sensor, third temperature sensor, the 4th temperature sensor, the 5th temperature sensor, the 6th temperature pass
The temperature data of sensor acquisition.
4. manipulator of injection machine precision compensation system according to claim 3, which is characterized in that between error and temperature
Probability distribution is expressed by following formula:
According to bayesian network structure, error E of the manipulator of injection machine on x-axis, y-axis, z-axis directionx、Ey、EzWith the connection of temperature
Close probability distribution is indicated by following formula:
Wherein, the local joint probability distribution between temperature and error is indicated by formula:
Temperature is indicated the conditional probability distribution of error by following formula:
Error E of the manipulator of injection machine on x-axis, y-axis, z-axis directionx、Ey、EzProbability distribution in its scope of a variable can be as follows
Formula indicates:
Wherein, { 1,2 ... 20 } j=, h={ 1,2 ... 20 }；
Ti(i=1,2 ..., 6) respectively correspond the first temperature sensor, second temperature sensor, third temperature sensor, the 4th temperature
Spend the temperature data that sensor, the 5th temperature sensor, the 6th temperature sensor acquire；Temperature variable domain is { Ti j| j=1,
2 ... 20 }, i.e., temperature is divided into several states；Similarly, the error variance domain of x-axis direction isY-axis
Error variance domain on direction isError variance domain on z-axis direction is Indicate that i-th of temperature sensor temperature value falls in j-th of scope of a variable, while x-axis direction error in experimental data
Fall in the sample size of h-th of scope of a variable；It is similarly availableWith
5. manipulator of injection machine precision compensation system according to claim 3, which is characterized in that between error and temperature
Probability distribution is determined according at least to the experimental data of 400 groups of experiments.
6. manipulator of injection machine precision compensation system according to claim 3, which is characterized in that in experiment, injection molding machine
Error of the manipulator on x-axis, y-axis, z-axis direction is respectively by x-axis laser displacement sensor, y-axis laser displacement sensor, z-axis
Laser displacement sensor measurement obtains.
7. manipulator of injection machine precision compensation system according to claim 6, which is characterized in that the x-axis laser displacement
Sensor, y-axis laser displacement sensor, z-axis laser displacement sensor are separately fixed on corresponding bracket, and the bracket is fixed
On the ground.
8. manipulator of injection machine precision compensation system according to claim 7, which is characterized in that each temperature sensor with
And the signal of acquisition is sent to Manipulator Controller by A/D capture card by each laser displacement sensor.
9. a kind of manipulator of injection machine precision compensation method, which is characterized in that the manipulator of injection machine precision compensation method is answered
For Manipulator Controller, comprising steps of
Obtain the first temperature sensor, second temperature sensor, third temperature sensor, the 4th temperature sensor, the 5th temperature
The temperature data of sensor, the 6th temperature sensor；Wherein, the first temperature sensor and second temperature sensor are installed on injection molding
On the x-axis crossbeam of machine manipulator, third temperature sensor and the 4th temperature sensor are installed on the y-axis crossbeam of manipulator of injection machine
On, the 5th temperature sensor and the 6th temperature sensor are installed on the z-axis crossbeam of manipulator of injection machine；
Determine the manipulator of injection machine in x-axis direction according to the temperature data of the first temperature sensor and second temperature sensor
On error, determine the manipulator of injection machine in y according to the temperature data of third temperature sensor and the 4th temperature sensor
Error in axis direction determines that the injection molding machine is mechanical according to the temperature data of the 5th temperature sensor and the 6th temperature sensor
The error of hand in the z-axis direction；
The displacement of x-axis, y-axis, z-axis is compensated according to the error on x-axis, y-axis, z-axis direction.
10. manipulator of injection machine precision compensation method according to claim 9, which is characterized in that x-axis, y-axis, z-axis direction
On error specifically by Manipulator Controller respectively according to the temperature data of corresponding temperature sensor measurement and error and temperature
Between probability distribution determine.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811430037.2A CN109571898B (en) | 2018-11-28 | 2018-11-28 | Precision compensation system and method for manipulator of injection molding machine |
| PCT/CN2019/106955 WO2020108039A1 (en) | 2018-11-28 | 2019-09-20 | Precision compensation system and method for mechanical arm of injection molding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811430037.2A CN109571898B (en) | 2018-11-28 | 2018-11-28 | Precision compensation system and method for manipulator of injection molding machine |
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| Publication Number | Publication Date |
|---|---|
| CN109571898A true CN109571898A (en) | 2019-04-05 |
| CN109571898B CN109571898B (en) | 2020-03-20 |
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| CN201811430037.2A Active CN109571898B (en) | 2018-11-28 | 2018-11-28 | Precision compensation system and method for manipulator of injection molding machine |
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| CN (1) | CN109571898B (en) |
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Cited By (4)
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| CN114654684A (en) * | 2022-03-29 | 2022-06-24 | 艾尔发智能科技股份有限公司 | Preparation method of longitudinal-moving type multi-shaft long-stroke injection molding manipulator and product |
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| CN118106976B (en) * | 2024-04-30 | 2024-06-28 | 深圳市博硕科技股份有限公司 | Control method and system of manipulator for injection molding machine |
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