CN109571898B - Precision compensation system and method for manipulator of injection molding machine - Google Patents

Precision compensation system and method for manipulator of injection molding machine Download PDF

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CN109571898B
CN109571898B CN201811430037.2A CN201811430037A CN109571898B CN 109571898 B CN109571898 B CN 109571898B CN 201811430037 A CN201811430037 A CN 201811430037A CN 109571898 B CN109571898 B CN 109571898B
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temperature sensor
injection molding
temperature
molding machine
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CN109571898A (en
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汤海天
钟辉
张晓辉
王李锋
马超
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Ningbo Anxin CNC Technology Co Ltd
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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
    • 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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  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)

Abstract

The application discloses a precision compensation system and a method for a manipulator of an injection molding machine, which relate to the technical field of manipulators of the injection molding machine, wherein a first temperature sensor and a second temperature sensor are arranged on an x-axis beam of the manipulator of the injection molding machine, a third temperature sensor and a fourth temperature sensor are arranged on a y-axis beam, and a fifth temperature sensor and a sixth temperature sensor are arranged on a z-axis beam; the manipulator controller acquires temperature data acquired by each temperature sensor, and calculates errors of the manipulator of the injection molding machine in the directions of an x axis, a y axis and a z axis according to the temperature data of each temperature sensor; and respectively carrying out precision compensation according to errors in the directions of the x axis, the y axis and the z axis. This application has improved the precision of injection molding machine manipulator through compensating the error that the temperature produced.

Description

Precision compensation system and method for manipulator of injection molding machine
Technical Field
The application relates to the technical field of injection molding machine manipulators, in particular to a precision compensation system and method for the injection molding machine manipulator.
Background
With the rapid development of the injection molding industry, the manipulator of the injection molding machine has become one of the main automation devices in the modern plastic product manufacturing industry. The injection molding machine manipulator is used for automatic feeding and discharging, so that the quality of plastic products can be improved, the labor condition is improved, the safe production is ensured, and the production efficiency is improved.
In the actual production process, due to reasons such as guide rail friction, external temperature change and the like, each part of the manipulator of the injection molding machine generates thermal deformation, so that thermal errors are generated, the positioning precision of the manipulator is influenced, and the quality and the production efficiency of products are further influenced.
Disclosure of Invention
The technical problem that this application will be solved lies in, injection molding machine manipulator is at the operation in-process, because of reasons such as guide rail friction and outside temperature variation, each spare part of injection molding machine manipulator produces the heat altered shape, leads to producing the thermal error, influences the positioning accuracy of manipulator, and then influences the quality and the production efficiency of product.
The application solves the technical problem and provides a precision compensation system and method for a manipulator of an injection molding machine. Wherein, injection molding machine manipulator precision compensation system includes: an injection molding machine manipulator; the injection molding machine manipulator is provided with an x-axis beam, a y-axis beam and a z-axis beam; a first temperature sensor and a second temperature sensor are arranged on the x-axis beam; a third temperature sensor and a fourth temperature sensor are arranged on the y-axis beam; a fifth temperature sensor and a sixth temperature sensor are arranged on the z-axis beam;
a manipulator controller; the manipulator controller acquires temperature data acquired by each temperature sensor, determines the error of the manipulator of the injection molding machine in the x-axis direction according to the temperature data of the first temperature sensor and the second temperature sensor, determines the error of the manipulator of the injection molding machine in the y-axis direction according to the temperature data of the third temperature sensor and the fourth temperature sensor, and determines the error of the manipulator of the injection molding machine in the z-axis direction according to the temperature data of the fifth temperature sensor and the sixth temperature sensor; and respectively carrying out precision compensation according to errors in the directions of the x axis, the y axis and the z axis.
Optionally, the errors in the x-axis, y-axis and z-axis directions are specifically determined by the robot controller according to the temperature data measured by the corresponding temperature sensors and the probability distribution between the errors and the temperatures, respectively.
Optionally, the probability distribution between error and temperature is determined from experimental data of multiple sets of experiments;
wherein each set of experimental data comprises: errors of the mechanical arm of the injection molding machine in the directions of an x axis, a y axis and a z axis, and temperature data collected by the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, the fifth temperature sensor and the sixth temperature sensor.
Optionally, the probability distribution between error and temperature is expressed by the following equation:
according to the Bayesian network structure, the manipulator of the injection molding machine is arranged in the directions of x axis, y axis and z axisError E ofx、Ey、EzAnd temperature by the following equation:
Figure BDA0001882476920000021
Figure BDA0001882476920000022
Figure BDA0001882476920000023
wherein the local joint probability distribution between temperature and error is formulated as:
Figure BDA0001882476920000031
Figure BDA0001882476920000032
Figure BDA0001882476920000033
the conditional probability distribution of temperature versus error is represented by the following equation:
Figure BDA0001882476920000034
Figure BDA0001882476920000035
Figure BDA0001882476920000036
errors E of mechanical arm of injection molding machine in directions of x axis, y axis and z axisx、Ey、EzThe probability distribution in its variable domain can be formulated as follows:
Figure BDA0001882476920000037
Figure BDA0001882476920000038
Figure BDA0001882476920000039
wherein, j is {1,2, … 20}, and h is {1,2, … 20 };
Ti(i 1,2, …,6) respectively correspond to the temperature data collected by the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, the fifth temperature sensor and the sixth temperature sensor; temperature variable domain is { Ti j1,2, … 20}, i.e., the temperature is divided into several states; similarly, the error variable domain in the x-axis direction is
Figure BDA0001882476920000041
The error variable field in the y-axis direction is
Figure BDA0001882476920000042
The error variable field in the z-axis direction is
Figure BDA0001882476920000043
Figure BDA0001882476920000044
The sample number of the temperature value of the ith temperature sensor falling in the jth variable domain and the error of the x-axis direction falling in the h variable domain in the experimental data is represented; by the same token can obtain
Figure BDA0001882476920000045
And
Figure BDA0001882476920000046
optionally, the probability distribution between error and temperature is determined from experimental data of at least 400 sets of experiments.
Optionally, during the experiment, errors of the manipulator of the injection molding machine in the directions of the x axis, the y axis and the z axis are measured by the x axis laser displacement sensor, the y axis laser displacement sensor and the z axis laser displacement sensor respectively.
Optionally, the x-axis laser displacement sensor, the y-axis laser displacement sensor, and the z-axis laser displacement sensor are respectively fixed to corresponding supports, and the supports are fixed to the ground.
Optionally, each temperature sensor and each laser displacement sensor transmit the acquired signal to the manipulator controller through an a/D acquisition card.
The precision compensation method for the manipulator of the injection molding machine is applied to a manipulator controller and comprises the following steps:
acquiring temperature data of a first temperature sensor, a second temperature sensor, a third temperature sensor, a fourth temperature sensor, a fifth temperature sensor and a sixth temperature sensor; the first temperature sensor and the second temperature sensor are mounted on an x-axis beam of the injection molding machine manipulator, the third temperature sensor and the fourth temperature sensor are mounted on a y-axis beam of the injection molding machine manipulator, and the fifth temperature sensor and the sixth temperature sensor are mounted on a z-axis beam of the injection molding machine manipulator;
determining the error of the mechanical arm of the injection molding machine in the direction of the x axis according to the temperature data of the first temperature sensor and the second temperature sensor, determining the error of the mechanical arm of the injection molding machine in the direction of the y axis according to the temperature data of the third temperature sensor and the fourth temperature sensor, and determining the error of the mechanical arm of the injection molding machine in the direction of the z axis according to the temperature data of the fifth temperature sensor and the sixth temperature sensor;
and compensating the displacement of the x axis, the y axis and the z axis according to the errors in the directions of the x axis, the y axis and the z axis.
Optionally, the errors in the x-axis, y-axis and z-axis directions are specifically determined by the robot controller according to the temperature data measured by the corresponding temperature sensors and the probability distribution between the errors and the temperatures, respectively.
According to the technical scheme, a first temperature sensor and a second temperature sensor are arranged on an x-axis beam of a manipulator of the injection molding machine; a third temperature sensor and a fourth temperature sensor are arranged on the y-axis beam; a fifth temperature sensor and a sixth temperature sensor are arranged on the z-axis beam; the manipulator controller acquires temperature data acquired by each temperature sensor, determines the error of the manipulator of the injection molding machine in the x-axis direction according to the temperature data of the first temperature sensor and the second temperature sensor, determines the error of the manipulator of the injection molding machine in the y-axis direction according to the temperature data of the third temperature sensor and the fourth temperature sensor, and determines the error of the manipulator of the injection molding machine in the z-axis direction according to the temperature data of the fifth temperature sensor and the sixth temperature sensor; and respectively carrying out precision compensation according to errors in the directions of the x axis, the y axis and the z axis. Through compensating the error that the temperature produced, improved the precision of injection molding machine manipulator.
In addition, the injection molding machine manipulator precision compensation system that this application provided is structurally retrencied and stable, is applicable to the environment of actual production. In addition, the method and the system compensate through a software method, and are easy to maintain and upgrade.
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FIG. 1 is a schematic diagram illustrating an injection molding machine robot precision compensation system according to an exemplary embodiment.
Fig. 2 is a flow chart illustrating a method of precision compensation for an injection molding machine robot in accordance with an exemplary embodiment.
Detailed Description
The following are specific embodiments of the present application and are further described with reference to the drawings, but the present application is not limited to these embodiments.
It should also be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
FIG. 1 is a schematic diagram illustrating an injection molding machine robot precision compensation system according to an exemplary embodiment.
As shown in the figure, the precision compensation system of the manipulator of the injection molding machine comprises: an injection molding machine manipulator; the injection molding machine manipulator is provided with an x-axis beam 2, a y-axis beam 16 and a z-axis beam 9; a first temperature sensor 1 and a second temperature sensor 3 are arranged on the x-axis beam 2; a third temperature sensor 15 and a fourth temperature sensor 17 are arranged on the y-axis beam 16; a fifth temperature sensor 8 and a sixth temperature sensor 10 are arranged on the z-axis beam 9;
a manipulator controller 4; the manipulator controller 4 acquires temperature data acquired by each temperature sensor, determines the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor 1 and the second temperature sensor 3, determines the error of the injection molding machine manipulator in the y-axis direction according to the temperature data of the third temperature sensor 15 and the fourth temperature sensor 17, and determines the error of the injection molding machine manipulator in the z-axis direction according to the temperature data of the fifth temperature sensor 8 and the sixth temperature sensor 10; and respectively carrying out precision compensation according to errors in the directions of the x axis, the y axis and the z axis.
It should be noted that temperature changes can cause errors in x-axis, y-axis and z-axis directions of the manipulator of the injection molding machine; the errors of the manipulator of the injection molding machine in the directions of the x axis, the y axis and the z axis can be estimated according to the temperatures of the x axis beam 2, the y axis beam 16 and the z axis beam 9. Wherein the expression of the relationship between the temperature and the error can be obtained by an experimental method.
To explain the error in the x-axis direction as an example, it is first necessary to determine the relationship between the temperature data of the first temperature sensor 1 and the second temperature sensor 3 and the error in the x-axis direction so that the robot controller 4 can determine the error in the x-axis direction based on the temperature data.
The relationship between the temperature data of the first temperature sensor 1 and the second temperature sensor 3 and the error in the x-axis direction needs to be obtained through a large amount of experimental data; namely, the probability distribution of the temperature data of the first temperature sensor 1 and the second temperature sensor 3 and the error in the x-axis direction can be established through experimental data. When the injection molding machine manipulator operates, the injection molding machine manipulator controller 4 determines the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor 1 and the second temperature sensor 3 and the probability distribution.
In addition, the error of the manipulator of the injection molding machine in the X-axis direction is mainly caused by the temperature change on the X-axis beam 2; therefore, only the temperature data of the first temperature sensor 1 and the second temperature sensor 3 need to be considered in determining the error in the X-axis direction. Accordingly, the error in the y-axis direction corresponds to the temperature data of the third temperature sensor 15 and the fourth temperature sensor 17; the error in the z-axis direction corresponds to the temperature data of the fifth temperature sensor 8 and the sixth temperature sensor 10.
By compensating the displacement of the x axis, the y axis and the z axis, the influence of temperature change on the precision of the manipulator of the injection molding machine can be reduced, and the operation precision of the manipulator of the injection molding machine is improved.
Specifically, the displacements of the manipulator of the injection molding machine in the x axis, the y axis and the z axis are respectively as follows: x, y, z; the errors of the manipulator of the injection molding machine in the directions of the x axis, the y axis and the z axis are as follows: Δ x, Δ y, Δ z; after compensation, the following steps are carried out: x + Δ x, y + Δ y, z + Δ z; the robot controller 4 operates according to the compensated displacement value.
In the embodiment of the present application, the errors in the x-axis, y-axis, and z-axis directions are specifically determined by the robot controller 4 according to the temperature data measured by the corresponding temperature sensor, and the probability distribution between the errors and the temperatures, respectively.
It should be noted that, due to the temperature change, errors may be generated in the x-axis, y-axis, and z-axis directions by the manipulator of the injection molding machine; the error on the x-axis is related to the temperature data of the first temperature sensor 1 and the second temperature sensor 3, and the probability distribution between the error on the x-axis and the temperature data of the first temperature sensor 1 and the second temperature sensor 3 can be determined through multiple sets of experiments. Similarly, it is also necessary to obtain a probability distribution between the error in the y-axis direction and the temperature data of the third temperature sensor 15 and the fourth temperature sensor 17 and a probability distribution between the error in the z-axis direction and the temperature data of the fifth temperature sensor 8 and the sixth temperature sensor 10 through experiments.
In the embodiment of the application, the probability distribution between the error and the temperature is determined according to experimental data of a plurality of groups of experiments;
wherein each set of experimental data comprises: errors of the mechanical arm of the injection molding machine in the directions of an x axis, a y axis and a z axis, and temperature data collected by the first temperature sensor 1, the second temperature sensor 3, the third temperature sensor 15, the fourth temperature sensor 17, the fifth temperature sensor 8 and the sixth temperature sensor 10.
In an embodiment of the present application, the probability distribution between error and temperature is determined at least from experimental data of 400 sets of experiments. It should be noted that, the more the number of groups of the experiment is, the more accurate the obtained probability distribution is.
In the embodiment of the application, during the experiment, the errors of the manipulator of the injection molding machine in the directions of the x axis, the y axis and the z axis are respectively measured by the x axis laser displacement sensor 7, the y axis laser displacement sensor 14 and the z axis laser displacement sensor 12.
In the embodiment of the present application, the x-axis laser displacement sensor 7, the y-axis laser displacement sensor 14, and the z-axis laser displacement sensor 12 are respectively fixed on corresponding supports, and the supports are fixed on the ground.
Specifically, the x-axis laser displacement sensor 7, the y-axis laser displacement sensor 14, and the z-axis laser displacement sensor 12 are respectively mounted on the first mounting bracket 6, the second mounting bracket 13, and the third mounting bracket 11.
In the embodiment of the application, the collected signals of each temperature sensor and each laser displacement sensor are transmitted to the manipulator controller through an A/D (analog/digital) collecting card.
Specifically, the signal output ports of the first temperature sensor 1, the second temperature sensor 3, the third temperature sensor 15, the fourth temperature sensor 17, the fifth temperature sensor 8, the sixth temperature sensor 10, the x-axis laser displacement sensor 7, the y-axis laser displacement sensor 14, and the z-axis laser displacement sensor 12 are connected to an analog input port of an a/D acquisition card 5 of the signal acquisition module, the a/D acquisition card 5 performs high-speed a/D conversion on the input analog signal, and after the conversion is completed, the signal is transmitted to a manipulator controller 4 of the injection molding machine through a bus. Further, the data processing module in the manipulator controller 4 performs filtering processing on the signals to eliminate electromagnetic interference and noise interference of the acquired signals, wherein the filtering processing adopts a median average filtering algorithm.
The processing of the above experimental data can be done in the manipulator controller 4 and a probability distribution model between the error and the temperature can be established. That is, the manipulator controller 4 continuously collects experimental data and establishes a probability distribution model between the error and the temperature.
In the embodiment of the application, a Bayesian network structure between the error and the temperature is established; after the Bayesian network structure is established, acquired experimental data are input into the Bayesian network, the Bayesian network trains and learns through the experimental data and continuously performs rolling optimization, so that the precision compensation model accords with the characteristics of the injection molding machine manipulator, and the accuracy of the precision compensation model of the injection molding machine manipulator is improved. After the Bayesian network training is completed, the number of the experimental data in each variable domain is obtained,
Figure BDA0001882476920000091
the number of samples which indicate that the temperature value of the ith temperature sensor in the experimental data falls in the jth variable domain and the error value of the x-axis direction falls in the h variable domain can be obtained by the same method
Figure BDA0001882476920000093
And
Figure BDA0001882476920000092
in the embodiment of the present application, the probability distribution between the error and the temperature is expressed by the following formula:
according to the Bayesian network structure, errors E of the mechanical arm of the injection molding machine in the directions of the x axis, the y axis and the z axisx、Ey、EzAnd temperature by the following equation:
Figure BDA0001882476920000101
Figure BDA0001882476920000102
Figure BDA0001882476920000103
wherein the local joint probability distribution between temperature and error is formulated as:
Figure BDA0001882476920000104
Figure BDA0001882476920000105
Figure BDA0001882476920000106
the conditional probability distribution of temperature versus error is represented by the following equation:
Figure BDA0001882476920000107
Figure BDA0001882476920000108
Figure BDA0001882476920000109
errors E of mechanical arm of injection molding machine in directions of x axis, y axis and z axisx、Ey、EzThe probability distribution in its variable domain can be formulated as follows:
Figure BDA0001882476920000111
Figure BDA0001882476920000112
Figure BDA0001882476920000113
wherein, j is {1,2, … 20}, and h is {1,2, … 20 };
Ti(i 1,2, …,6) respectively correspond to the temperature data collected by the first temperature sensor 1, the second temperature sensor 3, the third temperature sensor 15, the fourth temperature sensor 17, the fifth temperature sensor 8, and the sixth temperature sensor 10; temperature variable domain is { Ti j1,2, … 20}, i.e., the temperature is divided into several states; similarly, the error variable domain in the x-axis direction is
Figure BDA0001882476920000114
The error variable field in the y-axis direction is
Figure BDA0001882476920000115
The error variable field in the z-axis direction is
Figure BDA0001882476920000116
Figure BDA0001882476920000117
The sample number of the temperature value of the ith temperature sensor falling in the jth variable domain and the error of the x-axis direction falling in the h variable domain in the experimental data is represented; by the same token can obtain
Figure BDA0001882476920000118
And
Figure BDA0001882476920000119
according to the probability formula, the errors E of the manipulator of the injection molding machine in the directions of the x axis, the y axis and the z axis are predictedx、Ey、Ez。
The precision compensation system for the manipulator of the injection molding machine, disclosed by the embodiment of the application, compensates errors of the manipulator of the injection molding machine in real time through software, and greatly improves the operation precision of the manipulator. In addition, the compensation process is mainly realized in a software form, so that the maintenance and the upgrade are convenient.
Fig. 2 is a flow chart illustrating a method of compensating for the precision of an injection molding machine robot according to an exemplary embodiment. The precision compensation method for the manipulator of the injection molding machine is applied to a manipulator controller and comprises the following steps:
step S201, acquiring temperature data of a first temperature sensor, a second temperature sensor, a third temperature sensor, a fourth temperature sensor, a fifth temperature sensor and a sixth temperature sensor; the first temperature sensor and the second temperature sensor are mounted on an x-axis beam of the injection molding machine manipulator, the third temperature sensor and the fourth temperature sensor are mounted on a y-axis beam of the injection molding machine manipulator, and the fifth temperature sensor and the sixth temperature sensor are mounted on a z-axis beam of the injection molding machine manipulator.
Step S202, determining the error of the mechanical arm of the injection molding machine in the direction of the x axis according to the temperature data of the first temperature sensor and the second temperature sensor, determining the error of the mechanical arm of the injection molding machine in the direction of the y axis according to the temperature data of the third temperature sensor and the fourth temperature sensor, and determining the error of the mechanical arm of the injection molding machine in the direction of the z axis according to the temperature data of the fifth temperature sensor and the sixth temperature sensor.
And step S203, compensating the displacements of the x axis, the y axis and the z axis according to the errors in the directions of the x axis, the y axis and the z axis.
In the embodiment of the present application, the errors in the directions of the x-axis, the y-axis and the z-axis are specifically determined by the robot controller according to the temperature data measured by the corresponding temperature sensors and the probability distribution between the errors and the temperatures, respectively.
It should be noted that, since the precision compensation method of the injection molding machine manipulator corresponding to fig. 2 corresponds to the precision compensation system of the injection molding machine manipulator, reference is made to the precision compensation system of the injection molding machine manipulator in specific categories, which is not described herein in detail.
The temperature sensor includes: the installation positions of the first temperature sensor 1, the second temperature sensor 3, the third temperature sensor 15, the fourth temperature sensor 17, the fifth temperature sensor 8 and the sixth temperature sensor 10 on the x-axis beam 2, the y-axis beam 16 and the z-axis beam 9 can be determined according to actual conditions, and the specific installation positions are not specifically limited in the present application.
In addition, the mounting positions of the x-axis laser displacement sensor 7, the y-axis laser displacement sensor 14 and the z-axis laser displacement sensor 12 can meet the measurement requirement.
At present, a method for compensating the precision of the manipulator of the injection molding machine is not available in the related field, so that the development of the precision compensation method of the manipulator of the injection molding machine is of great significance for researching the manipulator of the injection molding machine with high precision and high efficiency.
In the embodiments provided in this application, it should be understood that the methods and systems described are illustrative and that variations may be made in the actual implementation by adaptation.
The specific embodiments described herein are merely illustrative of the spirit of the application. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the present application as defined by the appended claims.

Claims (8)

1. The precision compensation system for the mechanical arm of the injection molding machine is characterized by comprising the following components: an injection molding machine manipulator; the injection molding machine manipulator is provided with an x-axis beam, a y-axis beam and a z-axis beam; a first temperature sensor and a second temperature sensor are arranged on the x-axis beam; a third temperature sensor and a fourth temperature sensor are arranged on the y-axis beam; a fifth temperature sensor and a sixth temperature sensor are arranged on the z-axis beam;
a manipulator controller; the manipulator controller acquires temperature data acquired by each temperature sensor, determines the error of the manipulator of the injection molding machine in the x-axis direction according to the temperature data of the first temperature sensor and the second temperature sensor, determines the error of the manipulator of the injection molding machine in the y-axis direction according to the temperature data of the third temperature sensor and the fourth temperature sensor, and determines the error of the manipulator of the injection molding machine in the z-axis direction according to the temperature data of the fifth temperature sensor and the sixth temperature sensor; and respectively carrying out precision compensation according to errors in the directions of an x axis, a y axis and a z axis;
the errors in the directions of the x axis, the y axis and the z axis are determined by the manipulator controller according to the temperature data measured by the corresponding temperature sensors and the probability distribution between the errors and the temperatures respectively;
the probability distribution between error and temperature is expressed by the following equation:
according to the Bayesian network structure, errors E of the mechanical arm of the injection molding machine in the directions of the x axis, the y axis and the z axisx、Ey、EzAnd temperature by the following equation:
Figure FDA0002338499440000011
Figure FDA0002338499440000012
Figure FDA0002338499440000013
wherein the local joint probability distribution between temperature and error is formulated as:
Figure FDA0002338499440000021
Figure FDA0002338499440000022
Figure FDA0002338499440000023
the conditional probability distribution of temperature versus error is represented by the following equation:
Figure FDA0002338499440000024
Figure FDA0002338499440000025
Figure FDA0002338499440000026
errors E of mechanical arm of injection molding machine in directions of x axis, y axis and z axisx、Ey、EzThe probability distribution in its variable domain can be formulated as follows:
Figure FDA0002338499440000031
Figure FDA0002338499440000032
Figure FDA0002338499440000033
wherein, j is {1,2, … 20}, and h is {1,2, … 20 };
Ti(i 1,2, …,6) respectively correspond to the temperature data collected by the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, the fifth temperature sensor and the sixth temperature sensor; temperature variable domain is { Ti j1,2, … 20}, i.e., the temperature is divided into several states; similarly, the error variable domain in the x-axis direction is
Figure FDA0002338499440000034
The error variable field in the y-axis direction is
Figure FDA0002338499440000035
The error variable field in the z-axis direction is
Figure FDA0002338499440000036
Figure FDA0002338499440000037
The sample number of the temperature value of the ith temperature sensor falling in the jth variable domain and the error of the x-axis direction falling in the h variable domain in the experimental data is represented; by the same token can obtain
Figure FDA0002338499440000038
And
Figure FDA0002338499440000039
2. the precision compensation system of the manipulator of the injection molding machine according to claim 1, wherein the probability distribution between the error and the temperature is determined from experimental data of a plurality of sets of experiments;
wherein each set of experimental data comprises: errors of the mechanical arm of the injection molding machine in the directions of an x axis, a y axis and a z axis, and temperature data collected by the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, the fifth temperature sensor and the sixth temperature sensor.
3. The system of claim 2, wherein the probability distribution between error and temperature is determined from experimental data of at least 400 sets of experiments.
4. The system of claim 2, wherein errors of the injection molding machine manipulator in x-axis, y-axis and z-axis directions are measured by the x-axis laser displacement sensor, the y-axis laser displacement sensor and the z-axis laser displacement sensor, respectively, during the experiment.
5. The precision compensation system of the mechanical arm of the injection molding machine according to claim 4, wherein the x-axis laser displacement sensor, the y-axis laser displacement sensor and the z-axis laser displacement sensor are respectively fixed on corresponding supports, and the supports are fixed on the ground.
6. The precision compensation system of the manipulator of the injection molding machine according to claim 5, wherein each temperature sensor and each laser displacement sensor transmit the collected signals to the manipulator controller through an A/D acquisition card.
7. An injection molding machine manipulator accuracy compensation method based on the injection molding machine manipulator accuracy compensation system of any one of claims 1 to 6, wherein the injection molding machine manipulator accuracy compensation method is applied to a manipulator controller, and comprises the steps of:
acquiring temperature data of a first temperature sensor, a second temperature sensor, a third temperature sensor, a fourth temperature sensor, a fifth temperature sensor and a sixth temperature sensor; the first temperature sensor and the second temperature sensor are mounted on an x-axis beam of the injection molding machine manipulator, the third temperature sensor and the fourth temperature sensor are mounted on a y-axis beam of the injection molding machine manipulator, and the fifth temperature sensor and the sixth temperature sensor are mounted on a z-axis beam of the injection molding machine manipulator;
determining the error of the mechanical arm of the injection molding machine in the direction of the x axis according to the temperature data of the first temperature sensor and the second temperature sensor, determining the error of the mechanical arm of the injection molding machine in the direction of the y axis according to the temperature data of the third temperature sensor and the fourth temperature sensor, and determining the error of the mechanical arm of the injection molding machine in the direction of the z axis according to the temperature data of the fifth temperature sensor and the sixth temperature sensor;
and compensating the displacement of the x axis, the y axis and the z axis according to the errors in the directions of the x axis, the y axis and the z axis.
8. The method of compensating for the accuracy of a robot of an injection molding machine according to claim 7, wherein the errors in the x-axis, y-axis, and z-axis directions are determined by the robot controller based on the temperature data measured by the corresponding temperature sensor, and the probability distribution between the errors and the temperatures, respectively.
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