CN110919993A - Injection molding machine manipulator control method and control device - Google Patents
Injection molding machine manipulator control method and control device Download PDFInfo
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- CN110919993A CN110919993A CN201911239746.7A CN201911239746A CN110919993A CN 110919993 A CN110919993 A CN 110919993A CN 201911239746 A CN201911239746 A CN 201911239746A CN 110919993 A CN110919993 A CN 110919993A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C2045/4241—Auxiliary means for removing moulded articles from the robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
- B29C2045/7633—Take out or gripping means
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
Abstract
The invention provides a control method and a control device for a manipulator of an injection molding machine, wherein the control method comprises the following steps: identifying the current state of a manipulator of the injection molding machine; if the current state of the manipulator of the injection molding machine is the state that the current plastic product is grabbed in the mold, controlling the manipulator of the injection molding machine to move to the material area so as to stack the current plastic product to the material area; when moving to the material area, the mechanical arm of the injection molding machine accelerates to a preset first blanking speed within a part of distance; if the current state of the manipulator of the injection molding machine is the state that the current plastic product is stacked in the material area, controlling the manipulator of the injection molding machine to move towards the mold in an accelerated manner so as to grab the next plastic product on the mold; when moving towards the mold, the manipulator of the injection molding machine accelerates to a preset first material taking speed within a part of distance. The plastic product grabbing and stacking device has higher plastic product grabbing and stacking efficiency, and improves the production efficiency of plastic products.
Description
Technical Field
The invention relates to the field of injection molding machine manipulators, in particular to a control method and a control device for the injection molding machine manipulator.
Background
Plastic products such as snack box, cell-phone shell or plastic sheet generally are by the direct injection moulding of injection molding machine, and plastic products takes out plastic products in going deep into the mould with the hand by staff generally after injection moulding on the mould, then stacks in the material district, but the efficiency of taking out plastic products then piling is lower in following the mould through staff for plastic products's production efficiency is not high.
Disclosure of Invention
Based on the problems in the prior art, the invention provides a control method and a control device for a manipulator of an injection molding machine.
The invention provides a control method of a manipulator of an injection molding machine, which comprises the following steps:
identifying the current state of a manipulator of the injection molding machine;
if the current state of the injection molding machine manipulator is a state that the current plastic product is grabbed in the mold, controlling the injection molding machine manipulator to move to a material area so as to stack the current plastic product to the material area; when the manipulator of the injection molding machine moves to the material area, the manipulator accelerates to a preset first blanking speed within a part of distance;
if the current state of the injection molding machine manipulator is the state that the current plastic product is stacked in the material area, controlling the injection molding machine manipulator to accelerate to move towards the mold so as to grab the next plastic product on the mold; and accelerating the mechanical arm of the injection molding machine to a preset first material taking speed within a part of distance when moving towards the mold.
Further, the stacking distance from the mold to the material area comprises a first discharging distance and a second discharging distance; after the current plastic product is grabbed by the mold, the injection molding machine manipulator moves the first material placing distance and the second material placing distance in sequence and then reaches the material area; wherein the step of controlling the injection molding machine robot to accelerate toward a material zone to deposit the current plastic product into the material zone comprises:
controlling the injection molding machine manipulator to move the first discharging distance and accelerating to the preset first discharging speed within the first discharging distance;
controlling the mechanical arm of the injection molding machine to move the second discharging distance;
depositing the current plastic product into the material area.
Further, when the injection molding machine manipulator is controlled to move for the second discharging distance, the speed is reduced to a preset second discharging speed within the second discharging distance.
Further, the material taking distance from the material area to the die comprises a first grabbing distance and a second grabbing distance; after the current plastic product is stacked in the material area, the injection molding machine manipulator moves the first grabbing distance and the second grabbing distance in sequence and then reaches the mold; wherein the step of controlling the injection molding machine robot to accelerate toward the mold to grasp the next plastic product on the mold comprises:
controlling the mechanical arm of the injection molding machine to move for the first grabbing distance and accelerating to a preset first material taking speed within the first grabbing distance;
controlling the mechanical arm of the injection molding machine to move for the second grabbing distance;
the next plastic product on the mold is grasped.
Further, when the manipulator of the injection molding machine is controlled to move for the second grabbing distance, the speed is reduced to a preset second material taking speed within the second grabbing distance.
The invention also includes a control device for a manipulator of an injection molding machine, the control device comprising:
the identification unit is used for identifying the current state of the manipulator of the injection molding machine;
the stacking unit is used for controlling the injection molding machine manipulator to move towards a material area to stack the current plastic product into the material area if the current state of the injection molding machine manipulator is a state that the current plastic product is grabbed at a mold; when the manipulator of the injection molding machine moves to the material area, the manipulator accelerates to a preset first blanking speed within a part of distance;
the material taking unit is used for controlling the injection molding machine manipulator to move towards the mold in an accelerated manner so as to grab the next plastic product on the mold if the current state of the injection molding machine manipulator is the state that the current plastic product is stacked in the material area; and accelerating the mechanical arm of the injection molding machine to a preset first material taking speed within a part of distance when moving towards the mold.
Further, the stacking distance from the mold to the material area comprises a first discharging distance and a second discharging distance; after the current plastic product is grabbed by the mold, the injection molding machine manipulator moves the first material placing distance and the second material placing distance in sequence and then reaches the material area; wherein the stacking unit includes:
the first discharging module is used for controlling the injection molding machine manipulator to move for the first discharging distance and accelerating the injection molding machine manipulator to the preset first discharging speed within the first discharging distance;
the second discharging module is used for controlling the injection molding machine manipulator to move the second discharging distance;
a stacking module for stacking the current plastic product to the material area.
Further, when the injection molding machine manipulator is controlled to move for the second discharging distance, the speed is reduced to a preset second discharging speed within the second discharging distance.
Further, the material taking distance from the material area to the die comprises a first grabbing distance and a second grabbing distance; after the current plastic product is stacked in the material area, the injection molding machine manipulator moves the first grabbing distance and the second grabbing distance in sequence and then reaches the mold; wherein, it includes to get the material unit:
the first material taking module is used for controlling the mechanical arm of the injection molding machine to move for the first grabbing distance and accelerating the mechanical arm to a preset first material taking speed within the first grabbing distance;
the second material taking module is used for controlling the mechanical arm of the injection molding machine to move for the second grabbing distance;
a gripping module for gripping a next plastic product on the mold.
Further, when the manipulator of the injection molding machine is controlled to move for the second grabbing distance, the speed is reduced to a preset second material taking speed within the second grabbing distance.
The invention has the beneficial effects that: plastic products such as snack boxes, mobile phone shells or plastic sheets are grabbed and stacked through the manipulator of the injection molding machine, so that the grabbing and stacking efficiency of the plastic products is higher, and the production efficiency of the plastic products is improved. In addition, when the plastic machine manipulator moves to the material area, the plastic machine manipulator accelerates to a preset first blanking speed within a partial distance, and when the plastic machine manipulator moves to the mold, the plastic machine manipulator accelerates to a preset first material taking speed within a partial distance, so that the speed of the plastic machine manipulator in one period of stacking the current plastic product and grabbing the next plastic product is further improved, and the production efficiency of the plastic product is further improved.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling a robot of an injection molding machine according to an embodiment of the present invention;
FIG. 2 is another schematic flow chart of a method for controlling a robot of an injection molding machine according to an embodiment of the present invention;
FIG. 3 is a graph illustrating the speed variation of a robot of an injection molding machine for stacking current plastic products according to an embodiment of the present invention;
FIG. 4 is a further schematic flow chart of a method of controlling a robot of an injection molding machine according to an embodiment of the present invention;
FIG. 5 is a graph illustrating the change in speed of a manipulator of an injection molding machine gripping a next plastic product in accordance with one embodiment of the present invention;
FIG. 6 is a schematic block diagram of an injection molding machine robot control apparatus according to one embodiment of the present invention;
FIG. 7 is another schematic block diagram of an injection molding machine robot control apparatus according to an embodiment of the present invention;
fig. 8 is still another schematic block diagram of an injection molding machine robot control apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flowchart of a control method for a manipulator of an injection molding machine according to an embodiment of the present invention, where the control method includes the following steps:
and S10, identifying the current state of the manipulator of the injection molding machine.
S20, if the current state of the manipulator of the injection molding machine is the state that the current plastic product is grabbed in the mold, controlling the manipulator of the injection molding machine to move to the material area so as to stack the current plastic product into the material area; the manipulator of the injection molding machine accelerates to a preset first feeding speed v0 within a partial distance when moving to the material area.
S30, if the current state of the manipulator of the injection molding machine is the state that the current plastic product is stacked in the material area, controlling the manipulator of the injection molding machine to accelerate to move towards the mold so as to grab the next plastic product on the mold; the injection molding machine manipulator accelerates to a preset first material taking speed T0 within a partial distance when moving to the mold.
In this embodiment, there are two current states of the manipulator of the injection molding machine, one is a state where the current plastic product has been gripped in the mold, and the other is a state where the current plastic product has been stacked in the material region.
In this embodiment, snatch and stack plastics products such as snack box, cell-phone shell or plastic sheet through injection molding machine manipulator for the efficiency of snatching and stacking of plastics products is higher, has improved the production efficiency of plastics products. In addition, the plastic machine manipulator accelerates to a preset first discharging speed v0 within a partial distance when moving to the material area, and accelerates to a preset first material taking speed T0 within a partial distance when moving to the mold, so that the speed of the plastic machine manipulator in one period of stacking the current plastic product and grabbing the next plastic product is further improved, and the production efficiency of the plastic product is further improved.
In this embodiment, the stacking distance S from the mold to the material area includes a first discharging distance S1 and a second discharging distance S2; after the current plastic product is grabbed by the mold, the manipulator of the injection molding machine moves a first material placing distance S1 and a second material placing distance S2 in sequence and then reaches a material area; as shown in fig. 2, the step of controlling the robot of the injection molding machine to accelerate toward the material area to deposit the current plastic product into the material area includes:
s201, controlling the mechanical arm of the injection molding machine to move for a first discharging distance S1, and accelerating to a preset first discharging speed v0 within the first discharging distance S1.
And S202, controlling the mechanical arm of the injection molding machine to move for a second discharging distance S2.
And S203, stacking the current plastic product to a material area.
In the present embodiment, when the injection molding machine robot is controlled to move the second discharging distance S2, the speed is reduced to the preset second discharging speed v1 within the second discharging distance S2. When plastic products are stacked, the plastic products generally need to be lightly placed, so that when the manipulator of the injection molding machine approaches the material area, the speed is smoothly reduced to a low-speed section and slowly reaches the stacking point of the material area, and therefore the speed needs to be reduced in advance within the second discharging distance S2.
In this embodiment, as shown in fig. 3, the injection molding machine robot starts to accelerate when it starts to move over the first discharging distance S1, and after accelerating to the first discharging speed v0, the injection molding machine robot will keep at the first discharging speed v0 until the first discharging distance S1 is completed, that is, the first discharging speed v0 keeps at the time point of t 0. The injection molding machine manipulator starts to decelerate when starting to move on the second discharging distance S2, the injection molding machine manipulator decelerates to the second discharging speed v1 after moving to the time length of t1, the speed of the injection molding machine manipulator smoothly drops to zero after the second discharging speed v1 reaches the time point of t2, when the injection molding machine manipulator moves to the time point of t3, the speed drops to zero, the movement of the second discharging distance S2 is completed at the time, and the injection molding machine manipulator can stack the current plastic products on the stacking point of the material area.
In the present embodiment, the stacking distance S is equal to the first discharging distance S1 plus the second discharging distance S2, i.e., S1+ S2, wherein,
Δ S ═ v (n) · Ts, v (n) · a · Ts · (n) when the injection molding machine robot accelerates, v (n) · v0-a · Ts · (n) or v (n) · v1-a · Ts · (n) when the injection molding machine robot decelerates, a is the acceleration of the injection molding machine robot, T ═ T ·SFor interpolating the period, in practical application, v0, v1, a, TSIt is preset that t (n) can be obtained by counting, and S1 and S2 can be obtained by Δ S, and in this embodiment, the calculation method for calculating the parameters such as stacking distance S and blanking speed is a common calculation method in the prior art, and will not be described in detail herein.
In this embodiment, the material taking distance Y from the material area to the mold includes a first gripping distance Y1 and a second gripping distance Y2; after the current plastic products are stacked in the material area by the manipulator of the injection molding machine, the current plastic products sequentially move by a first grabbing distance Y1 and a second grabbing distance Y2 and then reach a mold; as shown in fig. 4, the step of controlling the manipulator of the injection molding machine to accelerate and move towards the mold to grasp the next plastic product on the mold comprises:
s301, controlling the mechanical arm of the injection molding machine to move for a first grabbing distance Y1, and accelerating to a preset first material taking speed c0 within the first grabbing distance Y1.
And S302, controlling the mechanical arm of the injection molding machine to move by a second grabbing distance Y2.
And S303, grabbing the next plastic product on the mold.
In this embodiment, the step of controlling the robot of the injection molding machine to move by the second gripping distance Y2 includes: and controlling the manipulator of the injection molding machine to move for a second grabbing distance Y2, and smoothly decelerating to a preset second material taking speed c2 in the second grabbing distance Y2. After the manipulator puts the plastic product, in order to improve production efficiency, the first grabbing distance Y1 is accelerated, but when the manipulator of the injection molding machine moves the second grabbing distance Y2, the manipulator of the injection molding machine is about to reach the mold, so that the speed needs to be smoothly lowered to the second material taking speed c2, namely the speed is lowered to 0, so as to grab the next plastic product on the mold.
In this embodiment, as shown in fig. 5, when the injection molding machine manipulator starts to move at the first gripping distance Y1, the speed is first accelerated from 0 to c1, the speed is kept at c1 for a time period of T0, then accelerated to the first material taking speed c0, and when the speed is accelerated to the first material taking speed c0, the injection molding machine manipulator moves for a time period of T1, after the first material taking speed c0 is kept at T2, the injection molding machine manipulator enters the second gripping distance Y2, after entering the second gripping distance Y2, the injection molding machine manipulator starts to decelerate, when the injection molding machine manipulator moves to T3 for a time period, the movement of the second gripping distance Y2 is completed, and at this time, the speed of the injection molding machine manipulator reaches the second material taking speed c2, that is reduced to 0. Due to the particularity of the plastic products such as snack boxes, after the plastic products are stacked by the mechanical arm of the injection molding machine, a relatively low speed is needed in the initial stage of starting to rise, so that the mechanical arm of the injection molding machine needs to be kept at a low c1 speed for a period of time, and then the mechanical arm of the injection molding machine is accelerated after moving for a distance. In this embodiment, the calculation method for calculating the material taking distance Y, the material taking speed, and other parameters is a common calculation method in the prior art, and the calculation method can refer to the calculation method for the stacking distance S and the material taking speed, which is not described herein in detail.
Fig. 6 is a schematic block diagram of a control device of an injection molding machine robot according to an embodiment of the present invention, where the control device includes:
and the identification unit 101 is used for identifying the current state of the mechanical arm of the injection molding machine.
The stacking unit 102 is used for controlling the injection molding machine manipulator to move towards the material area to stack the current plastic product into the material area if the current state of the injection molding machine manipulator is a state that the current plastic product is already grabbed at the mold; the manipulator of the injection molding machine accelerates to a preset first feeding speed v0 within a partial distance when moving to the material area.
The material taking unit 103 is used for controlling the injection molding machine manipulator to move towards the mold in an accelerated manner so as to grab the next plastic product on the mold if the current state of the injection molding machine manipulator is the state that the current plastic product is stacked in the material area; the injection molding machine manipulator accelerates to a preset first material taking speed T0 within a partial distance when moving to the mold.
In the embodiment, the stacking distance S from the mold to the material area includes a first discharge distance S1 and a second discharge distance S2; after the current plastic product is grabbed by the mold, the manipulator of the injection molding machine moves a first material placing distance S1 and a second material placing distance S2 in sequence and then reaches a material area; as shown in fig. 7, the stacking unit 102 includes:
and the first discharging module 201 is used for controlling the injection molding machine manipulator to move for a first discharging distance S1 and accelerating to a preset first discharging speed v0 within the first discharging distance S1.
And the second discharging module 202 is used for controlling the injection molding machine manipulator to move the second discharging distance S2.
A stacking module 203 for stacking the current plastic product to the material area.
In the present embodiment, when the injection molding machine robot is controlled to move the second discharging distance S2, the speed is reduced to the preset second discharging speed v1 within the second discharging distance S2.
In this embodiment, the material taking distance Y from the material area to the mold includes a first gripping distance Y1 and a second gripping distance Y2; after the current plastic products are stacked in the material area by the manipulator of the injection molding machine, the current plastic products sequentially move by a first grabbing distance Y1 and a second grabbing distance Y2 and then reach a mold; wherein, as shown in fig. 8, the material taking unit 103 includes:
and the first material taking module 301 is used for controlling the mechanical arm of the injection molding machine to move for a first grabbing distance Y1 and accelerating to a preset first material taking speed c0 within the first grabbing distance Y1.
And the second material taking module 302 is used for controlling the mechanical arm of the injection molding machine to move by a second grabbing distance Y2.
And a grabbing module 303 for grabbing the next plastic product on the mold.
In this embodiment, the step of controlling the robot of the injection molding machine to move by the second gripping distance Y2 includes: and controlling the manipulator of the injection molding machine to move for a second grabbing distance Y2, and smoothly decelerating to a preset second material taking speed c2 in the second grabbing distance Y2.
In the present embodiment, the principle and action of the injection molding machine robot control device can be referred to the principle and action of the injection molding machine robot control method, and will not be described herein again.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A control method of a manipulator of an injection molding machine is characterized by comprising the following steps:
identifying the current state of a manipulator of the injection molding machine;
if the current state of the injection molding machine manipulator is a state that the current plastic product is grabbed in the mold, controlling the injection molding machine manipulator to move to a material area so as to stack the current plastic product to the material area; when the manipulator of the injection molding machine moves to the material area, the manipulator accelerates to a preset first blanking speed within a part of distance;
if the current state of the injection molding machine manipulator is the state that the current plastic product is stacked in the material area, controlling the injection molding machine manipulator to accelerate to move towards the mold so as to grab the next plastic product on the mold; and accelerating the mechanical arm of the injection molding machine to a preset first material taking speed within a part of distance when moving towards the mold.
2. The injection molding machine robot control method of claim 1, wherein the stacking distance of the mold to the material zone comprises a first discharging distance and a second discharging distance; after the current plastic product is grabbed by the mold, the injection molding machine manipulator moves the first material placing distance and the second material placing distance in sequence and then reaches the material area; wherein the step of controlling the injection molding machine robot to accelerate toward a material zone to deposit the current plastic product into the material zone comprises:
controlling the injection molding machine manipulator to move the first discharging distance and accelerating to the preset first discharging speed within the first discharging distance;
controlling the mechanical arm of the injection molding machine to move the second discharging distance;
depositing the current plastic product into the material area.
3. The method of controlling a robot of an injection molding machine according to claim 2, wherein, when said controlling said robot of an injection molding machine moves said second discharging distance, a speed is reduced to a preset second discharging speed within said second discharging distance.
4. The method of claim 1, wherein said material area to said mold take-off distance comprises a first pick-up distance and a second pick-up distance; after the current plastic product is stacked in the material area, the injection molding machine manipulator moves the first grabbing distance and the second grabbing distance in sequence and then reaches the mold; wherein the step of controlling the injection molding machine robot to accelerate toward the mold to grasp the next plastic product on the mold comprises:
controlling the mechanical arm of the injection molding machine to move for the first grabbing distance and accelerating to a preset first material taking speed within the first grabbing distance;
controlling the mechanical arm of the injection molding machine to move for the second grabbing distance;
the next plastic product on the mold is grasped.
5. The method of controlling a robot of an injection molding machine of claim 4, wherein said controlling said robot of an injection molding machine moves to said second grasping distance while decelerating to a predetermined second take-off speed within said second grasping distance.
6. An injection molding machine robot control apparatus, the control apparatus comprising:
the identification unit is used for identifying the current state of the manipulator of the injection molding machine;
the stacking unit is used for controlling the injection molding machine manipulator to move towards a material area to stack the current plastic product into the material area if the current state of the injection molding machine manipulator is a state that the current plastic product is grabbed at a mold; when the manipulator of the injection molding machine moves to the material area, the manipulator accelerates to a preset first blanking speed within a part of distance;
the material taking unit is used for controlling the injection molding machine manipulator to move towards the mold in an accelerated manner so as to grab the next plastic product on the mold if the current state of the injection molding machine manipulator is the state that the current plastic product is stacked in the material area; and accelerating the mechanical arm of the injection molding machine to a preset first material taking speed within a part of distance when moving towards the mold.
7. The injection molding machine robot control of claim 6, wherein said mold to material area stacking distance comprises a first drop distance and a second drop distance; after the current plastic product is grabbed by the mold, the injection molding machine manipulator moves the first material placing distance and the second material placing distance in sequence and then reaches the material area; wherein the stacking unit includes:
the first discharging module is used for controlling the injection molding machine manipulator to move for the first discharging distance and accelerating the injection molding machine manipulator to the preset first discharging speed within the first discharging distance;
the second discharging module is used for controlling the injection molding machine manipulator to move the second discharging distance;
a stacking module for stacking the current plastic product to the material area.
8. The injection molding machine robot control apparatus of claim 7, wherein said control of said injection molding machine robot to move said second discharge distance decelerates to a preset second discharge speed within said second discharge distance.
9. The injection molding machine robot control of claim 6, wherein said material area to said mold take-off distance comprises a first pick-up distance and a second pick-up distance; after the current plastic product is stacked in the material area, the injection molding machine manipulator moves the first grabbing distance and the second grabbing distance in sequence and then reaches the mold; wherein, it includes to get the material unit:
the first material taking module is used for controlling the mechanical arm of the injection molding machine to move for the first grabbing distance and accelerating the mechanical arm to a preset first material taking speed within the first grabbing distance;
the second material taking module is used for controlling the mechanical arm of the injection molding machine to move for the second grabbing distance;
a gripping module for gripping a next plastic product on the mold.
10. The injection molding machine robot control apparatus of claim 4 wherein, in said controlling said injection molding machine robot to move said second pick distance, decelerating to a predetermined second take off speed within said second pick distance.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113246096A (en) * | 2021-06-28 | 2021-08-13 | 佛山冠博机械科技发展有限公司 | Sorting manipulator based on adaptive cruise technology and control method thereof |
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