CN111531832A - Injection molding mechanical arm - Google Patents
Injection molding mechanical arm Download PDFInfo
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- CN111531832A CN111531832A CN202010393575.XA CN202010393575A CN111531832A CN 111531832 A CN111531832 A CN 111531832A CN 202010393575 A CN202010393575 A CN 202010393575A CN 111531832 A CN111531832 A CN 111531832A
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- 238000001746 injection moulding Methods 0.000 title claims abstract description 77
- 238000004891 communication Methods 0.000 claims abstract description 43
- 230000001066 destructive effect Effects 0.000 claims description 4
- 230000003993 interaction Effects 0.000 abstract description 22
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 8
- 239000000243 solution Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C2045/7606—Controlling or regulating the display unit
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
The invention discloses an injection molding manipulator. Wherein, this injection molding manipulator includes: the manipulator body is used for executing preset operation based on a control signal sent by the injection molding machine; and the communication module is used for transmitting the control signal sent by the control module of the injection molding machine to the manipulator body or transmitting a result executed by the manipulator body based on the control signal to the injection molding machine. The invention solves the technical problems that the effective levels of interface circuits between the manipulator and the injection molding machine are inconsistent, information interaction cannot be normally carried out, and the reliability is lower in the related technology.
Description
Technical Field
The invention relates to the technical field of information interaction control, in particular to an injection molding manipulator.
Background
Most of information interaction interface circuits between the existing injection molding manipulator and the injection molding machine adopt hard-wired I/O interface circuits such as European standard 67, when the input and output effective level signals of the injection molding machine and the manipulator are inconsistent, more relays need to be added to realize the conversion of the effective level signals, and the used heavy-load connector has very high cost. In addition, the number of required cable cores is large, the wiring process is complex, transferable information is limited, and flexibility and expandability are poor.
Aiming at the problems that the effective levels of interface circuits between the manipulator and the injection molding machine are inconsistent and information interaction cannot be normally carried out and the reliability is low in the related technology, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides an injection molding manipulator, which at least solves the technical problems that information interaction cannot be normally carried out due to inconsistent effective levels of interface circuits between the manipulator and an injection molding machine and the reliability is low in the related technology.
According to an aspect of an embodiment of the present invention, there is provided an injection molding robot including: the manipulator body is used for executing preset operation based on a control signal sent by the injection molding machine; and the communication module is used for transmitting the control signal sent by the control module of the injection molding machine to the manipulator body or transmitting a result executed by the manipulator body based on the control signal to the injection molding machine.
Optionally, the robot body comprises: and the communication interface is used for connecting the manipulator body with the injection molding machine through a network connecting wire.
Optionally, the network connection line is a controller area network CAN bus.
Optionally, the communication module includes: the main control module is used for carrying out initialization setting on a CAN bus control module of the CAN bus; the CAN bus control module is used for converting data transmitted by the injection molding machine or the manipulator body into bus protocol serial signals and/or converting the bus protocol serial signals received by the receiving module into effective data identified by the injection molding machine or the manipulator body; and the receiving module is used for converting signals received or sent by the CAN bus into half-duplex CAN bus differential signals.
Optionally, the communication module is connected to a plurality of CAN bus nodes through the half-duplex CAN bus differential signal.
Optionally, the communication module further includes: and the terminal resistor is connected with two ends of the CAN bus and used for absorbing the transmitted waves so as to filter the signals transmitted in the CAN bus.
Optionally, each of the plurality of CAN bus nodes is provided with a priority.
Optionally, when some or all of the plurality of CAN bus nodes send information to the CAN bus simultaneously, the communication module stops sending information by the CAN bus node with the lower priority in a non-destructive bus arbitration manner.
Optionally, the communication module determines the attribute of the bus signal of the CAN bus by recognizing a differential voltage of the differential signal.
Optionally, when the differential pressure on the CAN bus is less than 0.5V, determining that the bus signal of the CAN bus is recessive; and when the pressure difference on the CAN bus is more than 1V, determining that the bus signal of the CAN bus is dominant.
In the embodiment of the invention, the manipulator body can be used for executing the preset operation based on the control signal sent by the injection molding machine; and utilize communication module to transmit the control signal that the control module of injection molding machine sent to the manipulator body, or, transmit the manipulator body to the injection molding machine based on the result that control signal executed, thereby can realize being connected manipulator and injection molding machine based on network communication connected mode, in order to carry out information interaction's purpose, the technological effect of the reliability of information interaction between manipulator and the injection molding machine has been reached and improved, and then the effective level of interface circuit between manipulator and the injection molding machine is inconsistent among the correlation technique can't normally carry out information interaction, the lower technical problem of reliability.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic view of an injection molding robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a communication module according to an embodiment of the invention;
FIG. 3 is a schematic diagram of an injection molding robot and robot connection according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an aspect of an embodiment of the present invention, there is provided an injection molding robot, fig. 1 is a schematic view of an injection molding robot according to an embodiment of the present invention, as shown in fig. 1, including: a manipulator body 11 for performing a predetermined operation based on a control signal transmitted from the injection molding machine; and the communication module 13 is used for transmitting a control signal sent by the control module of the injection molding machine to the manipulator body, or transmitting a result executed by the manipulator body based on the control signal to the injection molding machine.
As can be seen from the above, in the embodiment of the present invention, the robot body may be used to perform a predetermined operation based on the control signal sent by the injection molding machine; and utilize the control signal transmission that communication module sent with the control module of injection molding machine to the manipulator body, or, transmit the manipulator body to the injection molding machine based on the result that control signal executed, thereby can realize being connected manipulator and injection molding machine based on network communication connected mode, with the purpose of carrying out the information interaction, for the information interaction interface circuit between injection molding machine and the manipulator in the correlation technique adopts hard wiring IO interface circuit mostly, when the effective level signal of input output of injection molding machine and manipulator is inconsistent, need increase more relay in order to realize the conversion of effective level signal, and the heavy load connector that uses, the cost is very expensive.
In the embodiment of the invention, the manipulator based on the network communication connection mode has abundant data communication quantity, the network connection line adopts a universal network cable to improve the flexibility and the expandability of the manipulator, the injection molding machine and the manipulator are subjected to information interaction, the effective level of an I/O interface circuit between the injection molding machine and the manipulator does not need to be considered, the electrical connection of the interface circuit between equipment is simplified, and the technical effect of improving the reliability of the information interaction between the manipulator and the injection molding machine is achieved.
Therefore, the injection molding manipulator provided by the embodiment of the invention solves the technical problems that information interaction cannot be normally carried out due to inconsistent effective levels of interface circuits between the manipulator and an injection molding machine and the reliability is lower in the related technology.
In an alternative embodiment, the robot body may comprise: and the communication interface is used for connecting the manipulator body with the injection molding machine through a network connecting wire.
In the embodiment of the invention, the manipulator body and the injection molding machine body are connected with each other through the communication interfaces through the network connecting line, so that information interaction between the manipulator and the injection molding machine is facilitated.
In an alternative embodiment, the network connection is a controller area network, CAN, bus. The CAN bus belongs to the field bus category and is a serial communication network which effectively supports distributed control or real-time control.
In an alternative embodiment, the communication module may comprise: the main control module is used for carrying out initialization setting on a CAN bus control module of a CAN bus; the CAN bus control module is used for converting data transmitted by the injection molding machine or the manipulator body into bus protocol serial signals and/or converting the bus protocol serial signals received by the receiving module into effective data identified by the injection molding machine or the manipulator body; and the receiving module is used for converting signals received or sent by the CAN bus into half-duplex CAN bus differential signals.
Fig. 2 is a schematic diagram of a communication module according to an embodiment of the present invention, and as shown in fig. 2, the communication module may include: the main control module CAN carry out initialization setting on the CAN bus control module; the CAN bus control module is used as a main logic device of the CAN bus and CAN convert data into bus protocol serial signals and convert signals received by the receiving module into effective data, shield invalid data, monitor fault errors and report; and the receiving module is used for converting the CAN bus transceiving signals into half-duplex CAN bus differential signals. In addition, as shown in fig. 2, a bus receiving module (i.e., a receiving module) is connected to the CAN bus.
In addition, as shown in fig. 2, the CAN bus control module may include: the interface management logic submodule is used for carrying out information interaction with the main control module; the sending buffer submodule is used for buffering a signal to be sent; the receiving and filtering submodule is used for filtering the received signals; the receiving and buffering submodule is used for buffering the received signals; and the controller core sub-module is in signal interaction with the bus receiving module.
In an alternative embodiment, the communication module is connected to the plurality of CAN bus nodes by half-duplex CAN bus differential signaling. The plurality of CAN bus nodes are connected to the CAN bus network through differential signals.
In an alternative embodiment, the communication module may further include: and the terminal resistor is connected with two ends of the CAN bus and used for absorbing the transmitted waves so as to filter the signals transmitted in the CAN bus.
In this embodiment, two terminals (between CAN _ H and CAN _ L) of the CAN bus network are respectively connected with a termination resistor, where the termination resistor may be 120 Ω, and may be used to absorb the transmitted wave, so as to improve the anti-interference performance of the CAN bus.
It should be noted that, in the embodiment of the present invention, the CAN bus may support a multi-master mode to work, each CAN bus node does not have a master-slave role, and may actively send information to other nodes at any time, and support point-to-point, point-to-multipoint, and global broadcast modes to receive/send data.
In an alternative embodiment, each of the plurality of CAN bus nodes is provided with a priority.
When part or all of the plurality of CAN bus nodes send information to the CAN bus simultaneously, the communication module stops the CAN bus nodes with lower priority from sending information in a non-destructive bus arbitration mode.
In this embodiment, when several CAN bus nodes send information to the CAN bus simultaneously, the CAN bus with lower priority CAN define to actively stop sending information through a destructive bus arbitration technology, and the node with the highest priority CAN continue sending data without being affected, so that the bus arbitration time is saved, the bus collision is avoided, and the network paralysis CAN not occur even under the condition of heavy network load.
In an alternative embodiment, the communication module determines the properties of the bus signals of the CAN bus by detecting a differential pressure of the differential signals.
In this embodiment, the CAN bus acquires the information of 0 or 1 by recognizing the differential pressure of a pair of differential signals, the two signals are respectively V _ CANH and V _ CANL, and the bus signal is dominant (the differential pressure is greater than 1V, representing a digital 0) or recessive (the differential pressure is less than 0.5V, representing a digital 1) by judging V _ CANH and V _ CANL.
In an alternative embodiment, when the differential pressure on the CAN bus is less than 0.5V, the bus signal of the CAN bus is determined to be recessive; and when the pressure difference on the CAN bus is more than 1V, determining that the bus signal of the CAN bus is dominant.
In this embodiment, the differential pressure across V _ CANH and V _ CANL to ground is 2.5V when there is no data communication on the bus, i.e. the differential pressure across the CAN bus is less than 0.5V, recessive, representing a number 1. When there is a start of frame (dominant, digital 0) on the bus, all nodes on the network start monitoring and receiving information.
FIG. 3 is a schematic diagram of an injection molding manipulator and a manipulator connection according to an embodiment of the present invention, as shown in FIG. 3, a servo driver controls a servo motor through three modes of position, speed and moment to achieve high-precision positioning of a transmission system; the manipulator main control board performs information interaction with the control board of the injection molding machine or other peripheral equipment through a communication interface and is used for controlling a servo system and a pneumatic system on the manipulator body to complete program operation; the manipulator I/O expansion board is used for signal switching on the manipulator body so as to reduce complicated wiring operation; the manipulator demonstrator is a handheld man-machine interaction interface used for manual/automatic control, program compiling, parameter setting and monitoring of the manipulator; and the injection molding control panel is used for controlling the program operation of the injection molding machine and is matched with peripheral equipment such as a manipulator and the like to complete the generation flow of injection molding automation.
The manipulator based on the network communication connection mode provided by the embodiment of the invention has abundant data communication volume, and the network connection line adopts a universal network cable (such as a CAN bus shown in figure 3), so that the flexibility and the expandability of the manipulator are improved; when the injection molding machine and the manipulator carry out information interaction, the effective level of an I/O interface circuit between the injection molding machine and the manipulator does not need to be considered, and the electrical connection of the interface circuit between equipment is simplified; reducible heavy load connector of connected mode through using network communication, the use of multicore cable, expensive and loaded down with trivial details electric wiring has been avoided, manipulator distribution cost and assemble duration have been reduced, I/O interface circuit's effective level between injection molding machine and the manipulator also need not to consider, the assembly personnel only need couple together the communication interface of manipulator and injection molding machine through general net twine alright realize the information interaction between the equipment, the wiring is simple, and is with low costs, the data bulk of communication is big, flexibility and scalability are good, thereby when manipulator and injection molding machine carried out information interaction, electric connection's simplification, the problem of the unable normal information interaction of carrying out of the inconsistent interface circuit effective level between manipulator and the injection molding machine has been solved. The network communication capability, the intellectualization and the expandability of the manipulator are improved.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An injection molding robot, comprising:
the manipulator body is used for executing preset operation based on a control signal sent by the injection molding machine;
and the communication module is used for transmitting the control signal sent by the control module of the injection molding machine to the manipulator body or transmitting a result executed by the manipulator body based on the control signal to the injection molding machine.
2. The injection molding robot of claim 1, wherein the robot body comprises: and the communication interface is used for connecting the manipulator body with the injection molding machine through a network connecting wire.
3. The injection molding manipulator of claim 2, wherein the network connection is a Controller Area Network (CAN) bus.
4. An injection molding robot as claimed in claim 3, wherein said communication module comprises:
the main control module is used for carrying out initialization setting on a CAN bus control module of the CAN bus;
the CAN bus control module is used for converting data transmitted by the injection molding machine or the manipulator body into bus protocol serial signals and/or converting the bus protocol serial signals received by the receiving module into effective data identified by the injection molding machine or the manipulator body;
and the receiving module is used for converting signals received or sent by the CAN bus into half-duplex CAN bus differential signals.
5. The injection molding robot of claim 4, wherein the communication module is connected to a plurality of CAN bus nodes via the half-duplex CAN bus differential signals.
6. The injection molding robot of claim 5, wherein the communication module further comprises: and the terminal resistor is connected with two ends of the CAN bus and used for absorbing the transmitted waves so as to filter the signals transmitted in the CAN bus.
7. The injection molding robot of claim 5, wherein each of the plurality of CAN bus nodes is provided with a priority.
8. The manipulator of claim 7, wherein when some or all of the plurality of CAN bus nodes send messages to the CAN bus simultaneously, the communication module stops the CAN bus nodes with lower priority from sending messages in a non-destructive bus arbitration manner.
9. The injection molding robot of claim 4, wherein the communication module determines the attributes of the bus signals of the CAN bus by recognizing a differential pressure of the differential signals.
10. The injection molding manipulator according to claim 9, wherein when the differential pressure on the CAN bus is less than 0.5V, it is determined that the bus signal of the CAN bus is recessive; and when the pressure difference on the CAN bus is more than 1V, determining that the bus signal of the CAN bus is dominant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010393575.XA CN111531832B (en) | 2020-05-11 | 2020-05-11 | Injection molding mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010393575.XA CN111531832B (en) | 2020-05-11 | 2020-05-11 | Injection molding mechanical arm |
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| Publication Number | Publication Date |
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| CN111531832A true CN111531832A (en) | 2020-08-14 |
| CN111531832B CN111531832B (en) | 2022-05-27 |
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| CN202010393575.XA Active CN111531832B (en) | 2020-05-11 | 2020-05-11 | Injection molding mechanical arm |
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| EP1085389A1 (en) * | 1999-09-13 | 2001-03-21 | Fanuc Ltd | Robot and machine linked system |
| CN103802115A (en) * | 2012-12-21 | 2014-05-21 | 常州先进制造技术研究所 | Hand-held controller system of mechanical arm of injection molding machine |
| CN204414479U (en) * | 2015-01-27 | 2015-06-24 | 宁波弘讯科技股份有限公司 | A kind of manipulator of injection machine and driver thereof |
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| CN106514649A (en) * | 2015-09-09 | 2017-03-22 | 宁波弘讯科技股份有限公司 | Control system and control method for mechanical arm of injection molding machine |
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2020
- 2020-05-11 CN CN202010393575.XA patent/CN111531832B/en active Active
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| EP1085389A1 (en) * | 1999-09-13 | 2001-03-21 | Fanuc Ltd | Robot and machine linked system |
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