CN112895362A - Linkage control method and device for injection molding machine tool and robot - Google Patents
Linkage control method and device for injection molding machine tool and robot Download PDFInfo
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- CN112895362A CN112895362A CN202110051004.2A CN202110051004A CN112895362A CN 112895362 A CN112895362 A CN 112895362A CN 202110051004 A CN202110051004 A CN 202110051004A CN 112895362 A CN112895362 A CN 112895362A
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- insert
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/80—Measuring, controlling or regulating of relative position of mould parts
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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
- B29C45/84—Safety devices
Abstract
The invention discloses a linkage control method and device for an injection molding machine tool and a robot. Wherein, the method comprises the following steps: photographing the grabbed insert to be processed to obtain a first image of the insert to be processed; shooting the split-molded fan blade to be embedded to obtain a second image of the fan blade to be embedded; carrying out visual analysis on the image I and the image II to obtain an embedding mode for embedding the to-be-embedded fan blade; and installing the insert to be treated on the fan blade to be embedded based on the embedding mode. The invention solves the technical problem that the safety of mechanical equipment cannot be ensured in the full-automatic production process in the related technology.
Description
Technical Field
The invention relates to the technical field of automatic production, in particular to a linkage control method and device for an injection molding machine tool and a robot.
Background
The traditional production technology is that the injection molding machine tool is matched with a human to perform semi-automatic production operation, and along with gradual arrival of automation technology, more automatic devices are replaced by original people and are matched with a robot to realize full-automatic operation. However, there is a lack of real-time monitoring of personnel on site in fully automated operations; when the equipment is abnormal in the operation process, the production is easily lost, and the safety of the equipment cannot be ensured. For example, when the injection machine tool and the robot are in operation and the injection machine tool fails, damage can be caused not only to a product being processed but also to a robot.
Aiming at the problem that the safety of mechanical equipment cannot be guaranteed in the fully automatic production process in the related technology, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a linkage control method and a linkage control device for an injection molding machine tool and a robot, which are used for at least solving the technical problem that the safety of mechanical equipment cannot be ensured in the full-automatic production process in the related technology.
According to an aspect of the embodiments of the present invention, there is provided a linkage control method of an injection machine tool and a robot, including: photographing the grabbed insert to be processed to obtain a first image of the insert to be processed; shooting the split-molded fan blade to be embedded to obtain a second image of the fan blade to be embedded; performing visual analysis on the image I and the image II to obtain an embedding mode for embedding the to-be-embedded fan blade; and installing the insert to be treated on the fan blade to be embedded based on the embedding mode.
Optionally, photographing the grasped insert to be processed to obtain a first image of the insert to be processed, including: determining that the insert to be treated exists on the fixture; and starting image acquisition equipment to photograph the insert to be processed to obtain a first image of the insert to be processed.
Optionally, the to-be-embedded fan blade that is split-molded and completed is photographed to obtain a second image of the to-be-embedded fan blade, including: determining that the mold opening of the injection molding machine tool is completed; and starting image acquisition equipment to photograph the fan blade to be embedded to obtain a second image of the fan blade to be embedded.
Optionally, visually analyzing the first image and the second image comprises: judging whether the insert exists in each of the plurality of preset sites; if not, grabbing the insert; if so, controlling the clamp to grab the insert to be processed and move to the position to be embedded; judging whether neutrons of the injection molding machine tool exit in place or not and whether the ejector pin is determined to be in place or not; if not, controlling the robot to move to the grabbing position and ejecting the thimble to output a signal; and if so, grabbing the fan blade to be embedded.
Optionally, after the blade to be embedded is grabbed, the linkage control method of the injection molding machine tool and the robot further includes: judging whether the clamp successfully clamps the two to-be-embedded fan blades; if not, generating an alarm signal; if so, sending an ejector pin retreating signal and determining that the ejector pin is withdrawn in place; controlling the robot to leave the mold opening and closing area and sending out a predetermined signal, wherein the predetermined signal comprises: a neutron in signal, a mode area safety signal and a mold closing permission signal.
Optionally, installing the to-be-treated insert on the to-be-inserted fan blade based on the inserting manner includes: and controlling the robot to move to a specified position to place the insert to be processed based on the insert mounting mode.
According to another aspect of the embodiments of the present invention, there is provided a linkage control device for an injection molding machine tool and a robot, including: the first acquisition unit is used for photographing the grabbed insert to be processed to obtain a first image of the insert to be processed; the second acquisition unit is used for photographing the split-molded fan blade to be embedded to obtain a second image of the fan blade to be embedded; the visual analysis unit is used for carrying out visual analysis on the first image and the second image to obtain an embedding mode for embedding the to-be-embedded fan blade; and the control unit is used for installing the insert to be treated on the fan blade to be embedded based on the embedding mode.
Optionally, the first obtaining unit includes: the first determination module is used for determining that the insert to be processed exists on the fixture; the first acquisition module is used for starting image acquisition equipment to photograph the insert to be processed to obtain a first image of the insert to be processed.
Optionally, the second obtaining unit includes: the second determination module is used for determining that the mold opening of the injection molding machine tool is completed; and the second acquisition module is used for starting the image acquisition equipment to shoot the fan blade to be embedded to obtain a second image of the fan blade to be embedded.
Optionally, the visual analysis unit comprises: the first judging module is used for judging whether the insert exists in each of the plurality of preset sites; the first grabbing module is used for grabbing the insert when the inserts do not exist at the plurality of preset positions; the second grabbing module is used for controlling the clamp to grab the insert to be processed to move to the position to be embedded when the insert exists at the plurality of preset positions; the second judgment module is used for judging whether neutrons of the injection molding machine tool are ejected in place or not and whether the ejector pins are ejected in place or not; the first control module is used for controlling the robot to move to a grabbing position and ejecting an ejector pin to output a signal when a neutron of the injection molding machine tool is not withdrawn in place and/or the ejector pin is not ejected in place; and the third grabbing module is used for grabbing the fan blade to be embedded when the neutron of the injection molding machine tool is withdrawn in place and the thimble is ejected in place.
Optionally, the linkage control device of the injection molding machine tool and the robot further comprises: the judging unit is used for judging whether the clamp successfully clamps the two to-be-embedded fan blades after grabbing the to-be-embedded fan blades; the generating unit is used for generating an alarm signal when the clamp does not successfully clamp the two fan blades to be embedded; the determining unit is used for sending a thimble retreating signal and determining that the thimble retreats in place when the clamp successfully clamps the two to-be-embedded fan blades; the control unit is used for controlling the robot to leave the mold opening and closing area and sending out a preset signal, wherein the preset signal comprises: a neutron in signal, a mode area safety signal and a mold closing permission signal.
Optionally, the control unit includes: and the second control module is used for controlling the robot to move to a specified position to place the insert to be processed based on the insert mounting mode.
According to another aspect of the embodiment of the present invention, there is also provided a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is executed by a processor, the computer program controls an apparatus in which the computer storage medium is located to execute the linkage control method of the injection molding machine tool and the robot.
According to another aspect of the embodiment of the present invention, there is further provided a processor, configured to execute a computer program, where the computer program executes the method for controlling the linkage of the injection molding machine and the robot.
In the embodiment of the invention, the grabbed insert to be processed is photographed to obtain a first image of the insert to be processed; shooting the split-molded fan blade to be embedded to obtain a second image of the fan blade to be embedded; carrying out visual analysis on the image I and the image II to obtain an embedding mode for embedding the to-be-embedded fan blade; and installing the insert to be treated on the fan blade to be embedded based on the embedding mode. According to the linkage control method of the injection molding machine tool and the robot provided by the embodiment of the invention, the purpose of linkage control of the robot and the injection molding machine tool based on the real-time states of the insert to be processed and the fan blade to be embedded is realized, the technical effect of improving factory automation is achieved, and the technical problem that the safety of mechanical equipment cannot be ensured in the full-automatic production process in the related technology is solved.
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 flowchart of a linkage control method of an injection molding machine tool and a robot according to an embodiment of the present invention;
FIG. 2 is a flow chart of an alternative method of linkage control of an injection molding machine and a robot according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a linkage control device of an injection molding machine tool and a robot according to an embodiment of the 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.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of a method for coordinated control of an injection molding machine and a robot, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of a linkage control method of an injection machine tool and a robot according to an embodiment of the present invention, and as shown in fig. 1, the linkage control method of the injection machine tool and the robot includes the following steps:
and S102, photographing the grabbed insert to be processed to obtain a first image of the insert to be processed.
Alternatively, in this embodiment, the type of the image capturing apparatus is not particularly limited, and for example, a camera or the like.
And S104, taking a picture of the split-molded fan blade to be embedded to obtain a second image of the fan blade to be embedded.
And S106, carrying out visual analysis on the image I and the image II to obtain an embedding mode for embedding the to-be-embedded fan blade.
And S108, mounting the insert to be processed on the fan blade to be embedded based on the embedding mode.
As can be seen from the above, in the embodiment of the invention, the grabbed insert to be processed can be photographed to obtain the first image of the insert to be processed; shooting the split-molded fan blade to be embedded to obtain a second image of the fan blade to be embedded; carrying out visual analysis on the image I and the image II to obtain an embedding mode for embedding the to-be-embedded fan blade; the to-be-treated insert is mounted on the to-be-embedded fan blade based on the embedding mode, the aim of performing linkage control on the robot and the injection molding machine tool based on the real-time state of the to-be-treated insert and the to-be-embedded fan blade is achieved, and the technical effect of improving factory automation is achieved.
Therefore, the linkage control method of the injection molding machine tool and the robot provided by the embodiment of the invention solves the technical problem that the safety of mechanical equipment cannot be ensured in the full-automatic production process in the related technology.
In an alternative embodiment, the step of taking a picture of the grasped insert to be processed to obtain a first image of the insert to be processed includes: determining that the insert to be treated exists on the clamp; and starting the image acquisition equipment to photograph the insert to be processed to obtain a first image of the insert to be processed.
In this embodiment, the acquisition of an image of the insert to be processed may be achieved.
In an optional embodiment, taking a picture of the split-molded to-be-embedded fan blade to obtain a second image of the to-be-embedded fan blade includes: determining that the mold opening of the injection molding machine tool is completed; and starting the image acquisition equipment to photograph the fan blade to be embedded to obtain a second image of the fan blade to be embedded.
In the embodiment, the acquisition of the image of the fan blade to be embedded can be realized.
In an alternative embodiment, the visual analysis of image one and image two comprises: judging whether the insert exists in each of the plurality of preset sites; if not, grabbing the insert; if so, controlling the clamp to grab the insert to be processed and move to the position to be embedded; judging whether neutrons of the injection molding machine tool exit in place or not and whether the ejector pin is determined to be in place or not; if not, controlling the robot to move to the grabbing position and ejecting the thimble to output a signal; and if so, grabbing the fan blade to be embedded.
In an optional embodiment, after the blade to be embedded is grabbed, the linkage control method of the injection molding machine tool and the robot further comprises the following steps: judging whether the clamp successfully clamps two fan blades to be embedded; if not, generating an alarm signal; if so, sending an ejector pin retreating signal and determining that the ejector pin is withdrawn in place; controlling the robot to leave the mold opening and closing area and sending out a preset signal, wherein the preset signal comprises: a neutron in signal, a mode area safety signal and a mold closing permission signal.
In an optional embodiment, the installation of the insert to be treated to the fan blade to be embedded based on the embedding mode includes: and controlling the robot to move to a specified position to place the insert to be processed based on the insert mounting mode.
Fig. 2 is a flowchart of an optional linkage control method of an injection molding machine tool and a robot according to an embodiment of the present invention, and as shown in fig. 2, whether an insert or a fan blade is on a fixture may be determined by an HOME position indicator (HOME position indicator); if so, controlling the robot to move to a specified position to put down the fan blade or the insert; if not, judging whether the insert is positioned at the left and right prepositioning positions, and if not, grabbing the insert; detecting whether the small hole at the bottom of the insert is not grabbed or not through vision; if not, discarding the insert at the designated position; if so, judging whether the insert is positioned at the left prepositioning position, if not, placing the insert at the left prepositioning position, if so, judging whether the insert is positioned at the right prepositioning position, if so, returning to judge whether the insert is positioned at the left prepositioning position and the right prepositioning position, and if not, placing the insert at the left prepositioning position; when the judgment result shows that the insert is arranged at the left pre-positioning position and the right pre-positioning position, the robot grabs the insert to a position waiting for insert installation; judging whether the mold opening is finished or not; if so, the robot moves to the grabbing position and sends a thimble ejection signal, and if not, the robot returns to continuously detect whether the die sinking is finished; then judging whether the neutrons are withdrawn in place or not and whether the ejector pin is ejected in place or not; if not, returning to continuously judge whether the neutrons are withdrawn in place or not and whether the ejector pin is ejected in place or not; if so, grabbing the fan blades; judging whether the clamp successfully clamps the two fan blades, and if not, alarming to perform manual processing; otherwise, sending a thimble retreating signal; judging whether the thimble is in place or not, and if not, returning to continue judging; if so, controlling the robot to leave the die clamping area and sending a signal for the safety of the neutron inlet and the die clamping area and the permission of die clamping; and controlling the robot to move to the designated position to release the wind blade; and judging whether the product is on the clamp, if so, returning to control the robot to move to the designated position to release the fan blade, otherwise, judging whether the insert or the fan blade is on the clamp at the HOME point.
Therefore, in the embodiment of the invention, the product can be produced by utilizing the robot and the injection molding machine tool to improve the automation degree of a factory. Specifically, after the feeding device discharges materials, the robot receives a signal, and the robot grabs the insert from the feeding device; after the grabbing is finished, the robot moves to the insert camera to shoot, and after the shooting is successful, the robot receives X, Y and angle deviation transmitted by the vision system; the robot carries out posture and position adjustment, moves and places a first preset site of a corresponding pre-positioning device, places the first preset site in place and then places a second preset site of the pre-positioning device according to the upper sequence flow, in the installation and operation process, the PLC can monitor the in-place and in-place conditions of the two pre-positioning sites in real time through a detection sensor and transmit data to the robot, the robot operates according to the conditions, the conditions are met, the robot moves to a clamp above the pre-positioning device preset sites to grab the insert, the clamp of the detection sensor grabs in place and transmits the pick-up completion data to the PLC, the robot moves to the position right above the injection molding machine, in the process before and after the robot waits to enter the injection molding machine, the PLC master control system monitors the transmission interaction data of an injection molding machine control system and a robot system in real time to carry out center control, numerical values are, when the numerical value monitored by the PLC is equal to a set numerical value (the set numerical value is a pressure threshold value for installing the insert in place), the PLC transmits a placing completion signal to the robot, the robot receives the signal and proves that the insert is installed in place, the robot immediately stops installation and sequentially quits the injection molding machine to move out of the injection molding machine, the robot returns to the position right above the injection molding machine and then shifts to a fan blade product placing production line, and the next insert taking and installing process is carried out.
Therefore, in the embodiment of the invention, an interactive circuit of the robot and the injection molding machine is developed and designed into a safety protection circuit, the main auxiliary hardware has a safety return control circuit, and a safety grating, a safety door lock and a safety circuit emergency stop control switch are added on the periphery of the safety protection circuit to act together; therefore, the safety zone can be safely withdrawn between the equipment when one or two abnormal fault events occur between the equipment, the equipment is ensured not to have collision accidents, and the personnel can be ensured to alarm immediately when entering the operation zone by mistake, the operation of the injection molding machine tool is stopped, the robot operates, if the robot and the injection molding machine operate, the robot and the injection molding machine can safely return to the safety zone immediately to wait for the operation point to stop, the blank design of a safety loop of the insertion depth mechanical action interaction equipment combination of the robot and the injection molding machine tool is effectively solved, and the problem of the zero fault of mechanical interaction operation is also solved, so that the purposes of reducing the number of workers, increasing the labor intensity, ensuring the safety of the mechanical equipment and improving the automation of a factory are realized.
Example 2
According to another aspect of the embodiment of the present invention, there is also provided an interlocking control device of an injection molding machine tool and a robot, fig. 3 is a schematic diagram of the interlocking control device of the injection molding machine tool and the robot according to the embodiment of the present invention, and as shown in fig. 3, the interlocking control device of the injection molding machine tool and the robot may include: a first acquisition unit 31, a second acquisition unit 33, a vision analysis unit 35 and a control unit 37. The following describes the interlock control device of the injection machine and the robot.
The first obtaining unit 31 is configured to photograph the grabbed insert to be processed to obtain a first image of the insert to be processed.
And the second obtaining unit 33 is configured to take a picture of the split-molded to-be-embedded fan blade to obtain a second image of the to-be-embedded fan blade.
And the visual analysis unit 35 is used for carrying out visual analysis on the first image and the second image to obtain an embedding mode for embedding the to-be-embedded fan blades.
And the control unit 37 is used for installing the insert to be processed on the fan blade to be embedded based on the embedding mode.
It should be noted here that the first acquiring unit 31, the second acquiring unit 33, the visual analysis unit 35 and the control unit 37 correspond to steps S102 to S108 in embodiment 1, and the above units are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure in embodiment 1. It should be noted that the above-described elements as part of an apparatus may be implemented in a computer system, such as a set of computer-executable instructions.
As can be seen from the above, in the above embodiment of the present application, the first obtaining unit may be used to photograph the grabbed insert to be processed, so as to obtain a first image of the insert to be processed; then, a second acquisition unit is used for shooting the fan blade to be embedded after the split molding, so that a second image of the fan blade to be embedded is obtained; then, carrying out visual analysis on the image I and the image II by using a visual analysis unit to obtain an embedding mode for embedding the to-be-embedded fan blades; and installing the insert to be processed on the fan blade to be embedded by utilizing the control unit based on the embedding mode. The linkage control device of the injection molding machine tool and the robot provided by the embodiment of the invention realizes the purpose of linkage control of the robot and the injection molding machine tool based on the real-time states of the insert to be processed and the fan blade to be embedded, achieves the technical effect of improving factory automation, and solves the technical problem that the safety of mechanical equipment cannot be ensured in the full-automatic production process in the related technology.
In an alternative embodiment, the first obtaining unit includes: the first determining module is used for determining that the insert to be processed exists on the clamp; the first acquisition module is used for starting the image acquisition equipment to photograph the insert to be processed to obtain a first image of the insert to be processed.
In an alternative embodiment, the second obtaining unit includes: the second determination module is used for determining that the mold opening of the injection molding machine tool is completed; and the second acquisition module is used for starting the image acquisition equipment to shoot the fan blade to be embedded to obtain a second image of the fan blade to be embedded.
In an alternative embodiment, the visual analysis unit comprises: the first judging module is used for judging whether the insert exists in each of the plurality of preset sites; the first grabbing module is used for grabbing the insert when the inserts do not exist at the plurality of preset positions; the second grabbing module is used for controlling the clamp to grab the insert to be processed to move to the position to be embedded when the inserts exist at the plurality of preset positions; the second judgment module is used for judging whether neutrons of the injection molding machine tool are ejected in place or not and whether the ejector pins are ejected in place or not; the first control module is used for controlling the robot to move to a grabbing position and ejecting an ejector pin to output a signal when a neutron of the injection molding machine tool is not withdrawn in place and/or the ejector pin is not ejected in place; and the third grabbing module is used for grabbing the fan blade to be embedded when the neutron of the injection molding machine tool is withdrawn in place and the thimble is ejected in place.
In an optional embodiment, the linkage control device of the injection molding machine tool and the robot further comprises: the judging unit is used for judging whether the clamp successfully clamps two to-be-embedded fan blades after the to-be-embedded fan blades are grabbed; the generating unit is used for generating an alarm signal when the clamp does not successfully clamp the two fan blades to be embedded; the determining unit is used for sending an ejector pin retreating signal and determining that the ejector pin retreats in place when the clamp successfully clamps the two to-be-embedded fan blades; the control unit is used for controlling the robot to leave the mold opening and closing area and sending out a preset signal, wherein the preset signal comprises: a neutron in signal, a mode area safety signal and a mold closing permission signal.
In an alternative embodiment, the control unit comprises: and the second control module is used for controlling the robot to move to a specified position to place the insert to be processed based on the insert mounting mode.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored computer program, wherein when the computer program is executed by a processor, the apparatus on which the computer storage medium is located is controlled to execute the linkage control method of the injection molding machine tool and the robot according to any one of the above.
Example 4
According to another aspect of the embodiment of the present invention, there is further provided a processor for executing a computer program, wherein the computer program is executed to execute the linkage control method of the injection molding machine tool and the robot.
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. A linkage control method of an injection molding machine tool and a robot is characterized by comprising the following steps:
photographing the grabbed insert to be processed to obtain a first image of the insert to be processed;
shooting the split-molded fan blade to be embedded to obtain a second image of the fan blade to be embedded;
performing visual analysis on the image I and the image II to obtain an embedding mode for embedding the to-be-embedded fan blade;
and installing the insert to be treated on the fan blade to be embedded based on the embedding mode.
2. The method according to claim 1, wherein the step of photographing the grabbed insert to be processed to obtain a first image of the insert to be processed comprises:
determining that the insert to be treated exists on the fixture;
and starting image acquisition equipment to photograph the insert to be processed to obtain a first image of the insert to be processed.
3. The method according to claim 1, wherein the step of taking a picture of the split-molded to-be-embedded fan blade to obtain a second image of the to-be-embedded fan blade comprises the following steps:
determining that the mold opening of the injection molding machine tool is completed;
and starting image acquisition equipment to photograph the fan blade to be embedded to obtain a second image of the fan blade to be embedded.
4. The method of claim 1, wherein visually analyzing the first image and the second image comprises:
judging whether the insert exists in each of the plurality of preset sites;
if not, grabbing the insert;
if so, controlling the clamp to grab the insert to be processed and move to the position to be embedded;
judging whether neutrons of the injection molding machine tool exit in place or not and whether the ejector pin is determined to be in place or not;
if not, controlling the robot to move to the grabbing position and ejecting the thimble to output a signal;
and if so, grabbing the fan blade to be embedded.
5. The method according to claim 4, wherein after the blade to be embedded is grabbed, the method further comprises:
judging whether the clamp successfully clamps the two to-be-embedded fan blades;
if not, generating an alarm signal;
if so, sending an ejector pin retreating signal and determining that the ejector pin is withdrawn in place;
controlling the robot to leave the mold opening and closing area and sending out a predetermined signal, wherein the predetermined signal comprises: a neutron in signal, a mode area safety signal and a mold closing permission signal.
6. The method according to any one of claims 1 to 5, wherein installing the insert to be treated on the blade to be inserted based on the inserting manner comprises:
and controlling the robot to move to a specified position to place the insert to be processed based on the insert mounting mode.
7. The utility model provides an injection molding machine tool and linkage control device of robot which characterized in that includes:
the first acquisition unit is used for photographing the grabbed insert to be processed to obtain a first image of the insert to be processed;
the second acquisition unit is used for photographing the split-molded fan blade to be embedded to obtain a second image of the fan blade to be embedded;
the visual analysis unit is used for carrying out visual analysis on the first image and the second image to obtain an embedding mode for embedding the to-be-embedded fan blade;
and the control unit is used for installing the insert to be treated on the fan blade to be embedded based on the embedding mode.
8. The apparatus of claim 7, wherein the first obtaining unit comprises:
the first determination module is used for determining that the insert to be processed exists on the fixture;
the first acquisition module is used for starting image acquisition equipment to photograph the insert to be processed to obtain a first image of the insert to be processed.
9. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed by a processor, controls an apparatus in which the computer-readable storage medium is located to perform the method of linkage control of an injection molding machine and a robot according to any one of claims 1 to 6.
10. A processor for running a computer program, wherein the computer program is run to execute the method of linkage control of an injection molding machine and a robot according to any one of claims 1 to 6.
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| CN202110051004.2A CN112895362A (en) | 2021-01-14 | 2021-01-14 | Linkage control method and device for injection molding machine tool and robot |
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| CN102363354A (en) * | 2011-11-02 | 2012-02-29 | 宁波安信数控技术有限公司 | Mechanical-vision-based injection molding machine mold protecting system and method |
| CN110181518A (en) * | 2019-06-24 | 2019-08-30 | 珠海格力智能装备有限公司 | Installation method, the storage medium of mould group |
| CN110480931A (en) * | 2019-08-26 | 2019-11-22 | 珠海格力智能装备有限公司 | The production method and device of air-conditioning fan blade |
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2021
- 2021-01-14 CN CN202110051004.2A patent/CN112895362A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102363354A (en) * | 2011-11-02 | 2012-02-29 | 宁波安信数控技术有限公司 | Mechanical-vision-based injection molding machine mold protecting system and method |
| CN110181518A (en) * | 2019-06-24 | 2019-08-30 | 珠海格力智能装备有限公司 | Installation method, the storage medium of mould group |
| CN110480931A (en) * | 2019-08-26 | 2019-11-22 | 珠海格力智能装备有限公司 | The production method and device of air-conditioning fan blade |
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