CN113843994A - Intelligent injection molding machine control system and method based on gram weight of injection molding product - Google Patents

Intelligent injection molding machine control system and method based on gram weight of injection molding product Download PDF

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Publication number
CN113843994A
CN113843994A CN202110967931.9A CN202110967931A CN113843994A CN 113843994 A CN113843994 A CN 113843994A CN 202110967931 A CN202110967931 A CN 202110967931A CN 113843994 A CN113843994 A CN 113843994A
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China
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injection molding
gram weight
measuring
manipulator
gravity
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CN113843994B (en
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李君�
李素君
林娅丹
张�雄
张贤宝
葛先钗
施王宵
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Sino Holdings Group Co ltd
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Sino Holdings Group Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/7686—Measuring, controlling or regulating the ejected articles, e.g. weight control
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76003—Measured parameter
    • B29C2945/7613—Weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76177—Location of measurement
    • B29C2945/7629—Moulded articles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)

Abstract

The invention discloses an intelligent injection molding machine control system based on the gram weight of an injection molding product, which comprises a manipulator, wherein the manipulator is provided with a pickup module, the pickup module is provided with a plurality of pickup measuring units, and the pickup measuring units are used for pickup fixing and gravity measurement of the injection molding product; the manipulator is connected with the transmission module, and the transmission module is used for screening and transmitting the injection molding products according to the gram weight of the injection molding products calculated by measurement. Also discloses an intelligent injection molding machine control method based on the gram weight of the injection molding product, which comprises the following steps: calling relevant data of the idle load and the standard component; taking and measuring data of the injection molding part; calculating and detecting data; and screening and conveying the injection molding parts. According to the invention, the gravity sensor and the force sensor are directly combined on the manipulator, so that the manipulator completes the gram weight detection of the injection molding piece in the process of transferring the injection molding piece from the mold to the conveying device, the time for separately carrying out the gram weight detection is saved, and the working efficiency is improved.

Description

Intelligent injection molding machine control system and method based on gram weight of injection molding product
Technical Field
The invention relates to the field of injection molding machines, in particular to an intelligent injection molding machine control system and method based on the gram weight of an injection molding product.
Background
Plastic articles are produced mainly by injection molding processes, while injection molding machines are the main production equipment. A typical injection molding process includes the following six steps: the method comprises the following steps of die assembly, injection, pressure maintaining, cooling, die opening and ejection, and after ejection, an injection molding product is grabbed by a manipulator and placed on a conveyor belt to be conveyed to a specified position. In the process of injection molding, products after injection molding are not completely the same due to various sudden factors and random situations, and the most important difference is that the weights of the products after injection molding are not completely the same due to different distribution densities of raw materials, or the weights of the products are different due to other factors such as air bubbles in the products, and weight detection is required to distinguish whether the products are qualified. Traditional weight detects and all is artifical manual selective examination to detect, and one is weighed, and this kind of manual type selective examination can satisfy certain detection requirement, but artifical detection efficiency is low, and the cost of labor is high, and the troublesome poeration is inconvenient, easily leaks the error detection and examines the false retrieval.
An on-line weighing device disclosed in Chinese patent document with publication number CN112577577A and publication date 2021-03-30 comprises a body, a support mechanism, a weighing sensor and a controller. The supporting mechanism is used for supporting a product to be detected and is arranged above the body; the weighing sensor is connected with the supporting mechanism and used for weighing the weight of the product to be detected supported by the supporting mechanism and generating a weight signal; the controller is located the body and is connected with the weighing sensor electricity, and the controller is used for producing weight data and save weight data according to the weight signal of weighing sensor. The online weighing device can realize automatic weighing of products, saves labor cost and improves production efficiency. However, the on-line weighing device is a single weighing tool, and a manipulator is required to weigh the removed injection molded part on the device, and then place the injection molded part at different positions according to the weight condition, so that the on-line weighing device still has great improvement space.
Disclosure of Invention
The invention provides an intelligent injection molding machine control system and method based on injection molding product gram weight, aiming at overcoming the defects that in the prior art, an independent measuring tool is needed for measuring the gram weight of an injection molding product, the steps of transferring the injection molding product to the measuring tool and then transferring the injection molding product to a conveyor belt are needed in the process of grabbing the injection molding product by a manipulator and transferring the injection molding product to the conveyor belt, and the transfer time of the injection molding product gram weight is increased.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent injection molding machine control system based on gram weight of injection molding products comprises a manipulator, wherein the manipulator is provided with a pickup module, the pickup module is provided with a plurality of pickup measuring units, and the pickup measuring units are used for pickup fixing and gravity measurement of the injection molding products; the manipulator is connected with the transmission module, and the transmission module is used for screening and transmitting the injection molding products according to the gram weights of the injection molding products calculated through measurement.
According to the injection molding machine, the quantity of the parts taking and measuring units in the parts taking module arranged on the manipulator corresponds to the quantity and the positions of products which can be produced in an injection molding machine die in one injection molding process, and the parts taking and measuring units can grab and fix injection molding parts and move to the specified positions on the conveying module along with the movement of the manipulator to place the injection molding parts. In this process, the side of the take-off module on which the take-off measuring unit is arranged when taking off is oriented horizontally, facing the product in the mould, and the side of the take-off module on which the take-off measuring unit is arranged when placing the product on the transfer module is facing vertically downwards towards the transfer module. The part taking module can rotate for ninety degrees in the whole process, and the actual gram weight of the injection molding part and other information related to the injection molding part are analyzed according to the change of the force in the whole process detected by the gravity sensor and the limiting force sensor which are arranged on the part taking measuring unit.
Preferably, the manipulator comprises a pickup module and a positioning module connected with the pickup module, and the positioning module comprises: the rotating unit is fixedly connected with the pickup module and is used for driving the pickup module to rotate; the vertical sliding unit determines the position of the pickup module in the vertical direction through vertical sliding; the horizontal sliding unit determines the position of the pickup module in the horizontal direction through sliding in the horizontal direction. The positioning module is used for adjusting the spatial position of the part taking module, so that the part taking module cannot touch the injection molding machine body in the whole process of grabbing the injection molding part between the moving mold and the fixed mold.
Preferably, the part taking and measuring unit comprises a connecting rod, one end of the connecting rod is fixed on the part taking and measuring unit through a rotating device, and the other end of the connecting rod is fixedly connected with the injection molding part fixing device; the connecting rod is sleeved with a limiting ring fixed on the workpiece taking measuring unit, the cross section of the limiting ring is in a semi-circular arc shape, and the top point of the arc shape is tangent to the surface of the connecting rod. The limiting ring is provided with a limiting force sensor, and the rotating device is provided with a gravity sensor.
In the taking and measuring unit, the connecting rod is rigid, the limiting ring sleeved on the connecting rod is used for limiting the change of the radial position of the connecting rod on the rod, after the injection molding part is grabbed and fixed on the injection molding part fixing device, the connecting rod tends to move radially due to the moment generated by gravity, but due to the limitation of the limiting ring, the moment generated by a certain acting force between the connecting rod and the limiting ring balances the moment generated by gravity. Because the cross section of the limiting ring is in a semicircular arc shape, the top point of the arc shape is tangent to the surface of the connecting rod, the acting force can be concentrated on one point, and the measuring accuracy of the limiting force sensor is improved. And when the connecting rod is axially vertical, the gram weight of the injection molding part can be indirectly calculated by measuring the total gravity by using the gravity sensor.
Preferably, the conveying module is provided with a plurality of lifting devices which are the same in number and correspond to the pickup measuring units on the pickup module in position, and the lifting devices lift and stop at positions with different heights according to the gram weight of the placed injection molding product.
Preferably, the conveying module comprises a top platform, a first-layer platform, a second-layer platform and a bottom platform which are the same in interval height; the first layer of platform is connected with the first layer of conveyor belt; the second-layer platform is connected with the second-layer conveyor belt; the bottom platform is connected with the bottom conveyor belt.
The conveying module is divided into four layers, the injection molding piece is transferred by the manipulator and then is firstly placed on the top layer platform, the lifting devices on the top layer platform correspond to the injection molding piece one by one, and the lifting devices are also provided with force sensors. When the gram weight of the injection molding piece is within a preset qualified gram weight range, the lifting device is lowered to the two-layer platform, and the injection molding piece with qualified gram weight is conveyed through the two-layer conveyor belt; when the gram weight of the injection molding piece is smaller than a preset qualified gram weight range, the lifting device is lowered to a platform, and the injection molding piece is conveyed by a conveyor belt; when the gram weight of the injection molding part is larger than the preset qualified gram weight range, the injection molding part is lowered to the bottom platform and is conveyed by the bottom conveyor belt.
A control method of an intelligent injection molding machine based on gram weight of injection molding products comprises the following steps:
s1, a database is called, and the inherent data of each force sensor in the no-load moving process of the manipulator and the standard data of each force sensor in the moving process of the manipulator grabbing and fixing the standard component are called during initial setting;
s2, taking and measuring, wherein after the injection molding machine performs injection molding on a product, the measuring manipulator grabs and fixes the injection molding piece to move and places the injection molding piece on the measuring data of each force sensor in the process of the conveying device;
s3, calculating and detecting, wherein the gram weight of the injection molding piece is calculated by combining the measured data, the standard data and the inherent data, and the gravity center shift condition and the uniformity of material distribution of the injection molding piece are detected and analyzed;
s4, screening and conveying, wherein after the injection molding piece is placed on the conveying device, the conveying device screens the injection molding piece according to the gram weight condition of the injection molding piece, and the injection molding piece is placed on different conveying belts for conveying.
Preferably, the intrinsic data includes an intrinsic gravity G measured by the gravity sensor at idle0And the change F of the force measured by the limit force sensor0(theta) and inherent moment arm L0(ii) a The standard data comprises gram weight m of standard component0Gravity G obtained in the same manner after the manipulator grabs and fixes the standard part1Variation of sum force F1(theta) and a standard gravity measurement value G calculated from the dataSign board＝G1-G0Distance L of moment arm of center of gravity of standard component when fixedSign board。
Preferably, the measurement data comprises a gravity value G measured by a gravity sensor after the manipulator grabs and fixes the injection molding part2Variation of force F measured by a limit force sensor2(theta) and the measured value f of the limiting force sensor during the rotation of the injection-molded part with the connecting rod at the angular velocity omega when the connecting rod is in the vertical stateω。
Preferably, the injection-molded part has a grammage mMeasuring＝GMeasuring/g＝(G2-G0) G, the moment arm distance L of the gravity center of the injection molding partMeasuring＝FMeasuring(θ)·L0/mMeasuring＝(F2(θ)-F0(θ))·L0/mMeasuringThe offset distance r of the gravity center of the injection molding part relative to the standard part satisfies the equation fω·L0＝mMeasuring·ω2·r·LMeasuring。
The invention has the following beneficial effects: by directly combining the gravity sensor and the force sensor on the manipulator, the manipulator completes the gram weight detection of the injection molding piece in the process of transferring the injection molding piece from the mold to the conveying device, so that the time for separately detecting the gram weight is saved, and the working efficiency is improved; the gravity center offset position of the injection molding piece can be calculated through the change of the force detected by each force sensor on the piece taking and measuring unit in the transfer process of the injection molding piece, and the gram weight can be detected while whether the gravity center position of the injection molding piece is qualified or not can be detected; the data that each force sensor collected when transferring through analysis contrast injection molding can obtain the material distribution homogeneity of injection molding or with the difference that the standard component material distributes with the data that each force sensor collected when the standard component transferred, can carry out the measurement and the detection to the angle through data to the injection molding, improves the product percent of pass.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a pick-off measuring unit of the present invention;
FIG. 3 is a schematic view of the rotation of the pickup module of the present invention;
FIG. 4 is a schematic view of the rotation of an injection molded part in an embodiment of the present invention;
in the figure: 1. a manipulator; 2. a transfer module; 11. a pickup module; 110. a pickup measurement unit; 111. a limiting ring; 112. a connecting rod; 113. a rotating device; 114. an injection molding fixing device; 115. a limit force sensor; 116. a gravity sensor; 117; an injection molding piece to be tested; 1171. the center of gravity of the injection molding piece; 12. a first rotating lever; 13. rotating the block; 14. a second rotating lever; 15. a vertical slider; 16. a slide bar; 17. a horizontal slider; 21. a sliding groove; 22. a top deck; 221. a lifting device; 23. a layer of platform; 231. a layer of conveyor belt; 24. a two-layer platform; 241. a second layer of conveyor belt; 25. a bottom platform; 251. a bottom layer conveyor belt.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1, an intelligent injection molding machine control system based on gram weight of injection molded products comprises a manipulator 1, wherein the manipulator 1 is provided with a pickup module 11, the pickup module 11 is provided with a plurality of pickup measurement units 110, and the pickup measurement units 110 are used for pickup fixation and gravity measurement of the injection molded products; the manipulator 1 is connected with the transmission module 2, and the transmission module 2 is used for screening and transmitting the injection molding products according to the gram weight of the injection molding products calculated by measurement.
Manipulator 1 is including getting a module 11 and with getting a positioning module that the module is connected, and positioning module includes: the rotating unit is fixedly connected with the pickup module and is used for driving the pickup module to rotate; the vertical sliding unit determines the position of the pickup module in the vertical direction through vertical sliding; and the horizontal sliding unit determines the position of the pickup module in the horizontal direction through the sliding in the horizontal direction. The positioning module is used for adjusting the spatial position of the part taking module, so that the part taking module cannot touch the injection molding machine body in the whole process of grabbing the injection molding part between the moving mold and the fixed mold.
As shown in fig. 2, the part taking and measuring unit 110 includes a connecting rod 112, one end of the connecting rod is fixed on the part taking and measuring unit through a rotating device 113, and the other end of the connecting rod is fixedly connected with an injection molding part fixing device 114; the connecting rod is sleeved with a limiting ring 111 fixed on the workpiece taking measuring unit, the cross section of the limiting ring is in a semicircular arc shape, and the top point of the arc shape is tangent to the surface of the connecting rod. The limiting ring is provided with a limiting force sensor 115, and the rotating device is provided with a gravity sensor 116.
The conveying module 2 is provided with a plurality of lifting devices 221 which have the same number and correspond to the pickup measuring units on the pickup module, and the lifting devices lift and stop at different heights according to the gram weight of the placed injection molding product.
The conveying module comprises a top layer platform 22, a first layer platform 23, a second layer platform 24 and a bottom layer platform 25 which are arranged at the same interval height; one layer of platform is connected with one layer of conveyor belt 231; the second-layer platform is connected with a second-layer conveyor belt 241; the bottom deck is attached to a bottom conveyor belt 251.
According to the injection molding machine, the quantity of the parts taking and measuring units in the parts taking module arranged on the manipulator corresponds to the quantity and the positions of products which can be produced in an injection molding machine die in one injection molding process, and the parts taking and measuring units can grab and fix injection molding parts and move to the specified positions on the conveying module along with the movement of the manipulator to place the injection molding parts. In this process, the side of the take-off module on which the take-off measuring unit is arranged when taking off is oriented horizontally, facing the product in the mould, and the side of the take-off module on which the take-off measuring unit is arranged when placing the product on the transfer module is facing vertically downwards towards the transfer module. The part taking module can rotate for ninety degrees in the whole process, and the actual gram weight of the injection molding part and other information related to the injection molding part are analyzed according to the change of the force in the whole process detected by the gravity sensor and the limiting force sensor which are arranged on the part taking measuring unit.
In the taking and measuring unit, the connecting rod is rigid, the limiting ring sleeved on the connecting rod is used for limiting the change of the radial position of the connecting rod on the rod, after the injection molding part is grabbed and fixed on the injection molding part fixing device, the connecting rod tends to move radially due to the moment generated by gravity, but due to the limitation of the limiting ring, the moment generated by a certain acting force between the connecting rod and the limiting ring balances the moment generated by gravity. Because the cross section of the limiting ring is in a semicircular arc shape, the top point of the arc shape is tangent to the surface of the connecting rod, the acting force can be concentrated on one point, and the measuring accuracy of the limiting force sensor is improved. And when the connecting rod is axially vertical, the gram weight of the injection molding part can be indirectly calculated by measuring the total gravity by using the gravity sensor.
The conveying module is divided into four layers, the injection molding piece is transferred by the manipulator and then is firstly placed on the top layer platform, the lifting devices on the top layer platform correspond to the injection molding piece one by one, and the lifting devices are also provided with force sensors. When the gram weight of the injection molding piece is within a preset qualified gram weight range, the lifting device is lowered to the two-layer platform, and the injection molding piece with qualified gram weight is conveyed through the two-layer conveyor belt; when the gram weight of the injection molding piece is smaller than a preset qualified gram weight range, the lifting device is lowered to a platform, and the injection molding piece is conveyed by a conveyor belt; when the gram weight of the injection molding part is larger than the preset qualified gram weight range, the injection molding part is lowered to the bottom platform and is conveyed by the bottom conveyor belt.
A control method of an intelligent injection molding machine based on gram weight of injection molding products comprises the following steps:
s1, a database is called, and the inherent data of each force sensor in the no-load moving process of the manipulator and the standard data of each force sensor in the moving process of the manipulator grabbing and fixing the standard component are called during initial setting;
s2, taking and measuring, wherein after the injection molding machine performs injection molding on a product, the measuring manipulator grabs and fixes the injection molding piece to move and places the injection molding piece on the measuring data of each force sensor in the process of the conveying device;
s3, calculating and detecting, wherein the gram weight of the injection molding piece is calculated by combining the measured data, the standard data and the inherent data, and the gravity center shift condition and the uniformity of material distribution of the injection molding piece are detected and analyzed;
s4, screening and conveying, wherein after the injection molding piece is placed on the conveying device, the conveying device screens the injection molding piece according to the gram weight condition of the injection molding piece, and the injection molding piece is placed on different conveying belts for conveying.
The inherent data comprises the inherent gravity G measured by the gravity sensor when the vehicle is unloaded0And the change F of the force measured by the limit force sensor0(theta) and inherent moment arm L0(ii) a The standard data comprises gram weight m of standard component0Gravity G obtained in the same manner after the manipulator grabs and fixes the standard part1Variation of sum force F1(theta) and a standard gravity measurement value G calculated from the dataSign board＝G1-G0Distance L of moment arm of center of gravity of standard component when fixedSign board。
The measured data comprises a gravity value G measured by a gravity sensor after the manipulator grabs and fixes the injection molding part2Variation of force F measured by a limit force sensor2(theta) and the measured value f of the limiting force sensor during the rotation of the injection-molded part with the connecting rod at the angular velocity omega when the connecting rod is in the vertical stateω。
Gram weight m of injection moldingMeasuring＝GMeasuring/g＝(G2-G0) G, moment arm distance L of gravity center of injection molding partMeasuring＝FMeasuring(θ)·L0/mMeasuring＝(F2(θ)-F0(θ))·L0/mMeasuringThe offset distance r of the gravity center of the injection molding part relative to the standard part satisfies the equation fω·L0＝mMeasuring·ω2·r·LMeasuring。
As shown in fig. 1, in the embodiment of the present invention, the manipulator 1 includes a pickup module 11, and four pickup measurement units 110 are uniformly disposed on the pickup module 11 in two rows and two columns. The piece taking module 11 is fixedly connected with the first rotating rod 12, the first rotating rod 12 penetrates through a through hole in the rotating block 13 to be connected with the rotating block 13, and the first rotating rod 12 can rotate in the through hole. The rotating block 13 is fixedly connected with the second rotating rod 14, the second rotating rod 14 is connected with the vertical sliding block 15, and the second rotating rod 14 can rotate around the central axis of the second rotating rod 14. The sliding rod 16 passes through a through hole in the center of the vertical sliding block 15 and is connected with the vertical sliding block 15 in a sliding manner, and the sliding rod 16 is fixed on the horizontal sliding block 17.
As shown in fig. 2, all the parts taking and measuring units 110 on the parts taking module 11 have the same structure and function, one part taking and measuring unit 110 includes a connecting rod 112, one end of the connecting rod 112 is fixed on the part taking and measuring unit 110 through a rotating device 113, and the other end of the connecting rod 112 is fixedly connected with an injection molding fixing device 114. The workpiece taking measurement unit 110 is provided with a limiting ring 111, the limiting ring 111 is sleeved on the connecting rod 112, the cross section of the limiting ring 111 is in a semi-arc shape, and the top point of the arc shape is tangent to the surface of the connecting rod 112. The limiting ring 111 is provided with a limiting force sensor 115 for measuring the acting force between the connecting rod 112 and the limiting ring 111, and the rotating device 113 is provided with a gravity sensor 116 for measuring the tension at the connection position of the connecting rod 112 and the rotating device 113 when the connecting rod 112 is in a vertical state.
The manipulator 1 is connected with the conveying device 2 through the sliding connection of the horizontal sliding block 17 and the sliding groove 21, and the interaction of the horizontal sliding block 17 on the sliding groove 21 drives the whole manipulator 1 to move on the conveying module 2. The entire conveyor 2 is divided into four levels including a top level platform 22, a first level platform 23, a second level platform 24 and a bottom level platform 25. Four lifting devices 221 corresponding to the four pickup measuring units 110 on the pickup module 11 are uniformly arranged on the top platform 22. Each lifting device 221 has the same structure and function, and the lifting device 221 can lift up and down between the four layers of platforms and can stay on the top layer platform 22, the first layer platform 23, the second layer platform 24 or the bottom layer platform 25 according to requirements. A layer of conveyor belt 231 connected with the layer of platform 23 is arranged at the same height of the layer of platform 23 and can convey the injection molded parts on the layer of platform 23; a second-layer conveyor belt 241 connected with the second-layer platform 24 is arranged at the same height of the second-layer platform 24 and can convey injection molded parts on the second-layer platform 24; and a bottom layer conveyor belt 251 connected with the bottom layer platform 25 is arranged at the same height of the bottom layer platform 25 and can convey injection molded parts on the bottom layer platform 25. A force sensor is also provided in the lifting device 221 for measuring the weight of the finished injection molded part placed on the lifting device 221.
The specific operation process of the invention is as follows:
the method is characterized in that the initial setting is needed before the first use, and the operations of the whole flow such as taking, detecting by a force sensor, placing the injection molding and the like are firstly carried out without idle load of the injection molding. The change in the detected force of the individual force sensors over the entire period of idling is measured and recorded as intrinsic data. As shown in fig. 3, the position of each component of the part taking module 11 is simulated when the injection molding part is just taken off, the side of the part taking module 11 provided with the part taking measurement unit 110 is horizontally oriented, the connecting rod 112 is axially horizontal at the moment, and the limiting force sensor 115 detects the force F between the connecting rod 112 and the limiting ring 1110Distance L from the point of application to the rotating device 1130Then the moment F can be obtained0·L0The size represents the inherent weight G of the connecting rod 112 and the injection molding fixture 114 in the taking measurement unit 110 at this time0The moment M generated0. Then, the injection molding part fixing device is rotated ninety degrees clockwise as shown in fig. 3, so that the surface provided with the part taking measurement unit 110 is vertically downward, the connecting rod 112 is axially vertical, no acting force exists between the connecting rod 112 and the limiting ring 111, and the gravity sensor 116 detects the inherent gravity G of the connecting rod 112 and the injection molding part fixing device 1140. While the force between the connecting rod 112 and the stop collar 111 follows the inherent weight G throughout the ninety degree rotation of the extractor module 11 from zero degrees0Is changed by a change in torque, which can be expressed as F0(θ)·L0＝M0(theta), where theta is the angle through which the pickup module 11 rotates.
Then selecting a standard part corresponding to the injection molding product, wherein the standard part is an injection molding part which has uniform parts, no flaws and perfect injection molding, and the standard quality of the injection molding part is m0The standard part is injectedThe molded position is placed in a mold, the manipulator 1 then simulates the process of removing the part to fix the standard part to the injection molding part fixture 114, and repeating the above test steps at no load results in a force variation F between the connecting rod 112 and the retainer ring 111 during rotation of the removal module 11 from zero degrees to ninety degrees1(theta), and a test reading G of the gravity sensor 116 with the connecting rod 112 vertical1Then, the gravity G of the standard part is measuredSign board＝G1-G0At the time of system normal GSign board＝m0g and g are gravity acceleration. At the same time according to FSign board(θ)·L0＝F1(θ)·L0-F0(θ)·L0＝GSign board·LSign boardCalculating the moment arm distance L of the gravity center of the standard component when the standard component is fixedSign board，FSign board(theta) is the equivalent force change of the gravity of the standard part on the contact point of the connecting rod 112 and the limit ring 111 by taking the connecting rod 112 as a lever action, F1(theta) and FSign boardAnd (theta) are all cosine functions. Then, when the connecting rod 112 is vertical, the rotating device 113 drives the connecting rod 112 to start rotating at the angular speed ω, so that the standard part also starts rotating at the angular speed ω, and since the gravity center of the standard part is selected to coincide with the extension line of the axis of the connecting rod 112 when the standard part is fixed, the gravity center is just fallen on the rotating shaft, the measured pressure f between the connecting rod 112 and the limiting ring 111 is zero. And storing the data obtained by measuring the standard part into a database of the system of the invention for comparison of the measurement results of the injection molding parts to be tested. The data also includes the item taking module 11 which can make the extension line of the axis of the connecting rod 112 in the item taking and measuring unit 110 coincide with the gravity center of the standard component when the manipulator 1 takes the standard component, and the spatial position coordinates of each item taking and measuring unit 110.
And when the injection molding machine finishes the injection molding production of the injection molding product, the manipulator 1 carries out the workpiece taking operation. The manipulator 1 slides to one side of the transmission module 2 close to the injection molding machine through the horizontal sliding block 17, the side, provided with the pickup measuring unit 110, of the pickup module 11 is opposite to the injection molding product, the height of the vertical sliding block 15 and the position of the horizontal sliding block 17 are adjusted to enable the pickup measuring unit 110 to be in one-to-one correspondence with the injection molding product, and the selected position isThe spatial position coordinates of the pickup module 11 and the pickup measurement unit 110 stored in the database are set. The injection molded product is then secured to the connecting rod 112 by the injection molded product securing device 114 and released from the mold. The limiting force sensor 115 measures the force F between the connecting rod 112 and the limiting ring 1112The direction of the force is vertically upward, and the connecting rod 112 is horizontal in the axial direction. After removing the injection-molded part, the robot 1 moves via the horizontal slide 21 to the side of the transfer module 2 remote from the injection-molding machine to remove the injection-molded part, while the connecting rod 112 is still axially horizontal. Then, the first rotating rod 12 is rotated to make the surface of the part taking module 11, which is provided with the part taking measurement unit 110, vertically and downwards face the top platform 22, at the moment, the connecting rod 112 is in an axial vertical state, and the gravity sensor 116 detects the total gravity G of the connecting rod 112, the injection molding part fixing device 114 and the injection molding part2No force exists between the connecting rod 112 and the stop collar 111. During the rotation of the take-off module 11, the force F2The variation with the rotation angle theta can be represented by F2And (theta) is shown. The gravity G of the injection molding part to be measured can be obtained according to the measured dataMeasuring＝G2-G0The gram weight of the injection molding is mMeasuring＝GMeasuringG, the equivalent acting force of the gravity of the injection molding part at the contact point of the connecting rod 112 and the limiting ring 111 is changed into FMeasuring(θ)＝F2(θ)-F0(theta) from which the moment arm distance L of the center of gravity of the injection-molded part can be calculatedMeasuring＝FMeasuring(θ)·L0/mMeasuring。
The rotation device 113 rotates the connecting rod 112 at an angular velocity ω so that the injection-molded part also rotates at an angular velocity ω, as shown in fig. 4, when the horizontal force f between the connecting rod 112 and the stop collar 111 is measuredωThe relationship f exists by moment balanceω·L0＝mMeasuring·ω2·r·LMeasuringTherefore, the deviation distance r between the actual gravity center of the injection molding piece 117 to be measured and the rotating shaft can be calculated, when the injection molding piece is made of uniform material or is distributed as the same as the standard piece, the gravity center of the injection molding piece is coincided with the rotating shaft, the deviation distance is 0, and the horizontal acting force f isω0, when the injection molding is not made of materialWhen the material distribution is uniform or different from that of the standard part, the gravity center deviates from the rotating shaft by the deviation distance r, and the horizontal acting force fωIf the gravity center is not zero, the deviation distance of the gravity center can be calculated according to the horizontal acting force. The actual gram weight m of the injection molding piece can be measured by the manipulator 1 in the taking and transferring process of the injection molding pieceMeasuringMeanwhile, the actual gravity center position of the injection molding part can be detected through the force change between the connecting rod 112 and the limiting ring 111 in the transfer process, and whether the material distribution of the injection molding part meets the requirements or not and whether the material distribution of the injection molding part is consistent with a standard part or not is indirectly known.
After the above process is completed, the four parts taking and measuring units 110 connected with the injection-molded parts vertically and downwards correspond to the four lifting devices 221 on the top platform 22 in the transfer module 2 one by one. The rotating device 113 in the part taking and measuring unit 110 stops rotating, the injection molding part fixing device 114 is separated from the injection molding part, so that the injection molding part falls on the upper surface of the lifting device 221, and only one injection molding part is placed on each lifting device 221. Because the lifting device 221 is also provided with a force sensor, the gravity of the injection molding part falling on the surface of the lifting device 221 can be detected, and the gravity measured at the moment is GTest (experiment)For G of the same injection mouldingTest (experiment)And GMeasuringComparing the difference, if the difference value of the two is within a preset error range, indicating that the system works normally, and continuing to transmit the injection molding piece; if the difference between the two values exceeds the set error range, the difference between the measurement result in the manipulator 1 and the measurement result in the transmission module 2 is large, and a problem or a fault is inevitably generated in the whole process, at the moment, an alarm is given, and related personnel can manually check the problem in the future to find the reason of the problem.
In the continued transfer operation, in GTest (experiment)And GMeasuringThe average value or any one of the two values of (a) and (b) is used as a screening criterion to calculate the actual gram weight of the injection molded part, and the lifting device 221 determines the number of layers to be stayed after the lifting according to the actual gram weight of the injection molded part on the surface of the lifting device. In the advanced setting of the transfer module, the qualified quality range of the injection molding piece is set, and when the actual gram weight of the injection molding piece falls within the qualified quality range, the lifting device 221 stays on the two-layer platform 24The injection molding part with qualified gram weight is conveyed to a designated position through a two-layer conveyor belt 241; if injection moldings with the gravity centers deviating to exceed the set gravity center threshold exist in injection moldings with qualified gram weights, a marking device exists in the two-layer platform 24 to mark injection moldings with unqualified gravity center positions and distinguish injection moldings with qualified gravity center positions. When the actual gram weight of the injection molding is smaller than the minimum value of the set qualified quality range, the lifting device 221 stays on the first-layer platform 23 and is conveyed to the designated position through the first-layer conveyor belt 231, and the injection molding with unqualified gravity center position is processed in the same mode as the injection molding with qualified gram weight. When the actual gram weight of the injection molding is larger than the maximum value of the set qualified quality range, the lifting device 221 stays on the bottom platform 25 and is conveyed to the designated position through the bottom conveying belt 251, and the injection molding with unqualified gravity center position is processed in the same way as the injection molding with qualified gram weight. The whole process completes the gram weight measurement and the detection of the gravity center position and the material distribution qualified degree of the injection molding product in the injection molding transfer process, and simultaneously completes the gram weight screening of the injection molding product.
The above embodiments are further illustrated and described in order to facilitate understanding of the invention, and no unnecessary limitations are to be understood therefrom, and any modifications, equivalents, and improvements made within the spirit and principle of the invention should be included therein.

Claims (9)

1. An intelligent injection molding machine control system based on gram weight of an injection molded product is characterized by comprising a manipulator, wherein the manipulator is provided with a pickup module, the pickup module is provided with a plurality of pickup measuring units, and the pickup measuring units are used for pickup fixing and gravity measurement of the injection molded product; the manipulator is connected with the transmission module, and the transmission module is used for screening and transmitting the injection molding products according to the gram weights of the injection molding products calculated through measurement.
2. The intelligent injection molding machine control system based on injection molding product gram weight of claim 1, wherein the manipulator comprises a pickup module and a positioning module connected with the pickup module, and the positioning module comprises:
the rotating unit is fixedly connected with the pickup module and is used for driving the pickup module to rotate;
the vertical sliding unit determines the position of the pickup module in the vertical direction through vertical sliding;
the horizontal sliding unit determines the position of the pickup module in the horizontal direction through sliding in the horizontal direction.
3. The intelligent injection molding machine control system based on the gram weight of the injection molded product as claimed in claim 1, wherein the part taking and measuring unit comprises a connecting rod, one end of the connecting rod is fixed on the part taking and measuring unit through a rotating device, and the other end of the connecting rod is fixedly connected with the injection molding part fixing device; the connecting rod is sleeved with a limiting ring fixed on the workpiece taking measuring unit, the cross section of the limiting ring is in a semi-circular arc shape, and the top point of the arc shape is tangent to the surface of the connecting rod. The limiting ring is provided with a limiting force sensor, and the rotating device is provided with a gravity sensor.
4. The intelligent injection molding machine control system based on injection molding product gram weight of claim 1, characterized in that a plurality of lifting devices with the same number and corresponding positions as the pickup measurement units on the pickup module are arranged on the transfer module, and the lifting devices lift and stop at different heights according to the gram weight of the placed injection molding product.
5. The intelligent injection molding machine control system based on injection molding product gram weight according to claim 1 or 4, characterized in that the conveying module comprises a top layer platform, a first layer platform, a second layer platform and a bottom layer platform which are at the same interval height; the first layer of platform is connected with the first layer of conveyor belt; the second-layer platform is connected with the second-layer conveyor belt; the bottom platform is connected with the bottom conveyor belt.
6. The intelligent injection molding machine control method based on injection molding product gram weight according to claim 1, characterized by comprising:
s1, calling a database, and calling inherent data of stress conditions in the no-load moving process of the manipulator and standard data of stress conditions in the moving process of grabbing and fixing the standard component by the manipulator when initial setting is carried out;
s2, taking and measuring, wherein after the injection molding machine performs injection molding on a product, the measuring manipulator grabs and fixes the injection molding piece to move and places the injection molding piece to the conveying device to obtain the measuring data of the stress condition;
s3, calculating and detecting, wherein the gram weight of the injection molding piece is calculated by combining the measured data, the standard data and the inherent data, and the gravity center shift condition and the uniformity of material distribution of the injection molding piece are detected and analyzed;
s4, screening and conveying, namely after the injection molding piece is placed on the conveying device, the conveying device screens the injection molding piece according to the gram weight condition of the injection molding piece, and the injection molding piece is classified and conveyed.
7. The intelligent injection molding machine control method based on injection molding product gram weight of claim 6, characterized in that the inherent data comprises inherent gravity G measured by a gravity sensor during no-load0And the change F of the force measured by the limit force sensor0(theta) and inherent moment arm L0(ii) a The standard data comprises gram weight m of standard component0Gravity G obtained in the same manner after the manipulator grabs and fixes the standard part1Variation of sum force F1(theta) and a standard gravity measurement value G calculated from the dataSign board＝G1-G0Distance L of moment arm of center of gravity of standard component when fixedSign board。
8. The intelligent injection molding machine control method based on injection molding product gram weight of claim 6, characterized in that the measurement data comprises a gravity value G measured by a gravity sensor after a manipulator grabs and fixes the injection molding piece2Limit, limitChange of force F measured by force sensor2(theta) and the measured value f of the limiting force sensor during the rotation of the injection-molded part with the connecting rod at the angular velocity omega when the connecting rod is in the vertical stateω。
9. The intelligent injection molding machine control method based on injection molding product gram weight of claim 6, characterized in that the gram weight m of the injection molding pieceMeasuring＝GMeasuring/g＝(G2-G0) G, the moment arm distance L of the gravity center of the injection molding partMeasuring＝FMeasuring(θ)·L0/mMeasuring＝(F2(θ)-F0(θ))·L0/mMeasuringThe offset distance r of the gravity center of the injection molding part relative to the standard part satisfies the equation fω·L0＝mMeasuring·ω2·r·LMeasuring。
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150314507A1 (en) * 2013-10-30 2015-11-05 Hanyang Robotics Co.,Ltd Take-out robot with function of sensing weight of injection molded product
CN208645938U (en) * 2018-03-01 2019-03-26 深圳市大七易科技有限公司 A kind of injection molding automation reclaimer device
US20190321990A1 (en) * 2018-04-24 2019-10-24 Fanuc Corporation Device, method and program for estimating weight and position of gravity center of load by using robot
CN213353438U (en) * 2020-10-11 2021-06-04 厦门建昕工贸有限公司 Injection molding machine improved structure with injection molding part weight detection function

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150314507A1 (en) * 2013-10-30 2015-11-05 Hanyang Robotics Co.,Ltd Take-out robot with function of sensing weight of injection molded product
CN208645938U (en) * 2018-03-01 2019-03-26 深圳市大七易科技有限公司 A kind of injection molding automation reclaimer device
US20190321990A1 (en) * 2018-04-24 2019-10-24 Fanuc Corporation Device, method and program for estimating weight and position of gravity center of load by using robot
CN213353438U (en) * 2020-10-11 2021-06-04 厦门建昕工贸有限公司 Injection molding machine improved structure with injection molding part weight detection function

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