TWI611900B - Control system and method for a mechanical arm of injection machine - Google Patents

Abstract

The invention relates to a control system and a control method for an injection molding machine manipulator, which includes a controller, which is provided with a communication module, a storage module for storing data, a process analysis module and an intelligent module. The process analysis module, An intelligent module and a communication module are respectively connected to the storage module, wherein the intelligent module is provided with a comparison unit that compares the position data of the injection molding motorized template, a calculation unit that calculates the movement position of the injection molding machine manipulator, and controls the injection molding machine. A control unit for the movement of the manipulator; a driving device connected to the communication module; and an actuator connected to the driving device by power. The invention can not only realize the synchronous movement of the mold opening movement of the injection molding machine manipulator and the injection molding motorized template, but also save the time of the entire system and improve the working efficiency of the entire system through this follow-up control mode.

Description

Control system and control method of injection molding machine manipulator

The present invention relates to a control system and a control method for a manipulator, and more particularly to a control system and a control method for a manipulator of an injection molding machine.

Injection molding machine manipulators can greatly improve production efficiency and reduce production costs, can stabilize and improve the quality of injection molded products, and avoid unnecessary losses caused by human operation errors. Therefore, injection molding machine manipulators in injection molding production Homework will become more and more important.

As shown in Figure 1, it is a block diagram of the working cycle of a conventional injection molding machine manipulator. When the injection molding machine manipulator receives the signal that the injection molding machine is completed, the injection machine manipulator descends or advances to the robot grip. The position of the product is to grip the product, and then the injection molding machine robot backs up or rises to the detection area to detect whether the product (or workpiece) is clamped. When the injection molding machine robot receives the injection mold closing signal, the injection molding machine robot will Place the product and wait for the completion signal of the injection molding machine. By this, the injection molding machine manipulator works with the injection molding machine to ensure the stability of the injection molding machine manipulator.

In this process, the robotic axis of the injection molding machine takes the product shaft only after the mold is opened, and then moves into the designated position in the mold to clamp the product. Therefore, The working efficiency of the injection molding machine robot will be greatly reduced. The working efficiency of the injection molding machine robot arm largely determines the efficiency of the factory's production of injection molded workpieces. The injection molding machine robot arm completes a set of actions as the cycle time. The longer the cycle time, the lower the injection molding machine robot arm's working efficiency. , The fewer the module-taking actions completed in a unit time.

In view of the above-mentioned conventional control method of the injection molding machine manipulator, the inventor is actively researching and innovating based on many years of practical experience and professional knowledge engaged in the design and manufacture of such products, and cooperates with the application of science, with a view to creating an innovative injection molding machine The control system and control method of the manipulator can improve the control system and control method of the conventional conventional injection molding machine manipulator, making it more practical. After continuous research, design, and repeated trial and error samples and improvements, the invention that has practical value is finally created.

The invention proposes an injection molding machine manipulator control system and control method. The technical problem it solves is to realize the follow-up control of the injection molding machine manipulator and the injection molding machine opening, thereby saving the entire cycle time of the injection machine manipulator and improving the working efficiency of the manipulator. To improve the efficiency of the entire system.

The present invention solves its technical problems by using the following technical solutions.

A control system for an injection molding machine manipulator includes: a controller, which is provided with a communication module, a data storage module, a process analysis module, and an intelligent module, and the process analysis module, intelligent module, and communication module The storage modules are respectively connected, wherein the intelligent module is provided with a comparison unit for comparing the position data of the injection molding motorized template, and a calculation for calculating the movement position of the injection molding machine manipulator A unit and a control unit that controls the movement of the injection molding machine manipulator; a driving device connected to the communication module; and an executive mechanism that is powered to connect the driving device.

The technical problem solved by the present invention can also be achieved by the following technical means.

Preferably, the control system of the above-mentioned injection molding machine manipulator, wherein the comparison unit includes an input / output, a comparator and a memory, and the comparator is connected to the input / output and the memory; the calculation unit includes a judger , A calculator and a memory, and the calculator is connected to the judger and the memory; and the control unit includes an analyzer, a command controller and a memory, and the command controller is connected to the analyzer and the memory, wherein The comparator is connected to the judger, and the calculator is connected to the analyzer.

Preferably, in the control system of the injection molding machine manipulator described above, the input / output and the command controller are respectively connected to the communication module.

Preferably, the control system of the above-mentioned injection molding machine manipulator, wherein the actuator is provided with an injection molding machine manipulator to take the product shaft.

Preferably, the control system for a robot of an injection molding machine described above, wherein the process analysis module is connected to the communication module.

The technical solution of the present invention can also be achieved by the following technical solutions.

A control method for a robot of an injection molding machine is to provide a control system for a robot of an injection molding machine described above. The control method includes the following steps: Step 1. The communication module of the robot of the injection molding machine receives a mold opening start signal of the injection molding machine. Step 2: The communication module collects the real-time position data of the injection molding motorized template and performs follow-up control between the injection molding machine manipulator and the injection molding machine's moving template. The comparison unit of the intelligent module The comparison and calculation of the data with the calculation unit are achieved by the following formula:

Among them, Z (t) represents the position of the robot of the injection molding machine, P (t) represents the position of the mold opening of the injection molding motor, k represents the coefficient, and A represents the position of the waiting point of the robot of the injection molding machine is constant, P _{n -1} indicates the critical position of the injection molding motorized template, D indicates the position of the injection molding machine manipulator to take a product in a mold; step three, the intelligent module transmits the data of the movement position of the injection molding machine manipulator to the A communication module, which transmits the data to the driving device to drive the injection molding machine manipulator of the actuator to take the product shaft to the position of the mold to take the product; step four, detecting whether the product is pinched; And step five, the injection molding machine manipulator receives the mold closing signal of the injection molding machine by the communication module and places the product, and waits for the mold opening signal of the injection molding machine. All the data is stored in the storage module.

The technical problem solved by the present invention can also be achieved by the following technical means.

Preferably, in the method for controlling a robot of an injection molding machine described above, the comparison unit uses the comparison unit to instantly compare the instantaneous position of the mold opening of the injection molding mobile mold with the critical position of the injection molding mobile mold.

Preferably, in the above-mentioned control method of the injection molding machine manipulator, the compared data is sent to the calculation unit in the second step, and the moving position of the injection molding machine manipulator is obtained by a corresponding formula.

Preferably, in the method for controlling a robot of an injection molding machine, after the third step, when the robot of the injection molding machine grips the product, the mold opening of the injection molding motorized template is still in operation.

Compared with the conventional technology, the present invention has obvious advantages and beneficial effects. With the above technical solution, the control system and control method of a robot for an injection molding machine according to the present invention can achieve considerable technical advancement and practicability, and have extensive industrial use value. It has at least the following advantages: The present invention can not only achieve The manipulator picks up the product synchronously with the mold opening movement of the injection molding machine. At the same time, the follow-up control method saves the entire system time and improves the overall system work efficiency.

The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly, it can be implemented in accordance with the contents of the description, and in order to make the above and other objects, features, and advantages of the present invention more comprehensible. The following describes the preferred embodiments and the accompanying drawings in detail as follows.

The origin of B‧‧‧ injection molding machine manipulator

Waiting position of A‧‧‧ injection molding machine manipulator

C‧‧‧ The starting position of the injection molding machine manipulator

D‧‧‧The location of the picking machine of the injection molding machine

P _{n -1} ‧‧‧ critical position of injection motorized template

P _n ‧‧‧ End position of mold opening

P _{( t )} ‧‧‧ Any position during mold opening

Z ( t ) ‧‧‧Position of robot for injection molding machine

41‧‧‧static template

42‧‧‧Motion template

Figure 1 is a block diagram of the working cycle of a conventional injection molding machine manipulator; Figure 2 is a flowchart of the present invention; Figure 3 is a block diagram of the control system of the present invention; Figure 4 is the intelligence of Figure 3 Structural block diagram of the module; Figure 5 is the principle block diagram of the intelligent module of Figure 3; FIG. 6 is a schematic diagram of the calculated coordinates of the present invention; and FIG. 7 is a schematic diagram of the time sequence comparison of the workflow of the present invention and a conventional injection molding machine manipulator.

In order to further explain the technical means and effects adopted by the present invention to achieve a predetermined purpose, the following describes specific implementations of a control system and control method for an injection molding machine manipulator according to the present invention with reference to the accompanying drawings and preferred embodiments. The structure, characteristics and effects are described in detail below.

Please refer to FIG. 3, which is a block diagram of the structure of the robotic manipulator control system of the injection molding machine of the present invention. A control system for a robot of an injection molding machine includes a controller, a driving device, and an actuator. The controller is provided with a communication module, a storage module, a process analysis module, and an intelligent module, and the intelligent module is respectively connected with the communication module and the storage module; the intelligent module is provided with a comparative injection molding motorized template position The data comparison unit, the calculation unit that calculates the movement position of the injection molding machine manipulator, and the control unit that controls the movement of the injection molding machine manipulator are connected in sequence.

The communication module is connected to a driving device which is dynamically connected to an actuator, which is provided with an injection molding machine manipulator to take the product shaft. The process analysis module, the intelligent module, and the communication module are respectively connected to a storage module that stores data, and the process analysis module is connected to the communication module.

The communication module is connected to the controller of the injection molding machine and receives the mold opening signal of the injection molding motorized template. The communication module transmits the mold opening movement of the injection molding machine and the movement movement of the injection robot manipulator to the process analysis module, and the movement position data of the injection molding machine opening mold and the movement position data of the injection machine robot arm are transmitted to the intelligent module; The analysis module decomposes the injection molding machine manipulator's movement process and cooperates with the injection molding machine movement at the same time; the intelligent module analysis is used to analyze and calculate the relationship between the injection molding machine manipulator's movement position and the injection molding motor template movement position, and then compare and substitute the corresponding formula for calculation Through this method of real-time analysis, calculation and comparison, the results are obtained to determine the movement position and movement of the injection molding machine manipulator; the analysis movement of the process analysis module and the movement position data transmission of the injection machine manipulator in the intelligent module The communication module finally realizes the follow-up control between the movement of the injection molding machine manipulator and the injection molding motorized template. During the movement of the injection molding machine manipulator, all data are stored by the storage module.

Please refer to FIG. 4, which is a structural block diagram of the intelligent module in FIG. 3. The intelligent module is provided with a comparison unit, a calculation unit and a control unit. The comparison unit includes an input / output, a comparator, and a memory, which are sequentially connected; the calculation unit includes a judge, a calculator, and a memory, which are sequentially connected; and the control unit includes an analyzer, a command controller, and a memory, which are sequentially connected ; Among them, the comparator is connected to the judger, and the calculator is connected to the analyzer.

The comparison unit receives and sends data through input / output. The input / output receives the data and transmits the data to the comparator, which compares the instant position P ( t ) of the injection molding machine (see Figure 6) and the critical position P _{n -1} (see Figure 6) of the injection molding die. The size is compared, and the result of the comparison and analysis by the comparator is sent to the judger in the calculation unit. All running data or instructions will be stored in memory.

The judge determines the corresponding calculation formula and transmits the data to the calculator. The calculator calculates the movement position of the injection molding machine manipulator, and transmits the signal of the movement position of the injection machine manipulator to the analyzer of the control unit. all The running data or instructions are stored in memory.

The analyzer analyzes the received data to determine what operation should be performed, and then instructs the controller to send an operation control signal to the communication module. All running data or instructions will be stored in memory.

P _(n-1)時計算單元對應公式Z(t)=KP _(t)+A得出數據傳輸給控制單元。 Please refer to FIG. 5 and FIG. 6, wherein FIG. 5 is a schematic block diagram of the intelligent module in FIG. 3 and FIG. 6 is a schematic diagram of calculating coordinates of the present invention. The origin of the injection molding machine manipulator B is the position of the injection molding machine manipulator in the stopped state, the injection molding machine manipulator waiting position A is in the position waiting for the injection mold opening signal after the startup of the injection molding machine, and the injection motorized template 42 (as shown in Figure 6) ) Move to the left, the injection molding machine static template 41 is located to the right of the origin. At this time, the injection molding machine robot receives the injection mold opening signal and moves from point A to point C. The starting position C of the injection molding machine robot is a critical point. It is the boundary point of the injection molding machine manipulator to take the safety range of the product. The boundary point is a constant determined according to the position of the injection molding machine. That is, when the injection mold opening position P _{( t )} of the injection mold platen 42 is P _{( n -1)} , the position Z ( t ) of the injection molding machine manipulator is located at point C, and at the same time, P _{( n -1)} becomes the critical point of the injection mold platen 42. position. When the injection mold opening position P _{( t ) of the} injection molding motorized template 42 is greater than P _{( n -1)} , the injection molding machine robot moves to the position D where the product is taken from the mold and starts to take the product. At this time, the injection molding motorization template 42 continues to move. Therefore, in this process, it is only necessary to compare the arbitrary position P _{( t )} of the injection molding motorized template 42 with the critical position P _{( n -1) of the} injection molding motorized template 42. Therefore, the comparison unit by P _(t)> corresponding to the formula calculation unit Z P _{(n -1)} time (t) = D obtained data to the control unit, P _(t)

When P _{( n -1)} , the corresponding formula of the calculation unit is Z ( t ) = KP _{( t )} + A. The data is transmitted to the control unit.

A method for controlling a robot of an injection molding machine includes the following steps:

Step 1: The communication module of the injection molding machine manipulator receives the mold opening start signal of the injection molding machine.

Step 2: The communication module collects the real-time position data of the injection molding mobile mold opening and controls the injection molding machine manipulator and the injection molding mobile mold following the mold opening control. The comparison unit and the calculation unit in the intelligent module use the following formula to realize the alignment. Comparison and calculation of data:

Among them, Z (t) represents the position of the injection molding machine manipulator, P (t) represents the injection mold opening position of the injection molding machine, k represents the coefficient, A indicates that the waiting position of the injection molding robot manipulator is constant, and P _{( n -1)} indicates the injection molding die. Critical position, D represents the position of the injection molding machine manipulator to take the product from the mold.

In step three, the intelligent module transmits the movement position data of the injection molding machine manipulator to the communication module, and the communication module transmits the data to the injection molding machine manipulator of the driving device to drive the actuator to take the product axis and run it to the mold to take the product position.

Step 4. Check whether the product is pinched.

Step five, the injection molding machine manipulator receives the injection molding machine signal from the communication module and places the product, and waits for the injection molding machine mold opening signal. All data is stored in the storage module.

In the second step, the comparison unit is used to compare the instant position of the injection molding mobile mold with the critical position of the injection molding mobile mold in real time.

In step two, the compared data is sent to a calculation unit, and the movement position of the injection molding machine manipulator is obtained by a corresponding formula.

After step three, the injection molding machine mold is still running when the injection molding machine robot grips the product.

Please refer to FIG. 2 to FIG. 6. In the control system of the present invention, the injection molding machine manipulator and the injection molding motor plate 42 are a follow-up control relationship, that is, when the communication module of the injection molding machine manipulator receives the injection molding machine controller transmission, Signal of the injection molding motorized die plate 42, the injection molding machine manipulator moves the position with the execution of the injection molding machine mold 42, and the injection molding machine manipulator moves slowly to get the product position in the mold while the injection molding machine plate 42 is still On the move.

In the control system of the present invention, the relationship between the position of the robot arm Z (t) of the injection molding machine and the position P (t) of the injection mold platen 42 is expressed as follows:

Where k is the coefficient and A is the waiting point position of the injection molding machine manipulator, which is a constant. If an arbitrary position P _{( t )} in the middle of the mold opening of the injection-molded motorized die plate 42 is known, the coefficient k can be obtained. For example, when P _{( t )} = P _{( n -1)} and Z ( t ) = C , we can calculate:

Substituting formula (3) into formulas (1) and (2) gives:

P _(n-1)時，注塑機機械手移動位 置Z(t)如下：

Therefore, when the mold opening position P _{( t )}

When P _{( n -1)} , the movement position Z ( t ) of the injection molding machine manipulator is as follows:

In the whole follow-up control process, it is mainly divided into two major steps.

P _(n-1)，注塑機機械手位於點A和點C之間即注塑機機械手還未在取產品安全位置時，控制如下：假設在實際運行過程中每隔時間t藉由通訊模組收集注塑機控制器數據中注塑機動模板42開模即時位置，記錄為P ₁，然後在判斷器確認採用公式(1)並由計算器計算得出對應的注塑機機械手移動位置為Z ₁，計算器將數據傳輸給分析器，分析器會對接收到的數據進行分析，確定應該進行什麼操作，然後藉由指令控制器，向通訊模組發出操作控制信號。通訊模組將控制信號發送給驅動裝置，藉由驅動裝置驅動執行機構中的注塑機機械手取產品軸，完成該注塑機機械手取產品軸Z ₁距離的移動，實現注塑機機械手的移動與注塑機動模板42開模移動之間隨動控制。 Step 1: If P _{( t )} is obtained by the comparator

P _{( n -1)} , when the injection molding machine manipulator is located between point A and point C, that is, when the injection molding machine manipulator is not yet taking the safe position of the product, the control is as follows: Assume that the communication mode The group collects the instant position of the injection motorized mold platen 42 in the data of the injection molding machine controller, records it as P ₁ , and then confirms that the formula (1) is used in the judgement and is calculated by the calculator. The corresponding movement position of the injection molding machine manipulator is Z ₁ The calculator transmits the data to the analyzer, and the analyzer analyzes the received data to determine what operation should be performed, and then sends an operation control signal to the communication module by instructing the controller. The communication module sends the control signal to the driving device. The driving device drives the injection molding machine manipulator in the actuator to take the product shaft, and completes the movement of the injection machine manipulator to take the product axis Z ₁ distance, realizing the movement and injection of the injection molding machine manipulator. Follow-up control between the opening and moving of the motorized template 42.

The second step: if P _{( t )} > P _{n -1} is obtained by the comparator, that is, when the injection molding machine robot is in the safe position to take the product, the control is as follows: the injection module is collected by the communication module to collect the injection molding machine controller data. When the immediate position of the mold 42 when the mold is opened is P _{n -1} , at this time, the corresponding injection molding machine manipulator is at the out-of-mold starting position C, which is the critical point, which is the boundary point of the product's safe range for the injection machine manipulator. When P _{( t )} > P _{n -1} , the judger confirms that the formula (2) is used and the calculator calculates the position to which the injection molding machine manipulator needs to move Z ( t ) = D , and the calculator transmits the data To the analyzer, the analyzer analyzes the received data to determine what operation should be performed, and then sends an operation control signal to the communication module by instructing the controller. The communication module sends the control signal to the driving device. The driving device drives the injection molding machine manipulator in the actuator to take the product shaft, and completes the injection molding machine manipulator to take all or part of the distance from the point C to the point D to reach the product shaft. Product gripping is performed after point D, and at the same time, the opening operation of the injection-molded motorized template 42 is still being performed. During the movement of the injection molding machine manipulator, all data are stored by the storage module.

When the injection molding machine robot grips the product to check whether the product is clamped, the injection molding machine robot receives the injection mold signal and puts the product down to wait for the injection molding machine to open the mold.

The invention can shorten the cycle time of the robot of the injection molding machine, improve the working efficiency of the robot of the injection molding machine, and improve the working efficiency of the entire system.

Please refer to FIG. 7, which is a schematic diagram of the time sequence comparison between the present invention and the conventional injection machine manipulator. Among them, the injection molding machine mold, injection, storage, ejection, cooling, mold opening, and injection molding machine manipulator when the product is placed and returned to the waiting point, the present invention and the conventional control process take the same time. However, if the injection molding machine manipulator adopts a conventional control process during the product taking process, the cycle time of the injection machine manipulator needs Ts; and if the present invention is used, the injection machine manipulator cycle time only needs ts. As can be seen in both the control timing chart, the present invention is compared to conventional control flow can save time △ t. Suppose that in the conventional working process, the entire cycle of the injection molding machine manipulator needs 5s, and the present invention can complete the entire cycle of the injection molding machine manipulator in 4s. Then, compared with the conventional control process, the cycle time of the robot arm of the injection molding machine in the present invention can save about 20% of the time. At the same time, if the cycle time of the injection molding machine robot arm is shorter, the proportion of time that the injection molding machine robot arm can save is more obvious. Considering various factors such as the machine configuration and the difference in the performance of the robot of the injection molding machine, here, we use percentages to indicate the degree of time savings achieved by the present invention, without specifically showing how much time can be saved.

The above description is only the preferred embodiments of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with the preferred embodiments, it is not intended to limit the present invention. A technician, without departing from the scope of the technical solution of the present invention, can use the disclosed technical content to make a few changes or modify the equivalent embodiment of equivalent changes. Anything that does not depart from the technical solution of the present invention, according to the present invention Any simple modifications, equivalent changes, and modifications made to the above embodiments by the technical essence of the invention still fall within the scope of the technical solution of the present invention.

Claims (9)

A control system for an injection molding machine manipulator includes a controller, which is provided with a communication module, a storage module for storing data, a process analysis module, and an intelligent module. The process analysis module, intelligent module, and communication module The storage modules are respectively connected, wherein the intelligent module is provided with a comparison unit that compares the position data of the injection molding motorized template, a calculation unit that calculates the movement position of the injection molding machine manipulator, and a control unit that controls the movement of the injection machine manipulator, And the comparison unit and calculation unit of the intelligent module realize the comparison and calculation of the data by the following formula:

Among them, Z (t) represents the position of the robot of the injection molding machine, P (t) represents the position of the mold opening of the injection molding motor, k represents the coefficient, and A represents the position of the waiting point of the robot of the injection molding machine is constant, P _{n- 1} indicates the critical position of the injection molding motorized template, D indicates the position of the injection molding machine manipulator to take a product in a mold; the driving device is connected to the communication module; and the actuator is power connected to the driving device. The control system according to item 1 of the scope of patent application, wherein the comparison unit includes an input / output, a comparator and a memory, and the comparator is connected to the input / output and the memory; the calculation unit includes a judger, A calculator and a memory, and the calculator is connected to the judger and the memory; and The control unit includes an analyzer, a command controller, and a memory, and the command controller is connected to the analyzer and the memory, wherein the comparator is connected to the judger and the calculator is connected to the analyzer. The control system according to item 2 of the scope of patent application, wherein the input / output and the command controller are respectively connected to the communication module. The control system according to item 1 of the scope of patent application, wherein the actuator is provided with an injection molding machine manipulator to take the product shaft. The control system according to item 1 of the scope of patent application, wherein the flow analysis module is connected to the communication module. A control method for an injection molding machine manipulator is used for the injection molding machine manipulator control system to control the injection molding machine manipulator. The control system includes a controller, which is provided with a communication module, a storage module for storing data, Process analysis module and intelligent module, the process analysis module, intelligent module, and communication module are respectively connected to the storage module, wherein the intelligent module is provided with a comparison unit that compares the position data of the injection molding motorized template and calculates the injection molding A calculation unit for the movement position of the mechanical manipulator and a control unit that controls the movement of the injection molding machine manipulator; a driving device connected to the communication module; and an executive mechanism for power connection to the driving device, and the control method includes: step one, The communication module of the injection molding machine manipulator receives a mold opening start signal of the injection molding machine. In step two, the communication module collects the real-time position data of the injection molding motorized template and moves the injection molding machine manipulator and the injection molding machine. The follow-up control is performed between the mold opening, and the comparison unit and calculation unit of the intelligent module realize the comparison and calculation of the data by the following formula. :

Among them, Z (t) represents the position of the robot of the injection molding machine, P (t) represents the position of the mold opening of the injection molding motor, k represents the coefficient, and A represents the position of the waiting point of the robot of the injection molding machine is constant, P _{n- 1} represents the critical position of the injection motor template, D denotes the injection molding machine manipulator to take a position within a mold product; step three, the smart data transfer module moves the position of the injection molding machine to the hand of the communications module Group, the communication module transmits the data to the driving device to drive the injection molding machine manipulator of the actuator to take the product shaft to the position of the mold to take the product; step four, detecting whether the product is pinched; and step Fifth, the injection molding machine manipulator receives the mold closing signal of the injection molding machine from the communication module and places the product, and waits for the mold opening signal of the injection molding machine. All the data is stored in the storage module. The control method according to item 6 of the scope of patent application, wherein, in step two, the instantaneous mold opening position of the injection molding motorized template is compared with the critical position of the injection molding motorization template by the comparison unit. The control method described in item 7 of the scope of patent application, wherein in step 2 the compared data is sent to the calculation unit, and the movement position of the injection molding machine manipulator is obtained by a corresponding formula. The control method according to item 6 of the scope of patent application, wherein after the third step, when the injection molding machine robot grips the product, the injection molding mobile mold The opening of the board is still in progress.