WO2018086216A1 - 一种基于dsp的电动注塑机的多控制通道控制方法 - Google Patents

一种基于dsp的电动注塑机的多控制通道控制方法 Download PDF

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Publication number
WO2018086216A1
WO2018086216A1 PCT/CN2016/112550 CN2016112550W WO2018086216A1 WO 2018086216 A1 WO2018086216 A1 WO 2018086216A1 CN 2016112550 W CN2016112550 W CN 2016112550W WO 2018086216 A1 WO2018086216 A1 WO 2018086216A1
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control channel
injection molding
control
molding machine
electric injection
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PCT/CN2016/112550
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English (en)
French (fr)
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周广兵
王楠
钟震宇
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广东省智能制造研究所
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Publication of WO2018086216A1 publication Critical patent/WO2018086216A1/zh

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
    • 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
    • B29C45/78—Measuring, controlling or regulating of temperature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C2045/7606—Controlling or regulating the display unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
    • B29C2045/7633—Take out or gripping means
    • 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
    • B29C2945/7604—Temperature
    • 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
    • B29C2945/76494—Controlled parameter
    • B29C2945/76531—Temperature

Definitions

  • the invention relates to the technical field of electric injection molding machines, in particular to a multi-control channel control method of an electric injection molding machine based on DSP.
  • the all-electric injection molding machine has the advantages of energy saving, environmental protection, high precision, easy control, short molding cycle, etc., and is gradually favored by all plastic machine enterprises.
  • Control system is the key factor affecting the processing efficiency, precision and quality of injection molding products. How to improve the efficiency of control system, simplify the structure of control system, and reduce the production cost of enterprises is the focus of all plastic machine manufacturers.
  • the domestic electric injection molding machine control system only has single control channel control, that is, it is only responsible for the control of the injection molding machine production and processing operations.
  • the temperature control is controlled by other CPUs separately, and the injection molding robot also has a dedicated controller to control.
  • the control system of electric injection molding machine based on DSP has the following problems: 1.
  • the control system is only responsible for the action control of the injection molding machine production and processing, with high cost, low efficiency, waste of resources and weak market competitiveness.
  • the temperature control is controlled by other CPUs separately, and there are also problems of high cost, low efficiency, and waste of resources.
  • the injection robot is controlled by a special injection robot controller, and there are multiple controllers of the same device, resulting in high cost, low efficiency, complicated structure, and complicated communication. 4.
  • Different control objects use controllers from different manufacturers, which makes the use of users more difficult and the after-sales service problem is complicated. The most common one is that three control objects need to use three controllers from three different manufacturers. 5, does not meet the theme of energy-saving injection molding, there is duplication and waste.
  • the technical problem to be solved by the present invention is to provide a multi-control channel control method for an electric injection molding machine based on DSP, which reduces energy consumption and is simpler to use.
  • the present invention adopts the following technical solutions:
  • a multi-control channel control method for an electric injection molding machine based on DSP is based on an electric injection molding machine having three control channels of a first control channel, a second control channel and a third control channel, and specifically comprises the following steps:
  • the second control channel first performs temperature detection and control, so that the temperature is within the set temperature range and the temperature is adjusted, and the signal is forwarded to the first control channel through the multi-channel manager;
  • the first control channel is controlled, so that the electric injection molding machine processes the product according to the processing flow, and when the product is processed, the signal processed by the product is forwarded to the second control channel and the third control channel through the multi-channel manager;
  • the second control channel ends the control of the temperature
  • the third control channel controls, controls the manipulator to move, takes the processed product out and places it to the designated position, and then the robot returns to the initial position.
  • the detection control of the temperature by the second control channel specifically includes the following steps:
  • the second control channel controls heating, and reads the processing temperature of the electric injection molding machine
  • step S2.2 If the processing temperature of the electric injection molding machine is within the set temperature range, the second control channel is thermostatically adjusted within the set temperature range, so that the processing temperature of the electric injection molding machine is always within the set temperature range. Go to step S2.4;
  • step S2.3 if the processing temperature of the electric injection molding machine is not within the set temperature range, further determine the relationship between the processing temperature of the obtained electric injection molding machine and the target temperature, and if the processing temperature of the electric injection molding machine is lower than the target temperature, The second control channel controls heating; if the processing temperature of the electric injection molding machine is higher than the target temperature, the second control channel controls to stop heating, and proceeds to step S2.4;
  • step S2.4 checking whether the temperature control of the second control channel is ended, and if yes, ending, if not, returning to step S2.1.
  • the second control channel includes control of the temperature of the barrel, nozzle and mold of the electric injection molding machine.
  • the processing flow of the electric injection molding machine specifically includes the following steps:
  • control of the third control channel specifically includes the following steps:
  • the third control channel moves the control robot to the product position according to the set stroke, and picks up the product
  • the first control channel realizes control of the processing flow of the electric injection molding machine by setting an electric injection molding machine control module
  • the second control channel controls the temperature by setting a temperature control module
  • the third control channel controls the manipulator by setting a manipulator control module .
  • the invention combines three control channels for joint control, and each control channel cooperates to complete the processing of the plastic products to the palletizing, thereby improving the processing efficiency and effectively reducing the energy consumption of the electric injection molding machine.
  • FIG. 1 is a schematic diagram of a control flow of a second control channel according to the present invention.
  • FIG. 2 is a schematic diagram of a control flow of a first control channel according to the present invention.
  • FIG. 3 is a schematic diagram of a control flow of a third control channel according to the present invention.
  • FIG. 4 is a schematic diagram showing the flow of data of each control channel of the present invention.
  • Figure 5 is a schematic view showing the connection structure of each control channel of the present invention.
  • the invention discloses a multi-control channel control method of a DSP-based electric injection molding machine, which is based on an electric injection molding machine having three control channels of a first control channel, a second control channel and a third control channel, specifically including the following step:
  • the first control channel realizes the control of the electric injection molding machine by setting the electric injection molding machine control module
  • the second control channel controls the temperature by setting the temperature control module
  • the third control channel is set by The robot control module controls the robot.
  • a signal is forwarded between the first control channel and the second control channel, and between the first control channel and the third control channel by using a multi-channel manager as an intermediate medium. It can also set the display, display the various control data, and connect the operation panel through the I/O interface for easy operation.
  • the multi-channel manager used in the solution satisfies the forwarding between multiple signals as long as the forwarding function of the signal can be realized.
  • the second control channel first performs temperature detection control, so that the temperature is within the set temperature range and the temperature is adjusted. After the adjustment, the signal is forwarded to the first control through the multi-channel manager. aisle.
  • the first control channel is controlled, so that the electric injection molding machine processes the product according to the processing flow.
  • the signal processed by the product is forwarded to the second control channel and the third control channel through the multi-channel manager.
  • the second control channel ends the control of the temperature
  • the third control channel controls, controls the manipulator to move, takes the processed product out and places it to the designated position, and then the robot returns to the initial position. position.
  • the detection control of the temperature by the second control channel specifically includes the following steps:
  • the second control channel controls heating, and reads the processing temperature of the electric injection molding machine.
  • the corresponding temperature parameters can be set in the system.
  • step S2.2 if the processing temperature of the electric injection molding machine is within the set temperature range, the second control channel is thermostatically adjusted within the set temperature range, so that the processing temperature of the electric injection molding machine is always at the set temperature Within the range, go to step S2.4.
  • the temperature of the electric injection molding mechanism is usually at a lower temperature, at which time the heating is controlled to raise the temperature.
  • step S2.3 if the processing temperature of the electric injection molding machine is not within the set temperature range, further determine the relationship between the processing temperature of the obtained electric injection molding machine and the target temperature, and if the processing temperature of the electric injection molding machine is lower than the target temperature, The second control channel controls heating; if the processing temperature of the electric injection molding machine is higher than the target temperature, the second control channel controls to stop heating, so that the temperature naturally drops, and the process goes to step S2.4.
  • step S2.4 checking whether the temperature control of the second control channel is ended, and if yes, ending, if not, returning to step S2.1.
  • the second control channel contains the control of the temperature of the barrel, nozzle and mold of the electric injection molding machine to meet the precision requirements required for production and improve product quality.
  • the processing flow of the electric injection molding machine specifically includes the following steps:
  • control of the third control channel specifically includes the following steps:
  • the third control channel moves the control robot to the product position according to the set stroke, and picks up the product. Usually it is lowered first and then advanced to the product position.
  • the robot In the working process of the robot, it is very important to ensure the smooth operation and the injection molding action of the electric injection molding machine. If the robot has started to descend when the injection molding machine is not open, or the robot does not advance in time when the injection molding machine is in use, it will The direct contact between the robot and the injection molding machine causes damage to the robot or the injection mold, and even causes a safety accident.
  • the interrupt program is set in the robot control module to deal with emergencies in a timely manner, including external robot emergency stop, robot motion control, and robot state detection, wherein the external robot handles the highest priority. Therefore, through the synergy between the various control channels, the precise operation of the robot is ensured, and the production efficiency is improved.

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

Abstract

一种基于DSP的电动注塑机的多控制通道控制方法，该方法基于具有第一控制通道、第二控制通道、第三控制通道的电动注塑机，包括步骤：设定第一控制通道为对电动注塑机加工流程的控制，第二控制通道为对电动注塑机温度的控制，第三控制通道为对机械手的控制，第一控制通道通过多通道管理器和第二控制通道进行双向数据通信，第一控制通道通过多通道管理器和第三控制通道进行双向数据通信，第二控制通道进行温度的检测控制，使温度位于设定的温度范围内；第一控制通道控制电动注塑机加工产品，加工完成后第二控制通道结束控制，第三控制通道控制机械手运动，取出产品放置到指定位置。该方法将多个控制通道结合起来联合控制，使用简单，降低能耗。

Description

一种基于DSP的电动注塑机的多控制通道控制方法
技术领域
本发明涉及电动注塑机技术领域，具体地说是一种基于DSP的电动注塑机的多控制通道控制方法。
背景技术
全电动注塑机具有节能、环保、高精度、易于控制、成型周期短等优点，逐渐得到各塑机企业的青睐。控制系统是影响注塑产品加工效率、精度和质量的关键因素，如何提高控制系统的效率，简化控制系统的结构，降低企业的生产成本是各塑机厂商关注的焦点。目前国内电动注塑机控制系统只存在单控制通道控制，即只负责注塑机生产加工动作的控制，温度控制由其它CPU单独控制，注塑机械手也有专用控制器来控制。
目前基于DSP的电动注塑机控制系统存在以下几个问题：1、控制系统只负责注塑机生产加工的动作控制，成本高，效率低，资源浪费，市场竞争力弱。2、其中温度控制由其它CPU单独控制，同样存在成本高，效率低，资源浪费的问题。3、注塑机械手由专门的注塑机械手控制器控制，存在同一台设备多台控制器的现象，造成成本高、效率低、结构复杂、通信复杂等问题。4、不同的控制对象使用不同厂家的控制器，造成用户使用难度加大，售后服务问题复杂化。现有最常见的就是三个控制对象需要使用三个不同厂家的三个控制器。5、不满足节能注塑的主题，存在重复与浪费。
发明内容
本发明要解决的技术问题是提供一种基于DSP的电动注塑机的多控制通道控制方法，降低了能耗，使用更加简单。
为了解决上述技术问题，本发明采取以下技术方案：
一种基于DSP的电动注塑机的多控制通道控制方法,该方法基于具有第一控制通道、第二控制通道、第三控制通道共三个控制通道的电动注塑机，具体包括以下步骤：
S1,设定第一控制通道为对电动注塑机加工流程的控制，第二控制通道为对电动注塑机温度的控制，第三控制通道为对机械手的控制，第一控制通道通过多通道管理器和第二控制通道进行双向数据通信，第一控制通道通过多通道管理器和第三控制通道进行双向数据通信，该第一控制通道、第二控制通道和第三控制通道通过多通道管理器进行信号的转发；
S2,电动注塑机开机后，第二控制通道先进行温度的检测控制，使温度位于设定的温度范围内并且进行恒温调节，将信号通过多通道管理器转发送给第一控制通道；
S3,第一控制通道控制，使电动注塑机按照加工流程进行产品的加工，当产品加工完成后，将产品加工完成的信号通过多通道管理器转发送给第二控制通道和第三控制通道；
S4,第二控制通道结束对温度的控制，同时第三控制通道控制，控制机械手进行运动，将加工好的产品取出并放置到指定位置，然后机械手回到初始位置。
所述步骤S2中，第二控制通道对温度的检测控制具体包括以下步骤：
S2.1，电动注塑机开机后，第二控制通道控制加热，读取电动注塑机的加工温度；
S2.2，若电动注塑机的加工温度位于设定的温度范围内，第二控制通道则在设定的温度范围内进行恒温调节，使电动注塑机的加工温度始终位于该设定的温度范围内，转到步骤S2.4；
S2.3，若电动注塑机的加工温度不是位于设定的温度范围内，进一步判断获取得到的电动注塑机的加工温度与目标温度的关系，若电动注塑机的加工温度低于目标温度，则第二控制通道控制加热；若电动注塑机的加工温度高于目标温度，则第二控制通道控制停止加热，转到步骤S2.4；
S2.4，查看是否结束第二控制通道的温度控制，若是，则结束，若不是，则返回步骤S2.1。
所述第二控制通道包含对电动注塑机的料筒、喷嘴和模具的温度的控制。
所述步骤S1中，电动注塑机加工流程具体包括以下步骤：
锁模、座进、射出、保压、冷却、计量、座退、开模和顶出，顶出之后结束一个产品的加工。
所述步骤S4中，第三控制通道的控制具体包括以下步骤：
S4.1，第三控制通道接收到电动注塑机加工完成的开模信号后，控制机械手按照设定的行程移动到产品位置，夹取产品；
S4.2，机械手将产品夹取到指定位置后放下；
S4.3，机械手再返回初始位置，等待下一次的电动注塑机的开模信号。
所述第一控制通道通过设置电动注塑机控制模块实现对电动注塑机加工流程的控制，第二控制通道通过设置温度控制模块对温度进行控制，第三控制通道通过设置机械手控制模块对机械手进行控制。
本发明将三个控制通道结合起来联合控制，各控制通道协同配合，共同完成塑品的加工到码垛，提高加工效率，有效降低了电动注塑机的能耗。
附图说明
附图1为本发明第二控制通道控制流程示意图；
附图2为本发明第一控制通道控制流程示意图；
附图3为本发明第三控制通道控制流程示意图；
附图4为本发明各控制通道的数据流向示意图；
附图5为本发明各控制通道的连接结构示意图。
具体实施方式
为了便于本领域技术人员的理解，下面结合附图对本发明作进一步的描述。
本发明揭示了一种基于DSP的电动注塑机的多控制通道控制方法,该方法基于具有第一控制通道、第二控制通道、第三控制通道共三个控制通道的电动注塑机，具体包括以下步骤：
S1,设定第一控制通道为对电动注塑机加工流程的控制，第二控制通道为对电动注塑机温度的控制，第三控制通道为对机械手的控制，第一控制通道通过多通道管理器和第二控制通道进行双向数据通信，第一控制通道通过多通道管理器和第三控制通道进行双向数据通信，该第一控制通道、第二控制通道和第三控制通道通过多通道管理器进行信号的转发。如附图4和5所示，第一控制通道通过设置电动注塑机控制模块实现对电动注塑机加工流程的控制，第二控制通道通过设置温度控制模块对温度进行控制，第三控制通道通过设置机械手控制模块对机械手进行控制。第一控制通道和第二控制通道之间、第一控制通道和第三控制通道之间以多通道管理器作为中间媒介进行信号的转发。还可设置显示器，进行各个控制数据的显示，以及通过I/O接口连接操作面板，便于操作。本方案中所使用的多通道管理器为满足多个信号之间的转发，只要能够实现该信号的转发功能即可。通过各个控制通道之间的协同配合，实现在一台设备上控制三个控制对象，即同时对注塑机工作过程、温度和注塑机械手进行控制。
S2,电动注塑机开机后，第二控制通道先进行温度的检测控制，使温度位于设定的温度范围内并且进行恒温调节，调节好后，将信号通过多通道管理器转发送给第一控制通道。
S3,第一控制通道控制，使电动注塑机按照加工流程进行产品的加工，当产品加工完成后，将产品加工完成的信号通过多通道管理器转发送给第二控制通道和第三控制通道。
S4,收到产品加工完成的信号后，第二控制通道结束对温度的控制，同时第三控制通道控制，控制机械手进行运动，将加工好的产品取出并放置到指定位置，然后机械手回到初始位置。
所述步骤S2中，如附图1所示，第二控制通道对温度的检测控制具体包括以下步骤：
S2.1，电动注塑机开机后，第二控制通道控制加热，读取电动注塑机的加工温度。可以系统中设置好相应的温度参数。
S2.2，若电动注塑机的加工温度位于设定的温度范围内，第二控制通道则在该设定的温度范围内进行恒温调节，使电动注塑机的加工温度始终位于该设定的温度范围内，转到步骤S2.4。刚开机时，电动注塑机制温度通常处于较低温度，此时控制加热使温度上升。
S2.3，若电动注塑机的加工温度不是位于设定的温度范围内，进一步判断获取得到的电动注塑机的加工温度与目标温度的关系，若电动注塑机的加工温度低于目标温度，则第二控制通道控制加热；若电动注塑机的加工温度高于目标温度，则第二控制通道控制停止加热，使温度自然下降，转到步骤S2.4。
S2.4，查看是否结束第二控制通道的温度控制，若是，则结束，若不是，则返回步骤S2.1。
第二控制通道包含对电动注塑机的料筒、喷嘴和模具的温度的控制，达到生产所需的精度要求，提高产品质量。
所述步骤S1中，如附图2所示，电动注塑机加工流程具体包括以下步骤：
锁模、座进、射出、保压、冷却、计量、座退、开模和顶出，顶出之后结束一个产品的加工。上述各个工序均为本领域技术人员所公知的电动注塑机的加工流程，因而在此不再详细赘述。如锁模，对模具进行锁定，座进，使电动注塑机的座台前进，射出材料，进行压力的保持，直到最后开模。
所述步骤S4中，如附图3所示，第三控制通道的控制具体包括以下步骤：
S4.1，第三控制通道接收到电动注塑机加工完成的开模信号后，控制机械手按照设定的行程移动到产品位置，夹取产品。通常是先下降，然后前进到产品位置。
S4.2，机械手将产品夹取到指定位置后放下。
S4.3，机械手再返回初始位置，等待下一次的电动注塑机的开模信号。
在机械手工作过程中，保证其运行平稳并与电动注塑机注塑动作节拍相配合至关重要，如果在注塑机没有开模时，机械手已经开始下行或者在注塑机关模时机械手没有及时上行，就会造成机械手与注塑机的直接触碰，造成机械手或注塑模具的破损，甚至引发安全事故。在机械手控制模块中设置中断程序，以及时处理突发事件，包括外部机械手急停、机械手动作控制、机械手状态检测，其中处理外部机械手急停优先级最高。因此，通过各个控制通道之间的协同配合，保证机械手的精确操作，提高生产效率。
需要说明的是，以上所述并非是对本发明的限定，在不脱离本发明的创造构思的前提下，任何显而易见的替换均在本发明的保护范围之内。

Claims (6)

  1. 一种基于DSP的电动注塑机的多控制通道控制方法,该方法基于具有第一控制通道、第二控制通道、第三控制通道共三个控制通道的电动注塑机，具体包括以下步骤：
    S1,设定第一控制通道为对电动注塑机加工流程的控制，第二控制通道为对电动注塑机温度的控制，第三控制通道为对机械手的控制，第一控制通道通过多通道管理器和第二控制通道进行双向数据通信，第一控制通道通过多通道管理器和第三控制通道进行双向数据通信，该第一控制通道、第二控制通道和第三控制通道通过多通道管理器进行信号的转发；
    S2,电动注塑机开机后，第二控制通道先进行温度的检测控制，使温度位于设定的温度范围内并且进行恒温调节，将信号通过多通道管理器转发送给第一控制通道；
    S3,第一控制通道控制，使电动注塑机按照加工流程进行产品的加工，当产品加工完成后，将产品加工完成的信号通过多通道管理器转发送给第二控制通道和第三控制通道；
    S4,第二控制通道结束对温度的控制，同时第三控制通道控制，控制机械手进行运动，将加工好的产品取出并放置到指定位置，然后机械手回到初始位置。
  2. 根据权利要求1所述的基于DSP的电动注塑机的多控制通道控制方法,其特征在于，所述步骤S2中，第二控制通道对温度的检测控制具体包括以下步骤：
    S2.1，电动注塑机开机后，第二控制通道控制加热，读取电动注塑机的加工温度；
    S2.2，若电动注塑机的加工温度位于设定的温度范围内，第二控制通道则在设定的温度范围内进行恒温调节，使电动注塑机的加工温度始终位于该设定的温度范围内，转到步骤S2.4；
    S2.3，若电动注塑机的加工温度不是位于设定的温度范围内，进一步判断获取得到的电动注塑机的加工温度与目标温度的关系，若电动注塑机的加工温度低于目标温度，则第二控制通道控制加热；若电动注塑机的加工温度高于目标温度，则第二控制通道控制停止加热，转到步骤S2.4；
    S2.4，查看是否结束第二控制通道的温度控制，若是，则结束，若不是，则返回步骤S2.1。
  3. 根据权利要求2所述的基于DSP的电动注塑机的多控制通道控制方法,其特征在于，所述第二控制通道包含对电动注塑机的料筒、喷嘴和模具的温度的控制。
  4. 根据权利要求3所述的基于DSP的电动注塑机的多控制通道控制方法,其特征在于，所述步骤S1中，电动注塑机加工流程具体包括以下步骤：
    锁模、座进、射出、保压、冷却、计量、座退、开模和顶出，顶出之后结束一个产品的加工。
  5. 根据权利要求4所述的基于DSP的电动注塑机的多控制通道控制方法,其特征在于，所述步骤S4中，第三控制通道的控制具体包括以下步骤：
    S4.1，第三控制通道接收到电动注塑机加工完成的开模信号后，控制机械手按照设定的行程移动到产品位置，夹取产品；
    S4.2，机械手将产品夹取到指定位置后放下；
    S4.3，机械手再返回初始位置，等待下一次的电动注塑机的开模信号。
  6. 根据权利要求5所述的基于DSP的电动注塑机的多控制通道控制方法,其特征在于，所述第一控制通道通过设置电动注塑机控制模块实现对电动注塑机加工流程的控制，第二控制通道通过设置温度控制模块对温度进行控制，第三控制通道通过设置机械手控制模块对机械手进行控制。
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