WO2020108039A1 - Precision compensation system and method for mechanical arm of injection molding machine - Google Patents
Precision compensation system and method for mechanical arm of injection molding machine Download PDFInfo
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- WO2020108039A1 WO2020108039A1 PCT/CN2019/106955 CN2019106955W WO2020108039A1 WO 2020108039 A1 WO2020108039 A1 WO 2020108039A1 CN 2019106955 W CN2019106955 W CN 2019106955W WO 2020108039 A1 WO2020108039 A1 WO 2020108039A1
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- injection molding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/78—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
- 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
Definitions
- the present application relates to the technical field of injection molding machine manipulators, in particular to an injection molding machine manipulator accuracy compensation system and method.
- injection molding machine manipulator has become one of the main automation equipment in the modern plastic product manufacturing industry.
- the use of injection molding machine manipulators for automatic loading and unloading can improve the quality of plastic products, improve working conditions, ensure safe production, and increase production efficiency.
- the technical problem to be solved by this application is that during the operation of the injection molding machine manipulator, due to the friction of the guide rail and external temperature changes, various parts of the injection molding machine manipulator thermally deform, resulting in thermal errors, which affect the positioning accuracy of the manipulator. Affect product quality and production efficiency.
- the injection molding machine manipulator accuracy compensation system includes: an injection molding machine manipulator; the injection molding machine manipulator has an x-axis beam, a y-axis beam, and a z-axis beam; the x-axis beam is provided with a first temperature sensor and a second temperature A sensor; a third temperature sensor and a fourth temperature sensor are provided on the y-axis beam; a fifth temperature sensor and a sixth temperature sensor are provided on the z-axis beam;
- Manipulator controller acquires the temperature data collected by each temperature sensor, and determines the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor and the second temperature sensor, and according to the third temperature
- the temperature data of the sensor and the fourth temperature sensor determine the error of the injection molding machine manipulator in the y-axis direction, and the error of the injection molding machine manipulator in the z-axis direction is determined according to the temperature data of the fifth temperature sensor and the sixth temperature sensor;
- the accuracy is compensated according to the errors in the x-axis, y-axis, and z-axis directions, respectively.
- the errors in the x-axis, y-axis, and z-axis directions are specifically determined by the robot controller according to the temperature data measured by the corresponding temperature sensor and the probability distribution between the error and the temperature.
- the probability distribution between the error and the temperature is determined according to the experimental data of multiple sets of experiments.
- each group of experimental data includes: the error of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions, as well as the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, and the fifth temperature sensor 5. Temperature data collected by the sixth temperature sensor.
- the probability distribution between error and temperature is expressed by the following formula:
- the joint probability distribution of the errors E x , E y , E z and temperature in the x-axis, y-axis, and z-axis directions of the injection molding machine manipulator is expressed by the following formula:
- conditional probability distribution of temperature to error is expressed by the following formula:
- j ⁇ 1,2,...20 ⁇
- h ⁇ 1,2,...20 ⁇
- the variable domain is ⁇ T i j
- j 1, 2,...20 ⁇ , that is, the temperature is divided into several states; similarly, the error variable domain in the x-axis direction is The error variable domain in the y-axis direction is The error variable domain in the z-axis direction is Represents the number of samples in the experimental data that the temperature value of the i-th temperature sensor falls in the j-th variable domain, and the x-axis direction error falls in the h-th variable domain; the same reason can be obtained with
- the probability distribution between the error and the temperature is determined based on at least the experimental data of 400 sets of experiments.
- the errors of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions are respectively measured by the x-axis laser displacement sensor, the y-axis laser displacement sensor, and the z-axis laser displacement sensor.
- the x-axis laser displacement sensor, the y-axis laser displacement sensor, and the z-axis laser displacement sensor are respectively fixed on corresponding brackets, and the brackets are fixed on the ground.
- each temperature sensor and each laser displacement sensor transmits the collected signal to the manipulator controller through the A/D acquisition card.
- the precision compensation method of the injection molding machine manipulator applied to the manipulator controller includes the following steps:
- the x-axis, y-axis, and z-axis displacements are compensated.
- the errors in the x-axis, y-axis, and z-axis directions are specifically determined by the robot controller according to the temperature data measured by the corresponding temperature sensor and the probability distribution between the error and the temperature.
- a first temperature sensor and a second temperature sensor are provided on the x-axis beam of the injection molding machine manipulator; a third temperature sensor and a fourth temperature sensor are provided on the y-axis beam; Five temperature sensors and a sixth temperature sensor; the manipulator controller acquires the temperature data collected by each temperature sensor, and determines the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor and the second temperature sensor , Determine the error of the injection molding machine manipulator in the y-axis direction based on the temperature data of the third temperature sensor and the fourth temperature sensor, and determine the injection molding machine manipulator on the z-axis according to the temperature data of the fifth temperature sensor and the sixth temperature sensor The error in the direction; and the accuracy is compensated according to the errors in the x-axis, y-axis, and z-axis directions, respectively. By compensating for temperature errors, the accuracy of the injection molding machine manipulator is improved.
- the precision compensation system of the injection molding machine manipulator proposed in this application is simple and stable in structure, and is suitable for the actual production environment.
- the application is compensated by software method, and it is relatively easy to maintain and upgrade.
- Fig. 1 is a schematic diagram of a precision compensation system for an injection molding machine manipulator according to an exemplary embodiment.
- Fig. 2 is a flowchart of a method for accuracy compensation of an injection molding machine manipulator according to an exemplary embodiment.
- Fig. 1 is a schematic diagram of a precision compensation system for an injection molding machine manipulator according to an exemplary embodiment.
- the injection molding machine manipulator accuracy compensation system includes: an injection molding machine manipulator; the injection molding machine manipulator has an x-axis beam 2, a y-axis beam 16, and a z-axis beam 9; the x-axis beam 2 is provided with a first A temperature sensor 1 and a second temperature sensor 3; a third temperature sensor 15 and a fourth temperature sensor 17 are provided on the y-axis beam 16; a fifth temperature sensor 8 and a sixth temperature are provided on the z-axis beam 9 Sensor 10;
- Manipulator controller 4 the manipulator controller 4 acquires the temperature data collected by each temperature sensor, and determines the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor 1 and the second temperature sensor 3, The error of the injection molding machine manipulator in the y-axis direction is determined according to the temperature data of the third temperature sensor 15 and the fourth temperature sensor 17, and the injection molding machine manipulator is determined according to the temperature data of the fifth temperature sensor 8 and the sixth temperature sensor 10 The error in the z-axis direction; and the accuracy compensation is performed according to the errors in the x-axis, y-axis, and z-axis directions, respectively.
- the temperature change will cause the injection molding machine manipulator to produce errors in the x-axis, y-axis, and z-axis directions; according to the temperature on the x-axis beam 2, the y-axis beam 16, and the z-axis beam 9, the injection machine robot
- the errors in the x-axis, y-axis, and z-axis directions are estimated. Among them, the relationship between temperature and error can be obtained by experimental methods.
- the relationship between the temperature data of the first temperature sensor 1 and the second temperature sensor 3 and the error in the x-axis direction needs to be determined for the robot controller 4 to use the temperature data To determine the error in the x-axis direction.
- the relationship between the temperature data of the first temperature sensor 1 and the second temperature sensor 3 and the error in the x-axis direction needs to be obtained through a large amount of experimental data; the first temperature sensor 1 and the second temperature sensor 3 can be established through the experimental data The probability distribution of the error between the temperature data and the x-axis.
- the injection molding machine manipulator controller 4 determines the error of the injection molding machine manipulator in the x-axis direction based on the temperature data of the first temperature sensor 1 and the second temperature sensor 3 and the above-mentioned probability distribution.
- the error of the injection molding machine manipulator in the x-axis direction is mainly caused by the temperature change on the X-axis beam 2; therefore, when determining the error in the X-axis direction, only the temperature of the first temperature sensor 1 and the second temperature sensor 3 need to be considered data. Accordingly, the error in the y-axis direction corresponds to the temperature data of the third temperature sensor 15 and the fourth temperature sensor 17; the error in the z-axis direction corresponds to the temperature data of the fifth temperature sensor 8 and the sixth temperature sensor 10.
- the influence of temperature change on the accuracy of the injection molding machine manipulator can be reduced, and the operation accuracy of the injection molding machine manipulator can be improved.
- the displacements of the injection molding machine manipulator in the x-axis, y-axis, and z-axis are: x, y, z;
- the errors of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions are: ⁇ x, ⁇ y, ⁇ z; compensation The latter is: x+ ⁇ x, y+ ⁇ y, z+ ⁇ z; the manipulator controller 4 operates according to the compensated displacement value.
- the errors in the x-axis, y-axis, and z-axis directions are specifically determined by the manipulator controller 4 according to the temperature data measured by the corresponding temperature sensor and the probability distribution between the error and the temperature.
- the injection molding machine manipulator will generate errors in the x-axis, y-axis, and z-axis directions; the error on the x-axis is related to the temperature data of the first temperature sensor 1 and the second temperature sensor 3, and Through multiple sets of experiments, the probability distribution between the error on the x-axis and the temperature data of the first temperature sensor 1 and the second temperature sensor 3 is determined. Similarly, the probability distribution between the error in the y-axis direction and the temperature data of the third temperature sensor 15 and the fourth temperature sensor 17 as well as the error in the z-axis direction and the fifth temperature sensor 8, the sixth Probability distribution between temperature data of the temperature sensor 10.
- the probability distribution between the error and the temperature is determined according to the experimental data of multiple sets of experiments
- each set of experimental data includes: the error of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions, and the first temperature sensor 1, the second temperature sensor 3, the third temperature sensor 15, the fourth temperature sensor 17, Temperature data collected by the fifth temperature sensor 8 and the sixth temperature sensor 10.
- the probability distribution between the error and the temperature is determined based on the experimental data of at least 400 experiments. It should be noted that the more experimental groups, the more accurate the probability distribution obtained.
- the errors of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions were measured by the x-axis laser displacement sensor 7, the y-axis laser displacement sensor 14, and the z-axis laser displacement sensor 12, respectively get.
- the x-axis laser displacement sensor 7, the y-axis laser displacement sensor 14, and the z-axis laser displacement sensor 12 are respectively fixed on corresponding brackets, and the brackets are fixed on the ground.
- the x-axis laser displacement sensor 7, the y-axis laser displacement sensor 14, and the z-axis laser displacement sensor 12 are respectively mounted on the first mounting bracket 6, the second mounting bracket 13, and the third mounting bracket 11.
- each temperature sensor and each laser displacement sensor transmit the collected signals to the manipulator controller through the A/D acquisition card.
- the signal output port of the displacement sensor 14 and the z-axis laser displacement sensor 12 are connected to the analog input port of the signal acquisition module A/D acquisition card 5, and the A/D acquisition card 5 performs high-speed A/D conversion and conversion on the input analog signal
- the signal is transmitted to the robot controller 4 of the injection molding machine through the bus.
- the data processing module in the manipulator controller 4 performs filtering processing on the signal to eliminate electromagnetic interference and noise interference of the collected signal, and the filtering processing uses a median average filtering algorithm.
- the processing of the above experimental data can be completed in the manipulator controller 4, and a probability distribution model between the error and the temperature can be established. That is, the robot controller 4 continuously collects experimental data and establishes a probability distribution model between error and temperature.
- the Bayesian network structure between the error and the temperature is established; after the Bayesian network structure is established, the collected experimental data is input into the Bayesian network, and the Bayesian network is trained through the experimental data , Continuously optimize the rolling, so that the accuracy compensation model meets the characteristics of the injection molding machine manipulator, and then improve the accuracy of the injection molding machine manipulator accuracy compensation model.
- the number of experimental data in each variable domain is obtained, It means that the temperature value of the i-th temperature sensor in the experimental data falls in the j-th variable domain, and the number of samples whose x-axis direction error value falls in the h-th variable domain.
- the probability distribution between the error and the temperature is expressed by the following formula:
- the joint probability distribution of the errors E x , E y , E z and temperature in the x-axis, y-axis, and z-axis directions of the injection molding machine manipulator is expressed by the following formula:
- conditional probability distribution of temperature to error is expressed by the following formula:
- j ⁇ 1,2,...20 ⁇
- h ⁇ 1,2,...20 ⁇
- j 1, 2,...20 ⁇ , that is, the temperature is divided into several states; similarly, the error variable domain in the x-axis direction is The error variable domain in the y-axis direction is The error variable domain in the z-axis direction is Represents the number of samples in the experimental data that the temperature value of the i-th temperature sensor falls in the j-th variable domain, and the x-axis direction error falls in the h-th variable domain; the same reason can be obtained with
- the errors E x , E y and E z of the injection molding machine manipulator in the x-axis, y-axis and z-axis directions are predicted.
- the precision compensation system of the injection molding machine manipulator shown in the embodiments of the present application compensates the errors of the injection molding machine manipulator in real time through software, which greatly improves the operation accuracy of the mechanical hand.
- the compensation process is mainly implemented in the form of software to facilitate maintenance and upgrades.
- Fig. 2 is a flowchart of a method for accuracy compensation of an injection molding machine manipulator according to an exemplary embodiment.
- the accuracy compensation method of the injection molding machine manipulator applied to the manipulator controller includes the following steps:
- Step S201 Obtain temperature data of the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, the fifth temperature sensor, and the sixth temperature sensor; wherein the first temperature sensor and the second temperature sensor are installed on On the x-axis beam of the injection molding machine manipulator, the third temperature sensor and the fourth temperature sensor are installed on the y-axis beam of the injection molding machine manipulator, and the fifth temperature sensor and the sixth temperature sensor are installed on the z-axis beam of the injection molding machine manipulator.
- Step S202 Determine the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor and the second temperature sensor, and determine the presence of the injection molding machine manipulator based on the temperature data of the third temperature sensor and the fourth temperature sensor The error in the y-axis direction determines the error in the z-axis direction of the injection molding machine manipulator based on the temperature data of the fifth temperature sensor and the sixth temperature sensor.
- step S203 the displacements of the x-axis, y-axis, and z-axis are compensated according to the errors in the x-axis, y-axis, and z-axis directions.
- the errors in the x-axis, y-axis, and z-axis directions are specifically determined by the robot controller according to the temperature data measured by the corresponding temperature sensor and the probability distribution between the error and the temperature.
- injection molding machine manipulator accuracy compensation method corresponding to FIG. 2 corresponds to the aforementioned injection molding machine manipulator accuracy compensation system, for the specific content, refer to the aforementioned injection molding machine manipulator accuracy compensation system, and no more details will be given here.
- the temperature sensor includes: a first temperature sensor 1, a second temperature sensor 3, a third temperature sensor 15, a fourth temperature sensor 17, a fifth temperature sensor 8, a sixth temperature sensor 10 on the x-axis beam 2,
- the installation positions on the y-axis beam 16 and the z-axis beam 9 can be determined according to actual conditions, and the specific installation position is not specifically limited in this application.
- the installation positions of the x-axis laser displacement sensor 7, the y-axis laser displacement sensor 14, and the z-axis laser displacement sensor 12 may meet the measurement requirements.
Abstract
Disclosed are a precision compensation system and method for a mechanical arm of an injection molding machine, relating to the technical field of injection molding machine mechanical arms; said injection molding machine mechanical-arm precision compensation system is provided with a first temperature sensor and second temperature sensor arranged on an x-axis lateral beam of the injection molding machine mechanical arm; a third temperature sensor and a fourth temperature sensor are arranged on a y-axis lateral beam; a fifth temperature sensor and a sixth temperature sensor are arranged on a z-axis lateral beam; a mechanical arm controller acquires the temperature data collected by each temperature sensor, and, according to the temperature data of each temperature sensor, measures the errors of the injection molding machine mechanical arm in the x-axis, y-axis, and z-axis directions, and accuracy compensation is performed according to the errors in the x-axis, y-axis, and z-axis directions, respectively. The present application compensates for errors caused by temperature, improving the accuracy of the mechanical arm of the injection molding machine.
Description
本申请涉及注塑机机械手技术领域，尤其涉及一种注塑机机械手精度补偿系统及方法。The present application relates to the technical field of injection molding machine manipulators, in particular to an injection molding machine manipulator accuracy compensation system and method.
随着注塑行业的迅猛发展，注塑机机械手已经成为现代塑料产品制造业中的主要自动化设备之一。使用注塑机机械手进行自动化上下料，能够提高塑料制品的质量，改善劳动条件，保证安全生产的进行，提高生产效率。With the rapid development of the injection molding industry, the injection molding machine manipulator has become one of the main automation equipment in the modern plastic product manufacturing industry. The use of injection molding machine manipulators for automatic loading and unloading can improve the quality of plastic products, improve working conditions, ensure safe production, and increase production efficiency.
在实际的生产过程中，因导轨摩擦和外部温度变化等原因，注塑机机械手的各零部件产生热变形，导致产生热误差，影响机械手的定位精度，进而影响产品的质量和生产效率。In the actual production process, due to the friction of the guide rail and external temperature changes, various components of the injection molding machine manipulator thermally deform, resulting in thermal errors, which affect the positioning accuracy of the manipulator, which in turn affects the quality and production efficiency of the product.
发明内容Summary of the invention
本申请所要解决的技术问题在于，注塑机机械手在运行过程中，因导轨摩擦和外部温度变化等原因，注塑机机械手的各零部件产生热变形，导致产生热误差，影响机械手的定位精度，进而影响产品的质量和生产效率。The technical problem to be solved by this application is that during the operation of the injection molding machine manipulator, due to the friction of the guide rail and external temperature changes, various parts of the injection molding machine manipulator thermally deform, resulting in thermal errors, which affect the positioning accuracy of the manipulator. Affect product quality and production efficiency.
本申请解决其技术问题，提出一种注塑机机械手精度补偿系统及方法。其中，所述注塑机机械手精度补偿系统包括：注塑机机械手；所述注塑机机械手具有x轴横梁、y轴横梁、z轴横梁；所述x轴横梁上设置有第一温度传感器和第二温度传感器；所述y轴横梁上设置有第三温度传感器和第四温度传感器；所述z轴横梁上设置有第五温度传感器和第六温度传感器；This application solves its technical problems and proposes a precision compensation system and method for injection molding machine manipulators. Wherein, the injection molding machine manipulator accuracy compensation system includes: an injection molding machine manipulator; the injection molding machine manipulator has an x-axis beam, a y-axis beam, and a z-axis beam; the x-axis beam is provided with a first temperature sensor and a second temperature A sensor; a third temperature sensor and a fourth temperature sensor are provided on the y-axis beam; a fifth temperature sensor and a sixth temperature sensor are provided on the z-axis beam;
机械手控制器；所述机械手控制器获取各个温度传感器采集的温度数据，并根据第一温度传感器和第二温度传感器的温度数 据确定所述注塑机机械手在x轴方向上的误差，根据第三温度传感器和第四温度传感器的温度数据确定所述注塑机机械手在y轴方向上的误差，根据第五温度传感器和第六温度传感器的温度数据确定所述注塑机机械手在z轴方向上的误差；并分别根据x轴、y轴、z轴方向上的误差进行精度补偿。Manipulator controller; the manipulator controller acquires the temperature data collected by each temperature sensor, and determines the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor and the second temperature sensor, and according to the third temperature The temperature data of the sensor and the fourth temperature sensor determine the error of the injection molding machine manipulator in the y-axis direction, and the error of the injection molding machine manipulator in the z-axis direction is determined according to the temperature data of the fifth temperature sensor and the sixth temperature sensor; The accuracy is compensated according to the errors in the x-axis, y-axis, and z-axis directions, respectively.
可选地，x轴、y轴、z轴方向上的误差具体由机械手控制器分别根据对应温度传感器测量的温度数据，以及误差与温度之间的概率分布确定。Optionally, the errors in the x-axis, y-axis, and z-axis directions are specifically determined by the robot controller according to the temperature data measured by the corresponding temperature sensor and the probability distribution between the error and the temperature.
可选地，误差与温度之间的概率分布根据多组实验的实验数据确定；Optionally, the probability distribution between the error and the temperature is determined according to the experimental data of multiple sets of experiments;
其中，每组实验数据包括：注塑机机械手在x轴、y轴、z轴方向上的误差，以及第一温度传感器、第二温度传感器、第三温度传感器、第四温度传感器、第五温度传感器、第六温度传感器采集的温度数据。Among them, each group of experimental data includes: the error of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions, as well as the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, and the fifth temperature sensor 5. Temperature data collected by the sixth temperature sensor.
可选地，误差与温度之间的概率分布由以下公式表达：Optionally, the probability distribution between error and temperature is expressed by the following formula:
根据贝叶斯网络结构，注塑机机械手在x轴、y轴、z轴方向上的误差E
x、E
y、E
z和温度的联合概率分布由以下公式表示：
According to the Bayesian network structure, the joint probability distribution of the errors E x , E y , E z and temperature in the x-axis, y-axis, and z-axis directions of the injection molding machine manipulator is expressed by the following formula:
其中，温度和误差之间的局部联合概率分布由公式表示：Among them, the local joint probability distribution between temperature and error is expressed by the formula:
温度对于误差的条件概率分布由如下公式表示：The conditional probability distribution of temperature to error is expressed by the following formula:
注塑机机械手在x轴、y轴、z轴方向上的误差E
x、E
y、E
z在其变量域内的概率分布可如下公式表示：
The probability distributions of the errors E x , E y , and E z of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions in its variable domain can be expressed as follows:
其中，j＝{1,2,…20}，h＝{1,2,…20}；Among them, j={1,2,...20}, h={1,2,...20};
T
i(i＝1,2,…,6)分别对应第一温度传感器、第二温度传感器、第三温度传感器、第四温度传感器、第五温度传感器、第六温度传感器采集的温度数据；温度变量域为{T
i
j|j＝1,2,…20}，即温度被分成若干个状态；同理，x轴方向的误差变量域为
y轴方向上的误差变量域为
z轴方向上的误差变量域为
表示实验数据中第i个温度传感器温度值落在第j个变量域，同时x轴方向误差落在第h个变量域的样本数量；同理可以得到
和
T i (i=1, 2, ..., 6) corresponds to the temperature data collected by the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, the fifth temperature sensor, and the sixth temperature sensor; The variable domain is {T i j |j=1, 2,...20}, that is, the temperature is divided into several states; similarly, the error variable domain in the x-axis direction is The error variable domain in the y-axis direction is The error variable domain in the z-axis direction is Represents the number of samples in the experimental data that the temperature value of the i-th temperature sensor falls in the j-th variable domain, and the x-axis direction error falls in the h-th variable domain; the same reason can be obtained with
可选地，误差与温度之间的概率分布至少根据400组实验的实验数据确定。Optionally, the probability distribution between the error and the temperature is determined based on at least the experimental data of 400 sets of experiments.
可选地，在实验时，注塑机机械手在x轴、y轴、z轴方向上的误差分别由x轴激光位移传感器、y轴激光位移传感器、z轴激光位移传感器测量得到。Optionally, during the experiment, the errors of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions are respectively measured by the x-axis laser displacement sensor, the y-axis laser displacement sensor, and the z-axis laser displacement sensor.
可选地，所述x轴激光位移传感器、y轴激光位移传感器、z轴激光位移传感器分别固定在相应的支架上，所述支架固定在地面上。Optionally, the x-axis laser displacement sensor, the y-axis laser displacement sensor, and the z-axis laser displacement sensor are respectively fixed on corresponding brackets, and the brackets are fixed on the ground.
可选地，各个温度传感器以及各个激光位移传感器通过A/D采集卡将采集的信号传送至机械手控制器。Optionally, each temperature sensor and each laser displacement sensor transmits the collected signal to the manipulator controller through the A/D acquisition card.
所述注塑机机械手精度补偿方法应用于机械手控制器，包括步骤：The precision compensation method of the injection molding machine manipulator applied to the manipulator controller includes the following steps:
获取第一温度传感器、第二温度传感器、第三温度传感器、第四温度传感器、第五温度传感器、第六温度传感器的温度数据；其中，第一温度传感器和第二温度传感器安装于注塑机机械手的x轴横梁上，第三温度传感器和第四温度传感器安装于注塑机机械手的y轴横梁上，第五温度传感器和第六温度传感器安装于注塑机机械手的z轴横梁上；Obtain temperature data of the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, the fifth temperature sensor, and the sixth temperature sensor; where the first temperature sensor and the second temperature sensor are installed in the injection molding machine manipulator On the x-axis beam, the third temperature sensor and the fourth temperature sensor are installed on the y-axis beam of the injection molding machine manipulator, and the fifth temperature sensor and the sixth temperature sensor are installed on the z-axis beam of the injection molding machine manipulator;
根据第一温度传感器和第二温度传感器的温度数据确定所述注塑机机械手在x轴方向上的误差，根据第三温度传感器和第四温度传感器的温度数据确定所述注塑机机械手在y轴方向上的误差，根据第五温度传感器和第六温度传感器的温度数据确定所述注塑机机械手在z轴方向上的误差；Determine the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor and the second temperature sensor, and determine the injection molding machine manipulator in the y-axis direction according to the temperature data of the third temperature sensor and the fourth temperature sensor Error on the basis of the temperature data of the fifth temperature sensor and the sixth temperature sensor to determine the error of the injection molding machine manipulator in the z-axis direction;
根据x轴、y轴、z轴方向上的误差对x轴、y轴、z轴的位移进行补偿。According to the errors in the x-axis, y-axis, and z-axis directions, the x-axis, y-axis, and z-axis displacements are compensated.
可选地，x轴、y轴、z轴方向上的误差具体由机械手控制器分别根据对应温度传感器测量的温度数据，以及误差与温度之间的概率分布确定。Optionally, the errors in the x-axis, y-axis, and z-axis directions are specifically determined by the robot controller according to the temperature data measured by the corresponding temperature sensor and the probability distribution between the error and the temperature.
本申请的技术方案通过在注塑机机械手的x轴横梁上设置有第一温度传感器和第二温度传感器；y轴横梁上设置有第三温度传感器和第四温度传感器；z轴横梁上设置有第五温度传感器和第六温度传感器；所述机械手控制器获取各个温度传感器采集的温度数据，并根据第一温度传感器和第二温度传感器的温度数据确定所述注塑机机械手在x轴方向上的误差，根据第三温度传感器和第四温度传感器的温度数据确定所述注塑机机械手在y轴方向上的误差，根据第五温度传感器和第六温度传感器的温度数据确定所述注塑机机械手在z轴方向上的误差；并分别根据x轴、y轴、z轴方向上的误差进行精度补偿。通过对温度产生的误差进行补偿，提高了注塑机机械手的精度。In the technical solution of the present application, a first temperature sensor and a second temperature sensor are provided on the x-axis beam of the injection molding machine manipulator; a third temperature sensor and a fourth temperature sensor are provided on the y-axis beam; Five temperature sensors and a sixth temperature sensor; the manipulator controller acquires the temperature data collected by each temperature sensor, and determines the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor and the second temperature sensor , Determine the error of the injection molding machine manipulator in the y-axis direction based on the temperature data of the third temperature sensor and the fourth temperature sensor, and determine the injection molding machine manipulator on the z-axis according to the temperature data of the fifth temperature sensor and the sixth temperature sensor The error in the direction; and the accuracy is compensated according to the errors in the x-axis, y-axis, and z-axis directions, respectively. By compensating for temperature errors, the accuracy of the injection molding machine manipulator is improved.
此外，本申请提出的注塑机机械手精度补偿系统在结构上精简且稳定，适用于实际生产的环境。另外，本申请通过软件方法进行补偿，在维护和升级上也较为容易。In addition, the precision compensation system of the injection molding machine manipulator proposed in this application is simple and stable in structure, and is suitable for the actual production environment. In addition, the application is compensated by software method, and it is relatively easy to maintain and upgrade.
图1是根据一示例性实施例示出的一种注塑机机械手精度补偿系统的示意图。Fig. 1 is a schematic diagram of a precision compensation system for an injection molding machine manipulator according to an exemplary embodiment.
图2是根据一示例性实施例示出的一种注塑机机械手精度补偿方法的流程图。Fig. 2 is a flowchart of a method for accuracy compensation of an injection molding machine manipulator according to an exemplary embodiment.
以下是本申请的具体实施例并结合附图，对本申请的技术方案作进一步的描述，但本申请并不限于这些实施例。The following are specific embodiments of the present application in conjunction with the drawings to further describe the technical solutions of the present application, but the present application is not limited to these embodiments.
还应当理解，此处所描述的具体实施例仅仅用于理解本申请，并不用于限定本申请。It should also be understood that the specific embodiments described herein are only used to understand the present application, and are not used to limit the present application.
图1是根据一示例性实施例示出的一种注塑机机械手精度补偿系统的示意图。Fig. 1 is a schematic diagram of a precision compensation system for an injection molding machine manipulator according to an exemplary embodiment.
如图所示，所述注塑机机械手精度补偿系统包括：注塑机机械手；所述注塑机机械手具有x轴横梁2、y轴横梁16、z轴横梁9；所述x轴横梁2上设置有第一温度传感器1和第二温度传感器3；所述y轴横梁16上设置有第三温度传感器15和第四温度传感器17；所述z轴横梁9上设置有第五温度传感器8和第六温度传感器10；As shown in the figure, the injection molding machine manipulator accuracy compensation system includes: an injection molding machine manipulator; the injection molding machine manipulator has an x-axis beam 2, a y-axis beam 16, and a z-axis beam 9; the x-axis beam 2 is provided with a first A temperature sensor 1 and a second temperature sensor 3; a third temperature sensor 15 and a fourth temperature sensor 17 are provided on the y-axis beam 16; a fifth temperature sensor 8 and a sixth temperature are provided on the z-axis beam 9 Sensor 10;
机械手控制器4；所述机械手控制器4获取各个温度传感器采集的温度数据，并根据第一温度传感器1和第二温度传感器3的温度数据确定所述注塑机机械手在x轴方向上的误差，根据第三温度传感器15和第四温度传感器17的温度数据确定所述注塑机机械手在y轴方向上的误差，根据第五温度传感器8和第六温度传感器10的温度数据确定所述注塑机机械手在z轴方向上的误差；并分别根据x轴、y轴、z轴方向上的误差进行精度补偿。Manipulator controller 4; the manipulator controller 4 acquires the temperature data collected by each temperature sensor, and determines the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor 1 and the second temperature sensor 3, The error of the injection molding machine manipulator in the y-axis direction is determined according to the temperature data of the third temperature sensor 15 and the fourth temperature sensor 17, and the injection molding machine manipulator is determined according to the temperature data of the fifth temperature sensor 8 and the sixth temperature sensor 10 The error in the z-axis direction; and the accuracy compensation is performed according to the errors in the x-axis, y-axis, and z-axis directions, respectively.
需要说明的是，温度变化会使得注塑机机械手在x轴、y轴、z轴方向上产生误差；可根据x轴横梁2、y轴横梁16、z轴横梁9上的温度分别对注塑机机械手在x轴、y轴、z轴方向上的误差进行估计。其中，温度与误差之间的关系表达可通过实验方法获得。It should be noted that the temperature change will cause the injection molding machine manipulator to produce errors in the x-axis, y-axis, and z-axis directions; according to the temperature on the x-axis beam 2, the y-axis beam 16, and the z-axis beam 9, the injection machine robot The errors in the x-axis, y-axis, and z-axis directions are estimated. Among them, the relationship between temperature and error can be obtained by experimental methods.
下面以x轴方向上的误差为例进行说明，首先需要确定第一温度传感器1和第二温度传感器3的温度数据与x轴方向上的误差的关系，以供机械手控制器4根据该温度数据，确定x轴方向上的误差。The following describes the error in the x-axis direction as an example. First, the relationship between the temperature data of the first temperature sensor 1 and the second temperature sensor 3 and the error in the x-axis direction needs to be determined for the robot controller 4 to use the temperature data To determine the error in the x-axis direction.
第一温度传感器1和第二温度传感器3的温度数据与x轴方向上的误差的关系需要通过大量的实验数据来获得；即可通过实验数据建立第一温度传感器1、第二温度传感器3的温度数据与x轴方向上的误差的概率分布。当注塑机机械手运行时，注塑机机械手控制器4根据第一温度传感器1和第二温度传感器3的温度数据以及上述的概率分布，确定注塑机机械手在x轴方向上的误差。The relationship between the temperature data of the first temperature sensor 1 and the second temperature sensor 3 and the error in the x-axis direction needs to be obtained through a large amount of experimental data; the first temperature sensor 1 and the second temperature sensor 3 can be established through the experimental data The probability distribution of the error between the temperature data and the x-axis. When the injection molding machine manipulator runs, the injection molding machine manipulator controller 4 determines the error of the injection molding machine manipulator in the x-axis direction based on the temperature data of the first temperature sensor 1 and the second temperature sensor 3 and the above-mentioned probability distribution.
此外，注塑机机械手在x轴方向的误差主要由X轴横梁2上的温度变化引起；因此，在确定X轴方向的误差时，只需要考虑第一温度传感器1和第二温度传感器3的温度数据。相应地，y轴方向上的误差与第三温度传感器15、第四温度传感器17的温度数据对应；z轴方向上的误差与第五温度传感器8、第六温度传感器10的温度数据对应。In addition, the error of the injection molding machine manipulator in the x-axis direction is mainly caused by the temperature change on the X-axis beam 2; therefore, when determining the error in the X-axis direction, only the temperature of the first temperature sensor 1 and the second temperature sensor 3 need to be considered data. Accordingly, the error in the y-axis direction corresponds to the temperature data of the third temperature sensor 15 and the fourth temperature sensor 17; the error in the z-axis direction corresponds to the temperature data of the fifth temperature sensor 8 and the sixth temperature sensor 10.
通过对x轴、y轴、z轴的位移进行补偿，可减少温度变化对注塑机机械手精度的影响，提高注塑机机械手的运行精度。By compensating the displacement of the x-axis, y-axis, and z-axis, the influence of temperature change on the accuracy of the injection molding machine manipulator can be reduced, and the operation accuracy of the injection molding machine manipulator can be improved.
具体地，注塑机机械手在x轴、y轴、z轴的位移分别为：x，y，z；注塑机机械手在x轴、y轴、z轴方向的误差为：Δx、Δy、Δz；补偿后为：x+Δx、y+Δy、z+Δz；机械手控制器4根据补偿后的位移值进行运行。Specifically, the displacements of the injection molding machine manipulator in the x-axis, y-axis, and z-axis are: x, y, z; the errors of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions are: Δx, Δy, Δz; compensation The latter is: x+Δx, y+Δy, z+Δz; the manipulator controller 4 operates according to the compensated displacement value.
在本申请实施例中，x轴、y轴、z轴方向上的误差具体由机械手控制器4分别根据对应温度传感器测量的温度数据，以及误差与温度之间的概率分布确定。In the embodiment of the present application, the errors in the x-axis, y-axis, and z-axis directions are specifically determined by the manipulator controller 4 according to the temperature data measured by the corresponding temperature sensor and the probability distribution between the error and the temperature.
需要说明的是，由于温度变化会使得注塑机机械手在x轴、y轴、z轴方向上产生误差；x轴上的误差与第一温度传感器1、第二温度传感器3的温度数据相关，可通过多组实验确定x轴上的误差与第一温度传感器1、第二温度传感器3的温度数据之间的概率分布。类似地，还需要通过实验获得y轴方向上的误差与第三温度传感器15、第四温度传感器17的温度数据之间的概率分布以及z轴方向上的误差与第五温度传感器8、第六温度传感器10的温度数据之间的概率分布。It should be noted that due to temperature changes, the injection molding machine manipulator will generate errors in the x-axis, y-axis, and z-axis directions; the error on the x-axis is related to the temperature data of the first temperature sensor 1 and the second temperature sensor 3, and Through multiple sets of experiments, the probability distribution between the error on the x-axis and the temperature data of the first temperature sensor 1 and the second temperature sensor 3 is determined. Similarly, the probability distribution between the error in the y-axis direction and the temperature data of the third temperature sensor 15 and the fourth temperature sensor 17 as well as the error in the z-axis direction and the fifth temperature sensor 8, the sixth Probability distribution between temperature data of the temperature sensor 10.
在本申请实施例中，误差与温度之间的概率分布根据多组实验的实验数据确定；In the embodiment of the present application, the probability distribution between the error and the temperature is determined according to the experimental data of multiple sets of experiments;
其中，每组实验数据包括：注塑机机械手在x轴、y轴、z轴方向上的误差，以及第一温度传感器1、第二温度传感器3、第三温度传感器15、第四温度传感器17、第五温度传感器8、第六温度传感器10采集的温度数据。Among them, each set of experimental data includes: the error of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions, and the first temperature sensor 1, the second temperature sensor 3, the third temperature sensor 15, the fourth temperature sensor 17, Temperature data collected by the fifth temperature sensor 8 and the sixth temperature sensor 10.
在本申请实施例中，误差与温度之间的概率分布至少根据400组实验的实验数据确定。需要说明的是，实验的组数越多，获得的概率分布越准确。In the embodiment of the present application, the probability distribution between the error and the temperature is determined based on the experimental data of at least 400 experiments. It should be noted that the more experimental groups, the more accurate the probability distribution obtained.
在本申请实施例中，在实验时，注塑机机械手在x轴、y轴、z轴方向上的误差分别由x轴激光位移传感器7、y轴激光位移传感器14、z轴激光位移传感器12测量得到。In the embodiment of the present application, during the experiment, the errors of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions were measured by the x-axis laser displacement sensor 7, the y-axis laser displacement sensor 14, and the z-axis laser displacement sensor 12, respectively get.
在本申请实施例中，所述x轴激光位移传感器7、y轴激光位移传感器14、z轴激光位移传感器12分别固定在相应的支架上，所述支架固定在地面上。In the embodiment of the present application, the x-axis laser displacement sensor 7, the y-axis laser displacement sensor 14, and the z-axis laser displacement sensor 12 are respectively fixed on corresponding brackets, and the brackets are fixed on the ground.
具体地，x轴激光位移传感器7、y轴激光位移传感器14、z轴激光位移传感器12，分别安装于第一安装支架6、第二安装支架13、第三安装支架11上。Specifically, the x-axis laser displacement sensor 7, the y-axis laser displacement sensor 14, and the z-axis laser displacement sensor 12 are respectively mounted on the first mounting bracket 6, the second mounting bracket 13, and the third mounting bracket 11.
在本申请实施例中，各个温度传感器以及各个激光位移传感器通过A/D采集卡将采集的信号传送至机械手控制器。In the embodiment of the present application, each temperature sensor and each laser displacement sensor transmit the collected signals to the manipulator controller through the A/D acquisition card.
具体地，第一温度传感器1、第二温度传感器3、第三温度传感器15、第四温度传感器17、第五温度传感器8、第六温度传感器10，以及x轴激光位移传感器7、y轴激光位移传感器14、z轴激光位移传感器12的信号输出端口连接到信号采集模块A/D采集卡5的模拟量输入端口，A/D采集卡5对输入的模拟信号进行高速A/D转换，转换完成后通过总线将信号传送至注塑机的机械手控制器4。进一步地，机械手控制器4内的数据处理模块对信号进行滤波处理以消除采集信号的电磁干扰和噪声干扰，所述的滤波处理采用中位值平均滤波算法。Specifically, the first temperature sensor 1, the second temperature sensor 3, the third temperature sensor 15, the fourth temperature sensor 17, the fifth temperature sensor 8, the sixth temperature sensor 10, and the x-axis laser displacement sensor 7, the y-axis laser The signal output port of the displacement sensor 14 and the z-axis laser displacement sensor 12 are connected to the analog input port of the signal acquisition module A/D acquisition card 5, and the A/D acquisition card 5 performs high-speed A/D conversion and conversion on the input analog signal After completion, the signal is transmitted to the robot controller 4 of the injection molding machine through the bus. Further, the data processing module in the manipulator controller 4 performs filtering processing on the signal to eliminate electromagnetic interference and noise interference of the collected signal, and the filtering processing uses a median average filtering algorithm.
可在机械手控制器4中完成对上述实验数据的处理，并建立误差与温度之间的概率分布模型。即机械手控制器4不断采集实验数据并建立误差与温度之间的概率分布模型。The processing of the above experimental data can be completed in the manipulator controller 4, and a probability distribution model between the error and the temperature can be established. That is, the robot controller 4 continuously collects experimental data and establishes a probability distribution model between error and temperature.
在本申请实施例中，建立误差与温度之间的贝叶斯网络结构；贝叶斯网络结构建立后，采集的实验数据输入到贝叶斯网络中，贝叶斯网络通过实验数据进行训练学习，不断进行滚动优化，使得精度补偿模型符合注塑机机械手的特性，进而提高注塑机机械手精度补偿模型的准确性。贝叶斯网络训练完成后，得到实验数据在各个变量域中的数量，
表示实验数据中第i个温度传感器温度值落在第j个变量域，同时x轴方向误差值落在第h个变量域的样本数量，同理可以得到
和
In the embodiment of the present application, the Bayesian network structure between the error and the temperature is established; after the Bayesian network structure is established, the collected experimental data is input into the Bayesian network, and the Bayesian network is trained through the experimental data , Continuously optimize the rolling, so that the accuracy compensation model meets the characteristics of the injection molding machine manipulator, and then improve the accuracy of the injection molding machine manipulator accuracy compensation model. After the Bayesian network training is completed, the number of experimental data in each variable domain is obtained, It means that the temperature value of the i-th temperature sensor in the experimental data falls in the j-th variable domain, and the number of samples whose x-axis direction error value falls in the h-th variable domain. with
在本申请实施例中，误差与温度之间的概率分布由以下公式表达：In the embodiment of the present application, the probability distribution between the error and the temperature is expressed by the following formula:
根据贝叶斯网络结构，注塑机机械手在x轴、y轴、z轴方向上的误差E
x、E
y、E
z和温度的联合概率分布由以下公式表示：
According to the Bayesian network structure, the joint probability distribution of the errors E x , E y , E z and temperature in the x-axis, y-axis, and z-axis directions of the injection molding machine manipulator is expressed by the following formula:
其中，温度和误差之间的局部联合概率分布由公式表示：Among them, the local joint probability distribution between temperature and error is expressed by the formula:
温度对于误差的条件概率分布由如下公式表示：The conditional probability distribution of temperature to error is expressed by the following formula:
注塑机机械手在x轴、y轴、z轴方向上的误差E
x、E
y、E
z在其变量域内的概率分布可如下公式表示：
The probability distributions of the errors E x , E y , and E z of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions in its variable domain can be expressed as follows:
其中，j＝{1,2,…20}，h＝{1,2,…20}；Among them, j={1,2,...20}, h={1,2,...20};
T
i(i＝1,2,…,6)分别对应第一温度传感器1、第二温度传感器3、第三温度传感器15、第四温度传感器17、第五温度传感器8、第六温度传感器10采集的温度数据；温度变量域为{T
i
j|j＝1,2,…20}，即温度被分成若干个状态；同理，x轴方向的误差变量域为
y轴方向上的误差变量域为
z轴方向上的误差变量域为
表示实验数据中第i个温度传感器温度值落在第j个变量域，同时x轴方向误差落在第h个变量域的样本数量；同理可以得到
和
T i (i=1, 2, ..., 6) corresponds to the first temperature sensor 1, the second temperature sensor 3, the third temperature sensor 15, the fourth temperature sensor 17, the fifth temperature sensor 8, the sixth temperature sensor 10, respectively Temperature data collected; the temperature variable domain is {T i j |j=1, 2,...20}, that is, the temperature is divided into several states; similarly, the error variable domain in the x-axis direction is The error variable domain in the y-axis direction is The error variable domain in the z-axis direction is Represents the number of samples in the experimental data that the temperature value of the i-th temperature sensor falls in the j-th variable domain, and the x-axis direction error falls in the h-th variable domain; the same reason can be obtained with
根据上述的概率公式，预测出注塑机机械手在x轴、y轴、z轴方向上的误差E
x、E
y、E
z。
According to the above probability formula, the errors E x , E y and E z of the injection molding machine manipulator in the x-axis, y-axis and z-axis directions are predicted.
本申请实施例示出的注塑机机械手精度补偿系统通过软件实时补偿注塑机机械手的误差，大幅提高了机械手的运行精度。此外，补偿过程主要通过软件形式实现，便于维护和升级。The precision compensation system of the injection molding machine manipulator shown in the embodiments of the present application compensates the errors of the injection molding machine manipulator in real time through software, which greatly improves the operation accuracy of the mechanical hand. In addition, the compensation process is mainly implemented in the form of software to facilitate maintenance and upgrades.
图2是根据一示例性实施例示出的注塑机机械手精度补偿方法的流程图。所述注塑机机械手精度补偿方法应用于机械手控制 器，包括步骤：Fig. 2 is a flowchart of a method for accuracy compensation of an injection molding machine manipulator according to an exemplary embodiment. The accuracy compensation method of the injection molding machine manipulator applied to the manipulator controller includes the following steps:
步骤S201，获取第一温度传感器、第二温度传感器、第三温度传感器、第四温度传感器、第五温度传感器、第六温度传感器的温度数据；其中，第一温度传感器和第二温度传感器安装于注塑机机械手的x轴横梁上，第三温度传感器和第四温度传感器安装于注塑机机械手的y轴横梁上，第五温度传感器和第六温度传感器安装于注塑机机械手的z轴横梁上。Step S201: Obtain temperature data of the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, the fifth temperature sensor, and the sixth temperature sensor; wherein the first temperature sensor and the second temperature sensor are installed on On the x-axis beam of the injection molding machine manipulator, the third temperature sensor and the fourth temperature sensor are installed on the y-axis beam of the injection molding machine manipulator, and the fifth temperature sensor and the sixth temperature sensor are installed on the z-axis beam of the injection molding machine manipulator.
步骤S202，根据第一温度传感器和第二温度传感器的温度数据确定所述注塑机机械手在x轴方向上的误差，根据第三温度传感器和第四温度传感器的温度数据确定所述注塑机机械手在y轴方向上的误差，根据第五温度传感器和第六温度传感器的温度数据确定所述注塑机机械手在z轴方向上的误差。Step S202: Determine the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor and the second temperature sensor, and determine the presence of the injection molding machine manipulator based on the temperature data of the third temperature sensor and the fourth temperature sensor The error in the y-axis direction determines the error in the z-axis direction of the injection molding machine manipulator based on the temperature data of the fifth temperature sensor and the sixth temperature sensor.
步骤S203，根据x轴、y轴、z轴方向上的误差对x轴、y轴、z轴的位移进行补偿。In step S203, the displacements of the x-axis, y-axis, and z-axis are compensated according to the errors in the x-axis, y-axis, and z-axis directions.
在本申请实施例中，x轴、y轴、z轴方向上的误差具体由机械手控制器分别根据对应温度传感器测量的温度数据，以及误差与温度之间的概率分布确定。In the embodiment of the present application, the errors in the x-axis, y-axis, and z-axis directions are specifically determined by the robot controller according to the temperature data measured by the corresponding temperature sensor and the probability distribution between the error and the temperature.
需要说明的是，由于图2对应的注塑机机械手精度补偿方法与前述的注塑机机械手精度补偿系统相对应，具体类容参考前述的注塑机机械手精度补偿系统，这里不做过多的赘述。It should be noted that, since the injection molding machine manipulator accuracy compensation method corresponding to FIG. 2 corresponds to the aforementioned injection molding machine manipulator accuracy compensation system, for the specific content, refer to the aforementioned injection molding machine manipulator accuracy compensation system, and no more details will be given here.
需要说明的是，温度传感器包括：第一温度传感器1、第二温度传感器3、第三温度传感器15、第四温度传感器17、第五温度传感器8、第六温度传感器10在x轴横梁2、y轴横梁16、z轴横梁9上的安装位置可根据实际情况确定，本申请不对其具体的安装位置进行具体的限定。It should be noted that the temperature sensor includes: a first temperature sensor 1, a second temperature sensor 3, a third temperature sensor 15, a fourth temperature sensor 17, a fifth temperature sensor 8, a sixth temperature sensor 10 on the x-axis beam 2, The installation positions on the y-axis beam 16 and the z-axis beam 9 can be determined according to actual conditions, and the specific installation position is not specifically limited in this application.
此外，x轴激光位移传感器7、y轴激光位移传感器14、z轴激光位移传感器12的安装位置满足测量需求即可。In addition, the installation positions of the x-axis laser displacement sensor 7, the y-axis laser displacement sensor 14, and the z-axis laser displacement sensor 12 may meet the measurement requirements.
目前，在相关领域内并没有对注塑机机械手精度进行补偿的 方法，因此，研制一种注塑机机械手精度补偿方法，对研究高精度化和高效率化的注塑机机械手具有非常重要的意义。At present, there is no method for compensating the accuracy of injection molding machine manipulators in related fields. Therefore, the development of an accuracy compensation method for injection molding machine manipulators is of great significance for the study of high precision and high efficiency injection molding machine manipulators.
在本申请所提供的实施例中，应该理解所描述的方法和系统都是示意性的，在实际实施过程中通过调整可以有所差别。In the embodiments provided in this application, it should be understood that the methods and systems described are schematic, and may be different through adjustments in the actual implementation process.
本文中所描述的具体实施例仅仅是对本申请精神作举例说明。本申请所属技术领域的技术人员可以对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代，但并不会偏离本申请的精神或者超越所附权利要求书所定义的范围。The specific embodiments described in this document are only examples of the spirit of the present application. A person skilled in the art to which this application belongs can make various modifications or additions or substitute in a similar manner to the described specific embodiments, but this will not deviate from the spirit of this application or go beyond the definition of the appended claims Scope.
Claims (10)
- 一种注塑机机械手精度补偿系统，其特征在于，所述注塑机机械手精度补偿系统包括：注塑机机械手；所述注塑机机械手具有x轴横梁、y轴横梁、z轴横梁；所述x轴横梁上设置有第一温度传感器和第二温度传感器；所述y轴横梁上设置有第三温度传感器和第四温度传感器；所述z轴横梁上设置有第五温度传感器和第六温度传感器；An injection molding machine manipulator accuracy compensation system, characterized in that the injection molding machine manipulator accuracy compensation system includes: an injection molding machine manipulator; the injection molding machine manipulator has an x-axis beam, a y-axis beam, and a z-axis beam; the x-axis beam A first temperature sensor and a second temperature sensor are provided on the; a third temperature sensor and a fourth temperature sensor are provided on the y-axis beam; a fifth temperature sensor and a sixth temperature sensor are provided on the z-axis beam;机械手控制器；所述机械手控制器获取各个温度传感器采集的温度数据，并根据第一温度传感器和第二温度传感器的温度数据确定所述注塑机机械手在x轴方向上的误差，根据第三温度传感器和第四温度传感器的温度数据确定所述注塑机机械手在y轴方向上的误差，根据第五温度传感器和第六温度传感器的温度数据确定所述注塑机机械手在z轴方向上的误差；并分别根据x轴、y轴、z轴方向上的误差进行精度补偿。Manipulator controller; the manipulator controller acquires the temperature data collected by each temperature sensor, and determines the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor and the second temperature sensor, and according to the third temperature The temperature data of the sensor and the fourth temperature sensor determine the error of the injection molding machine manipulator in the y-axis direction, and the error of the injection molding machine manipulator in the z-axis direction is determined according to the temperature data of the fifth temperature sensor and the sixth temperature sensor; The accuracy is compensated according to the errors in the x-axis, y-axis, and z-axis directions, respectively.
- 根据权利要求1所述的注塑机机械手精度补偿系统，其特征在于，x轴、y轴、z轴方向上的误差具体由机械手控制器分别根据对应温度传感器测量的温度数据，以及误差与温度之间的概率分布确定。The accuracy compensation system for an injection molding machine manipulator according to claim 1, wherein the errors in the x-axis, y-axis, and z-axis directions are specifically determined by the manipulator controller according to the temperature data measured by the corresponding temperature sensor, and the error and the temperature The probability distribution between is determined.
- 根据权利要求2所述的注塑机机械手精度补偿系统，其特征在于，误差与温度之间的概率分布根据多组实验的实验数据确定；The precision compensation system for an injection molding machine manipulator according to claim 2, wherein the probability distribution between the error and the temperature is determined according to experimental data of multiple sets of experiments;其中，每组实验数据包括：注塑机机械手在x轴、y轴、z轴方向上的误差，以及第一温度传感器、第二温度传感器、第三温度传感器、第四温度传感器、第五温度传感器、第六温度传感器采集的温度数据。Among them, each group of experimental data includes: the error of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions, as well as the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, and the fifth temperature sensor 5. Temperature data collected by the sixth temperature sensor.
- 根据权利要求3所述的注塑机机械手精度补偿系统，其特征在于，误差与温度之间的概率分布由以下公式表达：The precision compensation system for an injection molding machine manipulator according to claim 3, wherein the probability distribution between the error and the temperature is expressed by the following formula:根据贝叶斯网络结构，注塑机机械手在x轴、y轴、z轴方向上的误差E x、E y、E z和温度的联合概率分布由以下公式表示： According to the Bayesian network structure, the joint probability distribution of the errors E x , E y , E z and temperature in the x-axis, y-axis, and z-axis directions of the injection molding machine manipulator is expressed by the following formula:
其中，温度和误差之间的局部联合概率分布由公式表示：Among them, the local joint probability distribution between temperature and error is expressed by the formula:
温度对于误差的条件概率分布由如下公式表示：The conditional probability distribution of temperature to error is expressed by the following formula:
注塑机机械手在x轴、y轴、z轴方向上的误差E x、E y、E z 在其变量域内的概率分布可如下公式表示： The probability distributions of the errors E x , E y , and E z of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions in its variable domain can be expressed as follows:
其中，j＝{1,2,…20}，h＝{1,2,…20}；Among them, j={1,2,...20}, h={1,2,...20};T i(i＝1,2,…,6)分别对应第一温度传感器、第二温度传感器、第三温度传感器、第四温度传感器、第五温度传感器、第六温度传感器采集的温度数据；温度变量域为即温度被分成若干个状态；同理，x轴方向的误差变量域为
y轴方向上的误差变量域为
z轴方向上的误差变量域为
表示实验数据中第i个温度传感器温度值落在第j个变量域，同时x轴方向误差落在第h个变量域的样本数量；同理可以得到
和
T i (i=1, 2, ..., 6) corresponds to the temperature data collected by the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, the fifth temperature sensor, and the sixth temperature sensor; The variable domain is
That is, the temperature is divided into several states; similarly, the error variable domain in the x-axis direction isThe error variable domain in the y-axis direction isThe error variable domain in the z-axis direction isRepresents the number of samples in the experimental data that the temperature value of the i-th temperature sensor falls in the j-th variable domain, and the x-axis direction error falls in the h-th variable domain; the same reason can be obtainedwith - 根据权利要求3所述的注塑机机械手精度补偿系统，其特征在于，误差与温度之间的概率分布至少根据400组实验的实验数据确定。The precision compensation system for an injection molding machine manipulator according to claim 3, wherein the probability distribution between the error and the temperature is determined based on at least experimental data of 400 sets of experiments.
- 根据权利要求3所述的注塑机机械手精度补偿系统，其特征在于，在实验时，注塑机机械手在x轴、y轴、z轴方向上的误差分别由x轴激光位移传感器、y轴激光位移传感器、z轴激光位移传感器测量得到。The precision compensation system for an injection molding machine manipulator according to claim 3, characterized in that, during the experiment, the errors of the injection molding machine manipulator in the x-axis, y-axis, and z-axis directions are respectively displaced by the x-axis laser displacement sensor and the y-axis laser displacement Sensor and z-axis laser displacement sensor are measured.
- 根据权利要求6所述的注塑机机械手精度补偿系统，其特 征在于，所述x轴激光位移传感器、y轴激光位移传感器、z轴激光位移传感器分别固定在相应的支架上，所述支架固定在地面上。The precision compensation system for an injection molding machine manipulator according to claim 6, wherein the x-axis laser displacement sensor, the y-axis laser displacement sensor, and the z-axis laser displacement sensor are respectively fixed on corresponding brackets, and the brackets are fixed on on the ground.
- 根据权利要求7所述的注塑机机械手精度补偿系统，其特征在于，各个温度传感器以及各个激光位移传感器通过A/D采集卡将采集的信号传送至机械手控制器。The precision compensation system for an injection molding machine manipulator according to claim 7, wherein each temperature sensor and each laser displacement sensor transmit the collected signals to the manipulator controller through an A/D acquisition card.
- 一种注塑机机械手精度补偿方法，其特征在于，所述注塑机机械手精度补偿方法应用于机械手控制器，包括步骤：An injection molding machine manipulator accuracy compensation method, characterized in that the injection molding machine manipulator accuracy compensation method is applied to a manipulator controller and includes steps:获取第一温度传感器、第二温度传感器、第三温度传感器、第四温度传感器、第五温度传感器、第六温度传感器的温度数据；其中，第一温度传感器和第二温度传感器安装于注塑机机械手的x轴横梁上，第三温度传感器和第四温度传感器安装于注塑机机械手的y轴横梁上，第五温度传感器和第六温度传感器安装于注塑机机械手的z轴横梁上；Obtain temperature data of the first temperature sensor, the second temperature sensor, the third temperature sensor, the fourth temperature sensor, the fifth temperature sensor, and the sixth temperature sensor; where the first temperature sensor and the second temperature sensor are installed in the injection molding machine manipulator On the x-axis beam, the third temperature sensor and the fourth temperature sensor are installed on the y-axis beam of the injection molding machine manipulator, and the fifth temperature sensor and the sixth temperature sensor are installed on the z-axis beam of the injection molding machine manipulator;根据第一温度传感器和第二温度传感器的温度数据确定所述注塑机机械手在x轴方向上的误差，根据第三温度传感器和第四温度传感器的温度数据确定所述注塑机机械手在y轴方向上的误差，根据第五温度传感器和第六温度传感器的温度数据确定所述注塑机机械手在z轴方向上的误差；Determine the error of the injection molding machine manipulator in the x-axis direction according to the temperature data of the first temperature sensor and the second temperature sensor, and determine the injection molding machine manipulator in the y-axis direction according to the temperature data of the third temperature sensor and the fourth temperature sensor Error on the basis of the temperature data of the fifth temperature sensor and the sixth temperature sensor to determine the error of the injection molding machine manipulator in the z-axis direction;根据x轴、y轴、z轴方向上的误差对x轴、y轴、z轴的位移进行补偿。According to the errors in the x-axis, y-axis, and z-axis directions, the x-axis, y-axis, and z-axis displacements are compensated.
- 根据权利要求9所述的注塑机机械手精度补偿方法，其特征在于，x轴、y轴、z轴方向上的误差具体由机械手控制器分别根据对应温度传感器测量的温度数据，以及误差与温度之间的概率分布确定。The accuracy compensation method for an injection molding machine manipulator according to claim 9, wherein the errors in the x-axis, y-axis, and z-axis directions are specifically determined by the manipulator controller according to the temperature data measured by the corresponding temperature sensor, and the error and the temperature The probability distribution between is determined.
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