A method of controlling dual-drive manipulator of pet injection molding machine based on soft PLC
A technology of manipulators and injection molding machines, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of machine electrical damage, complex configuration, etc., and achieve the effect of maximizing production efficiency, fast response and speed
Active Publication Date: 2022-02-11
西安拽亘弗莱工业自动化科技有限公司
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The dual-drive manipulator has the advantages of high power, fast speed, and high load, but the dual-drive manipulator has relatively high control requirements, and the synchronization of the two axes must be guaranteed, otherwise it is easy to cause damage to the machine itself and electrical appliances. At present, basically all dual-drive manipulators They all use the internal position follow control of 2 drivers, but not all models of drivers can do internal follow, and its configuration is quite complicated
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[0035] The present invention will be described in further detail below in conjunction with specific embodiments.
[0036] see figure 1 , a method for controlling a dual-drive manipulator of a PET injection molding machine based on a soft PLC, comprising the following steps:
[0037] Step 1. Determine the mathematical model of the dual-drive motor motion based on the motion trajectory; the specific method is to determine the forward and backward movements of the main axis and the slave axis, and determine the position and speed of the forward and backward movement;
[0038] Step 2, confirm the drive control mode based on position, speed or torque; the specific method is: since the main axis and the slave axis need to push the manipulator to stop precisely to the preset position in advance, it is necessary to use position control for the main axis and the slave axis that is conducive to position accuracy model;
[0039] Step 3, establish a soft PLC program framework to contro...
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A method for controlling a dual-drive manipulator of a PET injection molding machine based on soft PLC, step 1, determine the mathematical model of the motion of the double-drive motor based on the motion trajectory; step 2, confirm the drive control mode based on position, speed or torque; step 3, establish a soft PLC program The framework controls the dual-drive manipulator; step 4, confirm the position calibration method of the dual-axis motor; step 5, analyze the collected speed, position, and torque data; step 6, intelligently judge the timing of electronic gear coupling and decoupling; change the traditional Through the linkage method inside the servo driver, the software PLC part is used for linkage control. The present invention combines soft PLC, soft NC, motion control and PLC injection machine to form a complement, and synchronizes the two axes through electronic gears. Up, so that the manipulator is faster, reducing the production cycle and maximizing its production efficiency.
Description
technical field [0001] The invention belongs to the technical field of injection molding machine manipulators, in particular to a method for controlling a dual-drive manipulator of a PET injection molding machine based on a soft PLC. [0002] technical background [0003] At present, the manipulators of PET injection molding machines are controlled by a single axis. As the number of mold cavities used in PET injection molding machines is increasing, the production cycle needs to be faster and faster. Traditional single-axis manipulators are increasingly unable to keep up with modern The performance requirements of PET injection molding machines, so the dual-drive manipulator model came into being. The dual-drive manipulator has the advantages of high power, fast speed, and high load, but the dual-drive manipulator has relatively high control requirements, and the synchronization of the two axes must be guaranteed, otherwise it is easy to cause damage to the machine itself and...
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IPC IPC(8): B25J9/16
CPCB25J9/1679
Inventor 何卫东韩炜孙昊星马康王倩杨瑞马帅刘贝贝张威
Owner 西安拽亘弗莱工业自动化科技有限公司