Advanced speed change method and device based on injection molding machine manipulator

A speed change device and manipulator technology, applied in the field of advance speed change method and device based on injection molding machine manipulator, can solve the problems of poor structural strength, product loss, broken, etc., and achieve the effect of flexible speed control

Pending Publication Date: 2021-01-29
深圳市山龙智控有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, with the continuous development of the industry, the complexity of the process of injection molding machine products is also increasing. For example, products such as fast food boxes, due to the poor structural strength of the product itself, if you only focus on efficiency and blindly speed up the movement of the manipulator, the product will be broken and cause loss, so in order to ensure efficiency while avoiding broken products due to rough movements, a new method of manipulator control is required

Method used

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  • Advanced speed change method and device based on injection molding machine manipulator
  • Advanced speed change method and device based on injection molding machine manipulator
  • Advanced speed change method and device based on injection molding machine manipulator

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Experimental program
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Effect test

Embodiment 1

[0034] see figure 1 , an advance shifting method based on an injection molding machine manipulator, including:

[0035] Obtain motion parameters, which include motion distance S, maximum acceleration A, advance shift distance Sd, first stage speed Vobj1, second stage speed Vobj2 and interpolation period Ts;

[0036] According to the calculation of the motion parameters, the phase speed planning is obtained, and the phase speed planning includes a first speed planning phase and a second speed planning phase,

[0037] The first speed planning stage includes a first variable speed stage and a first constant speed stage;

[0038] The second speed planning stage includes a second speed change stage, a second constant speed stage and a third speed change stage;

[0039] Calculate the movement distance according to the running speed, judge whether the movement distance reaches the speed change point, and adjust the running speed according to the stage speed planning.

[0040] The ...

Embodiment 2

[0085] The present invention also relates to an advance shifting device based on an injection molding machine manipulator, including an acquisition module, a calculation module, an execution module and a judgment module,

[0086] The acquisition module is used to acquire motion parameters, the motion parameters include motion distance S, maximum acceleration A, advance shift distance Sd, first stage speed Vobj1, second stage speed Vobj2 and interpolation period Ts;

[0087] The calculation module is used to calculate and obtain a stage speed plan according to motion parameters, and the stage speed plan includes a first speed plan stage and a second speed plan stage,

[0088] The first speed planning stage includes a first variable speed stage and a first constant speed stage;

[0089] The second speed planning stage includes a second speed change stage, a second constant speed stage and a third speed change stage;

[0090] The calculation module is also used to calculate the ...

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Abstract

The invention provides an advanced speed change method and device based on an injection molding machine manipulator. The method comprises the steps that motion parameters are obtained; calculating iscarried out according to the motion parameters to obtain a stage speed plan; and the operation speed is adjusted according to the stage speed plan. The advanced speed change method and device have thebeneficial effects that the advanced speed change method is provided, the speed of the injection molding machine manipulator is controlled more flexibly, acceleration and deceleration can be conducted at any point, a device carrying the method can be applied to industrial automation occasions with comprehensive requirements for speed, and the device can be qualified for more complex tasks of grabbing, stacking and gently putting, stacking and lightly walking and the like of injection molding products.

Description

technical field [0001] The invention relates to the technical field of manipulator control, in particular to a method and device for speed shifting in advance based on a manipulator of an injection molding machine. Background technique [0002] In the traditional injection molding machine industry, after the injection molding machine locks the molded product, the product is manually reached into the mold to grab the product, which is not only inefficient, but also high risk. With the development of industrial robots, a robotic arm control system that can be applied to the automatic grasping of injection molding machines has emerged. Its fast acceleration and deceleration speed curve planning can shorten the grasping cycle of products in injection molds to 2 seconds. Applied to the grabbing of mobile phone cases and plastic sheets. However, with the continuous development of the industry, the complexity of the process of injection molding machine products is also increasing....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B29C45/76B29C45/42
CPCB29C45/7626B29C45/4225B29C2045/7633B29C2945/76595
Inventor 李耀斌曾雨权
Owner 深圳市山龙智控有限公司
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