Intelligent control method and device of in-mold injection molding up and down material automatic machine

Abstract

The disclosure provides an intelligent control method and device for an in-mold injection molding up-down machine, relating to the technical field of injection molding control. The method comprises: conveying a quantitative raw material to an injection molding machine through an up-loading automatic machine; constructing a device correlation space; constructing a vertical verification space and distributing a vertical detection sensor; setting down-loading machine control data; controlling the movement of the down-loading machine, generating a vertical control instruction after the vertical verification of the grabbing unit is passed; controlling the vertical landing of the grabbing unit and performing contact detection on the grabbing unit; triggering a cooperative control instruction; synchronously controlling the ejection device and the grabbing unit to perform down-loading grabbing, and completing down-loading control. The present disclosure can solve the technical problems of high safety risks, long injection molding cycle and low efficiency in the prior art due to manual up-down loading and low up-down loading efficiency, achieve the goal of improving the efficiency of injection molding up-down loading, and achieve the technical effects of reducing the injection molding cycle, improving the efficiency and reducing the safety risks.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of injection molding control, in particular to an intelligent control method and device of an embedded injection molding forming feeding and discharging robot. BACKGROUND

[0002] The feeding and discharging process of an injection molding machine is a necessary link in the process. At present, the traditional feeding and discharging process is manually taken out and placed into a tray for packaging and storage. When there are many injection workpieces, the number of repeated material taking and placing actions is large, which makes the labor intensity of this process large and the efficiency low, resulting in long production cycle, low efficiency, high cost and other shortcomings. The ineffective connection of feeding and discharging can lead to an increase in the number of operators of injection molding equipment, an increase in labor costs, and low production efficiency.

[0003] In summary, the prior art has the technical problems of high safety risk, long injection molding cycle and low efficiency due to manual feeding and discharging and low efficiency of feeding and discharging. SUMMARY

[0004] The present disclosure provides an intelligent control method and device of an embedded injection molding forming feeding and discharging robot to solve the technical problems of high safety risk, long injection molding cycle and low efficiency in the prior art due to manual feeding and discharging and low efficiency of feeding and discharging.

[0005] According to a first aspect of the present disclosure, an intelligent control method of an embedded injection molding forming feeding and discharging robot is provided, comprising: when receiving control information of an injection molding machine, delivering a quantitative raw material to the injection molding machine through a feeding vacuum pipe of a feeding robot; constructing a device correlation space, the device correlation space being constructed based on device data of the injection molding machine and determining a discharging coordinate; constructing a vertical verification space and distributing a vertical detection sensor; setting discharging machine control data according to the vertical verification space and the device correlation space, the discharging machine control data being constructed through device avoidance and path avoidance of a grabbing unit; when receiving a discharging signal, controlling a discharging machine to move through the discharging machine control data, and when the vertical detection sensor verifies the grabbing unit vertically, generating a vertical control instruction; controlling the grabbing unit to vertically land according to the vertical control instruction and performing contact detection on the grabbing unit; when the contact detection passes, triggering a cooperative control instruction of ejection and grabbing; synchronously controlling the ejection device and the grabbing unit to perform discharging and grabbing according to the cooperative control instruction, and completing discharging control.

[0006] According to a second aspect of the present disclosure, an intelligent control device of an in-mold trimming automatic machine is provided, comprising: a control information obtaining module, configured to deliver a quantitative raw material to an injection molding machine through a feeding vacuum pipe of a feeding automatic machine after receiving control information of the injection molding machine; an equipment associated space obtaining module, configured to construct an equipment associated space, the equipment associated space being constructed based on equipment data of the injection molding machine and determining a discharging coordinate; a vertical verification space obtaining module, configured to construct a vertical verification space and distribute a vertical detection sensor; a discharging machine control data obtaining module, configured to set discharging machine control data according to the vertical verification space and the equipment associated space, the discharging machine control data being constructed through equipment avoidance and path avoidance of a grabbing unit; a vertical control instruction obtaining module, configured to control a discharging machine to move through the discharging machine control data after receiving a discharging signal, and generate a vertical control instruction when the vertical detection sensor verifies the grabbing unit vertically; a contact detection processing module, configured to control the grabbing unit to vertically descend according to the vertical control instruction and perform contact detection on the grabbing unit; a cooperative control instruction obtaining module, configured to trigger a cooperative control instruction of ejection and grabbing when the contact detection passes; and a discharging control processing module, configured to synchronously control an ejecting device and the grabbing unit to perform discharging and grabbing according to the cooperative control instruction, and complete discharging control.

[0007] According to a third aspect of the present disclosure, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, and the processor being capable of executing the method according to any one of the first aspect.

[0008] According to a fourth aspect of the present disclosure, a computer readable storage medium is provided, storing a computer program, the computer program being executed by a processor to implement the method according to any one of the first aspect.

[0009] The one or more technical solutions provided in the present disclosure have at least the following technical effects or advantages: according to the present disclosure, after receiving the control information of the injection molding machine, the injection molding machine is fed with a quantitative raw material through the feeding vacuum pipe of the feeding robot; a device correlation space is constructed, the device correlation space is constructed based on the device data of the injection molding machine, and the unloading coordinate is determined; a vertical verification space is constructed, and a vertical detection sensor is distributed; the unloading machine control data is set according to the vertical verification space and the device correlation space, and the unloading machine control data is constructed through device avoidance and path avoidance of the grabbing unit; after receiving the unloading signal, the unloading machine is controlled to move through the unloading machine control data, and when the vertical detection sensor verifies the grabbing unit vertically, a vertical control instruction is generated; the grabbing unit is controlled to vertically land according to the vertical control instruction, and contact detection is performed on the grabbing unit; after the contact detection passes, a coordinated control instruction of ejection and grabbing is triggered; according to the coordinated control instruction, the ejection device and the grabbing unit are synchronously controlled to perform unloading grabbing, and unloading control is completed. The technical problems of high safety risk, long injection molding cycle and low efficiency caused by manual unloading and low unloading efficiency in the prior art are solved, the goal of improving the unloading efficiency of injection molding is achieved, and the technical effects of reducing the injection molding cycle, improving the efficiency and reducing the safety risk are achieved.

[0010] It should be understood that the content described in this part is not intended to indicate key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the present disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only exemplary, and other drawings can be obtained by those skilled in the art without creating laborious work on the basis of the provided drawings.

[0012] Figure 1 A flowchart of an intelligent control method of an embedded injection molding unloading robot provided by an embodiment of the present disclosure;

[0013] Figure 2 A flowchart of generating unloading machine control data in an intelligent control method of an embedded injection molding unloading robot according to an embodiment of the present disclosure;

[0014] Figure 3 A logic diagram of device relationship in an intelligent control method of an embedded injection molding unloading robot according to an embodiment of the present disclosure;

[0015] Figure 4A structural schematic diagram of an intelligent control device of an embedded injection molding up-and-down feeding automatic machine provided by an embodiment of the present disclosure is provided.

[0016] Figure 5 A structural schematic diagram of a computer device provided by an embodiment of the present disclosure is provided.

[0017] Label explanation: control information obtaining module 11, device associated space obtaining module 12, vertical verification space obtaining module 13, down feeder control data obtaining module 14, vertical control instruction obtaining module 15, contact detection processing module 16, cooperative control instruction obtaining module 17, down feeding control processing module 18, computer device 100, processor 101, memory 102, bus 103. DETAILED DESCRIPTION

[0018] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to assist in understanding, and should be considered as merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Also, in order to be clear and concise, descriptions of well-known functions and structures are omitted in the following description.

[0019] Embodiment one

[0020] An intelligent control method of an embedded injection molding up-and-down feeding automatic machine provided by an embodiment of the present disclosure is described with reference to Figure 1 , Figure 2 and Figure 3 . The method comprises:

[0021] The method provided by an embodiment of the present disclosure comprises:

[0022] After receiving the control information of the injection molding machine, the up feeding vacuum pipe of the up feeding automatic machine is used to deliver the quantitative raw materials to the injection molding machine;

[0023] The injection molding machine is the main molding equipment for making various shapes of plastic products from thermoplastic or thermosetting plastics using a plastic molding mold. The up feeding automatic machine is used to automatically deliver various materials to the hopper of a pulverizer, a packaging machine, an injection molding machine, and other equipment. Further, after receiving the control information of the injection molding machine, the up feeding vacuum pipe of the up feeding automatic machine is used to deliver the quantitative raw materials to the injection molding machine for the injection molding action of the injection molding machine. The control information is used to control the up feeding automatic machine to deliver the quantitative raw materials to the injection molding machine.

[0024] The device associated space is constructed based on the device data of the injection molding machine, and the down feeding coordinates are determined;

[0025] The injection molding machine and its equipment data are acquired, specifically, through the bus output of the injection molding machine, the data transmission terminal acquires the equipment data interface, the data acquisition, the start, the running, the pause, the connection to the input end of the input output control board, the equipment data of the injection molding machine can be uploaded in real time through the wireless mode, based on the equipment, according to the communication protocol, the interface of different equipment, then through calling the interface channel, the data is acquired, and then transmitted to the terminal. Further, the device association space is constructed according to the equipment data of the injection molding machine, wherein the device association space is the network connection space of the Internet of Things equipment, and is used for acquiring the association relationship or the association position of the injection molding machine and the feeding and discharging machine. Further, the discharging coordinate is determined through the device association space. Wherein, the discharging coordinate is the coordinate of the material to be grabbed. Further, the discharging coordinate is the discharging point, that is, the coordinate system is constructed with the material as the origin, and the vertical axis is constructed in the direction perpendicular to the material of the origin.

[0026] The vertical verification space is constructed, and the vertical detection sensor is distributed;

[0027] The vertical verification space is constructed in the direction parallel to the vertical axis, and is used for controlling the verification of the feeding and discharging machine. The feeding and discharging machine acquires the material through the vertical verification space. Further, the vertical detection sensor is distributed around the discharging point, and is used for generating the vertical control instruction. Wherein, at least two vertical detection sensors are distributed, the sensor detection distances of the two vertical detection sensors are equal, the feeding and discharging machine is judged to be parallel to the material, and then the air tightness is guaranteed, and the material is grabbed.

[0028] The discharging machine control data is set according to the vertical verification space and the device association space, and the discharging machine control data is constructed through the equipment avoidance and path avoidance of the grabbing unit;

[0029] The discharging machine control data is set according to the vertical verification space and the device association space, and the discharging machine control data is constructed through the equipment avoidance and path avoidance of the grabbing unit;

[0030] When the discharging signal is received, the discharging machine is controlled to move through the discharging machine control data, and when the vertical detection sensor verifies the grabbing unit vertically, the vertical control instruction is generated;

[0031] The ejection signal is a signal generated before the ejection of the ejection port of the injection molding machine. After receiving the ejection signal, the control data of the down feeder is used to control the movement of the down feeder. Further, the vertical detection sensor verifies the verticality of the grabbing unit, and the distance between the grabbing unit and the vertical detection sensor around the ejection point is obtained. When the obtained distances are equal, the grabbing unit is perpendicular to the vertical verification space, and the vertical verification is passed. Further, according to the vertical verification result, a vertical control instruction is obtained, that is, the movement control of the grabbing unit perpendicular to the ejection point.

[0032] According to the vertical control instruction, the grabbing unit is controlled to vertically land, and the contact detection of the grabbing unit is performed;

[0033] According to the vertical control instruction, the grabbing unit is controlled to vertically land, and when the grabbing unit descends to a certain height, it reaches the buffer landing interval. The buffer landing interval is used to avoid the grabbing unit from colliding with the material at the origin of the ejection coordinate. Further, the grabbing unit descends in the buffer landing interval, and when the grabbing unit starts to touch the material, a touch feedback is generated. When the grabbing unit attracts the material until the suction force is sufficient to grab the material, the contact detection is passed.

[0034] When the contact detection is passed, a cooperative control instruction of ejection and grabbing is triggered;

[0035] According to the cooperative control instruction, the ejection device and the grabbing unit are synchronously controlled to perform ejection and grabbing, and the ejection control is completed.

[0036] When the contact detection is passed, a cooperative control instruction of ejection and grabbing is triggered;

[0037] In this embodiment, the technical problems of high safety risk, long injection molding cycle and low efficiency caused by manual ejection and low ejection efficiency in the prior art can be solved, the goal of improving the ejection efficiency of injection molding is achieved, and the technical effects of reducing the injection molding cycle, improving the efficiency and reducing the safety risk are achieved.

[0038] The method provided in the embodiment of the disclosure further includes:

[0039] According to the control accuracy of the grabbing unit, the protection space range of the device is set;

[0040] Based on the device associated space and the down feeder data, the vertical height optimization of the response efficiency of the grabbing unit outside the protection space range is performed;

[0041] The vertical height optimization result is taken as a first node target to generate first node control data;

[0042] The blanking machine control data is generated according to the first node control data.

[0043] The control accuracy of the grabbing unit is obtained, for example, the control accuracy of the grabbing unit is controlled in millimeter as the control accuracy unit. Further, the protection space range of the equipment is set according to the control accuracy of the grabbing unit. The grabbing unit is set with horizontal protection and vertical protection. The protection space range is the avoidance range of the grabbing route of the grabbing unit, which is used for the grabbing unit to avoid the injection molding machine and the like and grab.

[0044] Further, the multiple equipment association relationships of the equipment association space, the equipment data or the operation data in the blanking machine data are extracted, and the vertical height optimization of the response efficiency of the grabbing unit outside the protection space range is performed according to the extracted data, that is, the vertical height corresponding to the best response efficiency, to obtain the vertical height optimization result.

[0045] Further, the vertical height optimization result is taken as a first node target to generate first node control data, that is, the vertical height optimization result is set as the vertical height. The blanking machine control data is generated according to the first node control data, that is, the height of the blanking machine is set according to the vertical height optimization result.

[0046] According to the first node control data, the control accuracy of the blanking machine can be improved.

[0047] The method provided by the embodiment of the disclosure further includes:

[0048] The vertical height optimization result is taken as the calibration height response data, and the mapped height control data is generated according to the calibration height response data.

[0049] According to the vertical verification, the vertical compensation data is generated, the response adjustment of the height control data is controlled through the vertical compensation data, and the second node control data is generated according to the response adjustment result.

[0050] The buffer landing interval is set, and the touch feedback is configured in the buffer landing interval.

[0051] When the touch feedback meets the predetermined contact pressure, the contact detection is passed.

[0052] The vertical height optimization result is taken as the calibration height response data, which is used for height adjustment according to the calibration height response data. Further, the mapped height control data is generated according to the calibration height response data, that is, the height in the calibration height response data is equal to the height in the height control data.

[0053] Further, according to the vertical verification result of the vertical verification, if the vertical verification result is a vertical verification failure result, vertical compensation data is generated. The response adjustment result is generated by adjusting the height control data through the vertical compensation data, that is, the height control data is adjusted through the vertical compensation data. Further, the second node control data is generated according to the response adjustment result, and the unloading machine control data is generated according to the second node control data.

[0054] Further, a buffer landing interval is set, wherein the buffer landing interval is set for the grabbing unit to descend and grab in the vertical verification space before reaching the unloading point in the unloading coordinate, so as to avoid collision between the grabbing unit of the unloading machine and the material.

[0055] Further, a touch feedback is configured in the buffer landing interval, and the touch feedback is generated when the grabbing unit contacts the material in the unloading coordinate. Further, a predetermined contact pressure is set through historical grabbing records, so that the grabbing unit can suck the material from the unloading coordinate and then take away the material. Further, when the suction force of the grabbing unit is sufficient to grab the material, the touch feedback satisfies the predetermined contact pressure, and then the contact detection passes. Further, after the contact detection passes, the grabbing unit sucks the material, and the injection molding machine and other equipment push the material out of the unloading coordinate and advance in the vertical axis direction of the unloading coordinate.

[0056] When the touch feedback satisfies the predetermined contact pressure, the contact detection passes, and the accuracy of the touch feedback can be improved.

[0057] The method provided by the embodiments of the present disclosure further includes:

[0058] N vertical verification coordination points are constructed, and the N vertical verification coordination points are constructed by extracting the grabbing face features of the grabbing unit;

[0059] The vertical detection sensor is arranged according to the N vertical verification coordination points, and a verification set is constructed based on the distribution result and the grabbing face features, wherein the verification set includes a point position accurate verification set and a vertical verification set;

[0060] The vertical verification is completed based on the verification set.

[0061] The grabbing unit has a grabbing face for grabbing the material in the unloading coordinate. Further, the N vertical verification coordination points are constructed by extracting the grabbing face features of the grabbing unit. The grabbing face is parallel to the material. The N vertical verification coordination points are constructed in the grabbing face of the grabbing unit.

[0062] Further, N vertical detection sensors are arranged according to the N vertical verification cooperative points, and the N vertical detection sensors are used for sensing detection of the N vertical verification cooperative points. The vertical detection sensors are arranged around the material. Further, a verification set is constructed based on the distribution result and the grabbing face features, and the verification set includes a point position accurate verification set and a vertical verification set. The point position accurate verification set is used for point position accurate verification of the vertical detection sensors and the vertical verification cooperative points. The vertical verification set is used for determining that the grabbing face is perpendicular to the vertical axis of the unloading coordinate after verification of the point position verification set, and then the vertical verification set is verified to pass.

[0063] The vertical verification can be completed based on the verification set, so that the control action accuracy of the unloading machine can be improved.

[0064] The method provided in the embodiments of the present disclosure further includes the following steps.

[0065] The injection molding control features of the injection molding machine are extracted, and the injection molding control features are constructed by collecting historical production data of the injection molding machine.

[0066] The real-time response features are constructed by the injection molding control features and injection molding information.

[0067] The response duration of the grabbing unit is read, and the discharge signal is configured according to the response duration and the real-time response features.

[0068] The injection molding control features of the injection molding machine are constructed by collecting historical production data of the injection molding machine, and the injection molding control features of the injection molding machine are extracted. The injection molding control features of the injection molding machine are used for push-out action control of the material of the unloading coordinate.

[0069] Further, the real-time response features are constructed by the injection molding control features and injection molding information. The injection molding information is injection molding operation data information, which is used to obtain the material of the discharge port of the injection molding machine after the injection molding machine completes injection molding of the material.

[0070] Further, the response duration of the grabbing unit is read. According to the response duration of the grabbing unit and the real-time response features, the discharge signal is configured in advance for the injection molding machine, which is used for the grabbing unit to make a response action in response to the discharge signal. The response duration of the grabbing unit is the duration of the grabbing unit to obtain a vertical control instruction and then make a response action. The real-time response features are the features of the grabbing unit to obtain a vertical control instruction and then make a response action.

[0071] The response duration of the grabbing unit is read, and the discharge signal is configured according to the response duration and the real-time response features, so that the injection molding cycle can be shortened and the unloading efficiency can be improved.

[0072] The method provided in the embodiments of the present disclosure further includes the following steps.

[0073] Configure the reset zero point of the blanking machine;

[0074] When the grabbing result of the grabbing unit meets the preset abnormal result or the grabbing period meets the preset period, a reset instruction is generated;

[0075] The reset zero point of the blanking machine is controlled by the reset instruction.

[0076] The reset zero point of the blanking machine is configured. The reset zero point of the blanking machine is set to the initial action state of the blanking machine, which is used to adjust the control action of the blanking machine. Further, a preset abnormal result is set, which is used to indicate that the grabbing result of the grabbing unit is incorrect or unsuccessful. When the grabbing period of the grabbing unit meets the preset period, it indicates that the grabbing time of the grabbing unit is too long, but it is still unsuccessful. Further, when the grabbing result of the grabbing unit meets the preset abnormal result or the grabbing period meets the preset period, a reset instruction is generated to control the blanking machine to reset. The reset zero point of the blanking machine is controlled by the reset instruction.

[0077] The reset zero point of the blanking machine is controlled by the reset instruction, which can effectively avoid blanking abnormalities and improve blanking efficiency.

[0078] The method provided by the embodiments of the present disclosure further includes:

[0079] The grabbing abnormalities of the blanking machine are recorded, and the common features of the grabbing abnormalities are extracted;

[0080] The common features are input into an optimization database to generate adaptive feedback data;

[0081] The adaptive optimization of the blanking machine is performed by the adaptive feedback data.

[0082] The grabbing abnormalities of the blanking machine are recorded, and the common features of the grabbing abnormalities are extracted. The common features of the grabbing abnormalities include blanking machine abnormalities or injection molding machine abnormalities. Further, the common features are input into an optimization database. The optimization database is adjustment optimization data for common features, i.e., adaptive feedback data for common features is generated. Further, the adaptive optimization of the blanking machine is performed by the adaptive feedback data. The adaptive optimization includes action optimization or data accuracy optimization, etc.

[0083] The adaptive optimization of the blanking machine is performed by the adaptive feedback data, which can effectively avoid blanking abnormalities and improve blanking efficiency.

[0084] Embodiment two

[0085] Based on the same inventive concept as the intelligent control method of the upper and lower automatic machines for embedded injection molding in the foregoing embodiments, reference is made toFigure 4 For illustration, the disclosure further provides an intelligent control device for an in-mold injection molding up-down feeding automatic machine, the device comprising:

[0086] a control information obtaining module, configured to, when receiving control information of an injection molding machine, deliver a quantitative raw material to the injection molding machine through a feeding vacuum tube of the feeding automatic machine;

[0087] an equipment-associated space obtaining module, configured to construct an equipment-associated space, which is constructed based on equipment data of the injection molding machine and determines a down-feeding coordinate;

[0088] a vertical verification space obtaining module, configured to construct a vertical verification space and distribute a vertical detection sensor;

[0089] a down-feeding machine control data obtaining module, configured to set down-feeding machine control data according to the vertical verification space and the equipment-associated space, the down-feeding machine control data being constructed through equipment avoidance and path avoidance of a grabbing unit;

[0090] a vertical control instruction obtaining module, configured to, when receiving an ejection signal, control a down-feeding machine to move through the down-feeding machine control data, and generate a vertical control instruction when the vertical detection sensor verifies the grabbing unit vertically;

[0091] a contact detection processing module, configured to control the grabbing unit to vertically descend and perform contact detection on the grabbing unit according to the vertical control instruction;

[0092] a cooperative control instruction obtaining module, configured to, when the contact detection passes, trigger a cooperative control instruction for ejection and grabbing;

[0093] a down-feeding control processing module, configured to, according to the cooperative control instruction, synchronously control an ejection device and the grabbing unit to perform down-feeding grabbing and complete down-feeding control.

[0094] Further, the device further comprises:

[0095] a protection space range obtaining module, configured to set a protection space range of the equipment according to control precision of the grabbing unit;

[0096] a vertical height optimization processing module, configured to, based on the equipment-associated space and down-feeding machine data, perform vertical height optimization of response efficiency of the grabbing unit outside the protection space range;

[0097] The first node control data obtaining module is configured to take the vertical height optimization result as a first node target, and generate first node control data;

[0098] The blanking machine control data obtaining module is configured to generate the blanking machine control data according to the first node control data.

[0099] Further, the device further comprises:

[0100] The height control data obtaining module is configured to take the vertical height optimization result as calibration height response data, and generate mapped height control data according to the calibration height response data;

[0101] The second node control data obtaining module is configured to generate vertical compensation data according to vertical verification, and to generate second node control data according to response adjustment of the height control data controlled by the vertical compensation data.

[0102] The buffer landing interval obtaining module is configured to set a buffer landing interval, and configure touch feedback in the buffer landing interval.

[0103] The touch feedback judging module is configured to determine that touch detection is passed when the touch feedback meets a predetermined contact pressure.

[0104] Further, the device further comprises:

[0105] The vertical verification cooperative point obtaining module is configured to construct N vertical verification cooperative points, which are constructed by extracting a grabbing surface feature of the grabbing unit.

[0106] The verification set obtaining module is configured to arrange the vertical detection sensor according to the N vertical verification cooperative points, and to construct a verification set based on a distribution result and a grabbing surface feature, the verification set comprising a point position accuracy verification set and a vertical verification set.

[0107] The vertical verification processing module is configured to complete vertical verification based on the verification set.

[0108] Further, the device further comprises:

[0109] The injection molding control feature obtaining module is configured to extract an injection molding control feature of the injection molding machine, the injection molding control feature being constructed by collecting historical production data of the injection molding machine.

[0110] a real-time response feature obtaining module, configured to construct a real-time response feature by the injection molding control feature and injection molding information;

[0111] a discharge signal obtaining module, configured to read a response duration of the grabbing unit, and configure the discharge signal according to the response duration and the real-time response feature.

[0112] Further, the device further comprises:

[0113] a reset zero point obtaining module, configured to configure a reset zero point of the feeding machine;

[0114] a reset instruction obtaining module, configured to generate a reset instruction when a grabbing result of the grabbing unit meets a preset abnormal result or a grabbing period meets a preset period;

[0115] a correction control processing module, configured to control the feeding machine to perform correction control of the reset zero point by the reset instruction.

[0116] Further, the device further comprises:

[0117] a common feature obtaining module, configured to record a grabbing abnormality of the feeding machine, and extract a common feature of the grabbing abnormality;

[0118] an adaptive feedback data obtaining module, configured to input the common feature into an optimization database, and generate adaptive feedback data;

[0119] an adaptive optimization processing module, configured to perform adaptive optimization of the feeding machine by the adaptive feedback data.

[0120] The specific example of the intelligent control method of the in-mold injection molding feeding and unloading machine in the foregoing embodiment one is also applicable to the intelligent control device of the in-mold injection molding feeding and unloading machine in the present embodiment. Through the foregoing detailed description of the intelligent control method of the in-mold injection molding feeding and unloading machine, those skilled in the art can clearly know the intelligent control device of the in-mold injection molding feeding and unloading machine in the present embodiment. Therefore, for the sake of brevity of the specification, the intelligent control device of the in-mold injection molding feeding and unloading machine will not be described in detail here. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, it is described relatively simply, and the related parts are referred to the method part description.

[0121] Embodiment three

[0122] Figure 5is a schematic diagram according to a third embodiment of the present disclosure, as shown Figure 5 The computer device 100 in the present disclosure can include a processor 101 and a memory 102, as shown.

[0123] The memory 102 is configured to store a program; the memory 102 can include a volatile memory such as a random access memory (RAM), for example, a static random access memory (SRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), etc., and / or a nonvolatile memory such as a flash memory. The memory 102 is configured to store computer programs (such as application programs, functional modules, etc. for implementing the above method), computer instructions, etc. The computer programs, computer instructions, etc. described above can be stored in one or more memories 102 in a partitioned manner. And the computer programs, computer instructions, data, etc. described above can be invoked by the processor 101.

[0124] The computer programs, computer instructions, etc. described above can be stored in one or more memories 102 in a partitioned manner. And the computer programs, computer instructions, etc. described above can be invoked by the processor 101.

[0125] The processor 101 is configured to execute the computer program stored in the memory 102 to implement each step in the method according to the above embodiments.

[0126] For details, please refer to the related description in the above method embodiments.

[0127] The processor 101 and the memory 102 can be an independent structure or an integrated structure. When the processor 101 and the memory 102 are independent structures, the memory 102 and the processor 101 can be coupled and connected through a bus 103.

[0128] The computer device of the present embodiment can execute the technical solutions in the above method, and the specific implementation process and technical principles are the same, which will not be repeated here.

[0129] According to an embodiment of the present disclosure, the present disclosure further provides a computer readable storage medium, which stores a computer program, and the computer program is configured to implement the steps provided by any of the above embodiments when executed.

[0130] It should be understood that the various forms of flow shown above can be re-ordered, steps added or removed. For example, the steps described in the present disclosure can be performed in parallel, in series, in a different order, or any combination thereof, as long as the desired results of the present disclosure are achieved, which is not limited herein.

[0131] The specific implementation described above does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An intelligent control method for an embedded injection molding automatic loading and unloading machine, characterized in that, The method includes: Upon receiving control information from the injection molding machine, a fixed quantity of raw materials is supplied to the injection molding machine through the feeding vacuum tube of the automatic feeding machine; A device association space is constructed based on the device data of the injection molding machine, and the material feeding coordinates are determined. Construct a vertical verification space and distribute vertical detection sensors; The material feeder control data is set based on the vertical verification space and the equipment association space. The material feeder control data is constructed through the equipment avoidance and path avoidance of the gripping unit. Upon receiving the discharge signal, the material feeder is controlled to move via the material feeder control data. Once the vertical detection sensor verifies the verticality of the gripping unit, a vertical control command is generated. The vertical control command controls the gripping unit to descend vertically, and contact detection is performed on the gripping unit. Once the contact detection is successful, a coordinated control command for ejection and gripping is triggered. According to the coordinated control command, the ejection device and the gripping unit are synchronously controlled to perform unloading gripping, thus completing the unloading control; The method further includes: The injection control features of the injection molding machine are extracted, and the injection control features are constructed by collecting historical production data of the injection molding machine; A real-time response feature is constructed using the injection control feature and injection information. Read the response time of the grasping unit, and configure the discharge signal based on the response time and the real-time response characteristics; Configure the zero point of the feeder; When the capture result of the capture unit meets the preset abnormal result or the capture period meets the preset period, a reset command is generated; The reset command controls the material feeder to perform zero-point calibration control. Record the gripping anomalies of the feeding machine and extract the common features of the gripping anomalies; The common features are input into the optimization database to generate adaptive feedback data; The material feeder is adaptively optimized using the adaptive feedback data. The protection space range of the device is set according to the control accuracy of the grasping unit; Based on the associated space of the equipment and the data of the unloading machine, the vertical height of the response efficiency of the gripping unit is optimized outside the protected space. The vertical height optimization result is used as the first node target to generate the first node control data; The material feeder control data is generated based on the control data of the first node. The vertical height optimization result is used as the calibration height response data, and the mapped height control data is generated based on the calibration height response data. Based on vertical verification, vertical compensation data is generated, and the height control data is adjusted in response to the vertical compensation data. Based on the response adjustment result, second node control data is generated. Set a buffer landing zone and configure reach feedback within the buffer landing zone; The contact detection passes when the contact feedback meets the predetermined contact pressure. N vertical verification collaboration points are constructed by extracting the grasping surface features of the grasping unit; The vertical detection sensors are deployed based on the N vertical verification collaborative points, and a verification set is constructed based on the distribution results and the features of the grasping surface. The verification set includes a point accuracy verification set and a vertical verification set. Vertical verification is performed based on the verification set.

2. An intelligent control device for an embedded automatic injection molding loading and unloading machine, characterized in that, The device for implementing the intelligent control method of the automatic loading and unloading machine for embedded injection molding as described in claim 1 includes: A control information acquisition module is used to deliver a quantitative amount of raw materials to the injection molding machine through the feeding vacuum tube of the automatic feeding machine after receiving the control information of the injection molding machine. The device association space acquisition module is used to construct a device association space based on the equipment data of the injection molding machine and determine the material feeding coordinates. A vertical verification space acquisition module is used to construct a vertical verification space and distribute vertical detection sensors. The unloading machine control data acquisition module is used to set unloading machine control data based on the vertical verification space and the equipment association space. The unloading machine control data is constructed through the equipment avoidance and path avoidance of the grasping unit. A vertical control command acquisition module is used to control the movement of the unloading machine through the unloading machine control data after receiving the unloading signal. When the vertical detection sensor verifies the verticality of the gripping unit, a vertical control command is generated. A contact detection processing module is used to control the gripping unit to descend vertically according to the vertical control command, and to perform contact detection on the gripping unit. A collaborative control command acquisition module is used to trigger collaborative control commands for ejection and grasping after contact detection is passed. The unloading control processing module is used to synchronously control the ejection device and the gripping unit to perform unloading gripping according to the collaborative control command, thereby completing the unloading control.

3. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method of claim 1.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method of claim 1.

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