Manipulator having cross-in/cross-out and retardation controller

Abstract

A manipulator with transverse-in and transverse-out speed-reducing controller is composed of control unit, primary arm, secondary arm, leading-pulling bean, transverse beam with transverse-out and transverse-in deceleration signal approximate switch's sensors, base and cylinder with transverse-in and transverse-out electromagnetic valves. Said sensors and electromagnetic valves are connected to said control unit.

Description

technical field [0001] The invention relates to an injection molding machine manipulator, and more specifically, relates to a manipulator with a transverse entry and transverse exit deceleration control device. Background technique [0002] The fully pneumatic injection molding machine manipulator usually has one or two mechanical arms. The mechanical arm is installed on the beam. The mechanical arm has two degrees of freedom, front and rear, and up and down. has three degrees of freedom. The manipulator picks up the product at the in position and the product in the out position, so the stability and high precision of the in and out movements are particularly important. However, the current in-and-out control of the manipulator control device of the injection molding machine has a large impact, the vibration is difficult to control, and the precision is poor, so deceleration control is urgently needed. The general manipulator controller does not have a deceleration functio...

AI Technical Summary

Problems solved by technology

However, the current in-and-out control of the manipulator control device of the injection molding machine has a large impact, the vibration is difficult to control, and the precision is poor, so deceleration control is urgently needed

The general manipulator controller does not have a deceleration function, so the horizontal entry and exit movements have large vibrations and poor precision.

There are some injection molding machine manipulator control devices in foreign countries and Taiwan with deceleration function, which is carried out through a pressure relief pneumatic solenoid valve (the deceleration position is detected by the sensor). To reduce the cylinder air pressure, thereby reducing the speed, this method needs to add an additional air valve, and the opening time of the deceleration valve cannot be precisely controlled, and the effect of deceleration function is not good enough

Because the air pressure of different manipulators may be different, the length of the horizontal in and out is also different. Sometimes the deceleration is early, so the movement speed of the manipulator is slow; sometimes the deceleration is late, so the deceleration effect is not obvious

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