Automatic hole making device and hole making method for injection molded parts

Abstract

The present invention discloses an automatic hole-making device and a hole-making method for injection molded parts. In the device, a drill bit is installed on the movable front end of a punching manipulator. Driven by the punching manipulator, the drill bit can reach the hole-making station and punch the workpiece according to a predetermined angle. The indexing disk turntable includes two groups of workpiece fixing tables, and the two groups of workpiece fixing tables correspond to the loading station and the hole-making station respectively. The workpiece fixing table fixes the workpiece at the loading station, and the indexing disk turntable can drive the workpiece fixing table to move between the loading station and the hole-making station. The control device is respectively connected to the drill bit, the punching manipulator and the indexing disk turntable to control the drill bit to perform the punching operation, control the movement of the punching manipulator and control the rotation of the indexing disk turntable. Through the technical solution of the present invention, the thermal damage to the hole wall caused by the local thermal effect in laser processing is avoided, the error during drilling is reduced, and the accuracy of the drill bit drilling the workpiece is improved.

Description

Technical Field

[0001] The invention relates to the technical field of machine tool processing, and in particular to an automatic hole making device for injection molded parts and an automatic hole making method for injection molded parts. Background Art

[0002] In the production process of automotive interior parts, the injection molded skeleton usually needs to be vacuum-formed. At present, the laser hole-making process has been widely used in the automotive interior industry and has become the mainstream technology for this process. When laser drilling, the laser beam heats the material locally, causing it to melt or vaporize in a very short time, thereby forming a hole. At the same time, flame treatment is usually carried out immediately after the hole-making process. This process is generally a separately purchased flame treatment equipment.

[0003] At present, the laser hole making process faces some challenges, mainly including high production and maintenance costs, and unstable hole wall quality caused by thermal effects. Thermal effects often lead to local overheating, which affects the surface quality of the hole wall and may even cause defects such as burning, cracking or irregular shape of the hole wall. In addition, the maintenance cost of laser equipment is relatively expensive, and the operation and adjustment requirements are high, which affects the stability and production efficiency of the process. Moreover, in the traditional production process, drilling and surface treatment are usually completed by different equipment and processes, which not only increases equipment investment and space occupation, but also leads to time waste in equipment switching and complexity of manual operation, reducing production efficiency. Switching between different processes may also lead to error accumulation, affecting the accuracy and quality of the product.

[0004] However, due to the technical characteristics and limitations of laser equipment and flame treatment equipment, the two cannot be combined into one device, so they can only be used as two independent devices; at the same time, laser drilling can only perform drilling operations according to a fixed trajectory and power, and cannot adjust and compensate for errors according to the real-time status of the product. Summary of the invention

[0005] In response to the above problems, the present invention provides an automated hole-making device and method for injection molded parts, in which a mechanical drill is used to perform a hole-making operation on the workpiece to avoid thermal damage to the hole wall caused by local thermal effects during laser processing. The drill movement is controlled on the basis of compensating for workpiece errors and drill errors using an error compensation method corresponding to an error model, thereby reducing errors during drilling and improving the accuracy of the drill bit in drilling holes in the workpiece.

[0006] To achieve the above-mentioned purpose, the present invention provides an automatic hole-making device for injection molded parts, comprising: a drill bit, a hole-punching manipulator, a dividing plate turntable and a control device;

[0007] The drill bit is installed at the movable front end of the punching manipulator, and the drill bit can reach the hole-making station and perform a punching operation on the workpiece according to a predetermined angle under the drive of the punching manipulator;

[0008] The indexing disk turntable includes two groups of workpiece fixing tables, and the two groups of workpiece fixing tables correspond to the loading station and the hole-making station respectively. The workpiece fixing tables fix the workpieces at the loading station, and the indexing disk turntable can drive the workpiece fixing tables to move between the loading station and the hole-making station.

[0009] The control device is connected to the drill bit, the punching robot and the indexing turntable respectively to control the drill bit to perform a punching operation, control the punching robot to move and control the indexing turntable to rotate.

[0010] In the above technical solution, preferably, the automatic hole-making device for injection molded parts further includes a drill bit detection mechanism, and the drill bit detection mechanism is used to detect the fixed state of the drill bit relative to the drilling robot.

[0011] In the above technical solution, preferably, the automatic hole-making device for injection molded parts also includes a safety light curtain, which is arranged at the edge of the loading station, and is triggered during the loading process at the loading station. The safety light curtain is connected to the control device to control the dividing plate turntable to stop operating when the safety light curtain is triggered.

[0012] In the above technical solution, preferably, the indexing turntable further includes a servo drive, a contoured fetal membrane, a product in-position sensing device and a fastening positioning device;

[0013] The servo driver is connected to the workpiece fixing table and is used to drive the workpiece fixing table to move;

[0014] The contoured fetal membrane is fixed on the workpiece fixing platform, the workpiece is placed on the contoured fetal membrane, and the contoured fetal membrane has a shape that matches the workpiece;

[0015] The product in-position sensing device is used to detect whether the workpiece is placed on the contoured fetal membrane, and the fixing positioning device is used to fix the workpiece on the contoured fetal membrane when it is detected that the workpiece is placed on the contoured fetal membrane.

[0016] In the above technical solution, preferably, the automatic hole-making device for injection molded parts further comprises a display, which is connected to the control device, and is used to display a parameter operation setting page and a system status page.

[0017] The present invention further provides an automatic hole making method for injection molded parts, which is applied to the automatic hole making device for injection molded parts disclosed in any one of the above technical solutions, comprising:

[0018] After the workpiece is fixed on the indexing turntable at the loading station, the indexing turntable drives the workpiece to move to the hole making station;

[0019] The vibration error of the workpiece relative to the contoured fetal membrane on the indexing table is calculated by the Moran index method, and the error of the workpiece movement process driven by the indexing table is compensated according to a pre-constructed workpiece error compensation model;

[0020] Controlling the drilling robot to drive the drill bit to the drilling station and align it with the drilling position of the workpiece;

[0021] According to a drill error model pre-constructed for the error of the drill, error compensation is performed on a processing trajectory of the drill driven by the drilling robot;

[0022] On the basis of compensating control of the workpiece and the drilling robot by means of a PID control algorithm, the drill bit is controlled to perform a drilling operation on the workpiece.

[0023] In the above technical solution, preferably, the specific process of fixing the workpiece on the indexing turntable at the loading station includes:

[0024] Adapting and placing the workpiece on the contoured fetal membrane on the indexing disk turntable;

[0025] judging whether the product is adapted to be placed on the contoured fetal membrane according to a detection signal of a product in-position sensing device;

[0026] When it is determined that the product is adapted to be placed on the contoured fetal membrane, determining whether the safety light curtain at the edge of the loading station is triggered;

[0027] If the safety light curtain is not triggered, the fastening and positioning device is controlled to fix the workpiece on the contoured fetal membrane.

[0028] In the above technical solution, preferably, the vibration error of the workpiece relative to the contoured fetal membrane on the indexing table is calculated by the Moran index method, and the error of the workpiece movement process driven by the indexing table is compensated according to the pre-built workpiece error compensation model. The specific process includes:

[0029] The vibration error of the workpiece fixed on the indexing plate turntable due to vibration when the contoured fetal membrane moves is calculated by the Moran index method to obtain the systematic error and random error of the workpiece;

[0030] The workpiece error compensation model established by mathematical modeling and algorithm can compensate for the position error of the workpiece when the contouring membrane moves.

[0031] In the above technical solution, preferably, the error compensation is performed on the processing trajectory of the drill bit driven by the drilling robot according to the drill bit error model pre-constructed for the error of the drill bit, and the specific process includes:

[0032] Constructing a drill bit error model according to the geometric error, thermal expansion error, wear error and vibration error of the drill bit;

[0033] According to the error type, the error compensation is performed on the processing trajectory of the drill bit driven by the drilling robot through a corresponding error compensation method.

[0034] In the above technical solution, preferably, the workpiece error compensation model is:

[0035] δT vibration ( t )= A ·sin( ωt + );

[0036] in, δT vibration ( t ) is the workpiece at time t The vibration position shift on A is the vibration amplitude, oh is the vibration frequency, is the vibration phase;

[0037] The drill bit error model is:

[0038] δT ( t )= T actual ( t )- T ideal ( t );

[0039] in, T ideal ( t ) is the ideal motion trajectory of the drill bit, T actual ( t ) is the actual motion trajectory of the drill bit;

[0040] The compensation functions of the workpiece error compensation model and the drill error model are:

[0041] u ( t )=- K · δT ( t );

[0042] in, u ( t ) is the compensation amount, K is the compensation gain coefficient, δT ( t ) is the real-time error.

[0043] Compared with the prior art, the beneficial effects of the present invention are as follows: the workpiece is drilled by a mechanical drill bit, thereby avoiding thermal damage to the hole wall caused by the local thermal effect in laser processing, and the drill bit movement is controlled on the basis of compensating the workpiece error and the drill bit error by using the error compensation method corresponding to the error model, thereby reducing the error during drilling and improving the accuracy of the drill bit in drilling the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of the structure of an automatic hole-making device for injection molded parts disclosed in an embodiment of the present invention;

[0045] Figure 2 A schematic diagram of the arrangement of a control device disclosed in an embodiment of the present invention;

[0046] Figure 3 The present invention is a schematic diagram of the arrangement of an optimization control system and a workpiece vibration error compensation system disclosed in an embodiment of the present invention.

[0047] In the figure, the corresponding relationship between each component and the reference numeral is as follows:

[0048] 1. Punching robot, 2. Drill bit detection mechanism, 3. Drill bit, 4. Indexing plate turntable, 5. Loading station, 6. Robot control cabinet, 7. Main control cabinet, 8. Safety light curtain, 9. Display, 10. Optimization control module, 11. Workpiece vibration error compensation module. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0051] like Figure 1 and Figure 2 As shown, an automatic hole-making device for injection molded parts according to the present invention comprises: a drill bit 3, a punching robot 1, a dividing plate turntable 4 and a control device;

[0052] The drill bit 3 is installed at the movable front end of the punching robot 1. Driven by the punching robot 1, the drill bit 3 can reach the hole-making station and perform a punching operation on the workpiece according to a predetermined angle.

[0053] The indexing turntable 4 includes two sets of workpiece fixing tables, and the two sets of workpiece fixing tables correspond to the loading station 5 and the hole-making station respectively. The workpiece fixing tables fix the workpieces at the loading station 5, and the indexing turntable 4 can drive the workpiece fixing tables to move between the loading station 5 and the hole-making station;

[0054] The control device is connected to the drill bit 3, the punching robot 1 and the indexing turntable 4 respectively to control the drill bit 3 to perform a punching operation, control the punching robot 1 to move, and control the indexing turntable 4 to rotate.

[0055] In this embodiment, the workpiece is drilled by a mechanical drill bit 3, thereby avoiding thermal damage to the hole wall caused by local thermal effects in laser processing. The movement of the drill bit 3 is controlled on the basis of compensating the workpiece error and the drill bit 3 error by using an error compensation method corresponding to the error model, thereby reducing the error during drilling and improving the accuracy of the drill bit 3 in drilling the workpiece.

[0056] Specifically, the punching robot 1 is preferably a six-axis robot, and the selected model is FANUC M-20iD. The punching operation can be completed by installing the punching mechanism; the flame treatment operation can be completed by installing the flame mechanism.

[0057] The loading station 5 is used to provide a station for manually picking up and placing workpiece products. The control device includes a robot control cabinet 6 and a main control cabinet 7, which are used to perform system settings on the punching robot 1, and the main control cabinet 7 is used to perform system control and electrical control on the device body.

[0058] In the above embodiment, preferably, the automated hole-making device for injection molded parts also includes a drill bit detection mechanism 2, which is used to detect the fixed state of the drill bit 3 relative to the punching robot 1, so as to ensure that the punching operation is performed when the drill bit 3 is stably fixed on the punching robot 1, thereby ensuring the smooth progress of the punching operation and reducing the failure rate caused by the looseness or improper installation of the drill bit 3.

[0059] In the above embodiment, preferably, the automatic hole making device for injection molded parts also includes a safety light curtain 8, which is arranged at the edge of the loading station 5. The safety light curtain 8 is triggered during the loading process at the loading station 5. The safety light curtain 8 is connected to the control device to control the dividing plate turntable 4 to stop operating when the safety light curtain 8 is triggered.

[0060] Specifically, the safety light curtain 8 serves as a safety protection mechanism. When it is triggered, the operation of the indexing turntable 4 is stopped, and the operation of the indexing turntable 4 is allowed after the trigger is released, so as to ensure the safety of the staff.

[0061] In the above embodiment, preferably, the indexing turntable 4 further includes a servo drive, a contoured fetal membrane, a product in-position sensing device and a fastening positioning device;

[0062] The servo driver is connected to the workpiece fixing table and is used to drive the displacement of the workpiece fixing table;

[0063] The contoured fetal membrane is fixed on a workpiece fixing table, the workpiece is placed on the contoured fetal membrane, and the contoured fetal membrane has a shape that matches the workpiece;

[0064] The product in-position sensing device is used to detect whether the workpiece is placed on the contoured membrane, and the fixing positioning device is used to fix the workpiece on the contoured membrane when it is detected that the workpiece is placed on the contoured membrane.

[0065] Specifically, the servo driver of the indexing disk turntable 4 is combined with a numerical control system, which can automatically control the rotation angle of the workpiece fixing table through a program, thereby achieving high-precision indexing control with an accuracy of up to 0.1°.

[0066] The contoured membrane is fixed on the workpiece fixing table and can achieve 180° precise rotation. The contoured membrane is CNC machined to achieve a 1:1 contour fit with the workpiece.

[0067] A plurality of tightening and positioning devices can be provided, which are respectively distributed at different positions of the contoured fetal membrane.

[0068] In the above embodiment, preferably, the automatic hole-making device for injection molded parts further comprises a display 9, which is connected to the control device and is used to display a parameter operation setting page and a system status page.

[0069] like Figure 3 As shown, in the above embodiment, preferably, an optimization control module 10 and a workpiece vibration error compensation module 11 are also provided. The optimization control module 10 includes a trajectory error module and a compensation control module. The trajectory error module includes an error model composed of geometric errors, thermal expansion errors, wear errors, vibration errors, etc. of the drill bit. The compensation control module includes a targeted error compensation method. According to different error types, the compensation control module controls the movement of the drill bit 3 through the corresponding error compensation method to reduce the error during drilling.

[0070] The workpiece vibration error compensation module 11 calculates and processes the error caused by vibration of the workpiece to be processed when the A / B surface contour membrane moves through the Moran index method, and obtains the systematic error and random error of the workpiece to be processed, and then establishes an error compensation model through mathematical modeling and algorithm. When the A / B surface contour membrane is in operation, the error compensation model can compensate for the position error of the workpiece to be processed when the A / B surface contour membrane moves, so that the drill bit 3 can accurately perform drilling processing at the drilling position.

[0071] The present invention further provides an automated hole making method for injection molded parts, which is applied to an automated hole making device for injection molded parts disclosed in any one of the above embodiments, comprising:

[0072] After the workpiece is fixed on the indexing turntable 4 at the loading station 5, the indexing turntable 4 drives the workpiece to move to the hole making station;

[0073] The vibration error of the workpiece relative to the contoured fetal membrane on the indexing table 4 is calculated by the Moran index method, and the error of the workpiece movement process driven by the indexing table 4 is compensated according to the pre-built workpiece error compensation model;

[0074] Control the drilling robot 1 to drive the drill bit 3 to the drilling station and align it with the drilling position of the workpiece;

[0075] According to the drill error model pre-constructed for the error of the drill 3, the error compensation is performed on the processing trajectory of the drill 3 driven by the drilling robot 1;

[0076] Based on the compensation control of the workpiece and the drilling robot 1 through the PID control algorithm, the drill bit 3 is controlled to perform a drilling operation on the workpiece.

[0077] In the above embodiment, preferably, the specific process of fixing the workpiece on the indexing turntable 4 at the loading station 5 includes:

[0078] The workpiece is placed on the contoured fetal membrane on the indexing turntable 4;

[0079] According to the detection signal of the product position sensing device, it is judged whether the product is properly placed on the contoured fetal membrane;

[0080] When it is determined that the product is adapted to be placed on the contoured fetal membrane, it is determined whether the safety light curtain 8 at the edge of the loading station 5 is triggered;

[0081] If the safety light curtain 8 is not triggered, the fastening and positioning device is controlled to fix the workpiece on the contoured fetal membrane.

[0082] In the above embodiment, preferably, the vibration error of the workpiece relative to the contoured fetal membrane on the indexing table 4 is calculated by the Moran index method, and the error of the workpiece movement process driven by the indexing table 4 is compensated according to the pre-built workpiece error compensation model. The specific process includes:

[0083] The vibration error of the workpiece fixed on the indexing table 4 due to vibration when the contoured membrane moves is calculated by the Moran index method to obtain the systematic error and random error of the workpiece;

[0084] The workpiece error compensation model established by mathematical modeling and algorithm can compensate the position error of the workpiece when the contouring membrane moves.

[0085] Specifically, the error model construction process mainly includes the steps of data collection, error analysis, error decomposition, mathematical modeling and compensation function design. In this process, various factors affecting drilling accuracy are considered, including drill position error, vibration error, mechanical error, etc.

[0086] In the initial stage of model building, a large amount of real-time data is first collected through sensors and monitoring equipment. This data is the basis for error model analysis and construction, which can help the system identify error sources and provide necessary information for subsequent modeling. The collected data includes:

[0087] Position data: The real-time position of the drill bit during the processing process, usually obtained through encoders, laser measurement, etc.

[0088] Vibration data: Vibration data of the workpiece and drill bit, usually collected using accelerometers, vibration sensors, etc.

[0089] Mechanical data: Mechanical data such as cutting force and reaction force are obtained through force sensors.

[0090] Based on the collected data, the errors are broken down into different types, including systematic errors and random errors:

[0091] Systematic error: caused by inherent factors in the machining process, such as equipment rigidity, tool wear, thermal expansion, etc. Systematic errors have certain regularities and can be predicted through modeling.

[0092] Random error: caused by factors such as environment, material non-uniformity, instantaneous interference, etc., and is unpredictable.

[0093] The use of the Moran index method to count and analyze data such as vibration patterns and temperature changes can reveal the spatial autocorrelation of errors and help identify the impact range of errors and their distribution characteristics.

[0094] The construction of the error model needs to take different error sources into consideration and describe the changing pattern of the error through mathematical methods.

[0095] Vibration is a common source of error in drilling, especially at high speeds, where vibration can significantly affect the accuracy of the drill. Vibration error modeling includes:

[0096] Vibration pattern recognition: Based on the vibration sensor data, the Fourier transform method is used to identify the spectral characteristics of the vibration, thereby predicting the impact of the vibration on the drill bit's motion trajectory.

[0097] Moran Index Analysis: The Moran Index method is used to perform spatial analysis on the errors caused by vibration and identify the spatial distribution of vibration errors. Vibration errors usually show strong spatial autocorrelation, so the Moran Index method can effectively evaluate the impact of vibration on different areas.

[0098] In the above implementation, preferably, according to the drill error model pre-constructed for the drill error, the error compensation is performed on the processing trajectory of the drill driven by the drilling robot, and the specific process includes:

[0099] Construct a drill bit error model based on the drill bit's geometric error, thermal expansion error, wear error, and vibration error;

[0100] According to the error type, the corresponding error compensation method is used to compensate the error of the processing trajectory of the drill driven by the drilling robot.

[0101] Specifically, based on the collected real-time data, the modeling of position error includes:

[0102] Geometric error: Consider the geometric characteristics of the contact between the drill and the workpiece, such as the center offset of the tool, radial error, etc.

[0103] Thermal expansion error: Considers the deformation of mechanical structures caused by temperature changes.

[0104] Wear error: As the tool is used, wear will cause motion error.

[0105] These factors can cause the drill's trajectory to deviate from the ideal trajectory, resulting in position errors.

[0106] In the above implementation, preferably, the workpiece error compensation model is:

[0107] δT vibration ( t )= A ·sin( ωt + );

[0108] in, δTvibration ( t ) is the workpiece at time t The vibration position shift on A is the vibration amplitude, oh is the vibration frequency, is the vibration phase;

[0109] The drill bit error model is:

[0110] δT ( t )= T actual ( t )- T ideal ( t );

[0111] in, T ideal ( t ) is the ideal motion trajectory of the drill bit, T actual ( t ) is the actual motion trajectory of the drill bit;

[0112] The compensation functions of the workpiece error compensation model and the drill error model are:

[0113] u ( t )=- K · δT ( t );

[0114] in, u ( t ) is the compensation amount, K is the compensation gain coefficient, δT ( t ) is the real-time error.

[0115] Specifically, after the error model is established, the next step is to design an error compensation function and adjust it through a real-time feedback mechanism. The goal of the compensation function is to minimize the error and make real-time corrections to the drill bit motion trajectory through the control system. The compensation function is designed based on the error model, and its goal is to correct the motion deviation caused by different error sources. Our compensation function design method is feedback-based compensation: that is, real-time acquisition of drill bit position, vibration and mechanical data, calculation of the current error and feedback to the control system.

[0116] In the error compensation process, the PID control algorithm is used to correct the motion error of the drill. The PID control algorithm is based on the control strategy of proportional, integral, and differential feedback. The PID controller can adjust according to the size, rate of change, and cumulative error of the error to achieve accurate compensation.

[0117] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic hole making device for injection molded parts, characterized in that: include: Drill bit, punching robot, indexing table and control device; The drill bit is installed at the movable front end of the punching manipulator, and the drill bit can reach the hole-making station and perform a punching operation on the workpiece according to a predetermined angle under the drive of the punching manipulator; The indexing disk turntable includes two groups of workpiece fixing tables, and the two groups of workpiece fixing tables correspond to the loading station and the hole-making station respectively. The workpiece fixing tables fix the workpieces at the loading station, and the indexing disk turntable can drive the workpiece fixing tables to move between the loading station and the hole-making station. The control device is connected to the drill bit, the punching manipulator and the indexing table respectively, and compensates for the error of the workpiece movement process driven by the indexing table according to the pre-constructed workpiece error compensation model, and compensates for the error of the processing trajectory of the drill bit driven by the punching manipulator according to the pre-constructed drill error model for the drill bit error, and controls the drill bit to perform a punching operation on the workpiece on the basis of compensating control of the workpiece and the punching manipulator through a PID control algorithm; Wherein, the workpiece error compensation model is: δT vibration ( t )= A ·sin( ωt + ); in, δT vibration ( t ) is the workpiece at time t The vibration position shift on A is the vibration amplitude, ω is the vibration frequency, is the vibration phase; The drill bit error model is: δT ( t )= T actual ( t )- T ideal ( t )； in, T ideal ( t ) is the ideal motion trajectory of the drill bit, T actual ( t ) is the actual motion trajectory of the drill bit; The compensation functions of the workpiece error compensation model and the drill error model are: u ( t )=- K · δT ( t )； in, u ( t ) is the compensation amount, K is the compensation gain coefficient, δT ( t ) is the real-time error.

2. The automatic hole making device for injection molded parts according to claim 1, characterized in that: It also includes a drill bit detection mechanism, which is used to detect the fixed state of the drill bit relative to the drilling robot.

3. The automatic hole making device for injection molded parts according to claim 1 or 2, characterized in that: It also includes a safety light curtain, which is arranged at the edge of the loading station. The safety light curtain is triggered during the loading process at the loading station. The safety light curtain is connected to the control device to control the indexing turntable to stop operating when the safety light curtain is triggered.

4. The automatic hole making device for injection molded parts according to claim 3, characterized in that: The indexing plate turntable also includes a servo drive, a contoured fetal membrane, a product in-position sensing device and a fastening positioning device; The servo driver is connected to the workpiece fixing table and is used to drive the workpiece fixing table to move; The contoured fetal membrane is fixed on the workpiece fixing platform, the workpiece is placed on the contoured fetal membrane, and the contoured fetal membrane has a shape that matches the workpiece; The product in-position sensing device is used to detect whether the workpiece is placed on the contoured fetal membrane, and the fixing positioning device is used to fix the workpiece on the contoured fetal membrane when it is detected that the workpiece is placed on the contoured fetal membrane.

5. The automatic hole making device for injection molded parts according to claim 4, characterized in that: It also includes a display, which is connected to the control device and is used to display a parameter operation setting page and a system status page.

6. An automated hole making method for injection molded parts, characterized in that: An automated hole making device for an injection molded part according to any one of claims 1 to 5, comprising: After the workpiece is fixed on the indexing turntable at the loading station, the indexing turntable drives the workpiece to move to the hole making station; The vibration error of the workpiece relative to the contoured fetal membrane on the indexing table is calculated by the Moran index method, and the error of the workpiece movement process driven by the indexing table is compensated according to a pre-constructed workpiece error compensation model; Controlling the drilling robot to drive the drill bit to the drilling station and align it with the drilling position of the workpiece; According to a drill error model pre-constructed for the error of the drill bit, error compensation is performed on a processing trajectory of the drill bit driven by the drilling robot; On the basis of compensating control of the workpiece and the drilling robot by means of a PID control algorithm, the drill bit is controlled to perform a drilling operation on the workpiece.

7. The automatic hole making method for injection molded parts according to claim 6, characterized in that: The specific process of fixing the workpiece on the indexing turntable at the loading station includes: Adapting and placing the workpiece on the contoured fetal membrane on the indexing disk turntable; judging whether the product is adapted to be placed on the contoured fetal membrane according to a detection signal of a product in-position sensing device; When it is determined that the product is adapted to be placed on the contoured fetal membrane, determining whether the safety light curtain at the edge of the loading station is triggered; If the safety light curtain is not triggered, the fastening and positioning device is controlled to fix the workpiece on the contoured fetal membrane.

8. The method for automatically making holes in injection molded parts according to claim 7, characterized in that: The vibration error of the workpiece relative to the contoured fetal membrane on the indexing table is calculated by the Moran index method, and the error of the workpiece movement process driven by the indexing table is compensated according to the pre-built workpiece error compensation model. The specific process includes: The vibration error of the workpiece fixed on the indexing plate turntable due to vibration when the contoured fetal membrane moves is calculated by the Moran index method to obtain the systematic error and random error of the workpiece; The workpiece error compensation model established by mathematical modeling and algorithm can compensate for the position error of the workpiece when the contouring membrane moves.

9. The automatic hole making method for injection molded parts according to claim 8, characterized in that: The error compensation is performed on the processing trajectory of the drill bit driven by the drilling robot according to the drill bit error model pre-constructed for the error of the drill bit. The specific process includes: Constructing a drill bit error model according to the geometric error, thermal expansion error, wear error and vibration error of the drill bit; According to the error type, the error compensation is performed on the processing trajectory of the drill bit driven by the drilling robot through a corresponding error compensation method.

10. The automatic hole making method for injection molded parts according to claim 9, characterized in that: The workpiece error compensation model is: δT vibration ( t )= A ·sin( ωt + ); in, δT vibration ( t ) is the workpiece at time t The vibration position shift on A is the vibration amplitude, ω is the vibration frequency, is the vibration phase; The drill bit error model is: δT ( t )= T actual ( t )- T ideal ( t )； in, T ideal ( t ) is the ideal motion trajectory of the drill bit, T actual ( t ) is the actual motion trajectory of the drill bit; The compensation functions of the workpiece error compensation model and the drill error model are: u ( t )=- K · δT ( t )； in, u ( t ) is the compensation amount, K is the compensation gain coefficient, δT ( t ) is the real-time error.

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