Injection molding machine robot take-out control system

Abstract

The application provides an injection molding machine mechanical arm part taking control system, which comprises a part taking clamp arranged on the mechanical arm, a displacement control system and a micro-vibration control system. The displacement control system comprises a displacement controller and X, Y and Z direction displacement control mechanisms electrically connected to the displacement controller, which respectively control the part taking clamp to move in the X, Y and Z directions. The micro-vibration control system is electrically connected to the displacement controller and is internally provided with X, Y and Z direction vibration parameters. Each direction displacement control mechanism reads the vibration parameters in the corresponding direction from the micro-vibration control system and controls the part taking clamp to vibrate in the corresponding direction according to the read vibration parameters. Finally, the part taking clamp is controlled to vibrate in the three-dimensional space through the micro-vibration control system. The system effectively eliminates the adhesion between the injection molded part and the mold by superimposing the micro-vibration in the X, Y and Z directions during the part taking process, and solves the problem that the product is damaged due to mold sticking during the traditional part taking.

Description

Technical Field

[0001] This invention relates to the field of injection molding technology, and more specifically, to a control system for a robotic arm that picks up parts for an injection molding machine. Background Technology

[0002] As an important part of modern manufacturing, the injection molding industry has developed rapidly in recent years. As an indispensable part of the injection molding production line, injection molding machine robots play an important role in improving production efficiency, reducing production costs, and improving working conditions.

[0003] However, in actual production, there is a phenomenon of product sticking to the mold in injection molding machines, that is, plastic products adhere to the mold surface and are not easy to detach. Although the occurrence of sticking can be reduced by adjusting the injection molding process parameters, the problem of product sticking is still difficult to completely avoid due to the characteristics of the injection molded products themselves and the influence of environmental factors.

[0004] When a product sticks to the mold, existing injection molding machine robots usually grab and pull the part away directly. This method not only easily causes damage to the surface of the product sticking to the mold, resulting in product quality defects or even destruction and reducing the product qualification rate, but may also damage the robot itself and reduce production efficiency.

[0005] Therefore, there is an urgent need for a technical solution that can effectively solve the problem of mold sticking during the product removal process of injection molding machines, improve removal efficiency and product quality, and avoid product damage. Summary of the Invention

[0006] The purpose of this invention is to overcome the defects in the prior art and provide a part removal control system for injection molding machines that can effectively solve the problem of mold sticking during the part removal process, improve part removal efficiency and product quality, and avoid product damage.

[0007] To address the aforementioned problems, this invention provides a part-picking control system for an injection molding machine's robotic arm. The system includes a part-picking gripper mounted on the robotic arm and a displacement control system for controlling the gripper's displacement in the X, Y, and Z directions. The X, Y, and Z directions are mutually perpendicular. The displacement control system includes a displacement controller and X-direction displacement control mechanisms, Y-direction displacement control mechanisms, and Z-direction displacement control mechanisms electrically connected to the displacement controller. It also includes a micro-vibration control system for controlling the gripper's vibration in three-dimensional space. The micro-vibration control system is electrically connected to the displacement controller and internally contains micro-vibration parameters, including X-direction vibration parameters, Y-direction vibration parameters, and Z-direction vibration parameters. The X-direction displacement control mechanism reads the X-direction vibration parameters from the micro-vibration control system through the displacement controller and controls the gripper to vibrate in the X direction based on these parameters. The Y-direction displacement control mechanism reads the Y-direction vibration parameters from the micro-vibration control system through the displacement controller and controls the gripper to vibrate in the Y direction based on these parameters. The Z-direction displacement control mechanism reads the Z-direction vibration parameters from the micro-vibration control system through the displacement controller and controls the gripper to vibrate in the Z direction based on these parameters.

[0008] Compared with the prior art, the advantages of this invention are as follows: By adding a micro-vibration control system to the part-removing fixture, this invention effectively solves the problem of mold sticking during the part removal process of injection molding machines. This micro-vibration operation is performed before part removal. The micro-vibration control system controls the part-removing fixture to vibrate in multiple directions, reducing the adhesion force between the product and the mold, and ultimately causing the product to detach from the mold. This avoids product damage and robot wear caused by direct pulling, thereby improving product qualification rate and production efficiency. At the same time, by preset different micro-vibration parameters, the intensity of micro-vibration operation can be adjusted according to different types of products, improving production stability. In addition, the micro-vibration control system and the displacement control system share a set of displacement actuators, thereby simplifying the system structure, reducing material costs and manufacturing process difficulty, and ultimately reducing production costs.

[0009] Furthermore, the micro-vibration parameters include three categories: vibration amplitude, vibration period, and vibration duration. The vibration amplitude is denoted as... , The values ​​in the X, Y, and Z directions are denoted as ,in, The vibration amplitude is a parameter in the X-direction vibration parameters. ≤0.5mm, The vibration amplitude is one of the vibration parameters in the Y direction. ≤0.5mm, The vibration amplitude is one of the vibration parameters in the Z-direction. The vibration amplitude is ≤0.5mm, the vibration period is denoted as T, 10ms≤T≤100ms, and the vibration duration is denoted as N, N≤300 times. This solution further optimizes the micro-vibration control system. By setting parameters for vibration amplitude, vibration period, and vibration duration, more precise micro-vibration control can be achieved. During use, the micro-vibration parameters can be adjusted according to the product characteristics, which can effectively reduce the adhesion between the product and the mold, while avoiding product damage due to excessive vibration and avoiding wear on the robot arm caused by excessively frequent vibration. =0.001mm, =0.1mm, =0.001mm, T=10ms, N=200 times. These micro-vibration parameters can achieve a good part-picking effect.

[0010] Furthermore, the initial position is denoted as , The values ​​in the X, Y, and Z directions are denoted as ,based on and The part-retrieving fixture is deviated positively by the maximum offset. The position at which the vibration is at its maximum is defined as the position of maximum vibration, denoted as . , The values ​​in the X, Y, and Z directions are denoted as The part-retrieving fixture is deviated in the opposite direction by the maximum offset. The position at which the vibration is at its minimum is defined as the position of minimum vibration, denoted as . , The values ​​in the X, Y, and Z directions are denoted as A micro-vibration curve model is constructed based on the position, velocity, and acceleration of the part-retrieving fixture during vibration: , in, The position of the vibration curve, The range of values ​​is between and between, The velocity of the vibration curve, The acceleration of the micro-vibration curve is... The constant term coefficients of the micro-vibration curve are... The coefficients of the first-order term of the micro-vibration curve are... The coefficients of the quadratic term in the micro-vibration curve are... For the cubic term coefficients of the micro-vibration curve, The coefficients of the fourth term in the micro-vibration curve are... The coefficients of the fifth term in the micro-vibration curve are... The values ​​represent the time points. This solution employs a micro-vibration curve model based on position, velocity, and acceleration, replacing the traditional trapezoidal micro-vibration curve. This effectively avoids abrupt acceleration changes during the micro-vibration process, thereby reducing the impact on the robotic arm and lowering the risk of product damage. By precisely controlling the position, velocity, and acceleration of the part-retrieving fixture in the X, Y, and Z directions, this model ensures a smooth transition in the micro-vibration process, minimizing negative impacts on the product and the robotic arm, and significantly improving the reliability of part retrieval.

[0011] Furthermore, based on the micro-vibration curve model, a three-segment micro-vibration curve within T is generated and defined as the first micro-vibration curve, the second micro-vibration curve, and the third micro-vibration curve, wherein: The initial position of the first segment of the micro-vibration curve is The end position of the first micro-vibration curve is The initial velocity value of the first micro-vibration curve is 0, the final velocity value of the first micro-vibration curve is 0, the initial acceleration value of the first micro-vibration curve is 0, and the final acceleration value of the first micro-vibration curve is 0. The initial position of the second micro-vibration curve is: The end position of the second micro-vibration curve is The initial velocity value of the second micro-vibration curve is 0, the final velocity value of the second micro-vibration curve is 0, the initial acceleration value of the second micro-vibration curve is 0, and the final acceleration value of the second micro-vibration curve is 0. The initial position of the third micro-vibration curve is The end position of the third micro-vibration curve is The initial velocity and final velocity of the third micro-vibration curve are both 0 and 0, respectively. This scheme divides the micro-vibration process into three continuous micro-vibration curves. Each curve ensures that the position, velocity, and acceleration are zero at both the beginning and end, effectively avoiding sudden acceleration changes during the micro-vibration process. This reduces the impact on the robotic arm and lowers the risk of product damage. Furthermore, all three curves return to their initial positions at the end, ensuring the robotic arm is stationary after completing the micro-vibration operation, avoiding interference caused by the robotic arm's movement, and further improving the reliability and stability of part retrieval.

[0012] Furthermore, the first micro-vibration curve segment includes a first micro-vibration curve in the X direction, a first micro-vibration curve in the Y direction, and a first micro-vibration curve in the Z direction, wherein, The expressions for the position, velocity, and acceleration of the first segment of the micro-vibration curve in the X direction are: ,in, This represents the position value in the X direction of the first segment of the micro-vibration curve. The velocity value in the X direction of the first segment of the micro-vibration curve is... This represents the acceleration value in the X direction of the first segment of the micro-vibration curve. The constant term coefficients in the X direction of the first segment of the micro-vibration curve are... The coefficients of the first-order term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the quadratic term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the cubic term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the fourth term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the fifth term in the X direction of the first segment of the micro-vibration curve are... The time value is T, and the oscillation period is T. The expressions for the position, velocity, and acceleration of the first segment of the micro-vibration curve in the Y direction are: ,in, This represents the position value in the Y direction of the first segment of the micro-vibration curve. The velocity value in the Y direction of the first segment of the micro-vibration curve is... This represents the acceleration value in the Y direction of the first segment of the micro-vibration curve. The constant term coefficients in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the first-order term in the Y-direction of the first segment of the micro-vibration curve are... The coefficients of the second term in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the cubic term in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the fourth term in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the fifth term in the Y direction of the first segment of the micro-vibration curve are... The time value is T, and the oscillation period is T. The expressions for the position, velocity, and acceleration of the first segment of the Z-direction micro-vibration curve are: ,in, This represents the position value in the Z-direction of the first segment of the micro-vibration curve. The velocity value in the Z direction of the first segment of the micro-vibration curve is... This represents the acceleration value in the Z direction of the first segment of the micro-vibration curve. The constant term coefficients in the Z direction of the first micro-vibration curve are... The coefficients of the first-order term in the Z-direction of the first segment of the micro-vibration curve are... The coefficients of the second term in the Z-direction of the first micro-vibration curve are... The coefficients of the cubic term in the Z direction of the first segment of the micro-vibration curve are... The coefficients of the fourth term in the Z direction of the first segment of the micro-vibration curve are... The coefficients of the fifth term in the Z direction of the first segment of the micro-vibration curve are... Here, T represents the time value, and T represents the vibration period. This solution ensures the continuity of acceleration during the micro-vibration process by performing precise mathematical modeling and control of the first segment of the micro-vibration curve in the X, Y, and Z directions. It also ensures that the part-picking fixture is stationary when it reaches the point of maximum vibration, effectively reducing the impact on the robotic arm, lowering the possibility of product damage, and improving the reliability and stability of part picking.

[0013] Furthermore, the second micro-vibration curve includes a second micro-vibration curve in the X direction, a second micro-vibration curve in the Y direction, and a second micro-vibration curve in the Z direction, wherein, The expressions for the position, velocity, and acceleration of the second segment of the micro-vibration curve in the X direction are: ,in, This represents the position value in the X direction of the second micro-vibration curve. This represents the velocity value in the X direction of the second segment of the micro-vibration curve. This represents the acceleration value in the X direction of the second segment of the micro-vibration curve. The constant term coefficients in the X direction of the second micro-vibration curve are... The coefficients of the first-order term in the X direction of the second segment of the micro-vibration curve are... The coefficients of the second micro-vibration curve in the X direction are the quadratic term coefficients. The coefficients of the cubic term in the X direction of the second segment of the micro-vibration curve are... The coefficients of the fourth term in the X direction of the second segment of the micro-vibration curve are... The coefficients of the fifth term in the X direction of the second segment of the micro-vibration curve are... The time value is T, and the oscillation period is T. The expressions for the position, velocity, and acceleration of the second segment of the micro-vibration curve in the Y direction are: ,in, This represents the position value in the Y direction of the second segment of the micro-vibration curve. This represents the velocity value in the Y direction of the second segment of the micro-vibration curve. This represents the acceleration value in the Y direction of the second segment of the micro-vibration curve. The constant term coefficients in the Y direction of the second micro-vibration curve are... The coefficients of the first-order term in the Y-direction of the second micro-vibration curve are... The coefficients of the second micro-vibration curve in the Y direction are the second-order terms. The coefficients of the third term in the Y direction of the second segment of the micro-vibration curve are... The coefficients of the fourth term in the Y direction of the second segment of the micro-vibration curve are... The coefficients of the fifth term in the Y direction of the second segment of the micro-vibration curve are... The time value is T, and the oscillation period is T. The expressions for the position, velocity, and acceleration of the second segment of the Z-direction micro-vibration curve are as follows: ,in, This represents the position value in the Z direction of the second segment of the micro-vibration curve. This represents the velocity value in the Z direction of the second micro-vibration curve. This represents the acceleration value in the Z direction of the second segment of the micro-vibration curve. The constant term coefficients in the Z direction of the second micro-vibration curve are... The coefficients of the first-order term in the Z-direction of the second micro-vibration curve are... The coefficients of the second micro-vibration curve in the Z direction are the second-order terms. The coefficients of the cubic term in the Z direction of the second segment of the micro-vibration curve are... The coefficients of the fourth term in the Z direction of the second segment of the micro-vibration curve are... The coefficients of the fifth term in the Z direction of the second segment of the micro-vibration curve are... Here, T represents the time value, and T represents the vibration period. This scheme ensures the continuity of acceleration during the micro-vibration process by performing precise mathematical modeling and control of the second segment of the micro-vibration curve in the X, Y, and Z directions. It also ensures that the part-picking fixture is stationary when it reaches the point of minimum vibration, effectively reducing the impact on the robotic arm, lowering the possibility of product damage, and improving the reliability and stability of part picking.

[0014] Furthermore, the third micro-vibration curve includes a third micro-vibration curve in the X direction, a third micro-vibration curve in the Y direction, and a third micro-vibration curve in the Z direction, wherein, The expressions for the position, velocity, and acceleration of the third segment of the micro-vibration curve in the X direction are: ,in, This represents the position value in the X direction of the third segment of the micro-vibration curve. The velocity value in the X direction of the third segment of the micro-vibration curve is... This represents the acceleration value in the X direction of the third segment of the micro-vibration curve. The constant term coefficients in the X direction of the third segment of the micro-vibration curve are... The coefficient of the first-order term in the X direction of the third segment of the micro-vibration curve is... The coefficients of the second term in the X direction of the third segment of the micro-vibration curve are... The coefficients of the third micro-vibration curve in the X direction are the cubic term coefficients. The coefficients of the fourth term in the X direction of the third segment of the micro-vibration curve are... The coefficients of the fifth term in the X direction of the third segment of the micro-vibration curve are... The time value is T, and the oscillation period is T. The expressions for the position, velocity, and acceleration of the third segment of the micro-vibration curve in the Y direction are as follows: ,in, This represents the position value in the Y direction of the third segment of the micro-vibration curve. The velocity value in the Y direction of the third micro-vibration curve is... This represents the acceleration value in the Y direction of the third segment of the micro-vibration curve. The constant term coefficients in the Y direction of the third segment of the micro-vibration curve are... The coefficients of the first-order term in the Y-direction of the third segment of the micro-vibration curve are... The coefficients of the second term in the Y direction of the third segment of the micro-vibration curve are... The coefficients of the third micro-vibration curve in the Y direction are the third-order term coefficients. The coefficients of the fourth term in the Y direction of the third segment of the micro-vibration curve are... The coefficients of the fifth term in the Y direction of the third segment of the micro-vibration curve are... The time value is T, and the oscillation period is T. The expressions for the position, velocity, and acceleration of the third segment of the Z-direction micro-vibration curve are as follows: ,in, This represents the position value in the Z direction of the third segment of the micro-vibration curve. The velocity value in the Z direction of the third micro-vibration curve is... This represents the acceleration value in the Z direction of the third segment of the micro-vibration curve. The constant term coefficients in the Z direction of the third segment of the micro-vibration curve are... The coefficients of the first-order term in the Z-direction of the third segment of the micro-vibration curve are... The coefficients of the second term in the Z direction of the third segment of the micro-vibration curve are... The coefficients of the cubic term in the Z direction of the third segment of the micro-vibration curve are... The coefficients of the fourth term in the Z direction of the third segment of the micro-vibration curve are... The coefficients of the fifth term in the Z direction of the third segment of the micro-vibration curve are... Here, T represents the time value, and T represents the vibration period. This scheme ensures the continuity of acceleration during the micro-vibration process by performing precise mathematical modeling and control of the third segment of the micro-vibration curve in the X, Y, and Z directions. It also ensures that the part-picking fixture is stationary when it reaches the initial vibration point, effectively reducing the impact on the robotic arm, lowering the possibility of product damage, and improving the reliability and stability of part picking. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0016] Figure 2 This is a schematic diagram showing the change of the micro-vibration curve over time in the X, Y, and Z directions; Figure 3 This is a schematic diagram showing the change of the micro-vibration curve in the X direction over time. Figure 4 This is a schematic diagram showing the change of the micro-vibration curve in the Y direction over time. Figure 5 This is a schematic diagram showing the change of the micro-vibration curve in the Z direction over time.

[0017] 1. Picking fixture; 2. Displacement control system; 20. Displacement controller; 21. X-direction displacement control mechanism; 22. Y-direction displacement control mechanism; 23. Z-direction displacement control mechanism; 3. Micro-vibration control system. Detailed Implementation

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0019] like Figure 1 As shown, a part-picking control system for an injection molding machine robotic arm includes a part-picking gripper 1 mounted on the robotic arm and a displacement control system 2 for controlling the displacement of the part-picking gripper 1 in the X, Y, and Z directions. The X, Y, and Z directions are mutually perpendicular; specifically, the X direction represents the left-right direction, the Y direction represents the front-back direction, and the Z direction represents the up-down direction. The displacement control system 2 includes a displacement controller 20 and X-direction displacement control mechanisms 21, Y-direction displacement control mechanisms 22, and Z-direction displacement control mechanisms 23 electrically connected to the displacement controller 20. It also includes a micro-vibration control system 3 for controlling the vibration of the part-picking gripper 1 in three-dimensional space. The micro-vibration control system 3 is electrically connected to the displacement controller 20 and... The device is equipped with micro-vibration parameters, including vibration parameters in the X, Y, and Z directions. The X-direction displacement control mechanism 21 reads the X-direction vibration parameters from the micro-vibration control system 3 through the displacement controller 20, and controls the lifting fixture 1 to vibrate in the X direction according to the X-direction vibration parameters. The Y-direction displacement control mechanism 22 reads the Y-direction vibration parameters from the micro-vibration control system 3 through the displacement controller 20, and controls the lifting fixture 1 to vibrate in the Y direction according to the Y-direction vibration parameters. The Z-direction displacement control mechanism 23 reads the Z-direction vibration parameters from the micro-vibration control system 3 through the displacement controller 20, and controls the lifting fixture 1 to vibrate in the Z direction according to the Z-direction vibration parameters.

[0020] The robotic arm is a three-way movement robot in the prior art. The three-way movement of the robotic arm is achieved through a displacement control system 2. Specifically, the robotic arm includes a main body and left and right axes, a traveling axis, a vertical axis, an X-axis guide rail, a Y-axis guide rail, a Z-axis guide rail, left and right drive motors, front and rear drive motors, and a vertical drive motor mounted on the main body. The Y-axis guide rail is fixedly mounted on the main body of the robotic arm, and the traveling axis is slidably mounted on the Y-axis guide rail. The front and rear drive motors are fixed to the main body of the robotic arm 1 and located at one end of the Y-axis guide rail, and are used to drive the traveling axis to move along the Y direction. The X-axis guide rail is fixedly mounted on the traveling axis, and the left and right axes are slidably mounted on the X-axis guide rail. The left and right drive motors are fixedly mounted on the X-axis guide rail. The left and right axes are fixed on the traveling axis and located at one end of the X-axis guide rail, and are used to drive the left and right axes to move in the X direction. The Z-axis guide rail is fixed on the left and right axes and the upper and lower axes are slidably set on the Z-axis guide rail. The upper and lower drive motors are fixed on the left and right axes and located at the top of the Z-axis guide rail, and are used to drive the upper and lower axes to move in the Z direction. The pick-up clamp 1 is fixed at the bottom of the upper and lower axes. Among them, the left and right axes, the X-axis guide rail and the left and right drive motors constitute the X-direction displacement control mechanism 21 of the displacement control system 2, the traveling axis, the Y-axis guide rail and the front and rear drive motors constitute the Y-direction displacement control mechanism 22 of the displacement control system 2, and the upper and lower axes, the Z-axis guide rail and the upper and lower drive motors constitute the Z-direction displacement control mechanism 23 of the displacement control system 2.

[0021] This embodiment effectively solves the problem of product sticking during the product removal process of injection molding machines by adding a micro-vibration control system 3 to the part removal fixture 1. This micro-vibration operation is performed before part removal. The micro-vibration control system 3 controls the multi-directional micro-vibration of the part removal fixture 1 to reduce the adhesion force between the product and the mold, and finally allows the product to detach from the mold, avoiding product damage and robot wear caused by direct hard pulling. This improves the product qualification rate and production efficiency. At the same time, by preset different micro-vibration parameters, the intensity of the micro-vibration operation can be adjusted according to different types of products to improve production stability. In addition, the micro-vibration control system 3 and the displacement control system 2 share a set of displacement actuators, which simplifies the system structure, reduces material costs and manufacturing process difficulty, and ultimately reduces production costs.

[0022] Furthermore, the micro-vibration parameters include three categories: vibration amplitude, vibration period, and vibration duration. The vibration amplitude is denoted as... , The values ​​in the X, Y, and Z directions are denoted as ,in, The vibration amplitude is a parameter in the X-direction vibration parameters. ≤0.5mm, The vibration amplitude is one of the vibration parameters in the Y direction. ≤0.5mm, The vibration amplitude is one of the vibration parameters in the Z-direction. The vibration amplitude is ≤0.5mm, the vibration period is denoted as T, 10ms≤T≤100ms, and the vibration duration is denoted as N, N≤300 times. This solution further optimizes the micro-vibration control system. By setting parameters for vibration amplitude, vibration period, and vibration duration, more precise micro-vibration control can be achieved. During use, the micro-vibration parameters can be adjusted according to the product characteristics, which can effectively reduce the adhesion between the product and the mold, while avoiding product damage due to excessive vibration and avoiding wear on the robot arm caused by excessively frequent vibration. =0.001mm, =0.1mm, =0.001mm, T=10ms, N=200 times. These micro-vibration parameters can achieve a good part-picking effect.

[0023] Furthermore, the initial position is denoted as , The values ​​in the X, Y, and Z directions are denoted as ,based on and The part-retrieving fixture 1 is deviated positively by the maximum offset. The position at which the vibration is at its maximum is defined as the position of maximum vibration, denoted as . , The values ​​in the X, Y, and Z directions are denoted as The part-removing fixture 1 is deviated in the opposite direction by the maximum offset. The position at which the vibration is at its minimum is defined as the position of minimum vibration, denoted as . , The values ​​in the X, Y, and Z directions are denoted as A micro-vibration curve model is constructed based on the position, velocity, and acceleration of the part-retrieving fixture 1 during vibration: , in, The position of the vibration curve, The range of values ​​is between and between, The velocity of the vibration curve, The acceleration of the micro-vibration curve is... The constant term coefficients of the micro-vibration curve are... The coefficients of the first-order term of the micro-vibration curve are... The coefficients of the quadratic term in the micro-vibration curve are... For the cubic term coefficients of the micro-vibration curve, The coefficients of the fourth term in the micro-vibration curve are... The coefficients of the fifth term in the micro-vibration curve are... This is the time value. This solution uses a micro-vibration curve model based on position, velocity, and acceleration to replace the traditional trapezoidal micro-vibration curve, effectively avoiding sudden acceleration changes during the micro-vibration process. This reduces the impact on the robot arm and lowers the risk of product damage. The model ensures a smooth transition in the micro-vibration process by precisely controlling the position, velocity, and acceleration of the part-picking fixture 1 in the X, Y, and Z directions, minimizing negative impacts on the product and the robot arm, and significantly improving the reliability of part picking.

[0024] Furthermore, based on the micro-vibration curve model, a three-segment micro-vibration curve within T is generated and defined as the first micro-vibration curve, the second micro-vibration curve, and the third micro-vibration curve, where: The initial position of the first segment of the micro-vibration curve is The end position of the first micro-vibration curve is The initial velocity value of the first micro-vibration curve is 0, the final velocity value of the first micro-vibration curve is 0, the initial acceleration value of the first micro-vibration curve is 0, and the final acceleration value of the first micro-vibration curve is 0. The initial position of the second micro-vibration curve is: The end position of the second micro-vibration curve is The initial velocity value of the second micro-vibration curve is 0, the final velocity value of the second micro-vibration curve is 0, the initial acceleration value of the second micro-vibration curve is 0, and the final acceleration value of the second micro-vibration curve is 0. The initial position of the third micro-vibration curve is The end position of the third micro-vibration curve is The initial velocity value of the third micro-vibration curve is 0, the final velocity value of the third micro-vibration curve is 0, the initial acceleration value of the third micro-vibration curve is 0, and the final acceleration value of the third micro-vibration curve is 0.

[0025] Furthermore, the first micro-vibration curve includes the first X-direction micro-vibration curve, the first Y-direction micro-vibration curve, and the first Z-direction micro-vibration curve. Based on the micro-vibration curve model and the set condition parameters, the expressions for the position, velocity, and acceleration of the first X-direction micro-vibration curve, the first Y-direction micro-vibration curve, and the first Z-direction micro-vibration curve are calculated respectively.

[0026] A1. Find the expressions for the position, velocity, and acceleration of the first segment of the micro-vibration curve in the X direction. The steps are as follows: Step A1-1: Set the conditional parameters in the X direction of the first micro-vibration curve: , in, The value of the initial position of the first micro-vibration curve in the X direction. This represents the value in the X direction indicating the end position of the first micro-vibration curve segment. This represents the position value in the X direction of the first segment of the micro-vibration curve. This represents the initial velocity in the X direction of the first segment of the micro-vibration curve. This represents the value of the velocity in the X direction at the end of the first micro-vibration curve. The velocity value in the X direction of the first segment of the micro-vibration curve is... This represents the initial acceleration in the X direction of the first segment of the micro-vibration curve. This represents the value of the acceleration in the X direction at the end of the first segment of the micro-vibration curve. This represents the acceleration value in the X direction of the first segment of the micro-vibration curve. The time value is T, and the oscillation period is T. Step A1-2: Input the X-direction condition parameters of the first micro-vibration curve into the micro-vibration curve model to obtain the coefficients of the first X-direction micro-vibration curve. , in, The constant term coefficients in the X direction of the first segment of the micro-vibration curve are... The coefficients of the first-order term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the quadratic term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the cubic term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the fourth term in the X direction of the first segment of the micro-vibration curve are... Here, is the coefficient of the fifth term in the X direction of the first micro-vibration curve, and T is the vibration period; Step A1-3: Combining the coefficients and model of the first segment of the micro-vibration curve in the X direction, we obtain the expressions for the position, velocity, and acceleration of the first segment of the micro-vibration curve in the X direction: , in, This represents the position value in the X direction of the first segment of the micro-vibration curve. The velocity value in the X direction of the first segment of the micro-vibration curve is... This represents the acceleration value in the X direction of the first segment of the micro-vibration curve. The constant term coefficients in the X direction of the first segment of the micro-vibration curve are... The coefficients of the first-order term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the quadratic term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the cubic term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the fourth term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the fifth term in the X direction of the first segment of the micro-vibration curve are... The time value is T, and the oscillation period is T. A2. Find the expressions for the position, velocity, and acceleration of the first segment of the micro-vibration curve in the Y direction. The steps are as follows: Step A2-1: Set the conditional parameters in the Y direction of the first micro-vibration curve: , in, This is the initial position value in the Y direction. The value of the ending position in the Y direction. This represents the position value of the first segment of the micro-vibration curve in the Y direction. This represents the initial velocity in the Y direction. The value of the final velocity in the Y direction. This represents the velocity value in the Y direction of the first segment of the micro-vibration curve. This represents the initial acceleration value in the Y direction. To determine the final value of acceleration in the Y direction, This represents the acceleration value in the Y direction of the first segment of the micro-vibration curve. The time value is T, and the oscillation period is T. Step A2-2: Input the X-direction condition parameters of the first micro-vibration curve into the micro-vibration curve model to obtain the coefficients of the first Y-direction micro-vibration curve.

[0027] in, The constant term coefficients in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the first-order term in the Y-direction of the first segment of the micro-vibration curve are... The coefficients of the second term in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the cubic term in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the fourth term in the Y direction of the first segment of the micro-vibration curve are... Here, represents the fifth-order coefficient in the Y-direction of the first micro-vibration curve, and T represents the vibration period. Step A2-3: Combining the coefficients and model of the first segment of the micro-vibration curve in the Y direction, we obtain the expressions for the position, velocity, and acceleration of the first segment of the micro-vibration curve in the Y direction: , in, This represents the position value in the Y direction of the first segment of the micro-vibration curve. The velocity value in the Y direction of the first segment of the micro-vibration curve is... This represents the acceleration value in the Y direction of the first segment of the micro-vibration curve. The constant term coefficients in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the first-order term in the Y-direction of the first segment of the micro-vibration curve are... The coefficients of the second term in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the cubic term in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the fourth term in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the fifth term in the Y direction of the first segment of the micro-vibration curve are... The value at time T is the oscillation period; A3. Find the expressions for the position, velocity, and acceleration of the first segment of the micro-vibration curve in the Z direction. The steps are as follows: Step A3-1: Set the conditional parameters in the Z direction of the first micro-vibration curve: , in, The initial position is the value in the Z direction. The value of the ending position in the Z direction. This represents the position value of the first segment of the micro-vibration curve in the Z direction. The initial velocity is the value in the Z direction. The value of the final velocity in the Z direction. This represents the velocity value in the Z direction of the first segment of the micro-vibration curve. This represents the initial acceleration value in the Z direction. To determine the final value of acceleration in the Z direction, This represents the acceleration value in the Z direction of the first segment of the micro-vibration curve. The value at time T is the oscillation period; Step A3-2: Input the Z-direction condition parameters of the first micro-vibration curve into the micro-vibration curve model to obtain the coefficients of the first Z-direction micro-vibration curve. , in, The constant term coefficients in the Z direction of the first micro-vibration curve are... The coefficients of the first-order term in the Z-direction of the first segment of the micro-vibration curve are... The coefficients of the second term in the Z-direction of the first micro-vibration curve are... The coefficients of the cubic term in the Z direction of the first segment of the micro-vibration curve are... The coefficients of the fourth term in the Z direction of the first segment of the micro-vibration curve are... Here, represents the 5th term coefficient in the Z direction of the first micro-vibration curve, and T is the vibration period. Step A3-3: Combining the coefficients and model of the first segment of the Z-direction micro-vibration curve, the expressions for the position, velocity, and acceleration of the first segment of the Z-direction micro-vibration curve are obtained: , in, This represents the position value in the Z-direction of the first segment of the micro-vibration curve. The velocity value in the Z direction of the first segment of the micro-vibration curve is... This represents the acceleration value in the Z direction of the first segment of the micro-vibration curve. The constant term coefficients in the Z direction of the first micro-vibration curve are... The coefficients of the first-order term in the Z-direction of the first segment of the micro-vibration curve are... The coefficients of the second term in the Z-direction of the first micro-vibration curve are... The coefficients of the cubic term in the Z direction of the first segment of the micro-vibration curve are... The coefficients of the fourth term in the Z direction of the first segment of the micro-vibration curve are... The coefficients of the fifth term in the Z direction of the first segment of the micro-vibration curve are... is the time value, and T is the oscillation period.

[0028] Furthermore, the second micro-vibration curve includes a second micro-vibration curve in the X direction, a second micro-vibration curve in the Y direction, and a second micro-vibration curve in the Z direction. Based on the micro-vibration curve model and the set condition parameters, the expressions for the position, velocity, and acceleration of the second micro-vibration curve in the X direction, the second micro-vibration curve in the Y direction, and the second micro-vibration curve in the Z direction are calculated respectively.

[0029] B1. Find the expressions for the position, velocity, and acceleration of the second segment of the micro-vibration curve in the X direction. The steps are as follows: Step B1-1, set the conditional parameters in the X direction of the second micro-vibration curve: , in, The value represents the location of maximum vibration in the X direction. The value in the X direction represents the location of minimum vibration. This represents the position value in the X direction of the second micro-vibration curve. This represents the initial velocity in the X direction of the second segment of the micro-vibration curve. This represents the value of the velocity in the X direction at the end of the second micro-vibration curve. This represents the velocity value in the X direction of the second segment of the micro-vibration curve. The value of the initial acceleration in the X direction for the second segment of the micro-vibration curve. This represents the value of the acceleration in the X direction at the end of the second micro-vibration curve. This represents the acceleration value in the X direction of the second segment of the micro-vibration curve. The value at time T is the oscillation period; Step B1-2: Input the X-direction condition parameters of the second micro-vibration curve into the micro-vibration curve model to obtain the coefficients of the second X-direction micro-vibration curve. , in, The constant term coefficients in the X direction of the second micro-vibration curve are... The coefficients of the first-order term in the X direction of the second segment of the micro-vibration curve are... The coefficients of the second micro-vibration curve in the X direction are the quadratic term coefficients. The coefficients of the cubic term in the X direction of the second segment of the micro-vibration curve are... The coefficients of the fourth term in the X direction of the second segment of the micro-vibration curve are... The coefficient of the fifth term in the X direction of the second micro-vibration curve is given by , and T is the vibration period. Step B1-3, combining the coefficients and model of the second segment of the X-direction micro-vibration curve, yields the expressions for the position, velocity, and acceleration of the second segment of the X-direction micro-vibration curve: , in, This represents the position value in the X direction of the second micro-vibration curve. This represents the velocity value in the X direction of the second segment of the micro-vibration curve. This represents the acceleration value in the X direction of the second segment of the micro-vibration curve. The constant term coefficients in the X direction of the second micro-vibration curve are... The coefficients of the first-order term in the X direction of the second segment of the micro-vibration curve are... The coefficients of the second micro-vibration curve in the X direction are the quadratic term coefficients. The coefficients of the cubic term in the X direction of the second segment of the micro-vibration curve are... The coefficients of the fourth term in the X direction of the second segment of the micro-vibration curve are... The coefficients of the fifth term in the X direction of the second segment of the micro-vibration curve are... The value at time T is the oscillation period; B2. Find the expressions for the position, velocity, and acceleration of the second segment of the micro-vibration curve in the Y direction. The steps are as follows: Step B2-1, set the conditional parameters in the Y direction of the second micro-vibration curve: , in, The value representing the initial position of the second micro-vibration curve in the Y direction. This represents the value in the Y direction indicating the end position of the second micro-vibration curve segment. This represents the position value of the second micro-vibration curve in the Y direction. This represents the initial velocity in the Y direction of the second segment of the micro-vibration curve. This represents the value of the velocity in the Y direction at the end of the second micro-vibration curve. This represents the velocity value in the Y direction of the second segment of the micro-vibration curve. The initial acceleration in the Y direction of the second micro-vibration curve is given. This represents the value of the acceleration in the Y direction at the end of the second micro-vibration curve. This represents the acceleration value in the Y direction of the second segment of the micro-vibration curve. The value at time T is the oscillation period; Step B2-2: Input the Y-direction condition parameters of the second micro-vibration curve into the micro-vibration curve model to obtain the coefficients of the second Y-direction micro-vibration curve. , in, The constant term coefficients in the Y direction of the second micro-vibration curve are... The coefficients of the first-order term in the Y-direction of the second micro-vibration curve are... The coefficients of the second micro-vibration curve in the Y direction are the second-order terms. The coefficients of the third term in the Y direction of the second segment of the micro-vibration curve are... The coefficients of the fourth term in the Y direction of the second segment of the micro-vibration curve are... The coefficient of the fifth term in the Y direction of the second micro-vibration curve is given by T, where T is the vibration period. Step B2-3, combining the coefficients and model of the second segment of the micro-vibration curve in the Y direction, yields the expressions for the position, velocity, and acceleration of the second segment of the micro-vibration curve in the Y direction: , in, This represents the position value in the Y direction of the second segment of the micro-vibration curve. This represents the velocity value in the Y direction of the second segment of the micro-vibration curve. This represents the acceleration value in the Y direction of the second segment of the micro-vibration curve. The constant term coefficients in the Y direction of the second micro-vibration curve are... The coefficients of the first-order term in the Y-direction of the second micro-vibration curve are... The coefficients of the second micro-vibration curve in the Y direction are the second-order terms. The coefficients of the third term in the Y direction of the second segment of the micro-vibration curve are... The coefficients of the fourth term in the Y direction of the second segment of the micro-vibration curve are... The coefficients of the fifth term in the Y direction of the second segment of the micro-vibration curve are... The value at time T is the oscillation period; Similarly, the expressions for the position, velocity, and acceleration of the second segment of the Z-direction micro-vibration curve are obtained as follows: , in, This represents the position value in the Z direction of the second segment of the micro-vibration curve. The velocity value in the Z direction of the second micro-vibration curve is... This represents the acceleration value in the Z direction of the second segment of the micro-vibration curve. The constant term coefficients in the Z direction of the second micro-vibration curve are... The coefficients of the first-order term in the Z-direction of the second micro-vibration curve are... The coefficients of the second micro-vibration curve in the Z direction are the second-order terms. The coefficients of the cubic term in the Z direction of the second segment of the micro-vibration curve are... The coefficients of the fourth term in the Z direction of the second segment of the micro-vibration curve are... The coefficients of the fifth term in the Z direction of the second segment of the micro-vibration curve are... is the time value, and T is the oscillation period.

[0030] Furthermore, the third micro-vibration curve includes the third micro-vibration curve in the X direction, the third micro-vibration curve in the Y direction, and the third micro-vibration curve in the Z direction. Based on the micro-vibration curve model and the set condition parameters, the expressions for the position, velocity, and acceleration of the third micro-vibration curve in the X direction, the third micro-vibration curve in the Y direction, and the third micro-vibration curve in the Z direction are calculated respectively.

[0031] C1. Find the expressions for the position, velocity, and acceleration of the third segment of the micro-vibration curve in the X direction. The steps are as follows: Step C1-1: Set the conditional parameters in the X direction of the third micro-vibration curve: , in, The value of the initial position of the third micro-vibration curve in the X direction. This represents the value in the X direction indicating the end position of the third micro-vibration curve segment. This represents the position value in the X direction of the third segment of the micro-vibration curve. This represents the initial velocity in the X direction of the third segment of the micro-vibration curve. This represents the value of the velocity in the X direction at the end of the third micro-vibration curve. The velocity value in the X direction of the third segment of the micro-vibration curve is... The value of the initial acceleration in the X direction of the third micro-vibration curve is given. This represents the value of the acceleration in the X direction at the end of the third micro-vibration curve. This represents the acceleration value in the X direction of the third segment of the micro-vibration curve. is the time value, and T is the oscillation period.

[0032] Step C1-2: Input the X-direction condition parameters of the third micro-vibration curve into the micro-vibration curve model to obtain the coefficients of the third X-direction micro-vibration curve. , in, The constant term coefficients in the X direction of the third segment of the micro-vibration curve are... The coefficient of the first-order term in the X direction of the third segment of the micro-vibration curve is... The coefficients of the second term in the X direction of the third segment of the micro-vibration curve are... The coefficients of the third micro-vibration curve in the X direction are the cubic term coefficients. The coefficients of the fourth term in the X direction of the third segment of the micro-vibration curve are... The coefficient of the fifth term in the X direction of the third micro-vibration curve is given by , and T is the vibration period. Step C1-3, combining the coefficients and model of the third segment of the micro-vibration curve in the X direction, yields the expressions for the position, velocity, and acceleration of the third segment of the micro-vibration curve in the X direction: , in, This represents the position value in the X direction of the third segment of the micro-vibration curve. The velocity value in the X direction of the third segment of the micro-vibration curve is... This represents the acceleration value in the X direction of the third segment of the micro-vibration curve. The constant term coefficients in the X direction of the third segment of the micro-vibration curve are... The coefficient of the first-order term in the X direction of the third segment of the micro-vibration curve is... The coefficients of the second term in the X direction of the third segment of the micro-vibration curve are... The coefficients of the third micro-vibration curve in the X direction are the cubic term coefficients. The coefficients of the fourth term in the X direction of the third segment of the micro-vibration curve are... The coefficients of the fifth term in the X direction of the third segment of the micro-vibration curve are... The value at time T is the oscillation period; Similarly, the expressions for the position, velocity, and acceleration of the third segment of the micro-vibration curve in the Y direction are obtained as follows: , in, This represents the position value in the Y direction of the third segment of the micro-vibration curve. The velocity value in the Y direction of the third segment of the micro-vibration curve is... This represents the acceleration value in the Y direction of the third segment of the micro-vibration curve. The constant term coefficients in the Y direction of the third segment of the micro-vibration curve are... The coefficients of the first-order term in the Y-direction of the third segment of the micro-vibration curve are... The coefficients of the second term in the Y direction of the third segment of the micro-vibration curve are... The coefficients of the third micro-vibration curve in the Y direction are the third-order term coefficients. The coefficients of the fourth term in the Y direction of the third segment of the micro-vibration curve are... The coefficients of the fifth term in the Y direction of the third segment of the micro-vibration curve are... The value at time T is the oscillation period; Similarly, the expressions for the position, velocity, and acceleration of the third segment of the Z-direction micro-vibration curve are obtained as follows: , in, This represents the position value in the Z direction of the third segment of the micro-vibration curve. The velocity value in the Z direction of the third micro-vibration curve is... This represents the acceleration value in the Z direction of the third segment of the micro-vibration curve. The constant term coefficients in the Z direction of the third segment of the micro-vibration curve are... The coefficients of the first-order term in the Z-direction of the third segment of the micro-vibration curve are... The coefficients of the second term in the Z direction of the third segment of the micro-vibration curve are... The coefficients of the cubic term in the Z direction of the third segment of the micro-vibration curve are... The coefficients of the fourth term in the Z direction of the third segment of the micro-vibration curve are... The coefficients of the fifth term in the Z direction of the third segment of the micro-vibration curve are... is the time value, and T is the oscillation period.

[0033] In this embodiment, the working principle of the injection molding machine robot part-picking control system for controlling the vibration of the part-picking fixture 1 in the X, Y, and Z directions is as follows: The working principle of the part-retrieving fixture 1 vibrating in the X direction: The X-direction displacement control mechanism 21 reads the X-direction vibration parameters from the micro-vibration control system 3 through the displacement controller 20. The micro-vibration control system 3 generates the X-direction micro-vibration curve based on the micro-vibration curve model and transmits it to the X-direction displacement control mechanism 21 through the displacement controller 20. The X-direction displacement control mechanism 21 controls the part-retrieving fixture 1 to vibrate in the X direction according to the X-direction micro-vibration curve.

[0034] The working principle of the part-picking fixture 1 vibrating in the Y direction: The Y-direction displacement control mechanism 22 reads the Y-direction vibration parameters from the micro-vibration control system 3 through the displacement controller 20. The micro-vibration control system 3 generates a Y-direction micro-vibration curve based on the micro-vibration curve model and transmits it to the Y-direction displacement control mechanism 22 through the displacement controller 20. The Y-direction displacement control mechanism 22 controls the part-picking fixture 1 to vibrate in the Y direction according to the Y-direction micro-vibration curve.

[0035] The working principle of the part-retrieving fixture 1 vibrating in the Z direction: The Z-direction displacement control mechanism 23 reads the Z-direction vibration parameters from the micro-vibration control system 3 through the displacement controller 20. The micro-vibration control system 3 generates a Z-direction micro-vibration curve based on the micro-vibration curve model and transmits it to the Z-direction displacement control mechanism 23 through the displacement controller 20. The Z-direction displacement control mechanism 23 controls the part-retrieving fixture 1 to vibrate in the Z direction according to the Z-direction micro-vibration curve.

[0036] like Figure 2 As shown, X represents the X direction, Y represents the Y direction, and Z represents the Z direction. This represents the initial position of the micro-vibration curve. This represents the location of maximum vibration on the micro-vibration curve. To determine the minimum vibration position of the micro-vibration curve, this invention divides the micro-vibration process into three continuous micro-vibration curves. Each curve ensures that the position, velocity, and acceleration are zero at the beginning and end, effectively avoiding sudden acceleration changes during the micro-vibration process. This reduces the impact on the robotic arm and lowers the risk of product damage. At the same time, all three curves return to their initial positions at the end, ensuring that the robotic arm is stationary after completing the micro-vibration operation. This avoids interference caused by the movement of the robotic arm and further improves the reliability and stability of part retrieval.

[0037] like Figure 3 As shown, where, The value at time T is the oscillation period. Let be the initial position of the micro-vibration curve in the X direction. This represents the value of the maximum vibration location of the micro-vibration curve in the X direction. Let be the value of the minimum vibration location of the micro-vibration curve in the X direction, derived from... Figure 3 As can be seen, the micro-vibration curve in the X direction includes a first segment, a second segment, and a third segment. The first segment extends from the initial position to the maximum vibration position in the X direction, occupying 1 / 4 of the vibration cycle. The second segment extends from the maximum vibration position to the minimum vibration position in the X direction, occupying 1 / 2 of the vibration cycle. The third segment extends from the minimum vibration position to the initial position in the X direction, occupying 1 / 4 of the vibration cycle. These three segments of micro-vibration curves in the X direction ensure that the velocity and acceleration of the part-picking fixture 1 are zero at the initial, maximum, and minimum vibration positions in the X direction. This ensures the continuity of acceleration in the X direction during the micro-vibration process, effectively reduces the impact on the robot arm in the X direction, lowers the possibility of product damage, and improves the reliability and stability of part picking.

[0038] like Figure 4 As shown, where, The value at time T is the oscillation period. The initial position of the micro-vibration curve in the Y direction is given by [value]. The value represents the location of maximum vibration in the Y direction of the micro-vibration curve. Let be the value of the minimum vibration location of the micro-vibration curve in the Y direction, derived from... Figure 3As can be seen, the micro-vibration curve in the Y direction includes a first segment, a second segment, and a third segment. The first segment extends from the initial position to the maximum vibration position in the Y direction, occupying 1 / 4 of the vibration cycle. The second segment extends from the maximum vibration position to the minimum vibration position in the Y direction, occupying 1 / 2 of the vibration cycle. The third segment extends from the minimum vibration position to the initial position in the Y direction, occupying 1 / 4 of the vibration cycle. These three segments of micro-vibration curves in the Y direction ensure that the velocity and acceleration of the part-picking fixture 1 at the initial, maximum, and minimum vibration positions in the Y direction are all zero. This ensures the continuity of acceleration in the Y direction during the micro-vibration process, effectively reduces the impact on the robot arm in the Y direction, lowers the possibility of product damage, and improves the reliability and stability of part picking.

[0039] like Figure 5 As shown, where, The value at time T is the oscillation period. The initial position of the micro-vibration curve in the Z direction is given by [value]. The value represents the location of maximum vibration in the Z direction of the micro-vibration curve. Let be the value of the minimum vibration location of the micro-vibration curve in the Z direction, derived from... Figure 4 As can be seen, the micro-vibration curve in the Z direction includes a first segment, a second segment, and a third segment. The first segment extends from the initial position to the maximum vibration position in the Z direction, occupying 1 / 4 of the vibration cycle. The second segment extends from the maximum vibration position to the minimum vibration position in the Z direction, occupying 1 / 2 of the vibration cycle. The third segment extends from the minimum vibration position to the initial position in the Z direction, occupying 1 / 4 of the vibration cycle. These three segments of micro-vibration curves in the Z direction ensure that the velocity and acceleration of the part-picking fixture 1 at the initial, maximum, and minimum vibration positions in the Z direction are all zero. This ensures the continuity of acceleration in the Z direction during the micro-vibration process, effectively reduces the impact on the robot arm in the Z direction, lowers the possibility of product damage, and improves the reliability and stability of part picking.

[0040] While the disclosure is as stated above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A part-picking control system for an injection molding machine robotic arm, comprising a part-picking gripper (1) mounted on the robotic arm and a displacement control system (2) for controlling the part-picking gripper (1) to generate displacement in the X, Y, and Z directions, wherein the X, Y, and Z directions are mutually perpendicular, and the displacement control system (2) comprises a displacement controller (20) and an X-direction displacement control mechanism (21), a Y-direction displacement control mechanism (22), and a Z-direction displacement control mechanism (23) electrically connected to the displacement controller (20), characterized in that: It also includes a micro-vibration control system (3) for controlling the vibration of the pick-up clamp (1) in three-dimensional space. The micro-vibration control system (3) is electrically connected to the displacement controller (20) and has micro-vibration parameters inside. The micro-vibration parameters include X-direction vibration parameters, Y-direction vibration parameters and Z-direction vibration parameters. The X-direction displacement control mechanism (21) reads the X-direction vibration parameters from the micro-vibration control system (3) through the displacement controller (20) and controls the pick-up clamp (1) to vibrate in the X direction according to the X-direction vibration parameters. The Y-direction displacement control mechanism (22) reads the Y-direction vibration parameters from the micro-vibration control system (3) through the displacement controller (20) and controls the pick-up clamp (1) to vibrate in the Y direction according to the Y-direction vibration parameters. The Z-direction displacement control mechanism (23) reads the Z-direction vibration parameters from the micro-vibration control system (3) through the displacement controller (20) and controls the pick-up clamp (1) to vibrate in the Z direction according to the Z-direction vibration parameters.

2. The injection molding machine robotic arm part handling control system according to claim 1, characterized in that: The micro-vibration parameters include three categories: vibration amplitude, vibration period, and vibration duration. The vibration amplitude is denoted as... , The values ​​in the X, Y, and Z directions are denoted as ,in, The vibration amplitude is one of the vibration parameters in the X direction. ≤0.5mm, The vibration amplitude is one of the vibration parameters in the Y direction. ≤0.5mm The vibration amplitude is one of the vibration parameters in the Z direction. For a value ≤0.5mm, the vibration period is denoted as T, where 10ms≤T≤100ms. The vibration duration is denoted as N, where N≤300 cycles.

3. The injection molding machine robotic arm part handling control system according to claim 2, characterized in that: The initial position is defined as the stationary position after the part-retrieving fixture retrieves the part, denoted as . , The values ​​in the X, Y, and Z directions are denoted as ,based on and The part-retrieving fixture is deviated positively by the maximum offset. The position at which the vibration is at its maximum is defined as the position of maximum vibration, denoted as . , The values ​​in the X, Y, and Z directions are denoted as The part-retrieving fixture is deviated in the opposite direction by the maximum offset. The position at which the vibration is at its minimum is defined as the position of minimum vibration, denoted as . , The values ​​in the X, Y, and Z directions are denoted as A micro-vibration curve model is constructed based on the position, velocity, and acceleration of the part-retrieving fixture during vibration. ,in, The position of the vibration curve, The range of values ​​is between and between, The velocity of the vibration curve, The acceleration of the micro-vibration curve is... The constant term coefficients of the micro-vibration curve are... The coefficients of the first-order term of the micro-vibration curve are... The coefficients of the quadratic term in the micro-vibration curve are... For the cubic term coefficients of the micro-vibration curve, The coefficients of the fourth term in the micro-vibration curve are... The coefficients of the fifth term in the micro-vibration curve are... This is the time value.

4. The injection molding machine robotic arm part handling control system according to claim 3, characterized in that: Based on the micro-vibration curve model, a three-segment micro-vibration curve within a time interval T is generated and defined as the first micro-vibration curve, the second micro-vibration curve, and the third micro-vibration curve, wherein: The initial position of the first segment of the micro-vibration curve is The end position of the first micro-vibration curve is The initial velocity value of the first micro-vibration curve is 0, the final velocity value of the first micro-vibration curve is 0, the initial acceleration value of the first micro-vibration curve is 0, and the final acceleration value of the first micro-vibration curve is 0. The initial position of the second micro-vibration curve is: The end position of the second micro-vibration curve is The initial velocity value of the second micro-vibration curve is 0, the final velocity value of the second micro-vibration curve is 0, the initial acceleration value of the second micro-vibration curve is 0, and the final acceleration value of the second micro-vibration curve is 0. The initial position of the third micro-vibration curve is The end position of the third micro-vibration curve is The initial velocity value of the third micro-vibration curve is 0, the final velocity value of the third micro-vibration curve is 0, the initial acceleration value of the third micro-vibration curve is 0, and the final acceleration value of the third micro-vibration curve is 0.

5. The injection molding machine robotic arm part handling control system according to claim 4, characterized in that, The first micro-vibration curve segment includes a first micro-vibration curve segment in the X direction, a first micro-vibration curve segment in the Y direction, and a first micro-vibration curve segment in the Z direction. The expressions for the position, velocity, and acceleration of the first micro-vibration curve segment in the X direction are as follows: ,in, This represents the position value in the X direction of the first segment of the micro-vibration curve. The velocity value in the X direction of the first segment of the micro-vibration curve is... This represents the acceleration value in the X direction of the first segment of the micro-vibration curve. The constant term coefficients in the X direction of the first segment of the micro-vibration curve are... The coefficients of the first-order term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the quadratic term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the cubic term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the fourth term in the X direction of the first segment of the micro-vibration curve are... The coefficients of the fifth term in the X direction of the first segment of the micro-vibration curve are... The value at time T is the oscillation period; The expressions for the position, velocity, and acceleration of the first segment of the micro-vibration curve in the Y direction are: ,in, This represents the position value in the Y direction of the first segment of the micro-vibration curve. The velocity value in the Y direction of the first segment of the micro-vibration curve is... This represents the acceleration value in the Y direction of the first segment of the micro-vibration curve. The constant term coefficients in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the first-order term in the Y-direction of the first segment of the micro-vibration curve are... The coefficients of the second term in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the cubic term in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the fourth term in the Y direction of the first segment of the micro-vibration curve are... The coefficients of the fifth term in the Y direction of the first segment of the micro-vibration curve are... The value at time T is the oscillation period; The expressions for the position, velocity, and acceleration of the first segment of the Z-direction micro-vibration curve are: ,in, This represents the position value in the Z-direction of the first segment of the micro-vibration curve. The velocity value in the Z direction of the first segment of the micro-vibration curve is... This represents the acceleration value in the Z direction of the first segment of the micro-vibration curve. The constant term coefficients in the Z direction of the first micro-vibration curve are... The coefficients of the first-order term in the Z-direction of the first segment of the micro-vibration curve are... The coefficients of the second term in the Z-direction of the first micro-vibration curve are... The coefficients of the cubic term in the Z direction of the first segment of the micro-vibration curve are... The coefficients of the fourth term in the Z direction of the first segment of the micro-vibration curve are... The coefficients of the fifth term in the Z direction of the first segment of the micro-vibration curve are... is the time value, and T is the oscillation period.

6. The injection molding machine robotic arm part handling control system according to claim 4, characterized in that, The second micro-vibration curve includes a second micro-vibration curve in the X direction, a second micro-vibration curve in the Y direction, and a second micro-vibration curve in the Z direction. The expressions for the position, velocity, and acceleration of the second micro-vibration curve in the X direction are as follows: ,in, This represents the position value in the X direction of the second micro-vibration curve. This represents the velocity value in the X direction of the second segment of the micro-vibration curve. This represents the acceleration value in the X direction of the second segment of the micro-vibration curve. The constant term coefficients in the X direction of the second micro-vibration curve are... The coefficients of the first-order term in the X direction of the second segment of the micro-vibration curve are... The coefficients of the second micro-vibration curve in the X direction are the quadratic term coefficients. The coefficients of the cubic term in the X direction of the second segment of the micro-vibration curve are... The coefficients of the fourth term in the X direction of the second segment of the micro-vibration curve are... The coefficients of the fifth term in the X direction of the second segment of the micro-vibration curve are... The value at time T is the oscillation period; The expressions for the position, velocity, and acceleration of the second segment of the micro-vibration curve in the Y direction are: ,in, This represents the position value in the Y direction of the second segment of the micro-vibration curve. This represents the velocity value in the Y direction of the second segment of the micro-vibration curve. This represents the acceleration value in the Y direction of the second segment of the micro-vibration curve. The constant term coefficients in the Y direction of the second micro-vibration curve are... The coefficients of the first-order term in the Y-direction of the second micro-vibration curve are... The coefficients of the second micro-vibration curve in the Y direction are the second-order terms. The coefficients of the third term in the Y direction of the second segment of the micro-vibration curve are... The coefficients of the fourth term in the Y direction of the second segment of the micro-vibration curve are... The coefficients of the fifth term in the Y direction of the second segment of the micro-vibration curve are... The value at time T is the oscillation period; The expressions for the position, velocity, and acceleration of the second segment of the Z-direction micro-vibration curve are as follows: ,in, This represents the position value in the Z direction of the second segment of the micro-vibration curve. This represents the velocity value in the Z direction of the second micro-vibration curve. This represents the acceleration value in the Z direction of the second segment of the micro-vibration curve. The constant term coefficients in the Z direction of the second micro-vibration curve are... The coefficients of the first-order term in the Z-direction of the second micro-vibration curve are... The coefficients of the second micro-vibration curve in the Z direction are the second-order terms. The coefficients of the cubic term in the Z direction of the second segment of the micro-vibration curve are... The coefficients of the fourth term in the Z direction of the second segment of the micro-vibration curve are... The coefficients of the fifth term in the Z direction of the second segment of the micro-vibration curve are... is the time value, and T is the oscillation period.

7. The injection molding machine robotic arm part handling control system according to claim 4, characterized in that, The third micro-vibration curve includes a third micro-vibration curve in the X direction, a third micro-vibration curve in the Y direction, and a third micro-vibration curve in the Z direction. The expressions for the position, velocity, and acceleration of the third micro-vibration curve in the X direction are as follows: ,in, This represents the position value in the X direction of the third segment of the micro-vibration curve. The velocity value in the X direction of the third segment of the micro-vibration curve is... This represents the acceleration value in the X direction of the third segment of the micro-vibration curve. The constant term coefficients in the X direction of the third segment of the micro-vibration curve are... The coefficient of the first-order term in the X direction of the third segment of the micro-vibration curve is... The coefficients of the second term in the X direction of the third segment of the micro-vibration curve are... The coefficients of the third micro-vibration curve in the X direction are the cubic term coefficients. The coefficients of the fourth term in the X direction of the third segment of the micro-vibration curve are... The coefficients of the fifth term in the X direction of the third segment of the micro-vibration curve are... The value at time T is the oscillation period; The expressions for the position, velocity, and acceleration of the third segment of the micro-vibration curve in the Y direction are as follows: ,in, This represents the position value in the Y direction of the third segment of the micro-vibration curve. The velocity value in the Y direction of the third segment of the micro-vibration curve is... This represents the acceleration value in the Y direction of the third segment of the micro-vibration curve. The constant term coefficients in the Y direction of the third segment of the micro-vibration curve are... The coefficients of the first-order term in the Y-direction of the third segment of the micro-vibration curve are... The coefficients of the second term in the Y direction of the third segment of the micro-vibration curve are... The coefficients of the third micro-vibration curve in the Y direction are the third-order term coefficients. The coefficients of the fourth term in the Y direction of the third segment of the micro-vibration curve are... The coefficients of the fifth term in the Y direction of the third segment of the micro-vibration curve are... The value at time T is the oscillation period; The expressions for the position, velocity, and acceleration of the third segment of the Z-direction micro-vibration curve are as follows: ,in, This represents the position value in the Z direction of the third segment of the micro-vibration curve. The velocity value in the Z direction of the third micro-vibration curve is... This represents the acceleration value in the Z direction of the third segment of the micro-vibration curve. The constant term coefficients in the Z direction of the third segment of the micro-vibration curve are... The coefficients of the first-order term in the Z-direction of the third segment of the micro-vibration curve are... The coefficients of the second term in the Z direction of the third segment of the micro-vibration curve are... The coefficients of the cubic term in the Z direction of the third segment of the micro-vibration curve are... The coefficients of the fourth term in the Z direction of the third segment of the micro-vibration curve are... The coefficients of the fifth term in the Z direction of the third segment of the micro-vibration curve are... is the time value, and T is the oscillation period.

Images