Dual-mode energy-saving control system and method for manipulator of injection molding machine

Abstract

The invention relates to an injection molding machine mechanical arm dual-mode energy-saving control system and method, and relates to the technical field of mechanical arm control, the injection molding machine mechanical arm dual-mode energy-saving control system comprises a dual-mode parameter switching module, mode switching is triggered through an injection molding machine mold opening signal, and the control system automatically selects a parameter set corresponding to an object taking mode and an object placing mode; the storage action self-adjusting module integrates cycle monitoring, dynamic speed planning and parameter optimization strategies and dynamically optimizes motion parameters of storage actions to save energy and reduce consumption; the energy-saving control module is used for setting power limitation and idle state management; and the safety protection module is used for setting a dual-mode parameter verification threshold value and monitoring the temperature and the current of the servo motor. By introducing a dual-mode parameter switching mechanism, independent control parameter sets are set for the object taking mode and the object placing mode respectively, and it is ensured that more appropriate speed, acceleration, deceleration and servo gain are used in the out-of-mode object placing process, so that energy consumption is remarkably reduced, and long-term high-load operation of a servo motor is reduced.

Description

Technical Field

[0001] This application relates to the field of robotic arm control technology, and in particular to a dual-mode energy-saving control system and method for injection molding machine robotic arms. Background Technology

[0002] With the rapid development of injection molding technology, injection molding machine robots are playing an increasingly important role in automated production. Robots typically perform two types of operations after the injection molding machine opens the mold: in-mold picking and out-of-mold placement. These operations place different demands on the robot's motion performance, speed, acceleration / deceleration, and servo gain. Traditional injection molding machine robots usually use a single set of control parameters to drive them to complete these two operations. For robots with high loads and high motor power (e.g., 5kW or more), the energy generated by a single braking action is significant. Because the control parameters for picking and placing modes are not differentiated, the robot operates at excessively high speeds and acceleration / deceleration when performing out-of-mold placement, wasting a large amount of energy. Prolonged high-load operation leads to excessive wear on the servo motor and transmission components, shortening the equipment's lifespan. Furthermore, the uniform control parameters cannot adapt to the needs of different production cycles. Therefore, the control system of injection molding machine robots urgently needs to solve the problem of adaptive adjustment of parameters under different modes in order to reduce energy consumption, reduce equipment wear and tear, and improve production efficiency. Summary of the Invention

[0003] The purpose of this application is to provide a dual-mode energy-saving control system and method for injection molding machine robotic arms.

[0004] Firstly, this application provides a dual-mode energy-saving control system for an injection molding machine robot, which adopts the following technical solution: A dual-mode energy-saving control system for injection molding machine robotic arms includes: The dual-mode parameter switching module is triggered by the injection molding machine's mold opening signal to switch modes, and the control system automatically selects the parameter sets corresponding to the picking mode and the placing mode. The self-adjustment module for object placement is used to integrate cycle monitoring, dynamic speed planning and parameter optimization strategies to dynamically optimize the motion parameters of object placement to save energy and reduce consumption. The energy-saving control module sets power limits and idle state management to control energy consumption. The safety protection module sets dual-mode parameter verification thresholds and monitors the temperature and current of the servo motor.

[0005] Preferably, the dual-mode parameter switching module specifically includes: Mold opening signal monitoring unit: Real-time monitoring of the mold opening signal of the injection molding machine to obtain the mold opening status of the injection molding machine; Mode switching trigger unit: Based on the change of the mold opening signal, the system automatically triggers the mode switching operation. When the mold opening signal is detected, the system switches to one of the placement mode and the retrieval mode. Pick-up mode parameter call unit: When entering the pick-up mode, the system calls the preset high speed, high acceleration / deceleration and high servo gain parameter set to match the mold opening rhythm of the injection molding machine; Object placement mode parameter call unit: When entering object placement mode, the system selects the corresponding parameter set, including dynamically optimized speed, acceleration and deceleration control and servo gain parameters, to optimize object placement action, reduce energy consumption and reduce mechanical impact; Mode switching verification unit: After switching, the parameters are verified to ensure that the new parameter set matches the current working condition. If the parameters do not match, the system triggers an alarm mechanism. Parameter set loading and scheduling unit: After confirming the validity of the parameters after mode switching, it automatically loads and schedules the corresponding control parameters.

[0006] Preferably, the self-adjusting module for the placement action specifically includes: Periodic monitoring and motion evaluation unit: periodically collects and evaluates the motion cycle of the robotic arm, and monitors the time, speed, acceleration and energy consumption data of the object placement motion; Dynamic speed planning unit: Based on the target position and time requirements of the object placement action, the speed curve of each stage is dynamically planned, and kinematic equations are used to describe the relationship between the speed and position of the robot arm; Motion parameter optimization unit: By dynamically adjusting speed, acceleration and other motion parameters to minimize energy consumption and ensure motion accuracy, the unit uses an optimization algorithm to fine-tune the parameters. Feedback Adjustment and Real-time Optimization Unit: This unit monitors the feedback data of the robotic arm's movement in real time, adjusts motion parameters through a feedback control mechanism, and dynamically adjusts parameters to optimize energy consumption when energy consumption exceeds a preset threshold. An adjustment factor is set, and the formula for calculating the adjusted parameters is as follows: v(t) a =v(t)·K a a(t) a =a(t)·K a In the formula, v(t) is the velocity of the manipulator at time t, a(t) represents the acceleration at time t, and K... a To adjust the coefficients, v(t) a To adjust the coefficient K a The new velocity obtained afterwards, a(t) a To adjust the coefficient K a The new acceleration obtained afterward.

[0007] Preferably, the step of dynamically adjusting speed, acceleration, and other motion parameters to minimize energy consumption and ensure motion accuracy, and using an optimization algorithm to fine-tune the parameters, specifically includes: The optimization algorithm formula is as follows: In the formula, v(t) is the speed of the manipulator at time t, a(t) is the acceleration at time t, E0 is the energy reduction achieved by optimizing the speed and acceleration strategy, and T a Let P(t) be the total time from the start to the end of the action, and let P(t) be the power consumed by the robot arm during the action. The process of minimizing energy consumption E0 is referred to as dt, where dt is the derivative of the integral variable.

[0008] Preferably, the energy-saving control module specifically includes: Power limiting unit: Sets the maximum power output limit to ensure that the operation of the robot does not exceed the set power limit, and monitors and adjusts the power of the motor and drive system in real time; Idle state management unit: When the robot is in an idle or waiting state, energy loss is reduced by lowering the power consumption of the motor system, and power consumption during idle is adjusted through intelligent control by putting the servo motor into energy-saving mode.

[0009] Preferably, the security protection module specifically includes: Dual-mode parameter verification unit: When the system switches modes, it verifies the parameters required for the mode switch to ensure that the parameter values ​​are within the preset safety range. When the injection molding machine's mold opening signal triggers the mode switch, the control system checks the parameters of the current mode. Servo motor temperature monitoring unit: Based on the temperature sensor, it monitors the working temperature of the servo motor in real time. Through data acquisition and sensor feedback, it ensures that the motor temperature does not exceed the set safety range. When the motor temperature is detected to exceed the set threshold, the system takes protective measures to prevent damage. Servo current monitoring unit: Based on a current sensor, it monitors the current value of the servo motor, sets the maximum safe value of the motor current, and when the current exceeds this threshold, the control system activates the safety mechanism and takes measures, including reducing the load, adjusting the speed, and stopping the motor. System alarm and emergency handling unit: When the dual-mode parameters, temperature and current exceed the predetermined safety range, the system will automatically issue an alarm signal to remind the operator to check and handle the situation, trigger the emergency stop function, and shut down the operation of the robot arm.

[0010] Secondly, the dual-mode energy-saving control method for injection molding machine robotic arms provided in this application adopts the following technical solution: A dual-mode energy-saving control method for an injection molding machine robot includes the following steps: Step 1: Trigger mode switching via the injection molding machine's mold opening signal, and select the control parameters corresponding to the picking mode and placing mode; Step 2: Based on the mold opening cycle time interval obtained by the cycle monitoring module, dynamically plan the speed curve of the placement action to ensure that the placement action is completed before the mold opens; Step 3: Adjust the robot's motion parameters according to the dynamic optimization algorithm, including segmented speed control, S-shaped acceleration and deceleration curves, and smooth acceleration and deceleration, to reduce mechanical shock and energy loss; Step 4: In the energy-saving control module, set the power limit and control the robot to enter the energy-saving mode under idle state management; Step 5: In the safety protection mechanism, set up parameter verification and monitor the status of the servo motor to ensure the safe operation of the equipment.

[0011] Preferably, the step of dynamically planning the speed curve of the placement action based on the mold opening cycle time interval obtained by the cycle monitoring module to ensure that the placement action is completed before mold opening specifically includes: After the periodic monitoring module obtains the periodic time interval of the mold opening signal, the control system adjusts the start time of the placement action according to the period. Based on the target location and time requirements, plan the speed curves for each stage of the placement action so that the robot can complete the placement task before the mold opening signal is triggered; At each stage, a kinematic model is used to calculate velocity and acceleration, and the velocity curve is dynamically adjusted to adapt to different mold opening cycles.

[0012] Preferably, the step of adjusting the robot's motion parameters according to the dynamic optimization algorithm, including segmented speed control, S-shaped acceleration / deceleration curves, and smooth acceleration / deceleration, to reduce mechanical shock and energy loss specifically includes: The dynamic optimization algorithm is used to calculate the optimal motion parameters based on the time requirements of the object placement action and the target position. The speed segment control method is adopted to divide the overall motion into multiple stages, and the speed and acceleration of each stage are set according to the specific situation. S-shaped acceleration and deceleration curves are used to smooth transition speed and acceleration changes, reducing the impact force on the robotic arm; Parameters are dynamically adjusted and optimized to ensure minimal energy consumption and improve the accuracy of the robotic arm's movements.

[0013] Preferably, in the energy-saving control module, setting a power limit and controlling the robot to enter a low-power state under idle state management specifically includes: In the energy-saving control module, a maximum power output limit is set to ensure that the operating power of the robot does not exceed the preset power limit. When the robot is idle, the intelligent control system automatically detects the idle state and reduces the motor power, putting the servo motor into energy-saving mode to further reduce energy consumption. In the waiting state, energy saving is achieved by reducing current consumption. The system is monitored in real time and the idle state management strategy is dynamically adjusted.

[0014] In summary, this application includes at least one of the following beneficial technical effects: 1. By introducing a dual-mode parameter switching mechanism, independent control parameter sets are set for the picking mode and the placing mode respectively, ensuring that more appropriate speed, acceleration and deceleration and servo gain are used during the off-mold placement process, thereby significantly reducing energy consumption and reducing the long-term high-load operation of the servo motor; 2. Dynamically optimize the parameters of the loading action. By applying the S-shaped acceleration and deceleration curve, mechanical impact is reduced, wear of transmission components is effectively reduced, and the service life of the equipment is extended. 3. This invention can dynamically adjust the motion parameters of the robot arm, enabling it to complete the placement action in a timely manner according to the mold opening cycle of the injection molding machine, avoiding production stoppages or instability caused by delayed actions, and improving the stability and efficiency of the production line. Attached Figure Description

[0015] Figure 1 This is a system framework diagram of this application; Figure 2 This is a flowchart outlining the steps of this application. Detailed Implementation

[0016] The following is combined with Figure 1 -Appendix Figure 2 This application will be described in further detail below.

[0017] Example 1: A dual-mode energy-saving control system for an injection molding machine robot, referring to... Figure 1 ,include: The dual-mode parameter switching module is triggered by the injection molding machine's mold opening signal to switch modes, and the control system automatically selects the parameter sets corresponding to the picking mode and the placing mode. The self-adjustment module for object placement is used to integrate cycle monitoring, dynamic speed planning and parameter optimization strategies to dynamically optimize the motion parameters of object placement to save energy and reduce consumption. The energy-saving control module sets power limits and idle state management to control energy consumption. The safety protection module sets dual-mode parameter verification thresholds and monitors the temperature and current of the servo motor.

[0018] The dual-mode parameter switching module specifically includes: Mold opening signal monitoring unit: Real-time monitoring of the mold opening signal of the injection molding machine to obtain the mold opening status of the injection molding machine; Mode switching trigger unit: Based on the change of the mold opening signal, the system automatically triggers the mode switching operation. When the mold opening signal is detected, the system switches to one of the placement mode and the retrieval mode. Pick-up mode parameter call unit: When entering the pick-up mode, the system calls the preset high speed, high acceleration / deceleration and high servo gain parameter set to match the mold opening rhythm of the injection molding machine; Object placement mode parameter call unit: When entering object placement mode, the system selects the corresponding parameter set, including dynamically optimized speed, acceleration and deceleration control and servo gain parameters, to optimize object placement action, reduce energy consumption and reduce mechanical impact; Mode switching verification unit: After switching, the parameters are verified to ensure that the new parameter set matches the current working condition. If the parameters do not match, the system triggers an alarm mechanism. Parameter set loading and scheduling unit: After confirming the validity of the parameters after mode switching, it automatically loads and schedules the corresponding control parameters. This module automatically triggers mode switching based on the mold opening signal of the injection molding machine, selects and calls the corresponding control parameter set, flexibly responds to the needs of different working modes, and improves operating efficiency and response speed through real-time monitoring and intelligent switching of the mold opening signal, ensuring that the energy-saving control system can be quickly optimized and adjusted according to the working mode.

[0019] The self-adjustment module for placement actions specifically includes: Periodic monitoring and motion evaluation unit: periodically collects and evaluates the motion cycle of the robotic arm, and monitors the time, speed, acceleration and energy consumption data of the object placement motion; Dynamic speed planning unit: Based on the target position and time requirements of the object placement action, the speed curve of each stage is dynamically planned, and kinematic equations are used to describe the relationship between the speed and position of the robot arm; Motion parameter optimization unit: By dynamically adjusting speed, acceleration and other motion parameters to minimize energy consumption and ensure motion accuracy, the unit uses an optimization algorithm to fine-tune the parameters. Feedback Adjustment and Real-time Optimization Unit: This unit monitors the feedback data of the robotic arm's movement in real time, adjusts motion parameters through a feedback control mechanism, and dynamically adjusts parameters to optimize energy consumption when energy consumption exceeds a preset threshold. An adjustment factor is set, and the formula for calculating the adjusted parameters is as follows: v(t) a =v(t)·K a a(t) a =a(t)·K a In the formula, v(t) is the velocity of the manipulator at time t, a(t) represents the acceleration at time t, and K... aTo adjust the coefficients, v(t) a To adjust the coefficient K a The new velocity obtained afterwards, a(t) a To adjust the coefficient K a The new acceleration obtained later; By combining periodic monitoring and dynamic speed planning with kinematic model optimization of the robot's motion parameters, the module maximizes energy saving while ensuring the accuracy of the object placement action. The dynamic optimization strategy of this module enables energy consumption to be adjusted in real time according to the actual working conditions, and it performs particularly well when dealing with different speed and acceleration requirements.

[0020] By dynamically adjusting speed, acceleration, and other motion parameters to minimize energy consumption and ensure motion accuracy, optimization algorithms are used to fine-tune the parameters, specifically including: The optimization algorithm formula is as follows: In the formula, v(t) is the speed of the manipulator at time t, a(t) is the acceleration at time t, E0 is the energy reduction achieved by optimizing the speed and acceleration strategy, and T a Let P(t) be the total time from the start to the end of the action, and let P(t) be the power consumed by the robot arm during the action. The process of minimizing energy consumption E0 is referred to as dt, where dt is the derivative of the integral variable.

[0021] The energy-saving control module specifically includes: Power limiting unit: Sets the maximum power output limit to ensure that the operation of the robot does not exceed the set power limit, and monitors and adjusts the power of the motor and drive system in real time; Idle state management unit: When the robot is in an idle or waiting state, it reduces energy loss by reducing the power consumption of the motor system, adjusts the power consumption during idle by intelligent control, and puts the servo motor in energy-saving mode; This module effectively reduces energy consumption through power limiting and idle state management. Idle state management effectively avoids energy waste by dynamically adjusting the motor power.

[0022] The security protection module specifically includes: Dual-mode parameter verification unit: When the system switches modes, it verifies the parameters required for the mode switch to ensure that the parameter values ​​are within the preset safety range. When the injection molding machine's mold opening signal triggers the mode switch, the control system checks the parameters of the current mode. Servo motor temperature monitoring unit: Based on the temperature sensor, it monitors the working temperature of the servo motor in real time. Through data acquisition and sensor feedback, it ensures that the motor temperature does not exceed the set safety range. When the motor temperature is detected to exceed the set threshold, the system takes protective measures to prevent damage. Servo current monitoring unit: Based on a current sensor, it monitors the current value of the servo motor, sets the maximum safe value of the motor current, and when the current exceeds this threshold, the control system activates the safety mechanism and takes measures, including reducing the load, adjusting the speed, and stopping the motor. System alarm and emergency handling unit: When the dual-mode parameters, temperature and current exceed the predetermined safety range, the system automatically issues an alarm signal to remind the operator to check and handle the situation, triggers the emergency stop function, and shuts down the operation of the robotic arm; A dual-mode parameter verification mechanism is used to perform strict safety verification on the parameters after switching modes, ensuring the safety and reliability of the system parameters in different working modes. By monitoring the temperature and current of the servo motor, potential risks can be detected in real time and protection mechanisms can be activated to ensure the long-term stable operation of the equipment and reduce the probability of failure.

[0023] Example 2: A dual-mode energy-saving control method for an injection molding machine robot, referring to... Figure 1 This includes the following steps: Step 1: Trigger mode switching via the injection molding machine's mold opening signal, and select the control parameters corresponding to the picking mode and placing mode; Step 2: Based on the mold opening cycle time interval obtained by the cycle monitoring module, dynamically plan the speed curve of the placement action to ensure that the placement action is completed before the mold opens; Step 3: Adjust the robot's motion parameters according to the dynamic optimization algorithm, including segmented speed control, S-shaped acceleration and deceleration curves, and smooth acceleration and deceleration, to reduce mechanical shock and energy loss; Step 4: In the energy-saving control module, set the power limit and control the robot to enter the energy-saving mode under idle state management; Step 5: In the safety protection mechanism, set up parameter verification and monitor the status of the servo motor to ensure the safe operation of the equipment.

[0024] Based on the mold opening cycle time interval obtained from the cycle monitoring module, the speed curve of the placement action is dynamically planned to ensure that the placement action is completed before mold opening. Specifically, this includes: After the periodic monitoring module obtains the periodic time interval of the mold opening signal, the control system adjusts the start time of the placement action according to the period. Based on the target location and time requirements, plan the speed curves for each stage of the placement action so that the robot can complete the placement task before the mold opening signal is triggered; At each stage, kinematic models are used to calculate velocity and acceleration, and the velocity curve is dynamically adjusted to adapt to different mold opening cycles. A dynamic optimization algorithm is introduced to reduce the impact force and energy loss of the robot arm by calculating the optimal motion parameters and S-shaped acceleration and deceleration curves. This algorithm can not only automatically adjust the velocity and acceleration according to the target position and time requirements, but also dynamically optimize the motion process through real-time feedback to minimize energy consumption and further improve the overall energy-saving performance of the system.

[0025] The robot's motion parameters are adjusted based on dynamic optimization algorithms, including segmented speed control, S-shaped acceleration / deceleration curves, and smooth acceleration / deceleration, to reduce mechanical shock and energy loss. Specifically, this includes: The dynamic optimization algorithm is used to calculate the optimal motion parameters based on the time requirements of the object placement action and the target position. The speed segment control method is adopted to divide the overall motion into multiple stages, and the speed and acceleration of each stage are set according to the specific situation. S-shaped acceleration and deceleration curves are used to smooth transition speed and acceleration changes, reducing the impact force on the robotic arm; Parameters are dynamically adjusted and optimized to ensure minimal energy consumption and improve the accuracy of the robotic arm's movements.

[0026] In the energy-saving control module, setting power limits and controlling the robotic arm to enter a low-power state under idle state management specifically includes: In the energy-saving control module, a maximum power output limit is set to ensure that the operating power of the robot does not exceed the preset power limit. When the robot is idle, the intelligent control system automatically detects the idle state and reduces the motor power, putting the servo motor into energy-saving mode to further reduce energy consumption. In the waiting state, energy saving is achieved by reducing current consumption. The system is monitored in real time and the idle state management strategy is dynamically adjusted.

[0027] In summary, the advantages of this invention are: By triggering mode switching with the mold opening signal, the automatic switching between the picking mode and the placing mode is realized, and an independent set of control parameters is applied in each mode. This solves the problem of energy waste and equipment wear caused by uniform parameters. Dynamic speed planning and acceleration / deceleration optimization strategies, through the collaborative optimization of S-curve and servo gain adaptation, ensure that the robot can complete the task at the most appropriate speed and acceleration during off-mold object placement operations, reducing energy loss and mechanical shock; a power limiting strategy is introduced to set an upper limit on motor power, and idle state management is used to further reduce energy consumption and energy waste. The system features dual-mode parameter verification and monitoring of servo motor temperature and current to ensure equipment safety during operation and prevent damage caused by overload or overheating.

[0028] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A dual-mode energy-saving control system for an injection molding machine robot, characterized in that, include: The dual-mode parameter switching module is triggered by the injection molding machine's mold opening signal to switch modes, and the control system automatically selects the parameter sets corresponding to the picking mode and the placing mode. The self-adjustment module for object placement is used to integrate cycle monitoring, dynamic speed planning and parameter optimization strategies to dynamically optimize the motion parameters of object placement to save energy and reduce consumption. The energy-saving control module sets power limits and idle state management to control energy consumption. The safety protection module sets dual-mode parameter verification thresholds and monitors the temperature and current of the servo motor.

2. The dual-mode energy-saving control system for an injection molding machine robot according to claim 1, characterized in that, The dual-mode parameter switching module specifically includes: Mold opening signal monitoring unit: Real-time monitoring of the mold opening signal of the injection molding machine to obtain the mold opening status of the injection molding machine; Mode switching trigger unit: Based on the change of the mold opening signal, the system automatically triggers the mode switching operation. When the mold opening signal is detected, the system switches to one of the placement mode and the retrieval mode. Pick-up mode parameter call unit: When entering the pick-up mode, the system calls the preset high speed, high acceleration / deceleration and high servo gain parameter set to match the mold opening rhythm of the injection molding machine; Object placement mode parameter call unit: When entering object placement mode, the system selects the corresponding parameter set, including dynamically optimized speed, acceleration and deceleration control and servo gain parameters, to optimize object placement action, reduce energy consumption and reduce mechanical impact; Mode switching verification unit: After switching, the parameters are verified to ensure that the new parameter set matches the current working condition. If the parameters do not match, the system triggers an alarm mechanism. Parameter set loading and scheduling unit: After confirming the validity of the parameters after mode switching, it automatically loads and schedules the corresponding control parameters.

3. The dual-mode energy-saving control system for an injection molding machine robot according to claim 1, characterized in that, The self-adjusting module for the placement action specifically includes: Periodic monitoring and motion evaluation unit: periodically collects and evaluates the motion cycle of the robotic arm, and monitors the time, speed, acceleration and energy consumption data of the object placement motion; Dynamic speed planning unit: Based on the target position and time requirements of the object placement action, the speed curve of each stage is dynamically planned, and kinematic equations are used to describe the relationship between the speed and position of the robot arm; Motion parameter optimization unit: By dynamically adjusting speed, acceleration and other motion parameters to minimize energy consumption and ensure motion accuracy, the unit uses an optimization algorithm to fine-tune the parameters. Feedback Adjustment and Real-time Optimization Unit: This unit monitors the feedback data of the robotic arm's movement in real time, adjusts motion parameters through a feedback control mechanism, and dynamically adjusts parameters to optimize energy consumption when energy consumption exceeds a preset threshold. An adjustment factor is set, and the formula for calculating the adjusted parameters is as follows: v(t) a =v(t)·K a a(t) a =a(t)·K a In the formula, v(t) is the velocity of the manipulator at time t, a(t) represents the acceleration at time t, and K... a To adjust the coefficients, v(t) a To adjust the coefficient K a The new velocity obtained afterwards, a(t) a To adjust the coefficient K a The new acceleration obtained afterward.

4. The dual-mode energy-saving control system and method for an injection molding machine robot according to claim 3, characterized in that, The process involves dynamically adjusting speed, acceleration, and other motion parameters to minimize energy consumption and ensure motion accuracy. Specifically, an optimization algorithm is used to fine-tune these parameters. include: The optimization algorithm formula is as follows: In the formula, v(t) is the speed of the manipulator at time t, a(t) is the acceleration at time t, E0 is the energy reduction achieved by optimizing the speed and acceleration strategy, and T a Let P(t) be the total time from the start to the end of the action, and let P(t) be the power consumed by the robot arm during the action. The process of minimizing energy consumption E0 is referred to as dt, where dt is the derivative of the integral variable.

5. The dual-mode energy-saving control system and method for an injection molding machine robot according to claim 1, characterized in that, The energy-saving control module specifically includes: Power limiting unit: Sets the maximum power output limit to ensure that the operation of the robot does not exceed the set power limit, and monitors and adjusts the power of the motor and drive system in real time; Idle state management unit: When the robot is in an idle or waiting state, energy loss is reduced by lowering the power consumption of the motor system, and power consumption during idle is adjusted through intelligent control by putting the servo motor into energy-saving mode.

6. The dual-mode energy-saving control system and method for an injection molding machine robot according to claim 1, characterized in that, The security protection module specifically includes: Dual-mode parameter verification unit: When the system switches modes, it verifies the parameters required for the mode switch to ensure that the parameter values ​​are within the preset safety range. When the injection molding machine's mold opening signal triggers the mode switch, the control system checks the parameters of the current mode. Servo motor temperature monitoring unit: Based on the temperature sensor, it monitors the working temperature of the servo motor in real time. Through data acquisition and sensor feedback, it ensures that the motor temperature does not exceed the set safety range. When the motor temperature is detected to exceed the set threshold, the system takes protective measures to prevent damage. Servo current monitoring unit: Based on a current sensor, it monitors the current value of the servo motor, sets the maximum safe value of the motor current, and when the current exceeds this threshold, the control system activates the safety mechanism and takes measures, including reducing the load, adjusting the speed, and stopping the motor. System alarm and emergency handling unit: When the dual-mode parameters, temperature and current exceed the predetermined safety range, the system will automatically issue an alarm signal to remind the operator to check and handle the situation, trigger the emergency stop function, and shut down the operation of the robot arm.

7. A dual-mode energy-saving control method for an injection molding machine robot, characterized in that, Includes the following steps: Step 1: Trigger mode switching via the injection molding machine's mold opening signal, and select the control parameters corresponding to the picking mode and placing mode; Step 2: Based on the mold opening cycle time interval obtained by the cycle monitoring module, dynamically plan the speed curve of the placement action to ensure that the placement action is completed before the mold opens; Step 3: Adjust the robot's motion parameters according to the dynamic optimization algorithm, including segmented speed control, S-shaped acceleration and deceleration curves, and smooth acceleration and deceleration, to reduce mechanical shock and energy loss; Step 4: In the energy-saving control module, set the power limit and control the robot to enter the energy-saving mode under idle state management; Step 5: In the safety protection mechanism, set up parameter verification and monitor the status of the servo motor to ensure the safe operation of the equipment.

8. The dual-mode energy-saving control method for an injection molding machine robot according to claim 7, characterized in that, The step of dynamically planning the speed curve of the placement action based on the mold opening cycle time interval obtained by the cycle monitoring module to ensure that the placement action is completed before mold opening specifically includes: After the periodic monitoring module obtains the periodic time interval of the mold opening signal, the control system adjusts the start time of the placement action according to the period. Based on the target location and time requirements, plan the speed curves for each stage of the placement action so that the robot can complete the placement task before the mold opening signal is triggered; At each stage, a kinematic model is used to calculate velocity and acceleration, and the velocity curve is dynamically adjusted to adapt to different mold opening cycles.

9. A dual-mode energy-saving control method for an injection molding machine robot according to claim 7, characterized in that, The adjustment of the robot's motion parameters based on the dynamic optimization algorithm includes segmented speed control, S-shaped acceleration / deceleration curves, and smooth acceleration / deceleration to reduce mechanical shock and energy loss. Specifically, this includes: The dynamic optimization algorithm is used to calculate the optimal motion parameters based on the time requirements of the object placement action and the target position. The speed segment control method is adopted to divide the overall motion into multiple stages, and the speed and acceleration of each stage are set according to the specific situation. S-shaped acceleration and deceleration curves are used to smooth transition speed and acceleration changes, reducing the impact force on the robotic arm; Parameters are dynamically adjusted and optimized to ensure minimal energy consumption and improve the accuracy of the robotic arm's movements.

10. A dual-mode energy-saving control method for an injection molding machine robot according to claim 7, characterized in that, The specific steps of setting power limits and controlling the robotic arm to enter a low-power state under idle state management in the energy-saving control module include: In the energy-saving control module, a maximum power output limit is set to ensure that the operating power of the robot does not exceed the preset power limit. When the robot is idle, the intelligent control system automatically detects the idle state and reduces the motor power, putting the servo motor into energy-saving mode to further reduce energy consumption. In the waiting state, energy saving is achieved by reducing current consumption. The system is monitored in real time and the idle state management strategy is dynamically adjusted.

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