An automated gate handling system and method

Abstract

This invention discloses an automated gate processing system and method in the field of injection molding technology, comprising: a hard plastic injection molding machine, a soft plastic injection molding machine, a robotic arm, a gate processing device, and a material handling basket; the hard plastic injection molding machine and the soft plastic injection molding machine are arranged parallel and symmetrically, forming an empty area between them; the gate processing device, the robotic arm, and the material handling basket are all located within the empty area; the robotic arm's range of motion covers the parts picking and placing positions of the hard plastic injection molding machine and the soft plastic injection molding machine, the working position of the gate processing device, and the area above the material handling basket. This invention, through a dual-gripper robotic arm and a spatial layout involving both machines, achieves continuous operation of hard plastic parts picking, soft plastic parts insertion, finished product transfer, and gate processing, avoiding production line stoppages and inconsistent cycle times caused by manual intervention, ensuring seamless connection throughout the entire process and eliminating human bottlenecks.

Description

Technical Field

[0001] This invention relates to an automated gate processing system and method, belonging to the field of injection molding technology. Background Technology

[0002] In two-color injection molding and overmolding, after the hard and soft rubber are molded in separate steps, gate and sprue treatment is required. Traditional processes usually involve manual part removal, separate sprue removal, or secondary processing, which results in low production efficiency, high labor intensity, and poor product consistency.

[0003] Existing automation solutions are mostly single-machine operations or simple series connections, making it difficult to achieve synchronous coordination between rigid and flexible plastic production. Furthermore, waiting and waste often occur during product transfer, gate processing, and good product sorting. In particular, flexible plastic gates are flexible and prone to sticking to the cutting tool, making automated removal difficult. Improper timing of removal can easily cause product damage or dimensional deviations. Therefore, there is an urgent need for an automated system that integrates dual-machine collaboration, adaptive gate processing, and intelligent scheduling to achieve continuous, efficient, and stable production. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automated gate processing system and method. Through a reasonable spatial layout and the combined movement of a robotic arm, the system achieves full automation of the process, including the automatic insertion of hard plastic products into soft plastic molds, the automatic removal of soft plastic finished products, gate processing, and finished product unloading.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0006] In a first aspect, the present invention provides an automated gate processing system, comprising: a rigid rubber injection molding machine, a flexible rubber injection molding machine, a robotic arm, a gate processing device, and a material handling basket; the rigid rubber injection molding machine and the flexible rubber injection molding machine are arranged parallel and symmetrically, forming an empty area between them; the gate processing device, the robotic arm, and the material handling basket are all located within the empty area; the range of motion of the robotic arm covers the pick-and-place positions of the rigid rubber injection molding machine, the pick-and-place positions of the flexible rubber injection molding machine, the working position of the gate processing device, and the area above the material handling basket; the system further comprises a central controller, which is communicatively connected to the rigid rubber injection molding machine, the flexible rubber injection molding machine, the robotic arm, and the gate processing device.

[0007] Furthermore, the end effector of the robotic arm is a dual-gripper structure, with the two grippers symmetrically distributed at 180° or arranged laterally side by side, and the grippers are capable of rotating around their own axis.

[0008] Furthermore, the gate treatment equipment includes at least one red bakelite carrier and an automatic gate and runner removal fixture that works with it. The carrier is configured to carry and position multiple products.

[0009] Secondly, the present invention provides an automated gate processing method, implemented by the automated gate processing system described above, comprising:

[0010] S1: The robotic arm is in standby position at the initial position. After the hard plastic injection molding machine completes injection molding and opens the mold, the first gripper of the robotic arm is controlled to grab the hard plastic product.

[0011] S2: The robotic arm carries the hard plastic product to the vicinity of the soft plastic injection molding machine and waits;

[0012] S3: After the soft rubber injection molding machine completes injection molding and opens the mold, control the second gripper of the robot to grab the soft rubber encapsulated finished product;

[0013] S4: Control the dual grippers to rotate or move laterally, and place the hard plastic product gripped by the first gripper into the mold cavity of the soft plastic injection molding machine.

[0014] S5: The robotic arm carries the soft rubber product on the second gripper to the gate treatment equipment;

[0015] S6: Control the first gripper to grab the finished product that has completed the gate processing on the gate processing equipment carrier, and then control the double gripper to rotate or move laterally to put the finished product to be processed on the second gripper into the carrier;

[0016] S7: Start the gate treatment equipment to remove the gate, and at the same time, the robot arm carries the finished product to the unloading turnover basket for unloading;

[0017] S8: The robotic arm returns to its initial position and enters the next cycle.

[0018] Furthermore, during the loop of step S8, the central controller performs the following calculations and controls in real time:

[0019] Based on the collected equipment operating parameters, the equivalent balanced production cycle of the system is calculated to identify production bottlenecks and set the target operating frequency of the entire production line.

[0020] Calculate the dynamic priority score when multiple tasks are concurrent, and adjust the execution order of the robot's actions accordingly.

[0021] Calculate the quality risk factors of the gate treatment, and adjust the operating parameters of the gate treatment equipment or trigger the product diversion mechanism in real time based on the calculation results.

[0022] Furthermore, the calculation expression for the equivalent balanced production cycle time is:

[0023] α σp

[0024] In the formula: Teq is the equivalent balanced production cycle time; Th is the single mold cycle time of the hard rubber injection molding machine; Ts is the single mold cycle time of the soft rubber injection molding machine; Δth_robot is the average occupancy time of the robot arm servicing the hard rubber machine; Δts_robot is the average occupancy time of the robot arm servicing the soft rubber machine; Nh and Ns are the number of cavities per mold for hard rubber and soft rubber respectively; Tt is the single processing time of the gate treatment equipment; Nt is the loading quantity per gate treatment station; Ct is the number of concurrent working units of the gate treatment equipment; σp is the standard deviation of periodic fluctuation; α is the fluctuation sensitivity coefficient.

[0025] Furthermore, the calculation expression for the dynamic priority score is as follows:

[0026] w4 Qrisk

[0027] Where: Ptask is the dynamic task priority score; twait is the current waiting time of the task; Tnorm is the maximum allowed waiting time for the task; dcurr is the distance from the current position of the robot arm to the target point; dmax is the maximum working radius of the robot arm; τidle is the idle time of the target device; β is the attenuation coefficient; Qrisk is the quality risk factor; w1, , w4 represents the weighting coefficients for each dimension.

[0028] Furthermore, the calculation expression for the quality risk factor is as follows:

[0029]

[0030] In the formula: Qrisk is the gate treatment quality risk factor; Tcool is the actual cooling time of the soft rubber product from mold opening to entering the gate treatment; Topt is the time window corresponding to the optimal gate temperature of the soft rubber material; k is the steepness coefficient of the Sigmoid function, reflecting the sensitivity of cooling time to quality; Vinj is the average actual screw speed during the soft rubber injection stage; Vstd is the standard screw speed set by the process; Hrubber is the hardness of the current batch of soft rubber; Hnom is the standard hardness value; γ1 and γ2 are the normalized weights of the influence of speed deviation and hardness.

[0031] Thirdly, the present invention provides an automated gate processing device, including a processor and a storage medium;

[0032] The storage medium is used to store instructions;

[0033] The processor is configured to operate according to the instructions to perform the steps of the method according to any of the foregoing.

[0034] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0035] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0036] I. This solution achieves continuous operation of hard plastic part picking, soft plastic insertion, finished product transfer and gate treatment through the spatial layout of dual gripper robotic arms and dual-machine linkage. It avoids the production line stoppage and inconsistent cycle time caused by manual intervention in the traditional mode. The whole process is seamlessly connected and human bottlenecks are eliminated.

[0037] II. Based on the equivalent cycle time model and task priority algorithm, this solution can automatically identify production bottlenecks and dynamically adjust the robot's task sequence to ensure optimal coordination among the injection molding machine, processing equipment and robot, significantly reducing equipment idle waiting and work-in-process backlog, and improving equipment utilization through intelligent dynamic scheduling.

[0038] Third, this solution combines material characteristics, process parameters, and real-time cooling time to calculate the quality risk of gate treatment online, realize the pre-adjustment of cutting parameters and early sorting of abnormal products, effectively overcome defects such as uneven gate and stringing caused by the viscoelasticity of soft rubber materials, improve product qualification rate, and ensure consistency through feedforward control of quality risks.

[0039] Fourth, the formula model parameters proposed in this solution can be flexibly configured to adapt to changes in different two-color / overmolded products, injection molding machine models and gate treatment processes. Rapid production changeover can be achieved through software adjustments without hardware reconstruction, flexibly adapting to various production scenarios. Attached Figure Description

[0040] The accompanying drawings, which form part of this specification, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0041] Figure 1 This is a schematic diagram of an automated gate processing system provided in Embodiment 1 of the present invention;

[0042] In the picture: 1. Hard rubber injection molding machine; 2. Soft rubber injection molding machine; 3. Robot arm; 4. Gate treatment equipment; 5. Material turnover basket. Detailed Implementation

[0043] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0044] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this invention is for describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention.

[0045] Example 1:

[0046] Please see Figure 1 This embodiment proposes an automated gate processing system. This automated line layout includes a hard plastic injection molding machine 1, a soft plastic injection molding machine 2, a robotic arm 3, a gate processing device 4, and a material handling basket 5. The hard plastic injection molding machine 1 and the soft plastic injection molding machine 2 are arranged symmetrically in parallel, with a reserved space in between. The gate processing device 4 is located within this space and is equipped with a red bakelite carrier and automatic removal fixtures for soft plastic sprues and runners. The robotic arm 3 is located between the two machines, and its arm span and rotation range cover the hard plastic injection molding machine 1, the soft plastic injection molding machine 2, the gate processing device 4, and the material handling basket 5. The robotic arm 3 adopts a 180° symmetrical double-gripper design, which can simultaneously perform picking, placing, and rotating exchange actions. The material handling basket 5 is adjacent to the gate processing device and is used to receive processed finished products.

[0047] In actual use, robot arm 3 first enters servo mode. Then, after the hard rubber injection molding machine 1 completes injection, the mold opens and the hard rubber product is ejected. The first gripper of robot arm 3 picks up the hard rubber product and moves it to the soft rubber injection molding machine 2. After the soft rubber injection molding machine 2 completes injection, the mold opens and the product is ejected. The hard rubber injection molding machine 1 closes the mold to begin production of the next molded product. The second gripper of robot arm 3 picks up the product from the soft rubber injection molding machine 2 and rotates 180°, placing the hard rubber product from the first gripper into the cavity of the overmolding mold. Robot arm 3 then moves to the gate treatment equipment 4, which is an automatic removal tool for the soft rubber sprue and runner. Simultaneously, the soft rubber injection molding machine 2 closes the mold to begin production of the next molded product. The first gripper of robot arm 3 picks up the product with the gate and runner already processed in the red bakelite carrier of the gate treatment equipment 4 of the automatic gate and runner removal tooling for soft rubber. Then, the gripper of robot arm 3 rotates 180° and puts the unprocessed product (including gate and runner) picked up by the second gripper into the red bakelite carrier of the gate treatment equipment 4. Robot arm 3 moves to the unloading turnover basket 5. At the same time, the gate treatment equipment 4 of the automatic gate and runner removal tooling begins to remove the gate and runner. The first gripper of robot arm 3 puts the finished product into the unloading turnover basket 5. Then, robot arm 3 moves to the hard rubber injection molding machine table 1, re-enters the servo state, and enters the next cycle. This cycle continues.

[0048] It should be noted that this system has a central controller (PLC / HMI or industrial PC) responsible for data acquisition. It issues instructions by calculating the equivalent balance production cycle time, dynamic task priority score, and gate treatment quality risk factor. The following are the three core calculation formulas and their application logic.

[0049] (a) Equivalent Balanced Production Cycle

[0050] This formula is used to evaluate the theoretical maximum capacity under dual-machine operation, identify bottleneck processes, and guide production scheduling. The expression is:

[0051] α σp

[0052] In the formula: Teq is the equivalent balanced production cycle time; Th is the single mold cycle time of the hard rubber injection molding machine; Ts is the single mold cycle time of the soft rubber injection molding machine; Δth_robot is the average occupancy time of the robot arm servicing the hard rubber machine; Δts_robot is the average occupancy time of the robot arm servicing the soft rubber machine; Nh and Ns are the number of cavities per mold for hard rubber and soft rubber respectively; Tt is the single processing time of the gate treatment equipment; Nt is the loading quantity per gate treatment station; Ct is the number of concurrent working units of the gate treatment equipment; σp is the standard deviation of periodic fluctuation; α is the fluctuation sensitivity coefficient.

[0053] The calculated result Teq is used as the baseline cycle time to set the target operating frequency of the entire production line. If the time taken for a certain process is significantly higher than Teq, it is identified as a bottleneck, and the system can prompt adjustments to the process or equipment configuration.

[0054] (ii) Dynamic task priority score

[0055] This formula is used to determine the sequence of actions of a robotic arm during multi-task concurrency, avoiding conflicts and waiting. The expression is:

[0056] w4 Qrisk

[0057] In the formula: Ptask is the dynamic task priority score; twait is the current waiting time of the task; Tnorm is the maximum allowed waiting time for the task; dcurr is the distance from the current position of the robot arm to the target point; dmax is the maximum working radius of the robot arm; τidle is the idle time of the target device; β is the attenuation coefficient, which controls the weight of the impact of "device idle"; Qrisk is the quality risk factor; w1, , w1 and w4 are the weight coefficients for each dimension, and w1+ + +w4=1.

[0058] Whenever there are multiple task requests (such as hard plastic mold opening completion, soft plastic mold opening completion, gate processing completion and waiting to be picked up), the controller calculates the Ptask of each task, selects the one with the highest score for priority execution, ensures that critical processes are not backed up, and reduces equipment idle time.

[0059] (III) Quality Risk Factors of Gating Treatment

[0060] To predict the quality risk during the removal of the soft glue outlet, and to adjust processing parameters or trigger compensation actions in advance, the expression is:

[0061]

[0062] In the formula: Qrisk is the gate treatment quality risk factor; Tcool is the actual cooling time of the soft rubber product from mold opening to entering the gate treatment; Topt is the time window corresponding to the optimal gate temperature of the soft rubber material; k is the steepness coefficient of the Sigmoid function, reflecting the sensitivity of cooling time to quality; Vinj is the average actual screw speed during the soft rubber injection stage; Vstd is the standard screw speed set by the process; Hrubber is the hardness of the current batch of soft rubber; Hnom is the standard hardness value; γ1 and γ2 are the normalized weights of the influence of speed deviation and hardness.

[0063] The closer the calculated Qrisk is to 1, the higher the risk. When Qrisk > the threshold, the system can automatically: adjust the cutting speed and tool temperature of the gate processing equipment; extend the short stay of the robot in the cooling zone to equalize the temperature; or mark the mold product as "to be re-inspected" and divert it to a special material frame during unloading.

[0064] Example 2:

[0065] An automated gate processing method, implemented based on the automated gate processing system described in Embodiment 1, includes:

[0066] S1: The robotic arm 3 is in standby position at the initial position. After the hard plastic injection molding machine 1 completes injection molding and opens the mold, the first gripper of the robotic arm 3 is controlled to grab the hard plastic product.

[0067] S2: The robotic arm 3 carries the hard plastic product and moves it to the vicinity of the soft plastic injection molding machine 2 to wait;

[0068] S3: After the soft rubber injection molding machine 2 completes injection molding and opens the mold, control the second gripper of the robot arm 3 to grab the soft rubber coated finished product;

[0069] S4: Control the dual grippers to rotate or move laterally, and place the hard plastic product gripped by the first gripper into the mold cavity of the soft plastic injection molding machine 2;

[0070] S5: The robotic arm 3 carries the soft rubber product on the second gripper to the gate treatment equipment 4;

[0071] S6: Control the first gripper to grab the finished product that has completed gate processing on the carrier of the gate processing equipment 4, and then control the double gripper to rotate or move laterally to put the finished product to be processed on the second gripper into the carrier;

[0072] S7: Start the gate treatment equipment 4 to remove the gate, and at the same time, the robot arm 3 carries the finished product to the unloading turnover basket 5 for unloading;

[0073] S8: The robotic arm 3 returns to its initial position and enters the next cycle.

[0074] Example 3:

[0075] This invention also provides an automated gate processing device, which can implement the automated gate processing method described in Embodiment 2, including a processor and a storage medium;

[0076] The storage medium is used to store instructions;

[0077] The processor is configured to operate according to the instructions to perform the steps of the following method:

[0078] S1: The robotic arm 3 is in standby position at the initial position. After the hard plastic injection molding machine 1 completes injection molding and opens the mold, the first gripper of the robotic arm 3 is controlled to grab the hard plastic product.

[0079] S2: The robotic arm 3 carries the hard plastic product and moves it to the vicinity of the soft plastic injection molding machine 2 to wait;

[0080] S3: After the soft rubber injection molding machine 2 completes injection molding and opens the mold, control the second gripper of the robot arm 3 to grab the soft rubber coated finished product;

[0081] S4: Control the dual grippers to rotate or move laterally, and place the hard plastic product gripped by the first gripper into the mold cavity of the soft plastic injection molding machine 2;

[0082] S5: The robotic arm 3 carries the soft rubber product on the second gripper to the gate treatment equipment 4;

[0083] S6: Control the first gripper to grab the finished product that has completed gate processing on the carrier of the gate processing equipment 4, and then control the double gripper to rotate or move laterally to put the finished product to be processed on the second gripper into the carrier;

[0084] S7: Start the gate treatment equipment 4 to remove the gate, and at the same time, the robot arm 3 carries the finished product to the unloading turnover basket 5 for unloading;

[0085] S8: The robotic arm 3 returns to its initial position and enters the next cycle.

[0086] Example 4:

[0087] This invention also provides a computer-readable storage medium that implements the automated gate processing method described in Embodiment 2. The medium stores a computer program that, when executed by a processor, performs the steps of the following method:

[0088] S1: The robotic arm 3 is in standby position at the initial position. After the hard plastic injection molding machine 1 completes injection molding and opens the mold, the first gripper of the robotic arm 3 is controlled to grab the hard plastic product.

[0089] S2: The robotic arm 3 carries the hard plastic product and moves it to the vicinity of the soft plastic injection molding machine 2 to wait;

[0090] S3: After the soft rubber injection molding machine 2 completes injection molding and opens the mold, control the second gripper of the robot arm 3 to grab the soft rubber coated finished product;

[0091] S4: Control the dual grippers to rotate or move laterally, and place the hard plastic product gripped by the first gripper into the mold cavity of the soft plastic injection molding machine 2;

[0092] S5: The robotic arm 3 carries the soft rubber product on the second gripper to the gate treatment equipment 4;

[0093] S6: Control the first gripper to grab the finished product that has completed gate processing on the carrier of the gate processing equipment 4, and then control the double gripper to rotate or move laterally to put the finished product to be processed on the second gripper into the carrier;

[0094] S7: Start the gate treatment equipment 4 to remove the gate, and at the same time, the robot arm 3 carries the finished product to the unloading turnover basket 5 for unloading;

[0095] S8: The robotic arm 3 returns to its initial position and enters the next cycle.

[0096] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative and not exhaustive. All modifications within the scope of this invention or its equivalents are included in this invention.

[0097] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0099] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0100] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An automated gate processing system, characterized in that it comprises: The system includes a hard plastic injection molding machine (1), a soft plastic injection molding machine (2), a robot (3), a gate treatment device (4), and a material handling basket (5). The hard plastic injection molding machine (1) and the soft plastic injection molding machine (2) are arranged parallel and symmetrically, forming an empty area between them. The gate treatment device (4), the robot (3), and the material handling basket (5) are all located in the empty area. The robot (3) covers the pick-up and drop-off positions of the hard plastic injection molding machine (1), the soft plastic injection molding machine (2), the working position of the gate treatment device (4), and the area above the material handling basket (5). The system also includes a central controller, which is communicatively connected to the hard plastic injection molding machine (1), the soft plastic injection molding machine (2), the robot (3), and the gate treatment device (4).

2. The automated gate processing system according to claim 1, characterized in that, The end effector of the robotic arm (3) is a double gripper structure, with the two grippers symmetrically distributed at 180° or arranged side by side laterally, and the grippers can rotate around their own axis.

3. The automated gate processing system according to claim 1, characterized in that, The gate treatment equipment (4) includes at least one red bakelite carrier and an automatic gate and runner removal tooling that works with it. The carrier is configured to carry multiple products and position them.

4. An automated gate processing method, characterized in that, This is achieved using an automated gate processing system as described in any one of claims 1-3, comprising: S1: The robotic arm (3) is in standby position at the initial position. After the hard plastic injection molding machine (1) completes injection molding and opens the mold, the first gripper of the robotic arm (3) is controlled to grab the hard plastic product. S2: The robotic arm (3) carries the hard plastic product to the vicinity of the soft plastic injection molding machine (2) and waits; S3: After the soft rubber injection molding machine (2) completes injection molding and opens the mold, control the second gripper of the robot (3) to grab the soft rubber coated finished product; S4: Control the double grippers to rotate or move laterally, and place the hard plastic product gripped by the first gripper into the mold cavity of the soft plastic injection molding machine (2); S5: The robotic arm (3) moves the soft rubber product on the second gripper to the gate treatment equipment (4); S6: Control the first gripper to grab the finished product that has completed the gate treatment on the carrier of the gate treatment equipment (4), and then control the double gripper to rotate or move laterally to put the finished product to be processed on the second gripper into the carrier; S7: Start the gate treatment equipment (4) to remove the gate, and at the same time the robot (3) carries the finished product to the unloading turnover basket (5) for unloading; S8: The robotic arm (3) returns to its initial position and enters the next cycle.

5. The automated gate processing method according to claim 4, characterized in that, in During the loop of step S8, the central controller performs the following calculations and controls in real time: Based on the collected equipment operating parameters, the equivalent balanced production cycle of the system is calculated to identify production bottlenecks and set the target operating frequency of the entire production line. Calculate the dynamic priority score when multiple tasks are concurrent, and adjust the execution order of the robotic arm (3) according to the score. Calculate the quality risk factor of the gate treatment, and adjust the operating parameters of the gate treatment equipment (4) or trigger the product diversion mechanism in real time according to the calculation results.

6. The automated gate processing method according to claim 5, characterized in that, The calculation expression for the equivalent balanced production cycle time is: a s p In the formula: Teq is the equivalent balanced production cycle time; Th is the single mold cycle time of the hard rubber injection molding machine; Ts is the single mold cycle time of the soft rubber injection molding machine; Δth_robot is the average occupancy time of the robot arm servicing the hard rubber machine; Δts_robot is the average occupancy time of the robot arm servicing the soft rubber machine; Nh and Ns are the number of cavities per mold for hard rubber and soft rubber respectively; Tt is the single processing time of the gate treatment equipment. Nt represents the quantity loaded at each gate processing station; Ct represents the number of concurrent working units of the gate processing equipment; σp represents the standard deviation of periodic fluctuation; and α represents the fluctuation sensitivity coefficient.

7. The automated gate processing method according to claim 5, characterized in that, The formula for calculating the dynamic priority score is: w4 Qrisk In the formula: Ptask is the dynamic task priority score; twait is the waiting time of the current task; Tnorm is the maximum allowed waiting time for the task; dcurr is the distance from the current position of the robot to the target point; dmax is the maximum working radius of the robot; τidle is the idle time of the target device; β is the attenuation coefficient; Qrisk is the quality risk factor; w1、 , w4 represents the weighting coefficients for each dimension.

8. The automated gate processing method according to claim 5, characterized in that, The calculation expression for the quality risk factor is as follows: In the formula: Qrisk is the gate treatment quality risk factor; Tcool is the actual cooling time of the soft rubber product from mold opening to entering the gate treatment; Topt is the time window corresponding to the optimal gate temperature of the soft rubber material; k is the steepness coefficient of the Sigmoid function, reflecting the sensitivity of cooling time to quality; Vinj is the average actual screw speed during the soft rubber injection stage; Vstd is the standard screw speed set by the process; Hrubber is the hardness of the current batch of soft rubber; Hnom is the standard hardness value; γ1 and γ2 are the normalized weights of the influence of speed deviation and hardness.

9. An automated gate processing device, characterized in that, Including processor and storage media; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method according to any one of claims 4 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 4 to 8.

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