CN112277273A - Advanced speed changing method and device based on mechanical arm of injection molding machine - Google Patents
Advanced speed changing method and device based on mechanical arm of injection molding machine Download PDFInfo
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- 238000001746 injection moulding Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000001133 acceleration Effects 0.000 claims description 18
- 238000004364 calculation method Methods 0.000 claims description 15
- 230000008859 change Effects 0.000 claims description 15
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000012545 processing Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
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- 238000005070 sampling Methods 0.000 description 4
- 208000031427 Foetal heart rate deceleration Diseases 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000019800 disodium phosphate Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C45/4225—Take-off members or carriers for the moulded articles, e.g. grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
- B29C2045/7633—Take out or gripping means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
- B29C2945/76—Measuring, controlling or regulating
- B29C2945/76494—Controlled parameter
- B29C2945/76595—Velocity
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- Robotics (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
The invention provides an advanced speed changing method and device based on an injection molding machine manipulator, which comprises the following steps: acquiring a motion parameter; calculating according to the motion parameters to obtain a stage speed plan; and adjusting the operation speed according to the stage speed plan. The invention has the beneficial effects that: the device carrying the method can be applied to industrial automation occasions with comprehensive requirements on speed, and can be used for more complex tasks of grabbing, stacking, lightly releasing, stacking, lightly walking and the like of injection molding products.
Description
Technical Field
The invention relates to the technical field of manipulator control, in particular to an advanced speed changing method and device based on a manipulator of an injection molding machine.
Background
Traditional injection molding machine trade, injection molding machine mode locking product shaping back is stretched out by the manual work and is advanced the mould and snatch the product, and this is not only inefficient, and the risk is high moreover. Along with industrial robot's development, a can be applied to automatic arm control system who snatchs of injection molding machine comes up to fortune, and its quick acceleration and deceleration speed curve planning can shorten the cycle of snatching of product in the injection mold to 2 seconds, is applied to in a large number and snatchs of cell-phone shell, plastic sheet. However, with the continuous development of the industry, the complexity of the process flow of the injection molding machine product is also increased, for example, for the products such as snack boxes, since the structural strength of the product itself is poor, if the operation of the manipulator is accelerated only by considering the efficiency, the product is broken and the loss is caused, so that a new manipulator control method is needed to avoid the product being broken due to the rough operation while ensuring the efficiency.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the defects of the prior art, the method and the device for changing the speed in advance based on the manipulator of the injection molding machine are provided, which can take efficiency into consideration and can not damage fragile products.
In order to solve the technical problems, the invention adopts the technical scheme that: an advanced speed change method based on an injection molding machine manipulator comprises the following steps:
acquiring a motion parameter;
calculating according to the motion parameters to obtain a stage speed plan;
and adjusting the operation speed according to the stage speed plan.
Further, in the step of obtaining a phase velocity profile based on the motion parameters, the phase velocity profile comprises a first velocity profile phase and a second velocity profile phase,
the first speed planning stage comprises a first speed changing stage and a first uniform speed stage;
the second speed planning stage comprises a second speed changing stage, a second constant speed stage and a third speed changing stage.
Further, in the step of adjusting the operation speed according to the phase speed plan, the step of calculating the movement distance according to the operation speed is further included.
Further, in the step of adjusting the operation speed according to the step speed plan, whether a speed change point is reached is judged according to the movement distance, and if yes, the operation speed is adjusted according to the second speed plan step.
Further, in the step of acquiring the motion parameters, the motion parameters include a motion distance S, a maximum acceleration a, an advance shift distance Sd, and an interpolation period Ts.
The invention also relates to an advanced speed change device based on the manipulator of the injection molding machine, which comprises an acquisition module, a calculation module and an execution module,
the acquisition module is used for acquiring motion parameters;
the calculation module is used for calculating according to the motion parameters to obtain a stage speed plan;
the execution module is used for adjusting the operation speed according to the stage speed plan.
Further, the execution module includes a first speed planning phase execution unit and a second speed planning phase execution unit,
the first speed planning stage execution unit is used for adjusting the speed according to a first speed planning stage;
the second speed planning stage execution unit is used for adjusting the speed according to the second speed planning stage.
Further, the calculation module is also used for calculating the movement distance according to the running speed.
The device further comprises a judging module, wherein the judging module is used for judging whether the speed change point is reached according to the movement distance.
Further, the motion parameters include a motion distance S, a maximum acceleration a, an advance shift distance Sd, and an interpolation period Ts.
The invention has the beneficial effects that: the device carrying the method can be applied to industrial automation occasions with comprehensive requirements on speed, and can be used for more complex tasks of grabbing, stacking, lightly releasing, stacking, lightly walking and the like of injection molding products.
Drawings
The specific process of the present invention is detailed below with reference to the accompanying drawings:
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a velocity profile for early acceleration according to the present invention;
FIG. 3 is a velocity profile of the early deceleration of the present invention;
FIG. 4 is a waveform diagram illustrating the early acceleration of servo-end grabbing according to the present invention;
FIG. 5 is a waveform illustrating the early deceleration of the servo-end grabbing of the present invention;
FIG. 6 is a system diagram of the apparatus of the present invention.
Detailed Description
In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Example 1
Referring to fig. 1, a method for changing speed in advance based on a manipulator of an injection molding machine includes:
acquiring motion parameters, wherein the motion parameters comprise a motion distance S, a maximum acceleration A, an advance speed Sd, a first-stage speed Vobj1, a second-stage speed Vobj2 and an interpolation period Ts;
calculating to obtain a stage speed plan according to the motion parameters, wherein the stage speed plan comprises a first speed plan stage and a second speed plan stage,
the first speed planning stage comprises a first speed changing stage and a first uniform speed stage;
the second speed planning stage comprises a second speed changing stage, a second constant speed stage and a third speed changing stage;
and calculating the movement distance according to the running speed, judging whether the movement distance reaches a speed change point, and if so, adjusting the running speed according to the stage speed plan.
The movement of the mechanical arm Y axis of the injection molding machine is divided into two conditions of lightly taking the product from bottom to top or stacking and lightly putting the product from top to bottom.
When the product is lightly taken, the running speed consists of two parts: accelerating to a low-speed section and accelerating to a constant-speed section in advance:
specifically, as shown in fig. 2 and 4, assuming that the instantaneous speed at the end of the nth sampling period is v (n), the position increment of the nth sampling period is S (n), the movement distance is S, the maximum acceleration is a, the shift advance distance is Sd, the first-stage speed is Vobj1, the second-stage speed is Vobj2, and the interpolation period is Ts, the displacement of the first-stage speed planning stage is S1 — Sd.
During acceleration v (n) ═ a × Ts × n;
a constant speed period V (n) ═ Vobj1 ═ V1;
in the whole process, the temperature of the molten steel is controlled,
△S(n)＝V(n)*Ts，
when the real-time Δ S is S1, the acceleration advance point is entered at this moment, the time point is t0, the speed is V1, and the second speed planning stage is entered.
In the second speed planning stage, the initial speed is V1, the displacement is S2-S1, and the second speed planning stage consists of an acceleration to high speed stage, a high speed and constant speed stage, and a deceleration to 0 stage.
Acceleration to high-speed section:
T1＝t1-t0＝(V1-Vobj2)/A；
V(n)＝V1+A*Ts*n。
decelerating to a 0 stage:
T3＝t3-t2＝Vobj2/A；
V(n)＝Vobj2-A*(Ts*n-T2)。
high-speed uniform-speed section:
T2＝t2-t1＝S2-0.5*(Vobj2-V1)*(Vobj2-V1)/A；
V(n)＝Vobj2；
△S(n)＝V(n)*Ts；
when the real-time Δ S is S2, the second phase motion is completed.
When the product is a light product, the running speed is composed of two parts: the first speed planning stage is an accelerating to uniform speed stage, and the second speed planning stage is a decelerating to low speed stage in advance:
specifically, as shown in fig. 3 and 5, assuming that the instantaneous speed at the end of the nth sampling period is v (n), the position increment of the nth sampling period is S (n), the movement distance is S, the maximum acceleration is a, the shift advance distance is Sd, the first-stage speed is Vobj1, the second-stage speed is Vobj2, and the interpolation period is Ts, the displacement of the first-stage speed planning stage is S1 — Sd.
During acceleration v (n) ═ a × Ts × n;
a constant speed period V (n) ═ Vobj1 ═ V0;
in the whole process, the temperature of the molten steel is controlled,
△S(n)＝V(n)*Ts，
when the real-time Δ S is S1, the advanced deceleration point is entered at this moment, the time point is t0, the speed is V0, and the second speed planning stage is entered.
In the second speed planning stage, the initial speed is V0, the displacement is S2 ═ S-S1, and the second speed planning stage consists of a speed reduction to low speed stage, a speed reduction to low speed and uniform speed stage and a speed reduction to 0 stage.
Decelerating to a low-speed section:
T1＝t1-t0＝(V0-Vobj2)/A；
V(n)＝V0-A*Ts*n。
decelerating to a 0 stage:
T3＝t3-t2＝Vobj2/A；
V(n)＝Vobj2-A*(Ts*n-T2)。
low-speed uniform-speed section:
T2＝t2-t1＝S2-0.5*(V0-Vobj2)*(V0-Vobj2)/A；
V(n)＝Vobj2；
△S(n)＝V(n)*Ts；
when the real-time Δ S is S2, the second phase motion is completed.
From the above description, the beneficial effects of the present invention are: the device carrying the method can be applied to industrial automation occasions with comprehensive requirements on speed, and can be used for more complex tasks of grabbing, stacking, lightly releasing, stacking, lightly walking and the like of injection molding products.
Example 2
The invention also relates to an advanced speed change device based on the manipulator of the injection molding machine, which comprises an acquisition module, a calculation module, an execution module and a judgment module,
the acquisition module is used for acquiring motion parameters, wherein the motion parameters comprise a motion distance S, a maximum acceleration A, an advance speed Sd, a first-stage speed Vobj1, a second-stage speed Vobj2 and an interpolation period Ts;
the calculation module is used for calculating and obtaining a stage speed plan according to the motion parameters, the stage speed plan comprises a first speed plan stage and a second speed plan stage,
the first speed planning stage comprises a first speed changing stage and a first uniform speed stage;
the second speed planning stage comprises a second speed changing stage, a second constant speed stage and a third speed changing stage;
the calculation module is also used for calculating the movement distance according to the running speed;
the judging module is used for judging whether the speed change point is reached according to the movement distance, and the judging module is also used for judging whether the current scene of lightly taking the product or lightly putting the product is in;
the execution module is used for regulating the speed according to the stage speed plan, specifically, the execution module comprises a first speed plan stage execution unit and a second speed plan stage execution unit,
the first speed planning stage execution unit is used for adjusting the speed according to a first speed planning stage;
the second speed planning stage execution unit is used for adjusting the speed according to the second speed planning stage.
And when the vehicle is in a light product scene, the calculation module calculates the distance of the early acceleration point according to the motion parameters acquired by the acquisition module and generates a first speed planning stage and a second speed planning stage.
The execution module accelerates the manipulator to a low-speed and uniform-speed section for moving work according to a first speed planning stage, meanwhile, the calculation module synchronously calculates the movement distance, when the manipulator reaches a point of acceleration in advance, the execution module accelerates the manipulator to a high-speed and uniform-speed section for moving work according to a second speed planning stage, and when the movement distance synchronously calculated by the calculation module reaches the total movement distance, the execution module decelerates the manipulator to 0, so that the light picking action is completed.
When the player is in a light product scene, the calculation module calculates the distance of the early deceleration point according to the motion parameters acquired by the acquisition module and generates a first speed planning stage and a second speed planning stage.
The execution module accelerates the manipulator to a high-speed uniform section for moving work according to a first speed planning stage, meanwhile, the calculation module synchronously calculates the movement distance, when the manipulator reaches a speed reduction point in advance, the execution module decelerates the manipulator to a low-speed uniform section for moving work according to a second speed planning stage, and when the movement distance synchronously calculated by the calculation module reaches the total movement distance, the execution module decelerates the manipulator to 0, so that the light-release action is completed.
It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the computing module may be a processing element separately set up, or may be implemented by being integrated in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and a processing element of the apparatus calls and executes the functions of the processing module. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 6 shows a system diagram of an apparatus according to an embodiment of the invention. The system comprises a processor 1, a memory 2, a display 3, an input device 4 and a bus 5; the memory 2 is used for storing computer programs, the processor 1 is used for executing the computer programs stored in the memory 2 so as to enable the system to execute the advanced speed changing method, the display 3 is used for displaying the execution result of the processor 1, the input device 4 is used for inputting external information, and the bus 5 is used for information interaction among the processor 1, the memory 2, the display 3 and the input device 4.
The above-mentioned system bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The memory may include a Random Access Memory (RAM), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory.
The processor may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the integrated circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An advanced speed change method based on an injection molding machine manipulator comprises the following steps:
acquiring a motion parameter;
calculating according to the motion parameters to obtain a stage speed plan;
and adjusting the operation speed according to the stage speed plan.
2. The method of advancing the speed change based on the robot of the injection molding machine according to claim 1, wherein: in the step of obtaining a phase velocity profile based on the motion parameters, the phase velocity profile comprises a first velocity profile phase and a second velocity profile phase,
the first speed planning stage comprises a first speed changing stage and a first uniform speed stage;
the second speed planning stage comprises a second speed changing stage, a second constant speed stage and a third speed changing stage.
3. The method of advancing the speed change based on the robot of the injection molding machine according to claim 2, wherein: in the step of adjusting the operation speed according to the phase speed plan, the step of calculating the movement distance according to the operation speed is further included.
4. The method of advancing the speed change based on the robot of the injection molding machine according to claim 3, wherein: and in the step of planning and adjusting the running speed according to the stage speed, judging whether a speed change point is reached according to the movement distance, and if so, planning and adjusting the running speed in the stage according to the second speed.
5. The method of advanced speed change based on robot of injection molding machine according to any one of claims 1 to 4, wherein: in the step of acquiring the motion parameters, the motion parameters include a motion distance S, a maximum acceleration a, an advance shift distance Sd, and an interpolation period Ts.
6. The utility model provides an advance speed change gear based on injection molding machine manipulator which characterized in that: comprises an acquisition module, a calculation module and an execution module,
the acquisition module is used for acquiring motion parameters;
the calculation module is used for calculating according to the motion parameters to obtain a stage speed plan;
the execution module is used for adjusting the operation speed according to the stage speed plan.
7. The injection molding machine robot-based change-speed advance device according to claim 6, wherein: the execution module includes a first speed planning stage execution unit and a second speed planning stage execution unit,
the first speed planning stage execution unit is used for adjusting the speed according to a first speed planning stage;
the second speed planning stage execution unit is used for adjusting the speed according to the second speed planning stage.
8. The injection molding machine robot-based change-speed advance device according to claim 7, wherein: the calculation module is also used for calculating the movement distance according to the running speed.
9. The injection molding machine robot-based change-speed advance device according to claim 8, wherein: the device also comprises a judging module, wherein the judging module is used for judging whether the speed change point is reached according to the movement distance.
10. The mechanical arm-based change-speed advance device for an injection molding machine according to any one of claims 6 to 9, wherein: the motion parameters include a motion distance S, a maximum acceleration a, an advance shift distance Sd, and an interpolation period Ts.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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