A manipulator, injection profile injection molding machine dedicated manipulator was part of the can imitate human body upper limb function, can automatically control the products or running tools according to the predetermined requirement for the operation of automated production equipment. Injection of manipulator is equipped with exclusively for injection molding production automation machinery, it can be reduce the heavy manual labor, improve working conditions and safety in production; Increase the productivity of the injection molding machine, stable product quality, reduce scrap rate, reduce the production cost, enhance the competitiveness of enterprises play a very important role. general injection molding machine dedicated manipulator by the control system, driving system and executive system, etc.
, in this paper, the servo manipulator system in the application of triaxial mechanical hand. Block diagrams
manipulator control system, PLC control system types have mainly, control card handheld controller, a dedicated control system. For control mode, the main pulse control, analog control, bus control. Bus control multi-axis manipulator is the development trend. drive system: (Then, up and down, lead to dial): have a pneumatic, inverter, servo drive system types are mainly. Servo drive to realize closed loop control, the accuracy is higher, faster, is the most popular drive manipulator system. control system is inventory control control card, teach responsible for trajectory planning, monitoring, programming, etc. Control method for pulse direction. The physical picture of 2 axis injection manipulator. drive system is a servo system, the response PC command, responsible for the transverse axis motion control, servo power is 750 w, with 5 than reducer. Main arm shaft rezai, 1000 w, with 5 than reducer. drive gear reducer (Cuhk reducer)And pulley drive, transverse axis range of 1. 5m。
3, injection manipulator motor driven key requirements (1)High precision: L5 servo 17 encoder in mechanical structure under normal circumstances enough to guarantee position precision of the manipulator. Stop from time to tome vibration suppression function, positioning precision. (2)Super stability: injection molding machine working non-stop for manipulator can't fail, affect factory production, motor, drive must be able to stable operation, little fault occurs. L5 servo has been stable operation at the scene of the injection molding machine. Practice shows that the servo quality worthy of trust. (3)Anti-interference: injection molding machine to the complex electromagnetic environment on site, anti-jamming, driver must ensure that take put position accurately. (4)High efficiency: servo have bus high-speed machine, through specific algorithm improve the motor speed to ensure injection manipulator operation cycle to meet customer requirements.
4, injection manipulator each shaft motor drive the following major targets for three axial injection manipulator general conditions of use, if continue to improve the speed or reduce the deceleration time, drive will be submitted to the overload or pump up high voltage led to the incorrect retrogradation resistance equipment as a whole: frequent start-stop, deceleration time small, quick speed, short running period, motor, drive run close to excess, and start, stop, don't allow appear when shaking. operation cycle: 5 -6 s transverse axis; Adopt servo motor of 750 w + 1:5 reduction through the belt drive, moment of inertia is very large. upper and lower axis: adopt servo motor of 400 w + 1:5 reduction through the belt transmission. lead axis: pull sampling servo motor of 400 w + 1:5 reduction through the belt drive shaft deceleration time: run 200 -500 ms upper and lower shaft deceleration time: 150 -300 ms guide shaft deceleration time: pull - 150Maximum speed 300 ms : 3000 RPM. location accuracy: 0. 5 mm
5, the project features: 1, the bus type high precision encoders: 5 line connection, anti-jamming, convenient wiring; High resolution encoder, ensure the manipulator positioning accuracy. 2, moment of inertia identification: suitable for belt, such as wire rod manipulator used transmission way; Precise torque feedforward control, improved dynamic performance. 3, parameter self-tuning: automatic tuning parameters, to improve the whole performance manipulator. 4, strong mechanical vibration suppression function: pendulum vibration suppression function can eliminate mechanical oscillating at the end; Multiple sets of notch filter to eliminate the mechanical resonance. : 5, the second generation of the servo algorithm system parameter model was established, implementation of high position instruction following the operation. 6, strong and easy to use PC software: integrated parameter editing; Common fault detection such as over-current, over-voltage and overload; Real-time sampling of position, velocity and current information.
6, application conclusion: 1, the four macro servo debugging process simple, good portability, the effect of customer satisfaction, performance can be comparable with imported servo motor. 2, 4 macro servo on the market for more than a year, so far does not appear servo fault, stable reliability recognised by industry customers. 3, four macros cost-effective servo, believe that will bring more surprise to new and old customers. 4, four macros servo to listen to customer needs, rapid response, help customers new models try debugging, customer demand for product improvement work done and on time. the main products: stepper motor, brushless motor, servo motor, stepping motor drive, brake motor, linear motor and other kinds of models of the stepper motor, welcome to inquire. Telephone:
