Introduction: With the rapid development of the plastic processing industry in China, the degree of automation of injection molding equipment is also increasing. In order to increase production efficiency, modern injection molding machines are equipped with robots. The manipulator can imitate some of the functions of the upper limbs of the human body, and it can be automatically controlled to make it install automated production equipment that is scheduled to require the delivery of products or control tools for production operations. This article describes the use of the Austrian letter PLC controlled injection molding machine manipulator, the use of PLC flexible control features, the configuration of the sliding part of the slide guide, the use of helical rack and pinion drive and frequency control.
1, the composition of the robot
The composition of an injection robot is generally composed of an execution system, a drive system, a control system, a position detection system, and the like. The execution and drive system is mainly designed to complete the normal function of the arm of the manipulator, and the operation of the mechanical component is driven by the hydraulic power to achieve the function of extracting the object. The control system is the core of the injection robot. Through the control of the drive system, the execution system operates according to a predetermined process. The position detection device is mainly used to control the movement position of the manipulator, and feedback the actual position of the actuator at any time to the control system, compare with the set position, and then adjust through the control system to achieve the required precision control.
2, injection molding machine manipulator action diagram
1-Original; 2, 9-down; 3, 5-object removal; 4-suction cup;
6,11-Rise; 7-Ramp;;8,12-Round; 10-Clip object; 13-Ramp
3, control requirements
A standard work cycle contains the 13 basic actions shown in the figure above. For different situations, the manipulator's working style needs multiple choices to meet the changes in job requirements. According to the actual working conditions of the manipulator, the program must consider the following functions: 1) two basic operating modes of automatic operation and manual operation; 2) the program must also provide the function of returning to the origin; 3) step-by-step debugging in order to facilitate manipulator action The program must provide a one-step operation function; 4) In order to cope with some special needs of the injection molding machine work, the program must provide a single-cycle operation function.
4, control system
This design uses the Okubo letter 224CCPU (self-provided 14DI/10DO) as the main control, programming control of the injection robot, the number of basic units, external special units and special modules does not exceed 7 at most. The biggest feature of using PLC control is small size, strong function, fast response and high reliability. There is no need to make major changes to the Hardware environment. It can be modified at any time depending on the requirements of the production process, and is scalable. The following figure shows the I/O allocation table. The user can program according to the table (for reference only, it can be modified according to the site)
When writing a program, the control point for each action must be correct to avoid errors caused by debugging. The program can be written according to the distribution points in the above figure. When writing, it must be written according to the required actions of the production process at the site. Man-machine interface for monitoring and operation, it is recommended to use Kingview screen software.
Conclusion:
This design utilizes very mature PLC technology and variable frequency speed control technology as well as very mature and advanced mechanical transmission components, so that injection molding robots become more flexible and meet customer needs. The injection molding robot is a machine specially equipped for the automation of injection molding production. It can reduce heavy physical labor, improve working conditions and safe production; increase the production efficiency of injection molding machines, stabilize product quality, reduce scrap rate, reduce production costs, and strengthen enterprises The competitiveness and other aspects play an extremely important role.
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