一种注塑机械手堆叠算法及其运动控制策略  

Stacking Algorithm and Control Strategy of an Injection Molding Manipulator

作　　者：余杰先 张中华 陈凌玲 李久林 温舒然 Yu Jiexian;Zhang Zhonghua;Chen Lingling;Li Jiulin;Wen Shuran(Zhuhai Gree Intelligent Equipment Co.,Ltd.,Zhuhai,Guangdong 519000,China)

机构地区：[1]珠海格力智能装备有限公司,广东珠海519000

出　　处：《机电工程技术》2023年第12期142-145,共4页Mechanical & Electrical Engineering Technology

摘　　要：传统的注塑机行业中,注塑机锁模产品成型后,由人工伸手进模内抓取产品,这不仅效率低,而且风险高,容易造成工人误伤。尽管随着工业机器人的发展,一种可应用于注塑机自动抓取的机械臂控制系统应运而生,其快速的加减速速度曲线规划可以将注塑模内产品的抓取周期缩短至2 s,大量应用于手机壳、塑料片的抓取,极大改善了生产安全和效率问题。然而随着行业的不断发展,注塑机产品工艺流程复杂度不断提高,当前的机械手从注塑机中取出产品都是按固定的点位投放,这就还需要工人手动将产品按指定排列方式进行堆放。因此,提出一种用于注塑机的机械手的堆叠算法,并规划了在机械手中实现该算法的运动控制策略。这种算法可以控制机械手以期望的排列方式自动将成品整齐排列,从而提高生产效率,并且使生产过程更加安全,更加智能化。In the traditional injection molding machine industry,after the injection molding machine mold lock production is formed,the manual hand reaches into the mold to grab the production,which is not only low efficiency,but also high risk,easy to cause the problem of worker injury.Although with the development of industrial robots,a mechanical arm control system that can be applied to the automatic grasping of injection molding machines came into being,its rapid acceleration and deceleration speed curve planning can shorten the grasping cycle of productions in injection molding molds to 2 s,which is widely used in the grasping of mobile phone cases and plastic sheets,greatly improving the above safety and efficiency problems.However,with the continuous development of the industry,the complexity of the injection molding machine production process continues to improve,and the current manipulator takes out the productions from the injection molding machine at a fixed point,which also requires workers to manually stack the productions according to the specified arrangement.Therefore,a stacking algorithm for the manipulator of injection molding machine is proposed,and the motion control strategy is planed to implement the algorithm in the manipulator.The algorithm can control the robot to automatically arrange the finished products in the desired arrangement,so as to improve the production efficiency,and make the production process safer and more intelligent.

关 键 词：注塑机械手 驱控一体 堆叠算法 提前加减速算法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]