Research And Application Of Intelligent Robot System For Injection Molding Process

With the rapid development of our country injection molding industry,plastic products are becoming more and more widespread,demanding for output,quality and technology has become increasingly high,traditional artificial operations have been hard to guarantee,and it is not conducive to productivity improvements.Automation,smart technology is helping to shape the transformation of the production process,the advent of injection robots has a significant effect on the mix of hybrids,materials,capturing,embedding,detecting,getting the quills,recycling,and modelling,It's the inevitable trend in the development of the industry.To combine the actual situation needs of the company,under the constraints of limited space,there is a complex environment for multiple irregular obstacles.By focusing on the structure of the robot,the kinematics and the dynamics of the joints,the track trajectories,and its optimization,research on key commonalities and techniques such as the parameters of the joint movement controls and optimization,these studies provide references and references to the path optimization of the injection robots.trajectoryThis article outlines the main contents as follows:In the first chapter,the paper analyzes the scale and demand of industrial robots and the market of robot in the world.It introduces the present situation and development trend of the research and application of injection molding robot at home and abroad.Based on the research and application of injection robot in China,this paper expounds the researchsignificance content.In the second chapter,the three-dimensional spatial point position description and the linkage coordinate system of homogeneous transformation matrix are studied.The kinematics and dynamics model of injection robot are established by D-H parameter method and Lagrange balance method,a real-time inverse kinematics closed algorithm for injection-molded robots is studied.In the third chapter,the parametric model of NX-based robot and the motion simulation model of injection robot based on NX/Motion are established by using structural expression.The kinematics analysis is carried out by using link function and the injection robot control system based on MATLAB/Robotics Toolbox Kinematics model and kinematics and dynamics analysis.Under the limited space constraints,a trajectory planning and optimization method based on kinematics simulation of structural dynamics and control system is proposed.In the fourth chapter,the trajectory of the manipulator based on the cubic spline interpolation is used to construct the interpolated joint angle-time series.The trajectory of the manipulator considering the finite space constraint is composed of the three-dimensional interpolation of the joint space,and the particle group based on the adaptive penalty function Optimizing the algorithm to interpolate the cubic spline curve to obtain the optimal time vector of the key points of the motion trajectory of the injection robot.In the fifth chapter,the AC servo motor drive,the standard PID controller and the controller optimization method are analyzed.The simulation model of PI and PID controller of injection robot based on MATLAB is established,and the parameters of injection robot joint controller are set and optimized.In the sixth chapter,it summarizes the main contributions and innovations of this paper,and looks forward to the research and development of injection molding robot.