CN105729739A - Control method and system for injection molding system - Google Patents
Control method and system for injection molding system Download PDFInfo
- Publication number
- CN105729739A CN105729739A CN201610099310.2A CN201610099310A CN105729739A CN 105729739 A CN105729739 A CN 105729739A CN 201610099310 A CN201610099310 A CN 201610099310A CN 105729739 A CN105729739 A CN 105729739A
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- mechanical hand
- injection machine
- injection
- signal
- ready signal
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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
-
- 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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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
The invention discloses a control method and system for an injection molding system. The method comprises steps as follows: injection molding machines send preparation signals to manipulators in the injection molding process; the manipulators control grabbing parts to move to preset waiting points according to the preparation signals after current operations are completed; the injection molding machines send complete mold opening signals to the manipulators after completing injection molding; the manipulators control the grabbing parts to move from the waiting points to preset taking points corresponding to the injection molding machines according to the complete mold opening signals; the manipulators wait for receiving of preparation signals again according to preset working modes. The manipulators execute corresponding actions by receiving related signals of the injection molding machines in real time, the balance state can be realized gradually in the working process, and the startup sequence of the injection molding machines is not required to be calculated and set in advance, so that the control method and system can be applied to different working modes and are higher in practicability; and meanwhile, time can be saved, and the production efficiency can be improved.
Description
Technical field
The present invention relates to injection moulding and control technical field, particularly relate to control method and the system thereof of a kind of adapted to injection system.
Background technology
Injecting products exists and needs mutually chimeric target part, it is necessary to two injection machines carry out injection moulding, and adopt two mechanical hands to carry out picking respectively putting, finally adopt extra clustered operation to be combined generating finished product.
When the scheme adopting Automatic Combined, then need to put into injection-molded finished in combined equipment according to certain rule.But adopt the program to have the disadvantages that
A. the speed of two injection machine production products is inconsistent, causes a wherein needs extra control signals controller speed of production.
B. when previous injection machine breaks down, it is necessary to stop an other injection machine automatically and mechanical hand stops；When trouble shooting, it is necessary to automatically start another injection machine and mechanical hand.
C. automatic assembling is due to space problem, and two mechanical hand feedings simultaneously can cause interfering, and collides, it is necessary to signal is arbitrated.
Being not difficult to find out from above, two mechanical hands coordinate two injection machines, when the different assemblies of the same workpiece that production is mutually chimeric assemble, can cause the introducing of extra logic controller etc..The introducing of logic controller, one is to increase fund Codominance cost, and two are introduced into more holding wire, cause that maintenance cost rises.
In the Chinese patent document that publication number is CN102962968A, propose a kind of more than two injection machines and configure framework and the control method that a mechanical hand produces, corresponding injection moulding machine mould open signal is fed back to master controller by controller of plastic injection molding, master controller controls mechanical hand pickup and inloading part from this injection machine respectively by Manipulator Controller, after pickup completes, Manipulator Controller feedback signal to master controller by this injection machine matched moulds of main controller controls, inloading part complete after mechanical hand pickup and inloading part from the injection machine of next die sinking.But there are particular requirement boot sequence and the time of injection machine by the method, it is necessary to through calculating, if changing the quantity of injection machine, then needing to recalculate and reset, practicality is relatively low.
Summary of the invention
The technical problem to be solved is: provide control method and the system thereof of a kind of adapted to injection system, improves the service efficiency of mechanical hand, and the boot sequence of injection machine need not be calculated and arrange.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is: the control method of a kind of adapted to injection system, including
Injection machine sends ready signal to mechanical hand in injection moulding process；
Described mechanical hand is according to described ready signal, after completing current operation, controls grip portion and moves to default holding point；
Described injection machine sends the complete signal of die sinking extremely described mechanical hand after completing injection moulding；
Described mechanical hand controls grip portion according to the complete signal of described die sinking and moves to the pickup point preset of corresponding described injection machine from described holding point；
Mechanical hand, according to the mode of operation pre-set, waits and again receives ready signal.
The invention still further relates to the control system of a kind of adapted to injection system, including
First sending module, sends ready signal to mechanical hand for injection machine in injection moulding process；
First controls module, for described mechanical hand according to described ready signal, after completing current operation, controls grip portion and moves to default holding point；
Second sending module, sends the complete signal of die sinking extremely described mechanical hand after completing injection moulding for described injection machine；
Second controls module, controls grip portion for described mechanical hand according to the complete signal of described die sinking and moves to the pickup point preset of corresponding described injection machine from described holding point；
First waits module, for mechanical hand according to the mode of operation pre-set, waits and again receives ready signal.
The beneficial effects of the present invention is: injection machine sends ready signal to mechanical hand in injection moulding process, the grip portion making mechanical hand moves to corresponding holding point after completing current operation at once, after receiving the complete signal of die sinking, directly can move to pickup point from holding point, save the time, improve production efficiency；The mechanical hand coherent signal by real-time reception injection machine, performs corresponding actions, in the course of the work, can progressively reach the state of balance, without precalculating the boot sequence arranging injection machine, can be applicable to different working modes, and practicality is higher.
Accompanying drawing explanation
Fig. 1 is the flow chart of the control method of a kind of adapted to injection system of the present invention；
Fig. 2 is the method flow diagram of the embodiment of the present invention one；
Fig. 3 is the structural representation of the adapted to injection system of the embodiment of the present invention two；
Fig. 4 is the structural representation of the control system of a kind of adapted to injection system of the present invention；
Fig. 5 is the system structure schematic diagram of the embodiment of the present invention three.
Label declaration:
1, the first sending module；2, first controls module；3, the second sending module；4, second controls module；5, first module is waited；6, module is added；7, second module is waited；8, the 3rd sending module；9, the 3rd controls module；
51, first unit is waited；52, second unit is waited；53, the first transmitting element；54, the 3rd unit is waited；55, the second transmitting element.
Detailed description of the invention
By describing the technology contents of the present invention in detail, being realized purpose and effect, below in conjunction with embodiment and coordinate accompanying drawing to be explained in detail.
The design of most critical of the present invention is in that: mechanical hand, according to the mode of operation pre-set, receives the coherent signal of corresponding injection machine, and the coherent signal arrived according to real-time reception performs corresponding operating.
Refer to Fig. 1, the control method of a kind of adapted to injection system, including
Injection machine sends ready signal to mechanical hand in injection moulding process；
Described mechanical hand is according to described ready signal, after completing current operation, controls grip portion and moves to default holding point；
Described injection machine sends the complete signal of die sinking extremely described mechanical hand after completing injection moulding；
Described mechanical hand controls grip portion according to the complete signal of described die sinking and moves to the pickup point preset of corresponding described injection machine from described holding point；
Mechanical hand, according to the mode of operation pre-set, waits and again receives ready signal.
From the above it can be seen that the beneficial effects of the present invention is: the mechanical hand coherent signal by real-time reception injection machine, performing corresponding actions, in the course of the work, can progressively reach the state of balance, and can be applicable to different working modes, practicality is higher.
Further, before described " injection machine sends ready signal extremely described mechanical hand in injection moulding process ", farther include:
Injection machine sends and adds signal to mechanical hand；
Described mechanical hand waits the ready signal of described injection machine to be received after receiving described addition signal.
Seen from the above description, injection machine adds signal by sending, and sets up communication with mechanical hand and is connected, and makes described injection machine add the adapted to injection system at described mechanical hand place, it is prevented that cause the confusion between different adapted to injection system.
Further, after described " described mechanical hand controls grip portion according to the complete signal of described die sinking and moves to the pickup point preset of corresponding described injection machine from described holding point ", farther include:
After described mechanical hand completes pickup, send injection moulding signal extremely described injection machine.
Seen from the above description, mechanical hand sends injection moulding signal to injection machine after completing pickup, makes injection machine start the injection moulding of a new round, it may be achieved automated production, improves production efficiency further.
Further, the mode of operation of described default setting includes unit mode of operation, fixing process mode and random work pattern.
Further, described " mechanical hand, according to the mode of operation that pre-sets, waits and again receives ready signal " particularly as follows:
Mechanical hand, according to unit mode of operation, waits the ready signal again receiving described injection machine.
Further, described " mechanical hand, according to the mode of operation that pre-sets, waits and again receives ready signal " particularly as follows:
Mechanical hand, according to fixing process mode, waits the ready signal of appointment injection machine to be received；
Described appointment injection machine sends ready signal extremely described mechanical hand in injection moulding process.
Further, described " mechanical hand, according to the mode of operation that pre-sets, waits and again receives ready signal " particularly as follows:
Mechanical hand, according to random work pattern, waits the ready signal of any one injection machine to be received；
One injection machine sends ready signal extremely described mechanical hand in injection moulding process.
Seen from the above description, by pre-setting, make the ready signal of the different injection machines to be received such as mechanical hand, it is achieved different mode of operations, make adapted to injection system can realize unit mode of operation, fixing process mode and random work pattern, improve the motility of adapted to injection system.
Refer to Fig. 4, the invention allows for the control system of a kind of adapted to injection system, including
First sending module, sends ready signal to mechanical hand for injection machine in injection moulding process；
First controls module, for described mechanical hand according to described ready signal, after completing current operation, controls grip portion and moves to default holding point；
Second sending module, sends the complete signal of die sinking extremely described mechanical hand after completing injection moulding for described injection machine；
Second controls module, controls grip portion for described mechanical hand according to the complete signal of described die sinking and moves to the pickup point preset of corresponding described injection machine from described holding point；
First waits module, for mechanical hand according to the mode of operation pre-set, waits and again receives ready signal.
Further, also include
Add module, for injection machine transmission addition signal to mechanical hand；
Second waits module, after receiving described addition signal for described mechanical hand, waits the ready signal of described injection machine to be received.
Further, also include
3rd sending module, after completing pickup for described mechanical hand, sends injection moulding signal extremely described injection machine.
Embodiment one
Refer to Fig. 2, embodiments of the invention one are: the control method of a kind of adapted to injection system, and described adapted to injection system includes a mechanical hand and one or more injection machine；Described method comprises the steps:
S1: injection machine sends and adds signal to mechanical hand, after described mechanical hand receives described addition signal, ready signal etc. described injection machine to be received, that is, the addition signal that only injection machine sends is to mechanical hand, mechanical hand just can wait the coherent signal of its transmission to be received, and the signal sended over according to described injection machine carries out corresponding operating.
S2: whether the mode of operation judging mechanical hand is unit mode of operation, if it is not, then perform step S3, if so, then performs step S4.
S3: whether the mode of operation judging mechanical hand is fixing process mode, if so, then performs step S5, if so, then performs step S6.
S4: the ready signal of same the injection machine to be received such as mechanical hand, namely mechanical hand performs unit mode of operation, that is, mechanical hand only carries out corresponding operating for same injection machine, as part is put in pickup, even if there being other injection machines to send coherent signal to described mechanical hand, mechanical hand carries out corresponding operating without for other injection machines.
S5: the ready signal of the appointment injection machine to be received such as mechanical hand, namely mechanical hand performs fixing process mode；Such as, adapted to injection system includes injection machine A and injection machine B, order in the fixing flow process pre-set is the circulation of injection machine A, injection machine B, injection machine A, injection machine B, then injection machine A and injection machine B is carried out corresponding operating according to the sequential system circulation preset by mechanical hand.
S6: the ready signal of any one the injection machine to be received such as mechanical hand, namely mechanical hand performs random work pattern；Such as, adapted to injection system includes injection machine A and injection machine B, if mechanical hand first receives the signal of injection machine A, then first injection machine A is carried out corresponding operating, if mechanical hand first receives the signal of injection machine B, then first injection machine B is carried out corresponding operating；Therefore when injection machine A works independently, it is possible to start B, random work a period of time, then can individually cut off an injection machine, and not affect an other injection machine.
S7: injection machine sends ready signal to mechanical hand in injection moulding process.
S8: described mechanical hand is according to described ready signal, after completing current operation, controls grip portion and moves to default holding point；Such as, for fixing process mode and random work pattern, mechanical hand is when carrying out pickup for injection machine A, have received the ready signal of injection machine B, mechanical hand can first complete the corresponding operating to injection machine A, be about to be put into from workpiece injection machine A put part point accordingly after just control grip portion and move to the default holding point of correspondence injection machine B.
S9: described injection machine sends the complete signal of die sinking extremely described mechanical hand after completing injection moulding.
S10: described mechanical hand controls grip portion according to the complete signal of described die sinking and moves to the pickup point preset of corresponding described injection machine from described holding point.
S11: manipulator control grip portion move to corresponding described injection machine preset put part point, meanwhile, mechanical hand sends injection moulding signal to described injection machine, makes described injection machine carry out next round injection moulding.
S12: workpiece is placed on by mechanical hand default puts part point, and according to the mode of operation that step S2 and S3 judges, continues executing with step S4, S5 or S6.
Alternatively, described ready signal can be die sinking median signal.
In the present embodiment, the mechanical hand coherent signal by real-time reception injection machine, perform corresponding actions, the state of balance in the course of the work, can be progressivelyed reach, can be applicable to different working modes, practicality is higher, and can save the time, improves production efficiency.
Embodiment two
The present embodiment is a kind of specific implementation of the fixing process mode in embodiment one.
The adapted to injection system of the present embodiment includes mechanical hand, injection machine A and injection machine B, and a kind of structural representation is as shown in Figure 3；The circulation that flow process is injection machine A, injection machine B preset；The open time assuming injection machine A is 12 seconds, it is 2 seconds that mechanical hand takes the time of the workpiece A on injection machine A, mechanical hand move to after taking workpiece A corresponding injection machine A put part point and to place time of workpiece A be 3 seconds, mechanical hand is 2 seconds from the time putting the holding point that part point moves to corresponding injection machine B of corresponding injection machine A, the open time of injection machine B is 13 seconds, it is 2 seconds that mechanical hand takes the time of the workpiece B on injection machine B, mechanical hand move to after taking workpiece B corresponding injection machine B put part point and to place time of workpiece B be 3 seconds, mechanical hand is 2 seconds from the time putting the holding point that part point moves to corresponding injection machine A of corresponding injection machine B.
The workflow of the present embodiment is as shown in table 1:
Table 1
If injection machine A is individually operated by mechanical hand, the cycle is the 12+2=14 second；If injection machine B is individually operated by mechanical hand, the cycle is the 13+2=15 second；If injection machine A and injection machine B is operated by mechanical hand simultaneously, the cycle is 15 seconds.Therefore, the adapted to injection system of the proficiency two-shipper in the present embodiment, will not drag slow overall work efficiency, and the present embodiment can ensure that the speed of production of two injection machines is consistent, it is not necessary to extra increase signal and logic controller make the speeds match of two.
Simultaneously, in the present embodiment, if an injection machine fault, then this injection machine can not send ready signal or the complete signal of die sinking, but mechanical hand is fixing process mode, can wait the coherent signal of this injection machine, and another injection machine also can wait the signal of mechanical hand always always, without extra, all can automatically wait and stay；When injection machine fault solves, when proper motion is to certain operation, can automatically send coherent signal to mechanical hand, flow process is again according to normally going on, now owing to another injection machine does not quit work, simply waiting mechanical hand, so without additionally providing enabling signal.
And the present embodiment adopts the adapted to injection system of two-shipper on the other hand, therefore it is absent from the problem that the feeding simultaneously of two mechanical hands causes interfering.
Embodiment three
Refer to Fig. 5, embodiments of the invention three are the control system of a kind of adapted to injection system, including
First sending module 1, sends ready signal to mechanical hand for injection machine in injection moulding process；
First controls module 2, for described mechanical hand according to described ready signal, after completing current operation, controls grip portion and moves to default holding point；
Second sending module 3, sends the complete signal of die sinking extremely described mechanical hand after completing injection moulding for described injection machine；
Second controls module 4, controls grip portion for described mechanical hand according to the complete signal of described die sinking and moves to the pickup point preset of corresponding described injection machine from described holding point；
First waits module 5, for mechanical hand according to the mode of operation pre-set, waits and again receives ready signal.
This system also includes
Add module 6, for injection machine transmission addition signal to mechanical hand；
Second waits module 7, after receiving described addition signal for described mechanical hand, waits the ready signal of described injection machine to be received；
3rd sending module 8, after completing pickup for described mechanical hand, sends injection moulding signal extremely described injection machine；
3rd control module 9, for manipulator control grip portion move to corresponding described injection machine preset put part point.
Described first waits that module 5 includes
First waits unit 51, for mechanical hand according to unit mode of operation, waits the ready signal again receiving described injection machine；
Second waits unit 52, for mechanical hand according to fixing process mode, waits the ready signal of appointment injection machine to be received；
First transmitting element 53, sends ready signal extremely described mechanical hand for described appointment injection machine in injection moulding process；
3rd waits unit 54, for mechanical hand according to random work pattern, waits the ready signal of any one injection machine to be received；
Second transmitting element 55, sends ready signal extremely described mechanical hand for an injection machine in injection moulding process.
In sum, the control method of a kind of adapted to injection system provided by the invention and system thereof, injection machine adds signal by sending, and sets up communication with mechanical hand and is connected, described injection machine is made to add the adapted to injection system at described mechanical hand place, it is prevented that to cause the confusion between different adapted to injection system；Injection machine sends ready signal to mechanical hand in injection moulding process, the grip portion making mechanical hand moves to corresponding holding point after completing current operation at once, waits after receiving the complete signal of die sinking, directly can move to pickup point from holding point, save the time, improve production efficiency；The mechanical hand coherent signal by real-time reception injection machine, performs corresponding actions, in the course of the work, can progressively reach the state of balance, without precalculating the boot sequence arranging injection machine, can be applicable to different working modes, and practicality is higher；Mechanical hand sends injection moulding signal to injection machine after completing pickup, makes injection machine start the injection moulding of a new round, it may be achieved automated production, improves production efficiency further；By pre-setting, make the ready signal of the different injection machines to be received such as mechanical hand, it is achieved different mode of operations, improve the motility of adapted to injection system.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every equivalents utilizing description of the present invention and accompanying drawing content to make, or directly or indirectly it is used in relevant technical field, all in like manner include in the scope of patent protection of the present invention.
Claims (10)
1. the control method of an adapted to injection system, it is characterised in that include
Injection machine sends ready signal to mechanical hand in injection moulding process；
Described mechanical hand is according to described ready signal, after completing current operation, controls grip portion and moves to default holding point；
Described injection machine sends the complete signal of die sinking extremely described mechanical hand after completing injection moulding；
Described mechanical hand controls grip portion according to the complete signal of described die sinking and moves to the pickup point preset of corresponding described injection machine from described holding point；
Mechanical hand, according to the mode of operation pre-set, waits and again receives ready signal.
2. the control method of adapted to injection system according to claim 1, it is characterised in that before described " injection machine send in injection moulding process ready signal to mechanical hand ", farther include:
Injection machine sends and adds signal to mechanical hand；
Described mechanical hand waits the ready signal of described injection machine to be received after receiving described addition signal.
3. the control method of adapted to injection system according to claim 1, it is characterized in that, after described " described mechanical hand controls grip portion according to the complete signal of described die sinking and moves to the pickup point preset of corresponding described injection machine from described holding point ", farther include:
After described mechanical hand completes pickup, send injection moulding signal extremely described injection machine.
4. the control method of adapted to injection system according to claim 1, it is characterised in that the mode of operation of described default setting includes unit mode of operation, fixing process mode and random work pattern.
5. the control method of adapted to injection system according to claim 4, it is characterised in that described " mechanical hand, according to the mode of operation that pre-sets, waits and again receives ready signal " particularly as follows:
Mechanical hand, according to unit mode of operation, waits the ready signal again receiving described injection machine.
6. the control method of adapted to injection system according to claim 4, it is characterised in that described " mechanical hand, according to the mode of operation that pre-sets, waits and again receives ready signal " particularly as follows:
Mechanical hand, according to fixing process mode, waits the ready signal of appointment injection machine to be received；
Described appointment injection machine sends ready signal extremely described mechanical hand in injection moulding process.
7. the control method of adapted to injection system according to claim 4, it is characterised in that described " mechanical hand, according to the mode of operation that pre-sets, waits and again receives ready signal " particularly as follows:
Mechanical hand, according to random work pattern, waits the ready signal of any one injection machine to be received；
One injection machine sends ready signal extremely described mechanical hand in injection moulding process.
8. the control system of an adapted to injection system, it is characterised in that include
First sending module, sends ready signal to mechanical hand for injection machine in injection moulding process；
First controls module, for described mechanical hand according to described ready signal, after completing current operation, controls grip portion and moves to default holding point；
Second sending module, sends the complete signal of die sinking extremely described mechanical hand after completing injection moulding for described injection machine；
Second controls module, controls grip portion for described mechanical hand according to the complete signal of described die sinking and moves to the pickup point preset of corresponding described injection machine from described holding point；
First waits module, for mechanical hand according to the mode of operation pre-set, waits and again receives ready signal.
9. the control system of adapted to injection system according to claim 8, it is characterised in that also include
Add module, for injection machine transmission addition signal to mechanical hand；
Second waits module, after receiving described addition signal for described mechanical hand, waits the ready signal of described injection machine to be received.
10. the control system of adapted to injection system according to claim 8, it is characterised in that also include
3rd sending module, after completing pickup for described mechanical hand, sends injection moulding signal extremely described injection machine.
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| CN201610099310.2A CN105729739A (en) | 2016-02-24 | 2016-02-24 | Control method and system for injection molding system |
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| CN201610099310.2A CN105729739A (en) | 2016-02-24 | 2016-02-24 | Control method and system for injection molding system |
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| CN201610099310.2A Pending CN105729739A (en) | 2016-02-24 | 2016-02-24 | Control method and system for injection molding system |
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| CN106891475A (en) * | 2017-01-18 | 2017-06-27 | 歌尔股份有限公司 | The control method and injection molding system of injection moulding |
| CN107521054A (en) * | 2017-09-30 | 2017-12-29 | 柳州煜华科技有限公司 | The method of injection machine automatic part picking |
| CN107953525A (en) * | 2016-10-18 | 2018-04-24 | 恩格尔奥地利有限公司 | Operate regulating device, operation equipment, former and the adjusting method for operating equipment of equipment |
| CN114131864A (en) * | 2021-10-13 | 2022-03-04 | 海天塑机集团有限公司 | Control method and system for linkage of ejector rod mechanism and manipulator of injection molding machine |
| CN114801099A (en) * | 2022-03-11 | 2022-07-29 | 宁波安信数控技术有限公司 | Injection molding machine manipulator control method and control system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107953525A (en) * | 2016-10-18 | 2018-04-24 | 恩格尔奥地利有限公司 | Operate regulating device, operation equipment, former and the adjusting method for operating equipment of equipment |
| CN107953525B (en) * | 2016-10-18 | 2019-08-16 | 恩格尔奥地利有限公司 | Operate regulating device and adjusting method, the operation equipment and molding equipment of equipment |
| US10981316B2 (en) | 2016-10-18 | 2021-04-20 | Engel Austria Gmbh | Control device for a handling device |
| CN106891475A (en) * | 2017-01-18 | 2017-06-27 | 歌尔股份有限公司 | The control method and injection molding system of injection moulding |
| CN107521054A (en) * | 2017-09-30 | 2017-12-29 | 柳州煜华科技有限公司 | The method of injection machine automatic part picking |
| CN107521054B (en) * | 2017-09-30 | 2019-12-17 | 柳州煜华科技有限公司 | automatic workpiece taking method of injection molding machine |
| CN114131864A (en) * | 2021-10-13 | 2022-03-04 | 海天塑机集团有限公司 | Control method and system for linkage of ejector rod mechanism and manipulator of injection molding machine |
| CN114131864B (en) * | 2021-10-13 | 2024-01-16 | 海天塑机集团有限公司 | Control method and system for linkage of ejector rod mechanism and manipulator of injection molding machine |
| CN114801099A (en) * | 2022-03-11 | 2022-07-29 | 宁波安信数控技术有限公司 | Injection molding machine manipulator control method and control system |
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