How to adjust the parameters of injection molding manipulator to improve the stability of taking parts?

The following gives you a set of parameters optimization method of injection manipulator that can be used directly in the field and adjusted in sequence, which is specially used to solve the problems of unstable taking, missing parts, grasping deviation, dislocation and jitter, and can be obviously stable step by step without complicated tools.

First, adjust the speed and buffer first (the most effective and priority change)

Goal: to move flexibly, without throwing parts or impacting.

Run wild/lead out/vertical speed

Reduce the high-speed section to 70% ~ 80%, not at full speed.

Light and small products, easily deformable parts: only 50% ~ 60% at high speed.

Acceleration and deceleration (acceleration and deceleration rate/slope)

Slow down the acceleration and deceleration, so as to avoid sudden starting and stopping and dropping products.

Buffer/pause parameter

Pause for 5 ~ 20 ms before grabbing, and then grab when the product is stable.

Take it out and pause for 5 ~ 10ms before ascending.

Second, adjust the grasping position and depth (grasping accurately is stable)

The descending depth is deepened by 1 ~ 3 mm.

Ensure that the gripper/sucker completely contacts the product, and is not suspended or half-clamped.

Correction of X/Y coordinate offset

Observe the direction of grasping deviation for several consecutive dies, and uniformly fine-tune the coordinates to make the clamping position consistent every time.

The clamping point should avoid the rib position, the thin glue position and the front position.

Sandwiched in a place with thick meat and strong structure, the force is uniform and does not slip.

III. Adjustment of air pressure/vacuum parameters (sucker must be seen)

1) gripper manipulator

Clamping air pressure: 0.4 ~ 0.6 MPa

If the force is too small, the clamp will not be firm, and if it is too large, the clamp will deform and rebound.

2) sucker manipulator (the most unstable)

Vacuum pressure: ≥-85kPa to be stable.

Delay parameters:

The vacuum holding time is prolonged by 0.1-0.3s.

Delay of air bursting is delayed, so as to prevent it from falling just after being released.

Check: whether the vacuum detection switch is sensitive or not. If it is not sucked, it will give an alarm and will not continue to act.

Fourth, timing parameters (synchronization with injection molding machine is very critical)

The instability of taking parts is mostly due to the disorder of time sequence, not the problem of manipulator.

Ensure that: the mold is opened in place → the thimble is returned and reset → the manipulator goes down again.

Adjust the delay:

Delay 0.1～0.5s before descending after mold opening is in place.

When the thimble is withdrawn, the delay is 0.1～0.3s before catching it.

Turn off radical modes such as "going down early" and "quick pickup".

Fifth, the optimization of fixture action parameters

Clamping/releasing delay

After clamping, pause for 30 ~ 80 ms before rising to ensure complete clamping.

Don't open the jaws too much.

Too big a meeting will lead to misalignment and deviation.

Multi-jaws should be synchronized, otherwise the product will be crooked.

Six, image stabilizer, drift prevention parameters

Servo rigidity/braking parameters

Don't be too rigid, high rigidity is easy to shake; Moderate and most stable.

Origin correction

Start the machine once a day to return to the original point to avoid position drift.

Looseness detection

Once the screws of the arm and fixture seat are loosened, the parameters will be unstable even if they are adjusted well.

Seven, fast parameter scheme for different problems

Drop a piece when picking it up

Deceleration+deceleration+increase clamping delay

Grasping is biased and inaccurate.

Re-teach grasping points+reduce high speed+add pause

Grab the thimble before it returns.

Delay increases+Confirm thimble reset signal

Suction cup is unstable.

Increase the vacuum+extend the vacuum holding+check whether the suction cup leaks.

Products are soft and easy to deform.

Cooling time plus 2 ~ 5 seconds+reducing clamping force+deceleration.

Eight, the final stability standard (OK after reaching this)

Smooth action without jitter

Grab the position exactly the same.

Clamping/vacuum is in place before lifting.

For 30 consecutive dies, there is no missing parts and no deviation.

Abnormal energy alarm (insufficient vacuum, inadequate clamping)