What is the performance of Haitian injection molding machine matching our injection manipulator?

Comprehensive performance evaluation of injection manipulator for Haitian injection molding machine

Conclusion First: Haitian MA Tianlong, IA Tianrui, JU Second Board, and the new fifth generation KEBA models can be stably matched with most three-axis/five-axis traverse servo manipulators, which is one of the most mature matching schemes in the injection molding industry. The hardware installation interface is standardized and the signal intercommunication is mature; However, the control systems of the old and new models are different, and the details of debugging and linkage are different, so there will be almost no compatibility hard failure when docking and selecting models.

I. Overall advantages

1. Strong mechanical installation adaptability.

Standard installation plane and threaded hole are reserved above the template of Haitian horizontal machine, and the manipulator lifting bracket is installed directly, without a lot of machine modification;

Wide range of models: 50t ~ 2800t MA/IA series are matched with conventional three-axis and five-axis servo manipulators;

The mold opening and closing operation is stable, the repetitive accuracy of the servo mold opening position is high, and the picking point of the manipulator is not easy to drift for a long time, which is suitable for automatic continuous mass production.

2. Electrical interface standardization (core advantage)

Haitian New Machine comes standard with Euro-Map 67 standard 32-core manipulator interface, which is supported by domestic mainstream manipulators (Tuosida, Brandt, Siweike, Apocalypse Star Manipulator, etc.):

Signals include: signals of mold opening completion, ejection advance and retreat, mold closing permission, manipulator interlock, emergency stop interlock and safety door;

Support hardware safety interlock: the manipulator has not withdrawn from the mold area, and the injection molding machine is forbidden to close the mold to prevent mold collision.

The new Haitian (equipped with KEBA controller) and the old Hongxun TECH/AK system models all support the European standard interface wiring, and the wiring specification is mature, which is generally familiar to debugging personnel.

3. Linkage production performance

Haitian servo injection molding machine has fast response speed of mold opening and closing and ejection, and can cooperate with high-speed manipulator to realize short-period automatic production;

The impact of mold opening and closing is small, and the vibration of the whole machine is low, which reduces the jitter of the manipulator bracket, the removal of parts and the position deviation;

Support thimble following, multiple ejection, delayed ejection and other processes, which perfectly match the requirements of thin-walled parts and easy-to-stick products.

Second, the shortcomings and risk points that need to be paid attention to

1. Control system differentiation affects the docking mode.

1) old model: hongxun TECH/AK system (MA ⅱ, ma early third generation)

Only IO hard wiring (Euro 67) is supported, and native communication is not open;

If you want to collect the temperature, pressure and cycle data of injection molding machine and upload them to MES, you need to install an additional gateway.

A few old machines need to manually turn on the "manipulator function" in the system, otherwise there will be no mold opening to complete the signal output.

2) New high-end model: KEBA control system (new fifth generation MA5, JU second board computer)

In addition to IO hard wiring, optional support bus communication;

The safety logic is stricter, and the emergency stop, the signal wiring polarity of the emergency door and the wrong circuit setting will directly lock the machine, which requires higher debugging requirements.

It is not recommended to rely solely on bus linkage; In automatic production, the European IO hard wiring is reserved as the basis of safety interlock, and the bus is only used for data acquisition.

2. Common site pain points

Vibration interference

When a large number of high-speed cycles are carried out, the impact of injection molding and mold locking of the injection molding machine will be transmitted to the manipulator beam; If the bracket is not reinforced, it is easy to shake and slightly drop the parts at high speed.

Countermeasures: Thicken the mounting bracket, increase the supporting ribs, and start the acceleration and deceleration buffer with manipulator parameters.

Signal delay problem

Some old Haitian Hongxun systems have a short delay in the signal of mold opening completion, and the manipulator descends ahead of time, which leads to mold collision.

Countermeasures: the manipulator program increases the in-mold delay, or fine-tunes the signal output parameters of the injection molding machine when the mold is opened.

The safety circuit is easy to step on the pit

Haitian security door is divided into front and rear doors with double circuits, and wiring errors will occur: the mold cannot be automatically closed in manipulator mode. When debugging, the wiring must be defined in strict accordance with Haitian electric drawings.

Third, the matching performance reference of different scenarios

Ordinary daily necessities, shells and conventional plastic parts (MA120~MA450)

With three-axis servo manipulator → the most cost-effective, stable linkage, low failure rate, general scheme in the industry.

3C precision parts, thin-walled transparent parts, multiple cavities in one mold, and low scratch requirements.

Equipped with five-axis servo manipulator; Using Haitian accurate mold opening and positioning, with fine adjustment in mechanical hand mold, the consistency of taking parts is good.

Auto parts, large shells (large tonnage Haitian over 650T)

High-rigidity heavy-duty manipulator is preferred, and the beam is lengthened and reinforced; The inertia of large machine opening and closing dies is large, so it is necessary to optimize the action timing of them to avoid wasting the waiting period.

Automatic scheme of embedded inserts and in-mold labeling

Response characteristics adaptation of Haitian servo: It is suggested to unify the IO address tables of both parties in advance to avoid signal conflict.

IV. Key Points for Attention in Installation and Debugging (Direct Landing Use)

Mechanical level

Horizontal alignment of the manipulator beam, locking all lifting bolts and installing anti-loosening gaskets;

Check that the drawing stroke and up-and-down stroke of the manipulator are greater than the opening stroke of the injection molding machine+the height of the mold, so as to prevent in-mold interference;

Sufficient safety margin shall be reserved, and it is forbidden for the manipulator to run in the extreme position.

Electrical docking specification

Priority is given to the direct connection of the original Eurocode 67 plug; When the wiring is modified on site, the signal cable and the power cable are routed separately;

Independent grounding to avoid the servo of injection molding machine interfering with the servo signal of manipulator;

Be sure to test the interlocking logic completely: the manipulator does not quit → mold clamping is prohibited; The manipulator stops → the automatic operation of the injection molding machine is cut off immediately.

Process sequence optimization

The idle mode shall be continuously simulated for more than 50 cycles, and it shall be confirmed that there is no signal loss and no error alarm;

Optimize the time sequence of "mold opening → ejection → robot downward grasping → ejection" to reduce the waiting time and shorten the molding cycle;

The ejection times and ejection delay of easy-to-stick mold products should be set reasonably to match the grasping opportunity of the manipulator.

V. Summarize the selection suggestions.

Routine automatic picking project: Haitian injection molding machine+standard servo manipulator, with mature and reliable performance, is preferred;

Be sure to provide: Haitian model+controller model (Hongxun/KEBA) before signing the contract, and the manipulator manufacturer should check the interface definition in advance;

Try to keep the original Euro 67 interface in the new machine, and don't cut the plug connection directly to facilitate the replacement of the manipulator later;

If MES and whole line automation are required in the future, confirm in advance whether the controller supports data acquisition and reserve the communication scheme.