[go: up one dir, main page]

CN102886878B - Control device of motor used for moving nozzle of electric injection molding machine forward and backward - Google Patents

Control device of motor used for moving nozzle of electric injection molding machine forward and backward Download PDF

Info

Publication number
CN102886878B
CN102886878B CN201210162641.8A CN201210162641A CN102886878B CN 102886878 B CN102886878 B CN 102886878B CN 201210162641 A CN201210162641 A CN 201210162641A CN 102886878 B CN102886878 B CN 102886878B
Authority
CN
China
Prior art keywords
nozzle
servo motor
mould
reverse
move
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201210162641.8A
Other languages
Chinese (zh)
Other versions
CN102886878A (en
Inventor
内山辰宏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of CN102886878A publication Critical patent/CN102886878A/en
Application granted granted Critical
Publication of CN102886878B publication Critical patent/CN102886878B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • B29C45/80—Measuring, controlling or regulating of relative position of mould parts
    • 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
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76003—Measured parameter
    • B29C2945/76006—Pressure
    • 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
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76177—Location of measurement
    • B29C2945/7618—Injection unit
    • B29C2945/7621—Injection unit nozzle
    • 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
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76177—Location of measurement
    • B29C2945/76224—Closure or clamping unit
    • B29C2945/7623—Closure or clamping unit clamping or closing drive means
    • 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
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76344—Phase or stage of measurement
    • B29C2945/76391—Mould clamping, compression of the cavity
    • 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
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76929—Controlling method
    • B29C2945/76933—The operating conditions are corrected immediately, during the same phase or cycle
    • 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
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76929—Controlling method
    • B29C2945/76939—Using stored or historical data sets

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)

Abstract

The invention provides a control device of a motor which is used for moving a nozzle of an electric injection molding machine forward and backward. The nozzle of an injection part of the electric injection molding machine is moved forward by the control device of a servo motor. A first servo motor is used to perform a mold closing operation to a position at which a moving-side mold touches a fixed-side mold. In one aspect, the nozzle is moved forward by a second servo motor in a manner that the nozzle of the injection part may touch with a mold as the molds contact with each other. Then, the mold closing operation is performed from the position at which the moving-side mold touches the fixed-side mold to a mold closing complete position. In another aspect, the nozzle is moved forward by the second servo motor in a manner that a preset nuzzle contact force is generated as the mold closing operation is completed.

Description

The control device of motor for the nozzle forward-reverse of injection (mo(u)lding) machine
Technical field
The present invention relates to the control device of motor for the nozzle forward-reverse of injection (mo(u)lding) machine.
Background technology
Injection (mo(u)lding) machine has matched moulds portion and injection part.In common injection moulding action beyond in the time of the discharge of resin, conventionally maintain following state: the nozzle of injection part and fixed side mold butt, with respect to mould, predetermined nozzle touch force occurs.But, if carry out continuously shaped running under the state that nozzle is contacted with mould, the heat of spray nozzle front end portion is seized by mould, therefore after measurement process finishes, make nozzle prevent from mould separating the action that is known as running channel separation (sprue break) that the heat of spray nozzle front end is seized by mould.Running channel separates and also has following effect: by retreating of nozzle, between nozzle and mould, cut off running channel, open and take out in products formed when mould, products formed easily comes off from mould.
In the situation that carrying out running channel separating action, need in upper molding cycle once, again make nozzle advance, now, the problem of forwards collapsing for fear of generation fixed side mold, the action that in the past made nozzle advance after matched moulds finishes.If there is nozzle touch force under the state of opening mould, nozzle touch force acts on fixed side mold and fixed side mold is collapsed.If carry out mold closing under the state collapsing in fixed side mold, there are the following problems: mould blocks the guide pin of mould in closing, or the deviation of the overlap of products formed and the gauge of products formed occurs.
Avoid the heat of spray nozzle front end portion to seize from mould in order to prevent collapsing of fixed side mold, the forward motion of nozzle was carried out after mold closing/mould assembling action finishes in the past.For example, following content is disclosed in TOHKEMY 2002-178377 communique: the one-period of injection process comprises that mold closing, matched moulds, nozzle advance, inject that pressurize, cooling (metering), nozzle retreat, backing-out punch action etc.The technology of the sequential control of a molding cycle of injection (mo(u)lding) machine is disclosed at Japanese kokai publication hei 7-125035 communique in addition.
In above-mentioned prior art, be after matched moulds finishes because nozzle carries out forward motion, therefore there are the following problems: owing to carrying out nozzle forward motion, correspondingly extend cycle time, thus productivity ratio reduces.Solve collapsing or the problem that the heat of nozzle runs off and the problem extending cycle time of above-mentioned fixed side mold, preferably, make the opportunity of mould contact identical with the opportunity that nozzle contacts with mould by mold closing, and be advanced further and make the opportunity of predetermined nozzle touch force generation identical on opportunity that matched moulds finishes with nozzle.
Summary of the invention
So, the object of the invention is to, the control device of the nozzle forward-reverse motor of following injection (mo(u)lding) machine is provided: nozzle is advanced to operation is divided into until the operation (1) that nozzle contacts with mould contact with mould with from nozzle after to the operation (2) that predetermined nozzle touch force occurs, by make in above-mentioned operation (1) and mold closing operation until arrive operation (the 1 ') synchronization action of mould contact position, and make above-mentioned operation (2) and operation (the 2 ') synchronization action finishing to matched moulds from arriving mould contact position, solve the problem that extend cycle time and productivity ratio reduces.
The injection (mo(u)lding) machine of applying the control device of nozzle forward-reverse motor of the present invention has: the clamping that carries out the switching of mould with the servo motor of mould switching use; And make the nozzle forward-reverse mechanism of the nozzle forward-reverse of injection cylinder front end with the servo motor that nozzle forward-reverse is used.And this nozzle forward-reverse has with the control device of motor: mold closing control part, the servo motor that utilizes above-mentioned mould to open and close use carries out mold closing until the position that drawer at movable side mould contacts with fixed side mold; Matched moulds control part, utilizes above-mentioned mould to open and close the servo motor of use, and matched moulds is carried out to matched moulds end position in the position contacting with fixed side mold from drawer at movable side mould; The nozzle control part that advances, the mode that said nozzle contacts with mould in order to drawer at movable side mould is contacted with above-mentioned mold closing control part with fixed side mold time, the servo motor that utilizes said nozzle forward-reverse to use advances said nozzle; And nozzle touch force control part, when end with matched moulds, there is the mode of predetermined nozzle touch force, the servo motor that utilizes said nozzle forward-reverse to use advances nozzle.
Said nozzle forward-reverse also can also have with the control device of motor the instruction of making and open and close the nozzle move conversion portion that is converted into the move of the servo motor of using to nozzle forward-reverse with the move of servo motor in mould, said nozzle advance control part and said nozzle contact force control part utilize said nozzle move conversion portion convert above-mentioned mold closing control part and above-mentioned matched moulds control part respectively instruction open and close the move with servo motor in mould, thereby obtain each move of the servo motor of using to nozzle forward-reverse.
Said nozzle forward-reverse also can also have with the control device of motor: detect above-mentioned mould and open and close the position detector with the actual amount of movement of servo motor; And will open and close the nozzle move conversion portion that is converted into the amount of movement of the servo motor of using to nozzle forward-reverse with the amount of movement of servo motor with the mould of this position detector detection, advance control part and said nozzle contact force control part of said nozzle utilizes the said nozzle move conversion portion mould detecting respectively at above-mentioned mold closing control part and above-mentioned matched moulds control part that converts to open and close the amount of movement with servo motor, thereby obtains each move of the servo motor of using to nozzle forward-reverse.
Effect of the present invention is as follows.
According to the present invention, by nozzle is advanced, operation is divided into until the operation that nozzle contacts with mould contact with mould with from nozzle after to the operation that predetermined nozzle touch force occurs, make in these two operations and mold closing operation until the operation synchronization action that arrives the operation of mould contact position and finish to matched moulds from arriving mould contact position, can prevent collapsing of the fixed side mold that caused by nozzle touch force, in addition, can Min. the ground heat that suppresses nozzle seized by mould, and do not extend cycle time and can carry out nozzle forward motion.
And, according to the present invention, because nozzle and mold closing/mould assembling action are synchronously moved, therefore in the picture at injection (mo(u)lding) machine, change toold closing speed and stroke operator, mould switching is changed according to the speed changing with the move of servo motor, and nozzle forward-reverse also changes with the move of servo motor.Thereby, even if operator has changed toold closing speed, also without the change of nozzle forward-reverse action being carried out to any setting.
Brief description of the drawings
Fig. 1 is the figure of the schematic configuration of the control device of the nozzle forward-reverse servo motor of explanation injection (mo(u)lding) machine of the present invention.
Fig. 2 is the controll block figure of the control device of the servo motor of the nozzle forward-reverse shown in Fig. 1.
Fig. 3 is other controll block figure of the control device of nozzle forward-reverse shown in Fig. 1 servo motor.
Fig. 4 is that explanation opens and closes the figure that uses the conversion of the move of servo motor with the move of servo motor to nozzle forward-reverse from mould.
Detailed description of the invention
Nozzle forward-reverse of the present invention is applicable to have the injection (mo(u)lding) machine of the servo motor that clamping and nozzle forward-reverse use with the control device of servo motor, this clamping has mould and open and close the servo motor of use.Fig. 1 is the figure of the schematic configuration of the control device of the nozzle forward-reverse servo motor of explanation injection (mo(u)lding) machine of the present invention.
Injection (mo(u)lding) machine M is at board M 3on there is the M of matched moulds portion 1and injection part M 2.Injection part M 2heat fused resin material (particle), and the resin melting to the interior intracavitary administration of mould 46.In injection cylinder 1, insert screw rod 3.At the sidepiece of injection cylinder 1, hopper 4 is installed, this hopper 4 is for to the interior supply resin material of injection cylinder 1 (not shown).
First, the M of matched moulds portion is described 1.The M of matched moulds portion 1mainly carry out mould 46(46a, 46b) switching.The M of matched moulds portion 1have: the fixation clip 42 that fixed side mold 46b is installed; That in the mode relative with this fixed side mold 46b drawer at movable side mould 46a is installed can dynamic pressure plate 41; Make this can dynamic pressure plate 41 with respect to injection part M 2the mould advancing or retreat opens and closes with servo motor 114; Detect this mould and open and close the location/velocity detector 116 by the position of rotation/speed of servo motor 114; Rear fender 40; Toggle link 43; Ball-screw 44; And crosshead 45.
Mould opens and closes with the rotary actuation of servo motor 114 by waiting the transmission mechanism 118 forming that ball-screw 44 is moved by being with.The above-mentioned M of matched moulds portion 1also have many connecting rods (not shown), this connecting rod connects rear fender 40 and fixation clip 44, and guiding can dynamic pressure plate 41 and make it with respect to fixation clip 42 forward-reverses.Toggle link 43 advances or retreats with respect to fixation clip 42 by making to be installed on the crosshead 45 being opened and closed on the ball-screw 44 rotariling actuate with servo motor 114 by mould, thereby makes to advance or to retreat with respect to fixation clip 42 by dynamic pressure plate 41.
At the M of matched moulds portion 1in, open and close the driving with servo motor 114 by mould, can advance and carry out mold closing to fixation clip 42 by dynamic pressure plate 41, thereby drawer at movable side mould 46a contacts with fixed side mold 46b.And, by contact with fixed side mold 46b at drawer at movable side mould 46a (mould contact) also make afterwards can dynamic pressure plate 41 to advancing towards the direction of fixation clip 42, predetermined mold clamping force is occurred.On the other hand, by make can dynamic pressure plate 41 to retreating towards the direction of rear fender 40, carry out die sinking.
Secondly, injection part M is described 2.Injection part M 2have nozzle contact drive unit, this nozzle contact drive unit, in order to make nozzle 2 crimping (nozzle contact) installing on the fixation clip 42 of fixed side mold 46b, makes this injection part M 2to the M of matched moulds portion 1side is advanced.This nozzle contact drive unit has: be installed on board M 3go up and make the servo motor 214 for nozzle forward-reverse of the nozzle forward-reverse of injection cylinder front end; Detect the location/velocity detector 216 of the position of rotation/speed of nozzle forward-reverse servo motor 214; One end is connected with the load axis of servo motor 214 with nozzle forward-reverse and other end rotation is supported in the ball-screw 34 on fixation clip 42 freely; The nut 33 of being combined with these ball-screw 34 screw threads; Be fixed on injection part M 2first compression plate 36 of bottom of injecting unit 39; Be installed on the second compression plate 37 on this nut 33; And the sensor (not shown) of the length of the interval of mensuration the first compression plate 36 and the second compression plate 37 and detection (being arranged between nozzle forward-reverse servo motor 214 and injecting unit 39) spring 35.
In the interior configuration of injecting unit 39: make the screw rod rotation servo motor (not shown) of screw rod 3 around its axle rotation; Make screw rod that this screw rod 3 retreats to its axial advancement servo motor (not shown) for forward-reverse; And for measuring the resin pressure sensor (not shown) of the resin pressure in cylinder 1.Because the structure in injecting unit 39 is uncorrelated with the present invention, therefore omit further and describe in detail.
Nozzle contact drive unit rotates ball-screw 34 by rotariling actuate nozzle forward-reverse with servo motor 214, thereby makes nut 33 with respect to fixation clip 42 forward-reverses.By the forward-reverse of this nut 33, adjust the interval of the first compression plate 36 and the second compression plate 37, and the elastic force of regulating spring 35., the generation of nozzle pressing power, measure the length of spring 35 with sensor (not shown), thereby can obtain nozzle pressing power in the case of making by the elastomer contracts that makes spring 35 shown in Fig. 1 and so on.Thus, can produce the nozzle pressing power (nozzle touch force) of nozzle 2 to fixed side mold 46b.
The numerical control device of injection (mo(u)lding) machine M has: the CNC-CPU20 as microprocessor that Numerical Control is used; The PMC-CPU17 as microprocessor that programmable machine controller is used; And the servo CPU15 as microprocessor that uses of SERVO CONTROL, by selecting their mutual input and output via bus 26, can between each microprocessor, carry out information transmission.
On servo CPU15, be connected with and stored the ROM13 of the special control program of the SERVO CONTROL of the processing of carrying out position ring, speed ring, electric current loop and the RAM14 for the temporary transient storage of data.On this servo CPU15, be connected with the instruction based on from this servo CPU15 and drive the mould switching servo motor 114 of control and servo motor 214 for nozzle forward-reverse.On these servo motors 114,214, difference installation site/speed detector 116,216, feeds back to servo CPU15 from the output signal of these location/velocity detectors 116,216.The feedback signal of the position of the position of rotation of these servo motors 114,214 based on from location/velocity detector 116,216, utilizes servo CPU15 to calculate respectively, upgrades and stores current location register into respectively.
On PMC-CPU17, be connected with: the ROM18 of the sequential programme of the sequentially-operating of storage control injection (mo(u)lding) machine M etc.; And for the RAM19 of temporary transient storage of operational data etc.On CNC-CPU20, be connected with: the ROM21 of the various programs such as the automatic running program of injection (mo(u)lding) machine is controlled in storage generally; And for the RAM22 of the temporary transient storage of operational data.
Forming data preserve with RAM23 be non-volatile memory, and be the memory that stores the forming data preservation use of closing the injection condition of molding of forming operation and various setting value, parameter, macroscopical parameter etc.LCD/MDI(manual data input unit) 25 there is liquid crystal indicator (LCD) and for inputting the manual data input unit of various data.Liquid crystal indicator (LCD) utilizes not shown LCD display circuit to show control.LCD/MDI unit 25 is connected with bus 26 by interface 24, can carry out the selection of function menu and the input operation of various data.In addition, be provided with ten key and the various function keys etc. of numeric data input use.Can will be set in injection (mo(u)lding) machine M with the predefined nozzle touch force in LCD/MDI unit 25.
In addition, the mechanism that Fig. 1 has represented that spring 35 is set between nozzle forward-reverse servo motor 214 and injecting unit 39 and utilized the counter-force generation nozzle touch force of spring 35, but control device of the present invention not necessarily needs spring 35.
The schematic configuration of injection (mo(u)lding) machine M has more than been described.Said structure belongs to prior art.
Below, the control device to the nozzle forward-reverse of injection (mo(u)lding) machine with servo motor, describes with Fig. 2～Fig. 4.
Fig. 2 is the controll block figure of the control device of the servo motor 214 of the nozzle forward-reverse shown in Fig. 1.
Carry out the M of matched moulds portion if start 1mold closing, control generally the numerical control device CNC-CPU20 of injection (mo(u)lding) machine M, control mould and open and close the move with servo motor 114 for driving to servo CPU15 output at every predetermined period.In servo CPU15, the move receiving is further divided into the move M of sampling period (treatment cycle of position, speed, electric current loop) from CNC-CPU20 c, carry out the control of the position ring shown in Fig. 2, speed ring, electric current loop.
The move of servo CPU15 based on receiving from CNC-CPU20, according to until the displacement of mould contact position and the speed that sets, generate mould in per sampling period and open and close and open and close the move M with servo motor with the mould of the mold closing direction of servo motor 114 c.This move M calso be input to move route marker 300 simultaneously and be converted into the move of servo motor 214 of nozzle forward-reverse at this, also output to the controll block of nozzle forward-reverse servo motor 214.
Mould opens and closes the move M with servo motor cbe input to subtracter 100 and nozzle move route marker 300 these both sides.Subtracter 100 opens and closes the move M with servo motor from mould cdeduct the position feedback (position FB) of being fed back by location/velocity detector 116, and subtraction result (position deviation) is outputed to position compensation device 102.In the position compensation device 102 that has received position deviation, be multiplied by position gain and obtain speed command in this position deviation, and output to the control of subtracter 104(position ring).
Subtracter 104 deducts the speed feedback (speed FB) of being fed back by location/velocity detector 116 from the speed command receiving from position compensator 102, and subtraction result (velocity deviation) is outputed to velocity compensator 106.The velocity compensator 106 that has received velocity deviation carries out the processing of ratio, integration etc. and obtains torque instruction (current-order) based on this velocity deviation, and outputs to the control of subtracter 108(speed ring).
Subtracter 108 deducts by the current feedback (electric current FB) of current detector (not shown) feedback of drive current that detects servo amplifier 112 from the torque instruction (current-order) receiving from velocity compensator 106, and subtraction result (current deviation) is outputed to current compensator 110.The current compensator 110 that has received current deviation generates the pwm signal (current loop control) that outputs to servo amplifier 112 based on this current deviation.Then, servo amplifier 112 drives and controls mould switching servo motor 114 based on the pwm signal receiving from current compensator 110.
On the other hand, be input to the move M of the mould switching servo motor of nozzle move route marker 300 c, based on (1) formula described later or (2) formula, be converted into the move M of servo motor for the nozzle forward-reverse of per sampling period at this n.
Subtracter 200 is always used the move M of servo motor from the nozzle forward-reverse of nozzle move route marker 300 ndeduct the position feedback (position FB) of being fed back by location/velocity detector 216, and subtraction result (position deviation) is outputed to position compensation device 202.In the position compensation device 202 that has received position deviation, be multiplied by position gain and obtain speed command in this position deviation, and output to the control of subtracter 204(position ring).
Subtracter 204 deducts the speed feedback (speed FB) of being fed back by location/velocity detector 216 from the speed command receiving from position compensator 202, and subtraction result (velocity deviation) is outputed to velocity compensator 206.The velocity compensator 206 that has received velocity deviation carries out the processing of ratio, integration etc. and obtains torque instruction (current-order) based on this velocity deviation, and outputs to the control of subtracter 208(speed ring).
Subtracter 208 deducts by the current feedback (electric current FB) of current detector (not shown) feedback of drive current that detects servo amplifier 212 from the torque instruction (current-order) receiving from velocity compensator 206, and subtraction result (current deviation) is outputed to current compensator 210.The current compensator 210 that has received current deviation generates the pwm signal (current loop control) that outputs to servo amplifier 212 based on this current deviation.Then, the pwm signal of servo amplifier 212 based on receiving from current compensator 210, driving Control Nozzle servo motor 214 for forward-reverse.
At this, opening and closing from mould with the move of servo motor 114 to the conversion of the move of nozzle forward-reverse servo motor 214, before carrying out mold closing, the L in calculated in advance following (1) formula, (2) formula 1n/ L 1cand L 2n/ L 2c.
Below, mould is opened and closed and be divided into until the driving control of the position that mould 46 contacts and the driving control of the position of finishing to matched moulds after mould contacts and describe with the driving control of servo motor 114.
First, illustrate utilize mould open and close with servo motor 114 until the driving control of the position that mould 46 contacts.
Mould opens and closes with the servo CPU15 of servo motor 114 use according to the move M of per sampling period cdrive and control.On the other hand, nozzle forward-reverse with servo motor 214 according in nozzle move route marker 300 based on following (1) formula conversion move M cand the move M obtaining ndrive control.
M n＝M c×L 1n／L 1c ……（1）
M c: the mould of per sampling period opens and closes the move with servo motor.
M n: the move of servo motor for the nozzle forward-reverse of per sampling period.
L 1c: the mould of the position (mould contact position) contact with fixed side mold to drawer at movable side mould after nozzle starts to advance opens and closes the displacement (amount of movement) of use servo motor.
L 1n: the displacement (amount of movement) of the nozzle forward-reverse use servo motor of the position (nozzle contact position) contacting with mould to nozzle after nozzle starts to advance.
At this, the position (nozzle contact position) that so-called nozzle 2 contacts with mould (fixed side mold 46b) refers to: by driving nozzle servo motor 214 for forward-reverse, when nozzle 2 has been advanced to fixation clip 42 with constant speed, nozzle forward-reverse starts with load and the motor torque of servo motor 214 position changing.So, detect the load of this nozzle forward-reverse servo motor 214 and motor torque and start the position changing, and using this detection position as nozzle contact position and pre-stored.Or, also can be as shown in Figure 1, the in the situation that of the elastomeric elements such as spring 35 being set between nozzle forward-reverse is with servo motor 214 and injecting unit 39, utilize the counter-force of this elastomeric element, detect nozzle touch force and start the position changing, and using this detection position as nozzle contact position and pre-stored.
In addition, in the above description, the situation of advancing that starts to carry out nozzle when mold closing is started is recorded, but in the case of starting from the half-way of mold closing nozzle advances, open and close with the amount of movement of servo motor 114 as above-mentioned L to the mould of mould contact with the position of servo motor 114 opening and closing from the mould that starts the moment that nozzle advances 1c, the amount of movement of servo motor 214 for conversion nozzle forward-reverse.
By above processing, when mould 46 is closed and contacts nozzle 2 also can with mould 46(46b) contact.Under this state, owing to can fixed side mold 46b not being applied to nozzle touch force, therefore can not produce fixation clip 42 that fixed side mold 46b is installed to the situation of can dynamic pressure plate 41 directions collapsing.
Above-mentioned to open and close by mould the control of carrying out with servo motor 114 corresponding with the action of " mold closing control part ", and the above-mentioned control of being carried out with servo motor 214 by nozzle forward-reverse is corresponding with the action of " nozzle advance control part ".
Below, illustrate and utilize mould to open and close the driving control to matched moulds end position with position servo motor 114, that contact from mould 46.
Mould opens and closes with servo motor 114 then until the movement of mould contact position, even if start to carry out until the mould assembling action that the predetermined mold clamping force of the movement of matched moulds end position occurs.With above-mentioned until the operation that mould 46 contacts is identical, control generally the displacement of CNC-CPU20 basis from mould contact position to matched moulds end position and the speed setting of the numerical control device of injection (mo(u)lding) machine M, generate move (the move M of per sampling period for driving the matched moulds direction of controlling mould switching servo motor 114 c).This move M calso be input to nozzle move route marker 300 simultaneously, be converted into the nozzle forward-reverse move M of servo motor 214 at this n, also output to the nozzle forward-reverse controll block of servo motor 214.This nozzle move route marker 300 is by the move M receiving cuse following (2) formula to be converted into move (the move M of per sampling period of nozzle forward-reverse servo motor 214 n), in per sampling period by the move M of this conversion noutput to the controll block of said nozzle forward-reverse servo motor 214.
M n＝M c×L 2n／L 2c ……（2）
M c: the mould of per sampling period opens and closes the move with servo motor.
M n: the move of servo motor for the nozzle forward-reverse of per sampling period.
L 2c: the mould from mould contact position to matched moulds end position opens and closes the displacement (amount of movement) with servo motor.
L 2n: the displacement (amount of movement) of servo motor for the nozzle forward-reverse of the position from nozzle contact position to the predetermined nozzle touch force of generation.
In controll block at the nozzle forward-reverse shown in Fig. 2 with the control device of servo motor, mould is opened and closed to the move that is converted into nozzle forward-reverse servo motor 214 with the move of servo motor 114, but also mould can be opened and closed to the amount of movement (move) that is converted into nozzle forward-reverse servo motor 214 with the actual amount of movement of servo motor 114.In this case, also can be as shown in Figure 3, to open and close the amount of movement with the mould switching that detect, per sampling period of the location/velocity detector 116 on servo motor 114 servo motor 114 with being installed on mould, with nozzle forward-reverse shown in Fig. 2 with the situation of the controll block of the control device of servo motor in the same manner, be input to nozzle move route marker 300, be converted into the move of servo motor 214 of nozzle forward-reverse at this.In this case, for above-mentioned (1) formula that converts and the M of (2) formula cbecome with being installed on mould and open and close the amount of movement with the mould switching that detect, per sampling period of the location/velocity detector 116 on servo motor 114 servo motor 114.
Above-mentioned to open and close by mould the control of carrying out with servo motor 114 corresponding with the action of " matched moulds control part ", and the above-mentioned control of being carried out with servo motor 214 by nozzle forward-reverse is corresponding with the action of " nozzle touch force control part " in addition.
Fig. 4 is that explanation opens and closes the figure that uses the conversion of the move of servo motor with the move of servo motor to nozzle forward-reverse from mould.
(a) of Fig. 4 is that explanation mould opens and closes the move M with per sampling period of servo motor 114 cfigure.(b) of Fig. 4 is the move M of per sampling period of explanation nozzle forward-reverse servo motor 214 nfigure.Mould opens and closes the move M with servo motor 114 c, until nozzle 2 contacts with mould 46 is to be converted into the nozzle forward-reverse move M of servo motor 214 according to above-mentioned (1) formula n, after contacting with mould 46 from nozzle 2, finishing to matched moulds is in addition the move M that is converted into nozzle forward-reverse servo motor 214 according to above-mentioned (2) formula n.Finish (predetermined mold clamping force has occurred) during at matched moulds, there is predetermined nozzle touch force.
In addition, the M of matched moulds portion 1clamping exist: utilize as shown in Figure 1 the structure that as the speed enlarger of elbow liver 43 and so on, the rectilinear motion of ball-screw 44 is converted to the on-off action of mould 46; And do not there is speed enlarger and directly carry out the structure of the on-off action of mould with ball-screw.In the case of the clamping of speed enlarger with Fig. 1; also the move or the mould that open and close to above-mentioned mould with servo motor 114 can be opened and closed to the opening and closing speed that is converted into mould with the actual amount of movement of servo motor 114 according to the magnifying power of speed enlarger; obtain the amount of movement of per sampling period from the speed converting, use the move of servo motor 214 using this as said nozzle forward-reverse.In this case, the L in above-mentioned (1) formula and (2) formula 1c, L 2cbecome respectively after nozzle starts to advance to the displacement of the amount of movement of the mould of mould contact position and the mould from mould contact position to matched moulds end position.
In addition, for the forward-reverse that can make nozzle 2 is opened and closed with mould and is moved with servo motor 114 is independent by manual operation etc., use in the controll block of control device of servo motor at the nozzle forward-reverse of Fig. 2 and Fig. 3, between nozzle move route marker 300 and subtracter 200, change-over switch 302 is set.If change-over switch 302 is connected with contact a, (the nozzle forward-reverse of the conversion move M of servo motor of the output of nozzle move route marker 300 as mentioned above n) be input to the controll block (subtracter 200) of the nozzle forward-reverse control device of servo motor.On the other hand, if change-over switch 302 is connected with contact b, be input to the control device of nozzle forward-reverse servo motor controll block (subtracter 200) be to opening and closing with the independently move of nozzle forward-reverse servo motor 214 of the action of servo motor 114 with mould.

Claims (2)

1. a control device for the servo motor that the nozzle forward-reverse of injection (mo(u)lding) machine is used, is characterized in that,
This injection (mo(u)lding) machine has: the clamping that carries out the switching of mould with the servo motor of mould switching use; And make the nozzle forward-reverse mechanism of the nozzle forward-reverse of injection cylinder front end with the servo motor that nozzle forward-reverse is used,
The control device of the servo motor that said nozzle forward-reverse is used has:
Mold closing control part, the servo motor that utilizes above-mentioned mould to open and close use carries out mold closing until the position that drawer at movable side mould contacts with fixed side mold;
Matched moulds control part, matched moulds is carried out in the position that finish to matched moulds the position that the servo motor that utilizes above-mentioned mould to open and close use contacts with fixed side mold from drawer at movable side mould;
Nozzle move conversion portion, opens and closes instruction the move that is converted into the servo motor of using to nozzle forward-reverse with the move of servo motor in mould;
The nozzle control part that advances, the mode that said nozzle contacts with mould in order to drawer at movable side mould is contacted with above-mentioned mold closing control part with fixed side mold time, utilize nozzle move conversion portion to convert and open and close the move of the servo motor of use in the instruction of mold closing control part in mould, the servo motor that utilizes said nozzle forward-reverse to use advances said nozzle; And
Nozzle touch force control part, when end with matched moulds, there is the mode of predetermined nozzle touch force, utilize nozzle move conversion portion to convert and open and close the move of the servo motor of use in the instruction of matched moulds control part in mould, the servo motor that utilizes said nozzle forward-reverse to use advances nozzle.
2. the control device of the servo motor that the nozzle forward-reverse of injection (mo(u)lding) machine according to claim 1 is used, is characterized in that,
Also there is the position detector of the actual amount of movement that detects above-mentioned mould switching servo motor,
Said nozzle move conversion portion opens and closes the mould detecting with this position detector the amount of movement that is converted into the servo motor of using to nozzle forward-reverse with the amount of movement of servo motor,
Advance control part and said nozzle contact force control part of said nozzle utilizes the said nozzle move conversion portion mould detecting respectively at above-mentioned mold closing control part and above-mentioned matched moulds control part that converts to open and close the amount of movement with servo motor, thereby obtains each move of the servo motor of using to nozzle forward-reverse.
CN201210162641.8A 2011-07-20 2012-05-23 Control device of motor used for moving nozzle of electric injection molding machine forward and backward Active CN102886878B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011158691A JP5118239B1 (en) 2011-07-20 2011-07-20 Control device for nozzle forward / reverse motor of injection molding machine
JP2011-158691 2011-07-20

Publications (2)

Publication Number Publication Date
CN102886878A CN102886878A (en) 2013-01-23
CN102886878B true CN102886878B (en) 2014-10-01

Family

ID=47502257

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210162641.8A Active CN102886878B (en) 2011-07-20 2012-05-23 Control device of motor used for moving nozzle of electric injection molding machine forward and backward

Country Status (3)

Country Link
JP (1) JP5118239B1 (en)
CN (1) CN102886878B (en)
DE (1) DE102012013895B4 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107206471B (en) * 2015-11-11 2018-11-13 荣进科技有限公司 The casting method of the article of wax-pattern Coinjection molding apparatus and use wax-pattern Coinjection molding apparatus

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2694485B2 (en) * 1991-11-27 1997-12-24 ファナック株式会社 Nozzle touch method
JP2508954B2 (en) * 1993-02-12 1996-06-19 株式会社新潟鉄工所 Resin leak prevention method for injection nozzle in injection molding machine
JPH07125035A (en) 1993-11-04 1995-05-16 Fanuc Ltd Vertical injection molding machine
JP3589598B2 (en) * 1999-11-01 2004-11-17 株式会社名機製作所 Control method of injection molding system
DE19959739A1 (en) * 1999-12-10 2001-06-21 Battenfeld Gmbh Fully electric injection molding machine for plastics has central control unit controlling servo-motors which move mold closing unit and injection unit
JP2002137251A (en) * 2000-11-01 2002-05-14 Sumitomo Heavy Ind Ltd Injection molding machine
JP2002178377A (en) 2000-12-12 2002-06-26 Japan Steel Works Ltd:The Injection molding machine measurement control method and apparatus
JP2002225085A (en) * 2001-01-29 2002-08-14 Meiki Co Ltd Nozzle touch mechanism and its control method
JP4571551B2 (en) * 2005-07-21 2010-10-27 住友重機械工業株式会社 Molding machine controller
WO2007037136A1 (en) * 2005-09-28 2007-04-05 Konica Minolta Opto, Inc. Injection molding machine
JP5085524B2 (en) * 2008-12-25 2012-11-28 日精樹脂工業株式会社 Drive control method and apparatus for injection molding machine
JP5102387B1 (en) * 2011-06-23 2012-12-19 ファナック株式会社 Injection molding machine with synchronous nozzle touch mechanism

Also Published As

Publication number Publication date
JP2013022801A (en) 2013-02-04
DE102012013895B4 (en) 2016-10-20
JP5118239B1 (en) 2013-01-16
CN102886878A (en) 2013-01-23
DE102012013895A1 (en) 2013-01-24

Similar Documents

Publication Publication Date Title
CN1166505C (en) Injection method of injection machine and its control system
CN101111359B (en) Molding condition setting method and method of controlling injection molding machine
CN108068282B (en) Forming machine
JP3250180B2 (en) Depressurization method in plasticization / metering process of electric injection molding machine
JP2002172670A (en) Method of detecting foreign substance of injection molding machine
US7245986B2 (en) Control device for use in injection molding machine
US9682508B2 (en) Molding machine and driving method thereof
KR101972477B1 (en) Injection molding machine and method for controlling the mold height of the injection molding machine
US8229591B2 (en) Method for sequence programming of an injection molding cycle of an injection molding machine
KR102233183B1 (en) Injection molding machine, and operation screen of injection molding machine
CN102990887B (en) Contact controller for nozzle of injection molding machine
CN102886878B (en) Control device of motor used for moving nozzle of electric injection molding machine forward and backward
CN102756465B (en) Method and device for controlling moving speed of injection mold in injection molding machine
JP3732821B2 (en) Measuring method of resin viscosity in injection molding machine
JP6289917B2 (en) Injection molding machine
JP2006289911A (en) Control device of injection molding machine
JP6935155B2 (en) Injection molding machine
KR20170063164A (en) Apparatus and method for controlling injection molding machine
JP4673119B2 (en) Clamping device
JP5581082B2 (en) Reciprocating device and molding machine using the same
JP4039460B1 (en) Weighing method in injection molding machine
KR20170001019A (en) Injection molding machine
JP2025035710A (en) Clamping device, injection molding machine equipped with same, and method for controlling clamping device
KR20160150479A (en) Apparatus and method for controlling ejector of injection molding machine
JP2000000859A (en) Method for setting number of screw revolution of injection molder

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant