CN102837405B - Nozzle contact control device of injection molding machine - Google Patents

Nozzle contact control device of injection molding machine Download PDF

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Publication number
CN102837405B
CN102837405B CN201210205164.9A CN201210205164A CN102837405B CN 102837405 B CN102837405 B CN 102837405B CN 201210205164 A CN201210205164 A CN 201210205164A CN 102837405 B CN102837405 B CN 102837405B
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China
Prior art keywords
nozzle
servo motor
touch force
mentioned
nozzle contact
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CN201210205164.9A
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CN102837405A (en
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内山辰宏
西村浩一
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Fanuc Corp
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Fanuc Corp
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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
    • B29C45/20—Injection nozzles
    • 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
    • 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
    • B29C45/20—Injection nozzles
    • B29C2045/202—Laterally adjustable nozzle or nozzle tip mountings
    • 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
    • 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
    • B29C2945/76187—Injection unit screw
    • 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
    • B29C2945/76367—Metering
    • 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
    • B29C2945/76381—Injection
    • 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
    • B29C2945/76451—Measurement means
    • B29C2945/76481—Strain gauges
    • 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
    • B29C2945/76494—Controlled parameter
    • B29C2945/76498—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
    • B29C2945/76494—Controlled parameter
    • B29C2945/76568—Position
    • 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

Landscapes

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

Abstract

The invention relates to a nozzle contact control device of an injection molding machine. The nozzle contact control device comprises a servo motor for advancing a nozzle, wherein the nozzle is used for contacting with a die; a transmission device for converting a rotational movement of the servo motor into a linear movement; and an elastic member connected with the transmission device and used for generating a nozzle contact force. The servo motor is subjected to the following torque limit: the servo motor is positioned on the position on which an elastic part is compressed corresponding to the reset nozzle contact force, and the servo motor is subjected to torque limit by the torque limit value larger than the reset nozzle contact force and smaller than the nozzle contact force corresponding to the maximum compression amount of the elastic part. Thus when overlarge load is generated on the servo motor, because the servo motor rotates below the load, the overlarge load is not applied on a mechanism part of an injection unit.

Description

The Contact controller for nozzle of injection machine
Technical field
The present invention relates in injection machine, utilize servo motor to make to be arranged on the nozzle of injection barrel front end to contacting dies (nozzle contact), and then produce the control device of predetermined nozzle touch force.
Background technology
The nozzle be arranged on the injection barrel front end of the injecting unit of injection machine is converted to rectilinear motion by the rotary motion of the servo motor by the nozzle forward-reverse be fixed on the pedestal of injection machine main body by the transmission mechanism of ball screw etc., thus carry out forward-reverse action.In nozzle forward motion, by the servo motor of nozzle forward-reverse, nozzle is advanced, after carrying out nozzle contact, also then make nozzle forward-reverse motor action, compress the elastomeric element between above-mentioned transmission mechanism and injecting unit, produce predetermined nozzle touch force.Further, when producing predetermined nozzle touch force, the screw rod in injecting unit being advanced, molten resin is expelled in mould.
Carrying out between progressive forming on-stream period, expecting nozzle touch force to be maintained definite value, in order to avoid molten resin spills from mould and spray nozzle part.But when the structure based on mould carries out mould assembling action, there is nozzle and push back in the reverse direction, elastomeric element is compressed, the situation that nozzle touch force rises.Now, as long as decrement is just no problem below the maximum compressibility of elastomeric element, but when nozzle exceedes maximum compressibility and pushes back in the reverse direction, worry the transmission mechanism to above-mentioned injecting unit, the fixed part of nozzle forward-reverse servo motor applies excessive load and damaged.Thus, in order to not produce excessive load, the servo motor of Control Nozzle forward-reverse is needed.
The Japanese Unexamined Patent Publication 2003-351133 publication deflection disclosed by controlling elastomeric element produces the technology of predetermined nozzle touch force.
Japanese Unexamined Patent Publication 5-200784 publication discloses the technology of positioning servo motor on the position corresponding with nozzle touch force.
Japanese Laid-Open Patent Publication 63-154320 publication discloses according to the nozzle touch force set to control the technology of the torque of motor.
Japanese Unexamined Patent Publication 2006-27248 publication discloses when the decrement that the encoder by the decrement detecting elastomeric element detects elastomeric element has exceeded scheduled volume, the direction making motor leave mould to nozzle rotates, or removes the technology of the brake keeping motor position.
Technology disclosed in above-mentioned Japanese Unexamined Patent Publication 2003-351133 publication, Japanese Unexamined Patent Publication 5-200784 publication is displacement by detecting compression member thus produces predetermined nozzle touch force, or carries out the technology of the location of servo motor in the position producing predetermined nozzle touch force.The deflection of elastomeric element is utilized to carry out the method for Control Nozzle contact force as Japanese Laid-Open Patent Publication 63-154320 publication, the impact of the friction of transmission mechanism etc. is not subject to, so have the advantage that accurately can produce predetermined nozzle touch force compared with the occasion of carrying out controlling with the torque of motor.But, in these prior aries, excessive load is applied to by imagination to the countermeasure being used for the protection of mechanism part on injecting unit because of mould assembling action, without any open.
On the other hand, in Japanese Unexamined Patent Publication 2006-27248 publication, disclose the deflection detecting elastomeric element, make the technology of motor rotation or brake off device, but carry out spinning movement in order to detection load, carry out action such as avoidance such as the overload of brake off device etc., and when load increases instantaneously rapidly as mould assembling action, there is the problem that avoidance action has little time.
Summary of the invention
So, the present invention is in view of the problem of above-mentioned prior art, object is to provide when nozzle forward-reverse motor creates the excessive load exceeding torque limit value, because motor carries out rotating the Contact controller for nozzle that thus can not apply the injection machine of excessive load to the mechanism part of injecting unit lower than load.
To achieve these goals, according to the Contact controller for nozzle of injection machine of the present invention, have: servo motor, this servo motor is used for nozzle is advanced, and this nozzle is used for carrying out nozzle contact to mould; Transmission mechanism, the rotary motion of above-mentioned servo motor is converted to rectilinear motion by this transmission mechanism; Elastomeric element, this elastomeric element is connected with above-mentioned transmission mechanism and for generation of nozzle touch force; Positioning control portion, above-mentioned servo motor is positioned at above-mentioned elastomeric element with the nozzle touch force preset accordingly by the position that have compressed by this positioning control portion; And torque limiting unit, above-mentioned servo motor is being positioned to period, the torque that this torque limiting unit carries out above-mentioned servo motor with larger than the nozzle touch force of above-mentioned setting and less than the nozzle touch force corresponding with the maximum compressibility of above-mentioned elastomeric element torque limit value limits.
According to the present invention, creating the occasion of the excessive loads exceeding torque limit value, because motor rotates lower than load, so excessive load can not be applied to the mechanism part of injecting unit.In addition; torque limiter owing to directly acting in the current loop of inner side in the motor control loop (Le one プ) of location/velocity, electric current etc.; even be therefore applied with the occasion of excessive load instantaneously; also delayed minimum due to what make to reply, so can reliably protection mechanism portion.
Accompanying drawing explanation
Fig. 1 is the block diagram of an embodiment of Contact controller for nozzle for illustration of injection machine according to the present invention.
Fig. 2 is the figure of the position/direct torque of the nozzle forward-reverse servo motor illustrated in Contact controller for nozzle under the state producing nozzle touch force, Fig. 1.
Detailed description of the invention
First, use the block diagram of Fig. 1 that an embodiment of the Contact controller for nozzle of injection machine of the present invention is described.
Injection machine M by chassis Mb, be placed on matched moulds portion Mc on the Mb of this chassis and injection part Mi and form.Injection part Mi by resin material (powder) heating and melting, by this molten resin to intracavitary administration in mould 31.Matched moulds portion Mc mainly carries out mould 31(drawer at movable side mould 31a, fixed side mold 31b) opening and closing.
Injection part Mi by injection barrel 1, be arranged on the nozzle 2 on the front end of this injection barrel 1 and the screw rod 3 inserted in this injection barrel 1 is formed.Screw rod 3 is provided with the resin pressure sensor 5 employing force cell being detected resin pressure by applied pressure on this screw rod 3.Output signal (resin pressure sensor output signal) from this resin pressure sensor 5 is converted to data signal by A/D converter, is input to servo CPU15.
Screw rod 3 utilizes screw rod rotation servo motor M2 and can rotate by means of the transmission mechanism 6 be made up of belt wheel, band etc.In addition, this screw rod 3 utilizes screw rod forward-reverse servo motor M1 and is driven by means of the transmission mechanism 7 rotary motion being converted to the mechanism of rectilinear motion comprising belt wheel, band, ball screw/nut body etc., and can moving axially at screw rod 3.Have again, symbol P1 represents that the location/velocity by detecting screw rod forward-reverse motor M1 detects the location/velocity detector of the location/velocity of the axis of screw rod 3, and symbol P2 represents that the location/velocity by detecting servo motor M2 detects the location/velocity detector of the position of rotation/speed around axle of screw rod 3.Symbol 4 represents the hopper supplying resin in injection barrel 1.
Injection machine M possesses to nozzle 2 be crimped (nozzle contact) nozzle contact drive unit for making injection part Mi advance to Mc side, matched moulds portion on the stationary platen 32 having installed fixed side mold 31b.
This Contact controller for nozzle comprises: be arranged on the nozzle forward-reverse servo motor M3 on the Mb of chassis; One end is connected on the load axis of this nozzle forward-reverse servo motor M3, the other end is supported on ball screw 34 on stationary platen 32 in a rotatable manner; The nut 33 be screwed with this ball screw 34; Be fixed on the first compression plate 36 on the injecting unit 39 of injection part Mi; Be arranged on the second compression plate 37 on this nut 33; Insert the spring 35 between the first compression plate 36 and the second compression plate 37; And measure the first compression plate 36 and the interval of the second compression plate 37 and the sensor 38 of detection springs length.
Nozzle forward-reverse servo motor M3 is provided with location/velocity detector P3.The output signal of this location/velocity detector P3 is fed back by servo CPU15, for the control of nozzle forward-reverse with servo motor M3.
By making nozzle forward-reverse servo motor M3 rotate, ball screw 34 is rotated, thus nozzle contact drive unit make nut 33 advance relative to stationary platen 32, retreat.Utilize the advance of this nut 33, retreat the interval adjusted between the first compression plate 36 and the second compression plate 37, and then the elastic force of adjustment spring 35.
In the elastomer contracts that the spring 35 made shown in Fig. 1 is such, thus when producing the mechanism of nozzle pushing force, by measuring this elastomeric length thus the pushing force of nozzle 2 can being detected.As elastomer, rubber can also be used in addition to the spring.Thereby, it is possible to produce nozzle 2 to the nozzle pushing force (nozzle touch force) desired by fixed side mold 31b.
The nozzle pushing force of output signal by means of interface 27 as nozzle 2 of sensor 38 from length spring 35 being detected is stored in RAM22.The detection of the nozzle pushing force of the nozzle 2 undertaken by sensor 38 was carried out every the time interval (every sampling interval).
In matched moulds portion Mc, movable platen 30 utilizes movable platen forward-reverse motor (not shown) to move (advance) to the direction towards stationary platen 32 to carry out mold closing, after drawer at movable side mould 31a contacts with fixed side mold 31b, movable platen 30 moves to the direction towards stationary platen 32 further, thus produces predetermined mold clamping force.Further, moved (retrogressing) to the direction away from stationary platen 32 by movable platen 30, thus carry out die sinking.Further, in FIG, as the key element forming matched moulds portion Mc, only illustrate movable platen 30, mould 31a, 31b, stationary platen 32.
The control device of injection machine M is configured to, and has: as the CNC-CPU20 of the microprocessor of Numerical Control; The PMC-CPU17 of the microprocessor of (Programmable Machine Controller) is controlled as programmable machine; And as the servo CPU15 of SERVO CONTROL, and select mutual input and output by means of bus 26, thus information transmission can be carried out between each microprocessor.
Servo CPU15 is connected with: store the ROM13 of the special control program of the SERVO CONTROL of process carrying out position loop, speed loop, current loop; With the RAM14 of the temporary transient storage for data.In addition, servo CPU15 connects as follows: by means of A/D(analog/digital) converter 16 can detect from be located at injection machine M resin pressure sensor 5 export pressure signal.
Servo CPU15 is connected with servo amplifier 11,12,10.These amplifiers 11,12,10 based on the instruction from servo CPU15, drive be connected with injection shaft screw rod forward-reverse servo motor M1, the screw rod rotation servo motor M2 be connected with screw rod rotating shaft, nozzle forward-reverse servo motor M3.Further, the output signal from location/velocity detector P1, P2, P3 of being arranged on each servo motor M1, M2, M3 is fed back by this servo CPU15.Further, the position of rotation of each servo motor M1, M2, M3 is calculated by servo CPU15 based on the feedback signal of the position from corresponding location/velocity detector P1, P2, P3, updates stored in the register of each current location.
PMC-CPU17 is connected with the RAM19 of the ROM18 of the sequential programme etc. storing the sequentially-operating controlling injection machine and the temporary transient storage etc. for operational data.CNC-CPU20 is connected with the ROM21 of various programs of the automatic running program storing overall control injection machine etc. and the RAM22 of the temporary transient storage for operational data.
Formed data preservation RAM23 is nonvolatile memory, is the memory that the formed data storing the molding condition relevant with injection-molded operation and various setting value, parameter, macroscopical parameter etc. is preserved.Display unit/MDI(manual data entry device) 25 to be connected with bus 26 by means of interface (I/F) 24, the selection of function menu and the input operation etc. of various data can be carried out.This display unit/MDI25 is provided with the numerical key of numeric data input and various function keys etc.Nozzle touch force can use this display unit/MDI25 to preset, and is input to injection machine M.
According to the structure of above injection machine M, PMC-CPU17 controls the order of injection machine entirety, CNC-CPU20 based on ROM21 running program and/or be stored in molding condition in formed data preservation RAM23 etc. carries out move distribution to the servo motor of each axle, servo CPU15 based on the combine digital servo processing such as feedback signal of the move distributed each axle and the position detected with location/velocity detector P1, P2, P3 and speed, drived control servo motor M1, M2, M3.
Below, the shaping actions of the injection machine M using said structure is described.
As mentioned above, carrying out between progressive forming on-stream period, expecting that nozzle touch force (nozzle pushing force) maintains definite value, in order to avoid molten resin spills from mould and spray nozzle part.But, according to the structure of mould, when carrying out mould assembling action, nozzle is pushed back in the reverse direction, the elastomeric element for generation of nozzle touch force be connected with the transmission mechanism rotary motion of servo motor being converted to rectilinear motion is compressed, and causes nozzle touch force to rise.In this case, as long as the decrement of above-mentioned elastomeric element is just no problem below the maximum compressibility of this elastomeric element, but nozzle exceed maximum compressibility push back in the reverse direction time, worry the transmission mechanism to injecting unit, the fixed part of nozzle forward-reverse servo motor apply excessive load and make it damaged.So, in the present invention, nozzle forward-reverse servo motor is controlled, in order to avoid produce excessive load on the transmission mechanism rotary motion of servo motor being converted to rectilinear motion and/or nozzle forward-reverse servo motor.
In nozzle forward motion, in order to nozzle 2 being pushed against on fixed side mold 31b with set nozzle touch force, servo CPU15 is measuring spring 35(elastomeric element based on the detection signal of the sensor 38 obtained by means of interface 27) length, obtain the detection nozzle touch force of nozzle 2, and become the mode of set nozzle touch force by means of servo amplifier 10 to detect nozzle touch force, drived control is carried out to nozzle forward-reverse servo motor M3.
If be described in detail, come in obtain set nozzle touch force before making injecting unit 39, exported the move being used for nozzle forward-reverse servo motor M3 being moved to precalculated position by CNC-CPU20 to servo CPU15 by predetermined period.The move inputted from CNC-CPU20 is divided into the position command P of sampling period (location/velocity, current loop treatment cycle) by servo CPU15 further cMD, carry out the position/direct torque shown in Fig. 2.Further, in progressive forming running, in order to detection nozzle touch force is maintained set nozzle touch force, by the sampling period to servo CPU15 outgoing position instruction P cMD(with reference to Fig. 2).When injecting unit 39 being positioned on the position that can obtain nozzle touch force set in advance, position command P cMDbecome the instruction of 0.About the position/direct torque carried out at servo CPU15, Fig. 1 is used to describe later.
Then, mold closing, matched moulds, die sinking are described.
When the movable platen forward-reverse motor (not shown) of matched moulds portion Mc rotates to positive direction, ball screw axle (not shown) rotates to positive direction, and advance with the crosshead (not shown) that this ball screw male thread is combined so that elbow type mechanism (not shown) action time, movable platen 30 is advanced towards stationary platen 32.Further, when being arranged on the drawer at movable side mould 31a in movable platen 30 and contacting with the fixed side mold 31b be arranged on stationary platen 32, (mold closing state) matched moulds operation is started.In matched moulds operation, by being driven to positive direction further by movable platen forward-reverse motor, thus elbow type mechanism extends and produce mold clamping force on mould 31.
Further, drive the screw rod forward-reverse servo motor M1 being located at injection part Mi, make screw rod 3 along its axial advancement, thus molten resin is filled in the intracavity space be formed in mould 31.
After measurement process, when carrying out die sinking, when driving movable platen forward-reverse motor to opposite direction, ball screw axle rotates in the opposite direction.Accompany therewith, crosshead retreats, and elbow type mechanism is to bending direction action, and movable platen 30 retreats to tail plank (not shown) direction (namely, away from the direction of stationary platen 32).
Fig. 2 is the figure of the position/direct torque of the nozzle forward-reverse servo motor M3 illustrated under the state producing nozzle touch force.Further, nozzle forward-reverse servo motor M3, the location/velocity detector P3 of the servo motor 116 of this figure, location/velocity detector 118 difference corresponding diagram 1.
Nozzle forward-reverse servo motor M3 is positioned at and creates on the position of nozzle touch force, position command P cMDexport the instruction of 0.Torque restriction instruction Tlim cMDthere is larger than the nozzle touch force of setting and less than the nozzle touch force corresponding with the maximum compressibility of elastomeric element value.
Subtracter 100 is from inputted position command P cMDin deduct from location/velocity detector 118 feed back position feedback Pf, obtain position deviation and output in position compensation device 102.Position compensation device 102 inputs the position deviation exported from subtracter 100, is multiplied by position gain, obtains speed command, export (position loop control) to subtracter 104 this position deviation.
Subtracter 104 deducts the velocity feedback Vf fed back from location/velocity detector 118 from the speed command exported by position compensation device 102, obtain velocity deviation, exports to velocity compensator 106.Velocity compensator 106 carries out ratio, integration etc. based on this velocity deviation, obtains torque instruction (current-order), exports (speed loop control) to torque limiter 108.
Torque limiter 108 limits instruction Tlim by torque cMDlimit the torque instruction inputted from velocity compensator 106, and export to subtracter 110 as torque instruction (current-order).This subtracter 110 deducts the current feedback If fed back by the current detector (not shown) of the drive current detecting servo amplifier 114 from the torque instruction exported by torque limiter 108 (current-order), obtain current deviation, export to current compensator 112.In current compensator 112, based on the current deviation inputted from subtracter 110, generate the pwm signal (current loop control) exported to servo amplifier 114.Servo amplifier 114, based on the pwm signal inputted from current compensator 112, carries out drived control to servo motor 116.
The torque instruction exported to current loop limits instruction Tlim by torque cMDrestriction, exceedes torque restriction instruction Tlim so create on servo motor 116 cMDexcessive load time, servo motor 116 rotates lower than load.Namely, because the nozzle forward-reverse servo motor M3 of Fig. 1 rotates lower than load, so can not apply excessive load to the mechanism part of injection part Mi.In addition; torque limiter 108 owing to directly acting in the current loop of inner side in the motor control loop of position loop, speed loop, current loop etc.; even so when applying excessive load instantaneously; due to the delayed minimum of response can be made, thus can reliably protect.Namely, with regard to nozzle forward-reverse with regard to servo motor M3, even when applying excessive load instantaneously, that replys owing to can make it is delayed minimum, thus can the mechanism part of reliably protecting injection part Mi.
Further, stockpile position deviation because applying load in control loop, become obstacle during action next time, therefore when the position deviation amount stockpiled has exceeded predetermined value, to the direction outgoing position instruction not having position deviation.

Claims (1)

1. a Contact controller for nozzle for injection machine, is characterized in that, has:
Servo motor, this servo motor is used for nozzle is advanced, and this nozzle is used for carrying out nozzle contact to mould;
Transmission mechanism, the rotary motion of above-mentioned servo motor is converted to rectilinear motion by this transmission mechanism;
Elastomeric element, this elastomeric element is connected with above-mentioned transmission mechanism and for generation of nozzle touch force;
Positioning control portion, above-mentioned servo motor is positioned at above-mentioned elastomeric element with the nozzle touch force preset accordingly by the position that have compressed by this positioning control portion; And
Torque limiting unit, above-mentioned servo motor is being positioned to period, the torque that this torque limiting unit carries out above-mentioned servo motor with larger than the nozzle touch force of above-mentioned setting and less than the nozzle touch force corresponding with the maximum compressibility of above-mentioned elastomeric element torque limit value limits.
CN201210205164.9A 2011-06-21 2012-06-18 Nozzle contact control device of injection molding machine Active CN102837405B (en)

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