CN102886878A - 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

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Publication number
CN102886878A
CN102886878A CN2012101626418A CN201210162641A CN102886878A CN 102886878 A CN102886878 A CN 102886878A CN 2012101626418 A CN2012101626418 A CN 2012101626418A CN 201210162641 A CN201210162641 A CN 201210162641A CN 102886878 A CN102886878 A CN 102886878A
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China
Prior art keywords
nozzle
servo motor
mould
reverse
move
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Granted
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CN2012101626418A
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Chinese (zh)
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CN102886878B (en
Inventor
内山辰宏
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Fanuc Corp
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Fanuc Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • 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

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

Abstract

The invention 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 nozzle forward-reverse of the injection (mo(u)lding) machine control device of motor
Technical field
The nozzle forward-reverse control device of motor that the present invention relates to injection (mo(u)lding) machine.
Background technology
Injection (mo(u)lding) machine has matched moulds section and injection part.In the common injection moulding action beyond when the discharge of resin, usually keep following state: predetermined nozzle touch force occurs with respect to mould in the nozzle of injection part and fixed side mold butt.But, if carry out continuously shaped running making under nozzle and the state that mould contacts, then the heat of spray nozzle front end section is seized by mould, therefore after measurement process finishes, make nozzle prevent the action that is known as running channel separation (sprue break) that the heat of spray nozzle front end is seized by mould from mould separating.Running channel separates and also to have following effect: by retreating of nozzle, cut off running channel between nozzle and mould, open and take out in the products formed when mould, products formed comes off from mould easily.
In the situation of carrying out the running channel separating action, need to nozzle be advanced, at this moment, for fear of the problem that the generation fixed side mold is forwards collapsed, the action that after matched moulds finishes, nozzle was advanced in the past.If nozzle touch force occurs opening under the state of mould, then nozzle touch force acts on fixed side mold and fixed side mold is collapsed.If carry out mold closing under the state that fixed side mold is collapsed, then there are the following problems: block the guide pin of mould in mould is closed, the deviation of the gauge of the overlap of products formed and products formed perhaps occurs.
Avoid the heat of spray nozzle front end section 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, disclose following content 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 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: correspondingly prolong cycle time owing to carry out the nozzle forward motion, thus productivity losing.Solve collapsing or the problem that the heat of nozzle runs off and the problem that prolongs 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 predetermined nozzle touch force to occur the opportunity of matched moulds end with nozzle opportunity is identical.
Summary of the invention
So, the object of the invention is to, the control device of the nozzle forward-reverse of following injection (mo(u)lding) machine with motor is provided: nozzle is advanced that operation is divided into until the operation that nozzle contacts with mould (1) with from nozzle with after mould contacts to the operation (2) that predetermined nozzle touch force occurs, by make in above-mentioned operation (1) and the 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 that finishes to matched moulds from arriving the mould contact position, solve the problem of prolongation cycle time and productivity losing.
Using nozzle forward-reverse of the present invention has with the injection (mo(u)lding) machine of the control device of motor: open and close the clamping that the servo motor of usefulness carries out the switching of mould with mould; And the nozzle forward-reverse mechanism that makes the nozzle forward-reverse of injection cylinder front end with the servo motor that the nozzle forward-reverse is used.And this nozzle forward-reverse has with the control device of motor: the mold closing control part, and the servo motor that utilizes above-mentioned mould to open and close usefulness carries out mold closing until the position that the drawer at movable side mould contacts with fixed side mold; The matched moulds control part utilizes above-mentioned mould to open and close the servo motor of usefulness, carries out matched moulds from the position that the drawer at movable side mould contacts with fixed side mold to the matched moulds end position; The nozzle control part that advances, the mode that said nozzle contacts with mould in order to above-mentioned mold closing control part the drawer at movable side mould being contacted with fixed side mold when, the servo motor that utilizes the said nozzle forward-reverse to use advances said nozzle; And the nozzle touch force control part, the mode of the nozzle touch force that generation is scheduled to when finishing with matched moulds, the servo motor that utilizes the said nozzle forward-reverse to use advances nozzle.
The said nozzle forward-reverse also can also have the instruction made from the control device of motor and open and close the nozzle move conversion section that move with servo motor is converted into the move of the servo motor of using to the nozzle forward-reverse in mould, said nozzle advance control part and said nozzle contact force control part utilize said nozzle move conversion section convert above-mentioned mold closing control part and above-mentioned matched moulds control part respectively instruction open and close move with servo motor in mould, thereby obtain each move of the servo motor of using to the nozzle forward-reverse.
The said nozzle forward-reverse also can also have with the control device of motor: detect the position detector that above-mentioned mould opens and closes the amount of movement of the reality of using servo motor; And will open and close with the mould that this position detector detects the nozzle move conversion section that amount of movement with servo motor is converted into the amount of movement of the servo motor of using to the nozzle forward-reverse, advance mould that control part and said nozzle contact force control part utilize said nozzle move conversion section to convert to detect respectively at above-mentioned mold closing control part and above-mentioned matched moulds control part of said nozzle opens and closes amount of movement with servo motor, thereby obtains each move of the servo motor of using to the nozzle forward-reverse.
Effect of the present invention is as follows.
According to the present invention, operation is divided into by nozzle is advanced until the operation that nozzle contacts with mould with from nozzle with after mould contacts to the operation that predetermined nozzle touch force occurs, make in these two operations and the mold closing operation until arrive the operation of mould contact position and the operation synchronization action that finishes to matched moulds from arriving the 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 prolong cycle time and can carry out the nozzle forward motion.
And, according to the present invention, because nozzle and mold closing/mould assembling action are synchronously moved, therefore in the situation of change toold closing speed and stroke in the picture of operator at injection (mo(u)lding) machine, mould opens and closes with the move of servo motor and changes according to the speed that changes, and the nozzle forward-reverse also changes with the move of servo motor.Thereby, even the operator has changed toold closing speed, also need not nozzle forward-reverse action is carried out the change of any setting.
Description of drawings
Fig. 1 is the nozzle forward-reverse of explanation injection (mo(u)lding) machine of the present invention with the figure of the schematic configuration of the control device of servo motor.
Fig. 2 is the controll block figure that nozzle forward-reverse shown in Figure 1 is used the control device of servo motor.
Fig. 3 is nozzle forward-reverse shown in Figure 1 with other controll block figure of the control device of servo motor.
Fig. 4 is that explanation uses the move of servo motor to the figure of nozzle forward-reverse with the conversion of the move of servo motor from the mould switching.
The specific embodiment
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, and this clamping has the servo motor that mould opens and closes usefulness.Fig. 1 is the nozzle forward-reverse of explanation injection (mo(u)lding) machine of the present invention with the figure of the schematic configuration of the control device of servo motor.
Injection (mo(u)lding) machine M is at board M 3On have the M of matched moulds section 1And injection part M 2Injection part M 2Heat fused resin material (particle), and in the inner chamber of mould 46, inject the resin that melts.At the logical screw rod 3 of injection cylinder 1 interpolation.Sidepiece at injection cylinder 1 is installed hopper 4, and this hopper 4 is used for to injection cylinder 1 interior supply resin material (not shown).
At first, the M of matched moulds section is described 1The M of matched moulds section 1Mainly carry out mould 46(46a, 46b) switching.The M of matched moulds section 1Have: the fixation clip 42 that installs and fixes side mold 46b; But the dynamic pressure plate 41 of drawer at movable side mould 46a is installed in the mode relative with this fixed side mold 46b; But make this dynamic pressure plate 41 with respect to injection part M 2The mould that advances or retreat opens and closes with servo motor 114; Detect the location/velocity detector 116 that this mould opens and closes position of rotation/speed of using servo motor 114; Rear fender 40; Toggle link 43; Ball-screw 44; And crosshead 45.
The rotary actuation that mould opens and closes with servo motor 114 makes ball-screw 44 actions by the transmission mechanism 118 that is made of band etc.The above-mentioned M of matched moulds section 1Also have many connecting rods (not shown), this connecting rod connects rear fender 40 and fixation clip 44, but and guiding dynamic pressure plate 41 and make it with respect to fixation clip 42 forward-reverses.Toggle link 43 advances with respect to fixation clip 42 or retreats by making to be installed on to be opened and closed with the crosshead 45 on the ball-screw 44 of servo motor 114 rotary actuations by mould, thereby but dynamic pressure plate 41 is advanced with respect to fixation clip 42 or retreats.
At the M of matched moulds section 1In, open and close driving with servo motor 114 by mould, but dynamic pressure plate 41 advance and carry out mold closing to fixation clip 42, thereby drawer at movable side mould 46a contacts with fixed side mold 46b.And, by contact (mould contact) with fixed side mold 46b at drawer at movable side mould 46a but also make afterwards dynamic pressure plate 41 to advancing towards the direction of fixation clip 42, predetermined mold clamping force is occured.On the other hand, but by dynamic pressure plate 41 is retreated to the direction towards rear fender 40, carry out die sinking.
Secondly, injection part M is described 2Injection part M 2Have nozzle contact drive unit, this nozzle contact drive unit makes this injection part M in order to make nozzle 2 crimping (nozzle contact) on the fixation clip 42 that installs and fixes side mold 46b 2To the M of matched moulds section 1Side is advanced.This nozzle contact drive unit has: be installed on board M 3Go up and make the nozzle forward-reverse servo motor 214 of the nozzle forward-reverse of injection cylinder front end; Detect the nozzle forward-reverse location/velocity detector 216 of the position of rotation/speed of servo motor 214; One end and nozzle forward-reverse are connected with the load axis of servo motor 214 and other end rotation is supported in ball-screw 34 on the fixation clip 42 freely; The nut 33 of being combined with these ball-screw 34 screw threads; Be fixed in injection part M 2 First 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 measuring the length of the interval of the first compression plate 36 and the second compression plate 37 and detection (be arranged at nozzle forward-reverse with between servo motor 214 and the injecting unit 39) spring 35.
In injecting unit 39 interior configurations: make screw rod 3 around the screw rod rotation of its axle rotation with servo motor (not shown); The screw rod forward-reverse servo motor (not shown) that this screw rod 3 is retreated to its axial advancement; And the resin pressure sensor (not shown) that is used for measuring the resin pressure in the cylinder 1.Because structure and the present invention in the injecting unit 39 are uncorrelated, therefore omit further detailed description the in detail.
Nozzle contact drive unit makes ball-screw 34 rotations by rotary actuation 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.By the elastomer contracts as spring shown in Figure 1 35 and so on is made in the situation of nozzle pressing power generation, measure the length of spring 35 with sensor (not shown), thereby can obtain nozzle pressing power.Thus, can produce nozzle 2 to the nozzle pressing power (nozzle touch force) of 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 the 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 the information transmission.
Be connected with the ROM13 of control program of the SERVO CONTROL special use of having stored the processing of carrying out position ring, speed ring, electric current loop and the RAM14 that is used for the temporary transient storage of data at servo CPU15.Be connected with based on the mould that drives control from the instruction of this servo CPU15 at this servo CPU15 and open and close with servo motor 114 and nozzle forward-reverse with servo motor 214.At these servo motors 114,214 installation site/speed detectors 116,216 respectively, feed back to servo CPU15 from these location/velocity detectors 116,216 output signal.These servo motors 114,214 position of rotation utilize servo CPU15 to calculate respectively based on the feedback signal from location/velocity detector 116,216 position, and updated stored is to the current location register respectively.
Be connected with at PMC-CPU17: the ROM18 of the sequential programme of the sequentially-operating of storage control injection (mo(u)lding) machine M etc.; And the RAM19 that is used for the temporary transient storage etc. of operational data.Be connected with at CNC-CPU20: the ROM21 of the various programs such as automatic running program of injection (mo(u)lding) machine is controlled in storage generally; And the RAM22 that is used for the temporary transient storage of operational data.
It is non-volatile memory that forming data is preserved with RAM23, and is the memory that stores the forming data preservation usefulness of the condition of molding that closes the injection forming operation and various setting value, parameter, macroscopical parameter etc.LCD/MDI(manual data input unit) 25 have liquid crystal indicator (LCD) and are used 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 the ten key of numeric data input usefulness and various function keys etc.Can will be set in injection (mo(u)lding) machine M with LCD/MDI unit 25 predefined nozzle touch forces.
In addition, Fig. 1 has represented that spring 35 is set and utilized the counter-force generation nozzle touch force of spring 35 between the nozzle forward-reverse is with servo motor 214 and injecting unit 39 mechanism, but control device of the present invention not necessarily needs spring 35.
The schematic configuration of injection (mo(u)lding) machine M more than has been described.Said structure belongs to prior art.
Below, to the nozzle forward-reverse of the injection (mo(u)lding) machine control device with servo motor, describe with Fig. 2～Fig. 4.
Fig. 2 is the controll block figure that nozzle forward-reverse shown in Figure 1 is used the control device of servo motor 214.
If begin to carry out the M of matched moulds section 1Mold closing, then control generally the numerical control device CNC-CPU20 of injection (mo(u)lding) machine M, be used for driving the control mould at every predetermined period to servo CPU15 output and open and close move with servo motor 114.In servo CPU15, will further be divided into from the move that CNC-CPU20 receives the move M of sampling period (treatment cycle of position, speed, electric current loop) c, carry out the control of position ring shown in Figure 2, speed ring, electric current loop.
Servo CPU15 is based on the move that receives 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 mould with the mold closing direction of servo motor 114 and open and close move M with servo motor cThis move M cAlso be input to simultaneously move route marker 300 and be converted into the nozzle forward-reverse with the move of servo motor 214 at this, also output to the controll block that the nozzle forward-reverse is used 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 that uses servo motor from mould cDeduct the position feedback (position FB) by location/velocity detector 116 feedbacks, and subtraction result (position deviation) is outputed to position compensation device 102.In having received the position compensation device 102 of 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 that receives 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 current feedback (electric current FB) by current detector (not shown) feedback of the drive current that detects servo amplifier 112 from the torque instruction (current-order) that receives 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 control mould switching servo motor 114 based on the pwm signal that receives from current compensator 110.
On the other hand, be input to the move M of the mould switching usefulness 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 the nozzle forward-reverse usefulness servo motor 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) by location/velocity detector 216 feedbacks, and subtraction result (position deviation) is outputed to position compensation device 202.In having received the position compensation device 202 of 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 that receives 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 current feedback (electric current FB) by current detector (not shown) feedback of the drive current that detects servo amplifier 212 from the torque instruction (current-order) that receives 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, servo amplifier 212 drives Control Nozzle forward-reverse servo motor 214 based on the pwm signal that receives from current compensator 210.
At this, the conversion that opens and closes move from the move of servo motor 114 to the nozzle forward-reverse that use servo motor 214 with from mould, before carrying out mold closing, the L in calculated in advance following (1) formula, (2) formula 1n/ L 1cAnd L 2n/ L 2c
Below, the driving control of mould switching with servo motor 114 is divided into until the driving of the position of mould 46 contacts is controlled and controlled and describe to the driving of the position that matched moulds finishes after mould contacts.
At first, illustrate utilize mould open and close with servo motor 114 until the driving control of the position of mould 46 contacts.
Mould opens and closes the move M according to per sampling period with the servo CPU15 of servo motor 114 usefulness cDrive control.On the other hand, the 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 that obtains 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 of the nozzle forward-reverse of per sampling period.
L 1c: the mould to the position (mould contact position) that the drawer at movable side mould contacts with fixed side mold after nozzle begins to advance opens and closes the displacement (amount of movement) of using servo motor.
L 1n: after nozzle begins to advance to the displacement (amount of movement) of the nozzle forward-reverse usefulness servo motor of the position (nozzle contact position) that nozzle contacts with mould.
At this, the position (nozzle contact position) that so-called nozzle 2 contacts with mould (fixed side mold 46b) refers to: by driving nozzle forward-reverse servo motor 214, when nozzle 2 has been advanced to fixation clip 42 with constant speed, the position that the nozzle forward-reverse begins to change with load and the motor torque of servo motor 214.So, detect the position that this nozzle forward-reverse begins to change with load and the motor torque of servo motor 214, and with this detection position as the nozzle contact position and pre-stored.Perhaps, also can be as shown in Figure 1, between the nozzle forward-reverse is with servo motor 214 and injecting unit 39, arrange in the situation of the elastomeric elements such as spring 35, utilize the counter-force of this elastomeric element, detect the position that nozzle touch force begins to change, and with this detection position as the nozzle contact position and pre-stored.
In addition, in the above description, the situation of advancing that begins to carry out nozzle when mold closing is begun is put down in writing, but under the half-way from mold closing begins situation that nozzle advances, will open and close from the mould in the moment that the beginning nozzle advances with the position of servo motor 114 and open and close amount of movement with servo motor 114 as above-mentioned L to the mould of mould contact 1c, conversion nozzle forward-reverse gets final product with the amount of movement of servo motor 214.
By above processing, mould 46 close and when contacting nozzle 2 also can with mould 46(46b) contact.Under this state, owing to can not apply nozzle touch force to fixed side mold 46b, but therefore can not produce the situation that the fixation clip 42 that installs and fixes side mold 46b collapses to dynamic pressure plate 41 directions.
Above-mentioned to open and close the control of carrying out with servo motor 114 by mould corresponding with the action of " mold closing control part ", and the above-mentioned control of being carried out with servo motor 214 by the nozzle forward-reverse is corresponding with the action of " nozzle advance control part ".
Below, illustrate utilize mould open and close with servo motor 114, from the position of mould 46 contacts to the driving control of matched moulds end position.
Mould opens and closes with servo motor 114 then until the movement of mould contact position, even begin 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 of mould 46 contacts is identical, control generally the displacement of CNC-CPU20 basis from the mould contact position to the matched moulds end position and the speed that sets of the numerical control device of injection (mo(u)lding) machine M, generation is used for driving and controls move (the move M of per sampling period that mould opens and closes the matched moulds direction of using servo motor 114 c).This move M cAlso be input to simultaneously nozzle move route marker 300, be converted into the move M that the nozzle forward-reverse is used servo motor 214 at this n, also output to the controll block that the nozzle forward-reverse is used servo motor 214.This nozzle move route marker 300 is with the move M that receives cUse following (2) formula to be converted into move (the move M of per sampling period that the nozzle forward-reverse is used servo motor 214 n), the move M that will convert in per sampling period nOutput to the said nozzle forward-reverse controll block of 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 of the nozzle forward-reverse of per sampling period.
L 2c: the mould from the mould contact position to the 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 of the nozzle forward-reverse from the nozzle contact position to the position that predetermined nozzle touch force occurs.
In nozzle forward-reverse shown in Figure 2 controll block with the control device of servo motor, mould is opened and closed the move that is converted into nozzle forward-reverse usefulness servo motor 214 with the move of servo motor 114, but also the mould switching can be converted into the amount of movement (move) of nozzle forward-reverse usefulness servo motor 214 with the amount of movement of the reality of servo motor 114.In this case, also can be as shown in Figure 3, to open and close with the amount of movement of the location/velocity detector 116 moulds switchings that detect, per sampling period on the servo motor 114 with servo motor 114 with being installed on mould, with nozzle forward-reverse shown in Figure 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 that the nozzle forward-reverse is used servo motor 214 at this.In this case, the M that is used for above-mentioned (1) formula and (2) formula of conversion cBecome with being installed on mould and open and close with the amount of movement of the location/velocity detector 116 moulds switchings that detect, per sampling period on the servo motor 114 with servo motor 114.
Above-mentioned to open and close the control of carrying out with servo motor 114 by mould corresponding with the action of " matched moulds control part ", above-mentioned corresponding with the action of " nozzle touch force control part " with the control that servo motor 214 carries out by the nozzle forward-reverse in addition.
Fig. 4 is that explanation uses the move of servo motor to the figure of nozzle forward-reverse with the conversion of the move of servo motor from the mould switching.
(a) of Fig. 4 is that the 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 explanation nozzle forward-reverse with per sampling period of 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 with the move M of servo motor 214 according to above-mentioned (1) formula n, be to be converted into the nozzle forward-reverse with the move M of servo motor 214 according to above-mentioned (2) formula from nozzle 2 with finishing to matched moulds after mould 46 contacts in addition nWhen finishing (predetermined mold clamping force has occured) at matched moulds, predetermined nozzle touch force occurs.
In addition, the M of matched moulds section 1Clamping exist: utilize as shown in Figure 1 the structure that the rectilinear motion of ball-screw 44 is converted to the on-off action of mould 46 as the speed enlarger of elbow liver 43 and so on; And do not have the speed enlarger and directly carry out the structure of the on-off action of mould with ball-screw.In the situation of the clamping of the speed enlarger with Fig. 1; the opening and closing speed that also move or the mould switching that opens and closes to above-mentioned mould with servo motor 114 can be converted into mould according to the magnifying power of speed enlarger with the amount of movement of the reality of servo motor 114; obtain the amount of movement of per sampling period from the speed that converts, with this as the move of said nozzle forward-reverse with servo motor 214.In this case, the L in above-mentioned (1) formula and (2) formula 1c, L 2cBecome respectively after nozzle begins to advance to the amount of movement of the mould of mould contact position and the displacement of the mould from the mould contact position to the matched moulds end position.
In addition, for opening and closing with servo motor 114 independences with mould by manual operation etc., the forward-reverse that can make nozzle 2 moves, in the controll block of nozzle forward-reverse with the control device of servo motor 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 then as mentioned above output of nozzle move route marker 300 (the nozzle forward-reverse of the conversion move M of servo motor n) be input to the nozzle forward-reverse with the controll block (subtracter 200) of the control device of servo motor.On the other hand, if change-over switch 302 is connected with contact b, then be input to the nozzle forward-reverse with the controll block (subtracter 200) of the control device of servo motor be to mould open and close with the action of servo motor 114 independently the nozzle forward-reverse with the move of servo motor 214.

Claims (3)

1. the nozzle forward-reverse of an injection (mo(u)lding) machine is characterized in that with the control device of motor,
This injection (mo(u)lding) machine has: open and close the clamping that the servo motor of usefulness carries out the switching of mould with mould; And the nozzle forward-reverse mechanism that makes the nozzle forward-reverse of injection cylinder front end with the servo motor that the nozzle forward-reverse is used,
The said nozzle forward-reverse has with the control device of motor:
The mold closing control part, the servo motor that utilizes above-mentioned mould to open and close usefulness carries out mold closing until the position that the drawer at movable side mould contacts with fixed side mold;
The matched moulds control part, the servo motor that utilizes above-mentioned mould to open and close usefulness carries out matched moulds from the position that the drawer at movable side mould contacts with fixed side mold to the position that matched moulds finishes;
The nozzle control part that advances, the mode that said nozzle contacts with mould in order to above-mentioned mold closing control part the drawer at movable side mould being contacted with fixed side mold when, the servo motor that utilizes the said nozzle forward-reverse to use advances said nozzle: and
The nozzle touch force control part, the mode of the nozzle touch force that generation is scheduled to when finishing with matched moulds, the servo motor that utilizes the said nozzle forward-reverse to use advances nozzle.
2. the nozzle forward-reverse of injection (mo(u)lding) machine according to claim 1 is characterized in that with the control device of motor,
Also have instruction opened and closed the nozzle move conversion section that move with servo motor is converted into the move of the servo motor of using to the nozzle forward-reverse in mould,
Said nozzle advance control part and said nozzle contact force control part utilize said nozzle move conversion section convert above-mentioned mold closing control part and above-mentioned matched moulds control part respectively instruction open and close move with servo motor in mould, thereby obtain each move of the servo motor of using to the nozzle forward-reverse.
3. the nozzle forward-reverse of injection (mo(u)lding) machine according to claim 1 is characterized in that with the control device of motor,
Also have: detect the position detector that above-mentioned mould opens and closes the amount of movement of the reality of using servo motor; And will open and close with the mould that this position detector detects the nozzle move conversion section that amount of movement with servo motor is converted into the amount of movement of the servo motor of using to the nozzle forward-reverse,
Advance mould that control part and said nozzle contact force control part utilize said nozzle move conversion section to convert to detect respectively at above-mentioned mold closing control part and above-mentioned matched moulds control part of said nozzle opens and closes amount of movement with servo motor, thereby obtains each move of the servo motor of using to the 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)

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