CN116669883A - Injection molding machine and controller - Google Patents

Abstract

The present invention relates to an injection molding machine and a controller, and provides a technique capable of more appropriately realizing real-time performance of control processing related to operation of the injection molding machine in an industrial machine such as an injection molding machine. An injection molding machine (1) according to one embodiment of the present invention is provided with a mold clamping device (100), an injection device (300), an ejection device (200), and a controller (700). Specifically, the mold clamping device (100) clamps the mold device (10). The injection device (300) fills the mold device (10) clamped by the clamping device (100) with the molding material. The ejector device (200) takes out the molded article from the mold device (10) after cooling and solidifying the molding material filled by the injection device (300). The controller (700) outputs an interrupt request at a predetermined control cycle, and performs control processing relating to the operation of the injection molding machine (1) according to the interrupt request. The controller (700) outputs an interrupt request before the preparation of the data required for the control process is completed, and starts the control process after the preparation of the data required is completed.

Description

Injection molding machine and controller

Technical Field

The present invention relates to an injection molding machine and the like.

Background

For example, in an industrial machine such as an injection molding machine, various data such as data output from various sensors are used to perform control processing related to the operation thereof at a predetermined control cycle (see patent document 1).

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 2006-73027

Disclosure of Invention

Problems to be solved by the invention

In a control device (controller) of an industrial machine, an interrupt request is output at a predetermined control cycle, and a control process related to the operation of the industrial machine is executed according to the interrupt request.

However, depending on the overhead of the interrupt processing, the status of the cache hit in the interrupt processing, and the like, there is a possibility that the time required for the interrupt processing varies. For this reason, for example, if the required time is relatively long, the start time of the control process when the preparation of the data required for the control process is completed as a reference is relatively slow, and the real-time performance of the control process may be affected.

In view of the above, an object of the present invention is to provide a technique capable of more appropriately realizing real-time performance of control processing related to operations of an industrial machine such as an injection molding machine.

Means for solving the problems

In order to achieve the above object, one embodiment of the present invention provides an injection molding machine comprising:

a mold clamping device for clamping the mold device;

an injection device for filling the mold device clamped by the clamping device with a molding material;

An ejector for taking out the molded article from the mold device after the molding material filled by the injection device is cooled and solidified; a kind of electronic device with high-pressure air-conditioning system

A control device for outputting interrupt request according to a prescribed period, and performing control processing related to the operation of the injection molding machine according to the interrupt request,

the control device outputs the interrupt request before a trigger generation that becomes a reference for starting the control process, and starts the control process after the trigger generation.

In another embodiment of the present invention, there is provided a controller including:

an interrupt request output unit that outputs an interrupt request at a predetermined cycle; a kind of electronic device with high-pressure air-conditioning system

A control processing unit for performing control processing related to the operation of the industrial machine based on the interrupt request,

the interrupt request output unit outputs the interrupt request before a trigger is generated as a reference for starting the control process,

the control processing section starts the control processing after the trigger is generated.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the above embodiment, the real-time performance of the control process related to the operation of the industrial machine such as the injection molding machine can be more appropriately realized.

Drawings

Fig. 1 is a diagram showing an example of a configuration of an injection molding machine management system including an injection molding machine.

Fig. 2 is a diagram showing an example of a configuration of an injection molding machine management system including an injection molding machine.

Fig. 3 is a diagram showing an example of a hardware configuration of a control system of the injection molding machine.

Fig. 4 is a block diagram showing an example of the functional configuration of the controller.

Fig. 5 is a timing chart showing an example of the operation of the controller.

Fig. 6 is a flowchart schematically showing an example of the setting process related to the interrupt request.

Fig. 7 is a view showing an example of a setting screen displayed on the display device.

Fig. 8 is a timing chart showing the operation of the controller of the injection molding machine according to the comparative example.

Detailed Description

Hereinafter, embodiments will be described with reference to the drawings.

[ outline of injection Molding machine management System ]

First, an outline of the injection molding machine management system SYS according to the present embodiment will be described with reference to fig. 1 and 2.

Fig. 1 and 2 are diagrams showing an example of an injection molding machine management system according to the present embodiment. Specifically, fig. 1 is a side cross-sectional view showing a state when the mold opening of the injection molding machine 1 is completed, and fig. 2 is a side cross-sectional view showing a state when the mold closing of the injection molding machine 1 is completed. As shown in fig. 1 and 2, the X-axis, the Y-axis, and the Z-axis are perpendicular to each other, the positive and negative directions of the X-axis (hereinafter, abbreviated as "X-direction") and the positive and negative directions of the Y-axis (hereinafter, abbreviated as "Y-direction") indicate horizontal directions, and the positive and negative directions of the Z-axis (hereinafter, abbreviated as "Z-direction") indicate vertical directions.

The injection molding machine management system SYS includes a plurality of (in this example, 3) injection molding machines 1 and a management device 2.

The number of the injection molding machines 1 included in the injection molding machine management system SYS may be 1.

Injection moulding machine

The injection molding machine 1 (an example of an industrial machine) performs a series of operations for obtaining a molded product.

The injection molding machine 1 is communicably connected to the management device 2 via a predetermined communication line NW. The injection molding machine 1 may be communicably connected to another injection molding machine 1 via a communication line NW.

The communication line NW may be, for example, a one-to-one communication line. The communication line NW may include a local area network (LA) in which facilities (factories) of the injection molding machine 1 are installedN: local Network). The local area network may be constructed by wire, by wireless, or by a combination of both. The communication line NW may include a wide area network (WAN: wide Area Network) outside the facility (factory) in which the injection molding machine 1 is installed. The wide area network may include, for example, a mobile communication network in which a base station is set as a terminal. The mobile communication network may correspond to, for example, 4G (4) including LTE (Long Term Evolution: long term evolution) ^th Generation: generation 4), 5G (5) ^th Generation: generation 5), and the like. The wide area network may include, for example, a satellite communication network using communication satellites. And, the wide area network may also include, for example, the internet. The communication line NW may include, for example, a short-range communication line corresponding to a wireless communication standard such as bluetooth (registered trademark) communication and WiFi communication.

For example, the injection molding machine 1 transmits (uploads) data related to the operation state of the injection molding machine 1 (hereinafter, referred to as "operation state data") and data related to the production state (hereinafter, referred to as "production state data") to the management device 2 via the communication line NW. The data relating to the operation state may include, for example, measurement data and control data relating to an operation state (for example, position, speed, angular velocity, acceleration, etc.) of the driven portion of the injection molding machine 1. The data relating to the operation state may include, for example, measurement data and control data relating to an operation state (for example, current, voltage, etc.) of the electric drive unit of the injection molding machine 1. The data relating to the operation state may include, for example, measurement data and control data relating to an operation state of the hydraulic drive unit (for example, a pressure of the hydraulic oil, etc.). The data relating to the operation state may include, for example, data relating to a temperature state of a predetermined portion of the injection molding machine 1. Thus, the management device 2 can grasp the operation state automatically or manually according to the input of the manager or the worker, and manage the timing of maintenance of the injection molding machine 1, the operation schedule of the injection molding machine 1, and the like. The data relating to the production state includes, for example, data relating to the number of molded articles produced (the number of shots) from a predetermined point in time. Thereby, the management device 2 can grasp the production condition of the molded article by the injection molding machine 1.

For example, the injection molding machine 1 may monitor or control the operation of another injection molding machine 1 as an auxiliary machine through the communication line NW as a main machine. Specifically, the injection molding machine 1 (auxiliary machine) can transmit the operation state data to the injection molding machine 1 (main machine) through the communication line NW. Thus, the injection molding machine 1 (main machine) can monitor the operation of the other injection molding machine 1 (auxiliary machine). The injection molding machine 1 (main unit) can grasp the operation state of the other injection molding machine 1 (auxiliary unit) from the operation state data and transmit a control command related to the operation to the other injection molding machine 1 (auxiliary unit) through the communication line NW. Thus, the injection molding machine 1 (main machine) can control the operation of the other injection molding machine 1 (auxiliary machine).

< management device >)

The management device 2 is communicably connected to the injection molding machine 1 via a communication line NW, and manages an operation state, an application state, and the like of the injection molding machine 1. The management device 2 may, for example, manage the operation state, the application state, and the like of the injection molding machine 1 according to a predetermined rule or autonomously. The management device 2 can manage the operation state, the application state, and the like of the injection molding machine 1 based on various inputs received from a user of the injection molding machine 1 such as a manager or a worker, for example. That is, the management device 2 may support management of the operation state, the application state, and the like of the injection molding machine 1 by a user of the injection molding machine 1 such as a manager or a worker.

The functions of the management apparatus 2 are realized by any hardware, a combination of any hardware and software, or the like. For example, the management device 2 is an information processing device including a Memory device such as a CPU (Central Processing Unit: central processing unit), a RAM (Random Access Memory: random access Memory), a nonvolatile auxiliary storage device such as a ROM (Read Only Memory), and an interface device for input/output with the outside. Further, the management device 2 can realize various functions by loading a program installed in the auxiliary storage device on the memory device and executing on the CPU. The management device 2 may acquire a program installed in the auxiliary storage device from a predetermined recording medium through an interface device, for example. The predetermined recording medium includes, for example, a floppy disk, a CD (Compact Disc), a DVD (Digital Versatile Disc: digital versatile Disc), a BD (Blu-ray (registered trademark) Disc: blu-ray Disc), an SD memory card, and a USB (Universal Serial Bus: universal serial bus) memory. The management device 2 may acquire (download) a program installed in the auxiliary storage device from an external computer through an interface device, for example.

The management device 2 is, for example, a cloud server or an internal server provided at a remote location such as a management center outside the factory where the injection molding machine 1 is installed. The management device 2 may be, for example, an edge server provided in a place (for example, a wireless base station, a base station house, or the like in the vicinity of a factory) relatively close to the factory where the injection molding machine 1 is installed. The management device 2 may be a terminal device (user terminal) used by a user of the injection molding machine 1, such as a manager or a worker. The user terminal may be a management terminal device in a factory where the injection molding machine 1 is installed or a terminal device (user terminal) used by a user of the injection molding machine 1. The management terminal device and the user terminal may be, for example, stationary terminal devices such as a desktop PC (Personal Computer: personal computer). The management terminal device and the user terminal may be portable (mobile) terminal devices that can be carried by users such as a manager and a worker of the injection molding machine 1. Portable terminal devices may include, for example, smartphones, tablet terminals, laptop PCs, and the like.

For example, the management device 2 can grasp the operation state of the injection molding machine 1 from the operation state data transmitted (uploaded) from the injection molding machine 1, and manage the operation state of the injection molding machine 1. The management device 2 may perform various diagnoses such as abnormality diagnosis of the injection molding machine 1 based on the operation state of the injection molding machine 1 grasped based on the operation state data.

The management device 2 may manage the production state of the injection molding machine 1 based on the production state data transmitted (uploaded) from the injection molding machine 1, for example.

For example, the management device 2 may transmit a control signal including control information (for example, information related to various setting conditions) for the injection molding machine 1 through the communication line NW. Thereby, the management device 2 can control the operation of the injection molding machine 1.

[ Structure of injection Molding machine ]

Next, the structure of the injection molding machine will be described with continued reference to fig. 1 and 2.

As shown in fig. 1 and 2, the injection molding machine 1 includes a mold clamping device 100, an ejector 200, an injection device 300, a moving device 400, and a controller 700.

Clamping device

The mold clamping device 100 performs mold closing, mold clamping, and mold opening of the mold device 10. The mold clamping device 100 is, for example, horizontal, and the mold opening/closing direction is horizontal. The mold clamping device 100 includes a fixed platen 110, a movable platen 120, a toggle base 130, a connecting rod 140, a toggle mechanism 150, a mold clamping motor 160, a motion conversion mechanism 170, and a mold thickness adjustment mechanism 180.

In the following description of the mold clamping apparatus 100, the moving direction of the movable platen 120 at the time of mold closing (rightward in fig. 1 and 2) is referred to as the front, and the moving direction of the movable platen 120 at the time of mold opening (leftward in fig. 1 and 2) is referred to as the rear.

The fixed platen 110 is fixed with respect to the frame Fr. The stationary mold 11 is mounted on a surface of the stationary platen 110 facing the movable platen 120.

The movable platen 120 may be movable in the mold opening/closing direction with respect to the frame Fr. A guide 101 guiding the movable platen 120 is laid on the frame Fr. The movable mold 12 is mounted on a surface of the movable platen 120 facing the fixed platen 110.

By advancing and retreating the movable platen 120 with respect to the fixed platen 110, mold closing, and mold opening are performed.

The mold device 10 includes a fixed mold 11 corresponding to the fixed platen 110 and a movable mold 12 corresponding to the movable platen 120.

The toggle seat 130 is coupled to the fixed platen 110 with a predetermined gap L therebetween, and is mounted on the frame Fr so as to be movable in the mold opening/closing direction. The toggle mount 130 may be movable along a guide laid on the frame Fr, for example. At this time, the guide of the toggle housing 130 may be commonly used with the guide 101 of the movable platen 120.

The fixed platen 110 is fixed to the frame Fr, and the toggle base 130 is movable in the mold opening/closing direction with respect to the frame Fr, but the toggle base 130 may be fixed to the frame Fr, and the fixed platen 110 may be movable in the mold opening/closing direction with respect to the frame Fr.

The connecting rod 140 connects the fixed platen 110 and the toggle base 130 with a space L therebetween in the mold opening and closing direction. Multiple (e.g., 4) connecting rods 140 may be used. Each tie bar 140 is parallel to the mold opening and closing direction and extends according to the mold clamping force. A link strain detector 141 detecting strain of the link 140 may be provided on at least 1 link 140. The connecting rod strain detector 141 is, for example, a strain gauge. The link strain detector 141 transmits a signal indicating the detection result thereof to the controller 700. The detection result of the tie bar strain detector 141 is used for, for example, detection of the clamping force.

In addition, any mold clamping force detector usable for detecting mold clamping force may be used instead of the tie bar strain detector 141 or in addition to the tie bar strain detector 141. For example, the mold clamping force detector is not limited to the strain gauge type, but may be a piezoelectric type, a capacitive type, a hydraulic type, an electromagnetic type, or the like, and the attachment position thereof is not limited to the tie bar 140.

The toggle mechanism 150 is disposed between the movable platen 120 and the toggle base 130, and moves the movable platen 120 with respect to the toggle base 130 in the mold opening and closing direction. The toggle mechanism 150 is constituted by a crosshead 151, a pair of link groups, and the like. Each link group has a 1 st link 152 and a 2 nd link 153 connected to be freely bendable by a pin or the like. The 1 st link 152 is attached to be swingable with respect to the movable platen 120 via a pin or the like, and the 2 nd link 153 is attached to be swingable with respect to the toggle base 130 via a pin or the like. The 2 nd link 153 is attached to the crosshead 151 via the 3 rd link 154. When the crosshead 151 is advanced and retracted relative to the toggle mount 130, the 1 st link 152 and the 2 nd link 153 are extended and retracted to advance and retract the movable platen 120 relative to the toggle mount 130.

The structure of the toggle mechanism 150 is not limited to the structure shown in fig. 1 and 2. For example, in fig. 1 and 2, the number of nodes of each link group is 5, but may be 4, or one end of the 3 rd link 154 may be connected to the node of the 1 st link 152 and the 2 nd link 153.

The clamp motor 160 is mounted to the toggle mount 130 and operates the toggle mechanism 150. The clamp motor 160 advances and retreats the crosshead 151 with respect to the toggle mount 130, and stretches the 1 st link 152 and the 2 nd link 153 to advance and retreat the movable platen 120 with respect to the toggle mount 130. The mold clamping motor 160 is directly connected to the motion conversion mechanism 170, but may be connected to the motion conversion mechanism 170 via a belt, pulley, or the like.

The motion conversion mechanism 170 converts the rotational motion of the clamp motor 160 into a linear motion of the crosshead 151. The motion conversion mechanism 170 includes a screw shaft 171 and a screw nut 172 screwed to the screw shaft 171. Balls or rollers may be interposed between the screw shaft 171 and the screw nut 172.

The mold clamping device 100 performs a mold closing process, a mold clamping process, a mold opening process, and the like under the control of the controller 700.

In the mold closing step, the movable platen 120 is advanced by driving the mold clamping motor 160 to advance the crosshead 151 to the mold closing completion position at a set speed so that the movable mold 12 is brought into contact with the fixed mold 11. For example, the position and speed of the crosshead 151 are detected using a clamp motor encoder 161 or the like. The clamp motor encoder 161 detects the rotation of the clamp motor 160, and transmits a signal indicating the detection result to the controller 700.

The crosshead position detector for detecting the position of the crosshead 151 and the crosshead speed detector for detecting the speed of the crosshead 151 are not limited to the clamp motor encoder 161, and a conventional detector may be used. The movable platen position detector for detecting the position of the movable platen 120 and the movable platen speed detector for detecting the speed of the movable platen 120 are not limited to the mold clamping motor encoder 161, and a conventional detector may be used.

In the mold clamping step, the mold clamping motor 160 is further driven to further advance the crosshead 151 from the mold-closed completion position to the mold clamping position, thereby generating a mold clamping force. When the mold is closed, a cavity space 14 is formed between the movable mold 12 and the fixed mold 11, and the injection device 300 fills the cavity space 14 with a molding material in a liquid state. The filled molding material is cured, thereby obtaining a molded article. The number of cavity spaces 14 may be plural, and in this case, plural molded articles can be obtained at the same time.

In the mold opening step, the movable platen 120 is retracted by driving the mold clamping motor 160 to retract the crosshead 151 to the mold opening completion position at a set speed, so that the movable mold 12 is separated from the fixed mold 11. Then, the ejector 200 ejects the molded article from the driven mold 12.

The setting conditions in the mold closing step are set uniformly as a series of setting conditions. For example, the speed, position (including a mold closing start position, a speed switching position, a mold closing completion position, and a mold closing position) and mold clamping force of the crosshead 151 in the mold closing step and the mold clamping step are set in a unified manner as a series of setting conditions. The mold closing start position, the speed switching position, the mold closing completion position, and the mold closing position are arranged in this order from the rear side to the front side, and indicate the start point and the end point of the section for setting the speed. The speed is set for each section. The speed switching positions may be 1 or more. The speed switching position may not be set. Only one of the mold clamping position and the mold clamping force may be set.

The setting conditions in the mold opening step are also set in the same manner. For example, the speed and position (including the mold opening start position, the speed switching position, and the mold opening completion position) of the crosshead 151 in the mold opening step are set in a unified manner as a series of setting conditions. The mold opening start position, the speed switching position, and the mold opening completion position are arranged in this order from the front side to the rear side, and indicate the start point and the end point of the section for setting the speed. The speed is set for each section. The speed switching positions may be 1 or more. The speed switching position may not be set. The mold opening start position and the mold closing position may be the same position. The mold opening completion position and the mold closing start position may be the same position.

In addition, instead of the speed, position, etc. of the crosshead 151, the speed, position, etc. of the movable platen 120 may be set. In addition, the clamping force may be set instead of the position of the crosshead (for example, the clamping position) and the position of the movable platen.

The toggle mechanism 150 amplifies the driving force of the clamp motor 160 and transmits it to the movable platen 120. Its magnification is also called toggle magnification. The toggle magnification changes according to an angle θ formed by the 1 st link 152 and the 2 nd link 153 (hereinafter referred to as "link angle"). The link angle θ is obtained from the position of the crosshead 151. When the link angle θ is 180 °, the toggle magnification becomes maximum.

When the thickness of the mold device 10 changes due to replacement of the mold device 10, a change in the temperature of the mold device 10, or the like, the mold thickness is adjusted so that a predetermined clamping force is obtained at the time of clamping. In the die thickness adjustment, for example, the interval L between the fixed platen 110 and the toggle seat 130 is adjusted so that the link angle θ of the toggle mechanism 150 becomes a predetermined angle at the point in time when the movable die 12 contacts the fixed die 11.

The mold clamping device 100 includes a mold thickness adjustment mechanism 180, and the mold thickness adjustment mechanism 180 adjusts the distance L between the fixed platen 110 and the toggle seat 130, thereby performing mold thickness adjustment. The die thickness adjusting mechanism 180 includes: a screw shaft 181 formed at a rear end portion of the connection rod 140; a screw nut 182 rotatably held by the toggle seat 130; and a die thickness adjusting motor 183 for rotating a screw nut 182 screwed to the screw shaft 181.

A screw shaft 181 and a screw nut 182 are provided for each of the connection rods 140. The rotation of the die thickness adjusting motor 183 may be transmitted to the plurality of lead screw nuts 182 via the rotation transmitting portion 185. A plurality of lead screw nuts 182 can be rotated synchronously.

Further, by changing the transmission path of the rotation transmission unit 185, the plurality of screw nuts 182 can be rotated individually.

The rotation transmission unit 185 is constituted by a gear or the like, for example. At this time, a driven gear is formed on the outer periphery of each screw nut 182, a drive gear is attached to the output shaft of the die thickness adjusting motor 183, and an intermediate gear engaged with the driven gears and the drive gear is rotatably held at the center portion of the toggle seat 130.

In addition, the rotation transmission unit 185 may be formed of a belt, a pulley, or the like instead of the gear.

The operation of the die thickness adjustment mechanism 180 is controlled by the controller 700. The controller 700 drives the die thickness adjustment motor 183 to rotate the lead screw nut 182, thereby adjusting the position of the toggle seat 130 rotatably holding the lead screw nut 182 with respect to the fixed platen 110, and adjusting the interval L between the fixed platen 110 and the toggle seat 130.

The interval L is detected using a die thickness adjustment motor encoder 184. The thickness adjustment motor encoder 184 detects the rotation amount and rotation direction of the thickness adjustment motor 183, and transmits a signal indicating the detection result to the controller 700. The detection result of the die thickness adjustment motor encoder 184 is used for monitoring and controlling the position and the interval L of the toggle seat 130.

The toggle seat position detector for detecting the position of the toggle seat 130 and the interval detector for detecting the interval L are not limited to the die thickness adjusting motor encoder 184, and a conventional detector may be used.

The die thickness adjusting mechanism 180 adjusts the gap L by rotating one of the screw shaft 181 and the screw nut 182 that are screwed with each other. A plurality of die thickness adjusting mechanisms 180 may be used, or a plurality of die thickness adjusting motors 183 may be used.

The mold clamping device 100 of the present embodiment is a horizontal mold opening/closing direction, but may be a vertical mold opening/closing direction.

The mold clamping device 100 of the present embodiment includes the mold clamping motor 160 as a driving source, but may include a hydraulic cylinder instead of the mold clamping motor 160. The mold clamping device 100 may include a linear motor for mold opening and closing, or may include an electromagnet for mold clamping.

Ejection device

The ejector 200 ejects the molded article from the mold device 10 after the molding material filled in the mold device 10 by the injection device 300 is cooled and solidified. The ejector 200 includes an ejector motor 210, a motion conversion mechanism 220, an ejector rod 230, and the like.

In the following description of the ejector 200, the moving direction of the movable platen 120 at the time of mold closing (rightward in fig. 1 and 2) is set to the front, and the moving direction of the movable platen 120 at the time of mold opening (leftward in fig. 1 and 2) is set to the rear, as in the description of the mold clamping device 100 and the like.

The eject motor 210 is mounted to the movable platen 120. The ejector motor 210 is directly coupled to the motion conversion mechanism 220, but may be coupled to the motion conversion mechanism 220 via a belt, pulley, or the like.

The motion conversion mechanism 220 converts the rotational motion of the ejector motor 210 into the linear motion of the ejector rod 230. The motion conversion mechanism 220 includes a screw shaft and a screw nut screwed with the screw shaft. Balls or rollers may be interposed between the screw shaft and the screw nut.

The ejector rod 230 is movable to advance and retreat in the through hole of the movable platen 120. The tip end of the ejector rod 230 contacts the movable member 15 disposed inside the movable die 12 so as to be movable in and out. The tip end of the ejector rod 230 may or may not be coupled to the movable member 15.

The ejector 200 performs an ejection process under the control of the controller 700.

In the ejection step, the ejector motor 210 is driven to advance the ejector rod 230 from the standby position to the ejection position at a set speed, thereby advancing the movable member 15 to eject the molded article. Then, the ejector motor 210 is driven to retract the ejector 230 at a set speed, and the movable member 15 is retracted to the original standby position. The position and speed of ejector rod 230 are detected, for example, using ejector motor encoder 211. The eject motor encoder 211 detects the rotation of the eject motor 210 and transmits a signal indicating the detection result thereof to the controller 700.

The ejector rod position detector that detects the position of the ejector rod 230 and the ejector rod movement speed detector that detects the speed of the ejector rod 230 are not limited to the ejector motor encoder 211, and a conventional detector may be used.

Injection device

The injection device 300 is provided on a slide base 301 that can be moved in and out with respect to the frame Fr, and can be moved in and out with respect to the mold device 10. The injection device 300 is in contact with the mold device 10 and fills the cavity space 14 in the mold device 10 with molding material. The injection device 300 includes, for example, a cylinder 310, a nozzle 320, a screw 330, a metering motor 340, an injection motor 350, a pressure detector 360, and the like.

In the following description of the injection device 300, a direction in which the injection device 300 is moved closer to the mold device 10 (left direction in fig. 1 and 2) is referred to as a front direction, and a direction in which the injection device 300 is separated from the mold device 10 (right direction in fig. 1 and 2) is referred to as a rear direction.

The cylinder 310 heats the molding material supplied from the supply port 311 to the inside. The molding material includes, for example, a resin or the like. The molding material is formed into, for example, a pellet shape, and is supplied in a solid state to the supply port 311. The supply port 311 is formed at the rear of the cylinder 310. A cooler 312 such as a water-cooled cylinder is provided on the outer periphery of the rear portion of the cylinder block 310. A heater 313 such as a belt heater and a temperature detector 314 are provided on the outer periphery of the cylinder 310 in front of the cooler 312.

The cylinder 310 is divided into a plurality of regions along the axial direction (left-right direction in fig. 1 and 2) of the cylinder 310. A heater 313 and a temperature detector 314 are provided in each region. The controller 700 controls the heater 313 for each region so that the detected temperature of the temperature detector 314 becomes the set temperature.

The nozzle 320 is provided at the front end of the cylinder 310, and presses the die device 10. A heater 313 and a temperature detector 314 are provided on the outer periphery of the nozzle 320. The controller 700 controls the heater 313 so that the detected temperature of the nozzle 320 becomes a set temperature.

The screw 330 is rotatably disposed in the cylinder 310 and is movable forward and backward. When the screw 330 is rotated, the molding material is conveyed forward along the spiral groove of the screw 330. The molding material is gradually melted by heat from the cylinder 310 while being conveyed forward. As the molding material in the liquid state is conveyed to the front of the screw 330 and accumulated in the front of the cylinder 310, the screw 330 is retracted. Then, when the screw 330 is advanced, the liquid molding material accumulated in front of the screw 330 is injected from the nozzle 320 and filled in the mold device 10.

The check ring 331 is attached to the front of the screw 330 so as to be movable forward and backward, and the check ring 331 serves as a check valve to prevent the molding material from flowing backward from the front of the screw 330 when the screw 330 is pushed forward.

When the screw 330 is advanced, the check ring 331 is pushed rearward by the pressure of the molding material in front of the screw 330, and retreats relatively to the screw 330 to a closed position (see fig. 2) blocking the flow path of the molding material. This prevents the molding material accumulated in front of the screw 330 from flowing backward.

On the other hand, when the screw 330 is rotated, the check ring 331 is pushed forward by the pressure of the molding material conveyed forward along the spiral groove of the screw 330, and relatively advances to the open position (refer to fig. 1) for opening the flow path of the molding material with respect to the screw 330. Thereby, the molding material is conveyed to the front of the screw 330.

Check ring 331 may be either a co-rotating type that rotates with screw 330 or a non-co-rotating type that does not rotate with screw 330.

In addition, the injection device 300 may have a driving source that advances and retreats the check ring 331 with respect to the screw 330 between the open position and the closed position.

The metering motor 340 rotates the screw 330. The driving source for rotating the screw 330 is not limited to the metering motor 340, and may be, for example, a hydraulic pump.

Injection motor 350 advances and retracts screw 330. A motion conversion mechanism or the like for converting the rotational motion of injection motor 350 into the linear motion of screw 330 is provided between injection motor 350 and screw 330. The motion conversion mechanism includes, for example, a screw shaft and a screw nut screwed to the screw shaft. Balls, rollers, etc. may be provided between the screw shaft and the screw nut. The driving source for advancing and retreating the screw 330 is not limited to the injection motor 350, and may be, for example, a hydraulic cylinder or the like.

The pressure detector 360 detects the pressure transmitted between the injection motor 350 and the screw 330. The pressure detector 360 is provided in a force transmission path between the injection motor 350 and the screw 330, and detects a pressure acting on the pressure detector 360.

The pressure detector 360 transmits a signal indicating the detection result thereof to the controller 700. The detection result of the pressure detector 360 is used for controlling and monitoring the pressure applied to the screw 330 from the molding material, the back pressure against the screw 330, the pressure applied to the molding material from the screw 330, and the like.

The injection device 300 performs a metering process, a filling process, a pressure maintaining process, and the like under the control of the controller 700.

In the metering step, the metering motor 340 is driven to rotate the screw 330 at a set rotational speed, and the molding material is conveyed forward along the spiral groove of the screw 330. Thereby, the molding material is gradually melted. As the molding material in the liquid state is conveyed to the front of the screw 330 and accumulated in the front of the cylinder 310, the screw 330 is retracted. The rotational speed of screw 330 is detected, for example, using a metering motor encoder 341. The metering motor encoder 341 detects the rotation of the metering motor 340 and transmits a signal indicating the detection result thereof to the controller 700.

The screw rotation speed detector for detecting the rotation speed of the screw 330 is not limited to the metering motor encoder 341, and a conventional detector can be used.

In the metering step, the injection motor 350 may be driven to apply a set back pressure to the screw 330 in order to limit the rapid backward movement of the screw 330. The back pressure on screw 330 is detected, for example, using pressure detector 360. The pressure detector 360 transmits a signal indicating the detection result thereof to the controller 700. When the screw 330 is retracted to the metering completion position and a predetermined amount of molding material is accumulated in front of the screw 330, the metering process is completed.

In the filling step, the injection motor 350 is driven to advance the screw 330 at a set speed, and the cavity space 14 in the mold apparatus 10 is filled with the liquid molding material accumulated in front of the screw 330. The position and speed of screw 330 are detected, for example, using injection motor encoder 351. The injection motor encoder 351 detects rotation of the injection motor 350 and transmits a signal representing the detection result thereof to the controller 700. When the position of the screw 330 reaches the set position, the filling process is switched to the pressure maintaining process (so-called V/P switching). The position where the V/P switch is performed is also referred to as a V/P switch position. The set speed of the screw 330 may be changed according to the position, time, etc. of the screw 330.

In the filling step, after the position of the screw 330 reaches the set position, the screw 330 may be suspended at the set position and then V/P switching may be performed. Instead of stopping the screw 330, the screw 330 may be advanced at a slight speed or retracted at a slight speed immediately before the V/P switching. The screw position detector for detecting the position of the screw 330 and the screw speed detector for detecting the speed of the screw 330 are not limited to the injection motor encoder 351, and a conventional detector may be used.

In the pressure maintaining step, the injection motor 350 is driven to push the screw 330 forward, and the pressure of the molding material at the tip end portion of the screw 330 (hereinafter, also referred to as "holding pressure") is maintained at a set pressure, so that the molding material remaining in the cylinder 310 is pushed toward the mold apparatus 10. An insufficient amount of molding material due to cooling shrinkage in the mold device 10 can be replenished. The holding pressure is detected, for example, using a pressure detector 360. The pressure detector 360 transmits a signal indicating the detection result thereof to the controller 700. The set value of the holding pressure may be changed according to the elapsed time from the start of the pressure-maintaining process.

In the pressure maintaining step, the molding material in the cavity space 14 in the mold device 10 is gradually cooled, and when the pressure maintaining step is completed, the inlet of the cavity space 14 is blocked by the solidified molding material. This state is called gate sealing, and prevents backflow of molding material from the cavity space 14. After the pressure maintaining process, a cooling process is started. In the cooling step, solidification of the molding material in the cavity space 14 is performed. In order to shorten the molding cycle time, the metering step may be performed in the cooling step.

The injection device 300 of the present embodiment is of a coaxial screw type, but may be of a pre-molding type or the like. The injection device of the pre-molding method supplies the molding material melted in the plasticizing cylinder to the injection cylinder, and injects the molding material from the injection cylinder into the mold device. The screw is rotatably disposed in the plasticizing cylinder, and the plunger is rotatably disposed in the injection cylinder.

The injection device 300 of the present embodiment is a horizontal type in which the axial direction of the cylinder 310 is horizontal, but may be a vertical type in which the axial direction of the cylinder 310 is vertical. The mold clamping device combined with the vertical injection device 300 may be either vertical or horizontal. Similarly, the mold clamping device combined with the horizontal injection device 300 may be either horizontal or vertical.

Mobile device

The movement device 400 advances and retracts the injection device 300 relative to the mold device 10. The moving device 400 presses the nozzle 320 against the mold device 10 to generate a nozzle contact pressure. The traveling apparatus 400 includes a hydraulic pump 410, a motor 420 as a driving source, a hydraulic cylinder 430 as a hydraulic actuator, and the like.

In the following description of the moving device 400, the direction in which the injection device 300 approaches the mold device 10 (left direction in fig. 1 and 2) is referred to as the front direction, and the direction in which the injection device 300 separates from the mold device 10 (right direction in fig. 1 and 2) is referred to as the rear direction, as in the description of the injection device 300.

In fig. 1 and 2, the moving device 400 is disposed on one side of the cylinder 310 of the injection device 300, but may be disposed on both sides of the cylinder 310, or may be disposed symmetrically about the cylinder 310.

The hydraulic pump 410 has a 1 st port 411 and a 2 nd port 412. The hydraulic pump 410 is a pump capable of rotating in both directions, and generates hydraulic pressure by switching the rotation direction of the motor 420 so that a working fluid (for example, oil) is sucked from one of the 1 st port 411 and the 2 nd port 412 and discharged from the other port. The hydraulic pump 410 may suck the working fluid from the tank and discharge the working fluid from any one of the 1 st port 411 and the 2 nd port 412.

The motor 420 operates the hydraulic pump 410. The motor 420 drives the hydraulic pump 410 by a rotation direction and a torque corresponding to a control signal from the controller 700. The motor 420 may be an electric motor or an electric servo motor.

Hydraulic cylinder 430 has a cylinder body 431, a piston 432, and a piston rod 433. Cylinder body 431 is fixed relative to injection device 300. Piston 432 divides the interior of cylinder body 431 into a front chamber 435 that is a 1 st chamber and a rear chamber 436 that is a 2 nd chamber. The piston rod 433 is fixed with respect to the fixed platen 110.

The front chamber 435 of the hydraulic cylinder 430 is connected to the 1 st port 411 of the hydraulic pump 410 via the 1 st flow path 401. The working fluid discharged from the 1 st port 411 is supplied to the front chamber 435 via the 1 st flow path 401, and the injection device 300 is pushed forward. The injection device 300 is advanced and the nozzle 320 is pressed against the stationary mold 11. The front chamber 435 functions as a pressure chamber that generates a nozzle contact pressure of the nozzle 320 by the pressure of the working fluid supplied from the hydraulic pump 410.

On the other hand, the rear chamber 436 of the hydraulic cylinder 430 is connected to the 2 nd port 412 of the hydraulic pump 410 via the 2 nd flow path 402. The working fluid discharged from the 2 nd port 412 is supplied to the rear chamber 436 of the hydraulic cylinder 430 via the 2 nd flow path 402, whereby the injection device 300 is pushed rearward. The injection device 300 is retracted and the nozzle 320 is separated from the stationary mold 11.

The moving device 400 is not limited to the structure including the hydraulic cylinder 430. For example, instead of the hydraulic cylinder 430, an electric motor and a motion conversion mechanism that converts rotational motion of the electric motor into linear motion of the injection device 300 may be used.

Controller

The controller 700 (an example of a control device) directly transmits control signals to the mold closing device 100, the ejector 200, the injection device 300, the moving device 400, and the like, and performs various controls related to the injection molding machine 1.

The controller 700 may be implemented by any hardware or any combination of hardware and software. The controller 700 is configured mainly by a computer having a CPU701, a memory device 702, an auxiliary storage device 703, and an input/output interface device 704 for external use, for example. The controller 700 performs various controls by loading a program installed in the auxiliary storage device 703 into the memory device 702 and causing the CPU701 to execute. And, the controller 700 receives an external signal or outputs a signal to the outside through the interface device 704. For example, the controller 700 is communicably connected to the management device 2 via a communication line NW according to the interface device 704. The controller 700 may be communicably connected to (the controller 700 of) another injection molding machine 1 via a communication line NW according to the interface device 704. The controller 700 may acquire a program installed in itself (the auxiliary storage device 703) from a predetermined recording medium through the interface device 704. The predetermined recording medium includes, for example, a floppy disk, a CD (Compact Disc), a DVD (Digital Versatile Disc: digital versatile Disc), a BD (Blu-ray (registered trademark) Disc: blu-ray Disc), an SD memory card, and a USB (Universal Serial Bus: universal serial bus) memory. The controller 700 may acquire (download) a program from an external computer (for example, the management apparatus 2) through the interface apparatus 704.

The functions of the controller 700 may be realized by only one controller 700, or may be shared by a plurality of controllers (for example, the upper controller 700A and the lower controller 700B) as described later (see fig. 2).

The controller 700 repeatedly performs the mold closing process, the mold opening process, and the like by causing the injection molding machine 1 to repeatedly manufacture a molded product. The controller 700 causes the injection device 300 to perform the metering step, the filling step, the pressure maintaining step, and the like while the mold clamping step is performed.

A series of operations for obtaining a molded product, for example, an operation from the start of a metering process by the injection device 300 to the start of a metering process by the injection device 300, is also referred to as "injection" or "molding cycle". The time required for one shot is also referred to as "molding cycle time".

The one-shot molding cycle is configured in the order of, for example, a metering step, a mold closing step, a filling step, a pressure maintaining step, a cooling step, a mold opening step, and an ejection step. The sequence is the sequence in which the respective steps are started. The filling step, the pressure maintaining step, and the cooling step are performed from the start of the mold clamping step to the end of the mold clamping step. The end of the mold closing step coincides with the start of the mold opening step.

In addition, in order to shorten the molding cycle time, a plurality of steps may be performed simultaneously. For example, the metering step may be performed in the cooling step of the previous molding cycle, and in this case, the mold closing step may be performed at the beginning of the molding cycle. The filling process may be started in the mold closing process. The ejection step may be started in the mold opening step. When an on-off valve for opening and closing the flow path of the nozzle 320 of the injection device 300 is provided, the mold opening process may be started in the metering process. Even if the mold opening process is started in the metering process, the molding material does not leak from the nozzle 320 as long as the opening/closing valve closes the flow path of the nozzle 320.

The controller 700 is connected to an operation device 750, a display device 760, and the like.

The operation device 750 (an example of an input device) receives an input related to the injection molding machine 1 based on a user, and outputs a signal corresponding to the input to the controller 700. Thereby, the user can perform operations related to the injection molding machine 1.

In addition, the injection molding machine 1 (the controller 700) may be configured to be able to receive an input from a user through an external device. Thereby, the user can remotely operate the injection molding machine 1, for example. At this time, the image data of the image pickup device capable of picking up the operation state of the injection molding machine 1 may be transmitted to an external device. Thus, the external device can perform the operation while checking the operation state of the remote injection molding machine 1.

For example, the controller 700 can receive content input by a user from the management device 2 or another injection molding machine 1 via the communication line NW. The controller 700 is also capable of receiving an input from a user received from the terminal device via the communication line NW. The terminal device may be a stationary terminal device such as a desktop PC, or a portable (mobile) terminal device (portable terminal) such as a smart phone, a tablet terminal, or a laptop PC.

The display apparatus 760 displays various images under the control of the controller 700.

The display device 760 displays, for example, an operation screen related to the injection molding machine 1 corresponding to an operation input in the operation device 750.

The operation screen displayed on the display device 760 is used for setting and the like related to the injection molding machine 1. The settings related to the injection molding machine 1 include, for example, settings of molding conditions related to the injection molding machine 1 (specifically, inputs of setting values). The setting includes, for example, a setting related to selection of the types of detection values of various sensors and the like associated with the injection molding machine 1 recorded as stored data at the time of molding operation. The setting includes, for example, setting of display specifications (for example, the type of actual value displayed, the display method, and the like) of the display device 760 with respect to detection values (actual values) of various sensors and the like associated with the injection molding machine 1 during the molding operation. The operation screen is displayed on the display device 760 in a switching manner or in a superimposed manner. The user can perform settings (including input of a set value) and the like related to the injection molding machine 1 by operating the operation device 750 while viewing an operation screen displayed on the display device 760.

The display device 760 displays an information screen for providing various information corresponding to an operation on the operation screen to the user, for example, under the control of the controller 700. The information screen is displayed on the display device 760 in a switching manner or in a superimposed manner. For example, the display device 760 displays setting contents related to the injection molding machine 1 (for example, setting contents related to molding conditions of the injection molding machine 1). Further, for example, the display device 760 displays management information (for example, information related to the actual operation of the injection molding machine 1, etc.).

The operation device 750 and the display device 760 are constituted by, for example, a touch panel type display, and may be integrated.

The operation device 750 and the display device 760 of the present embodiment are integrated, but may be provided independently. Further, a plurality of operation devices 750 may be provided.

Hardware architecture of control System of injection Molding machine

Next, a hardware configuration of a control system of the injection molding machine 1 will be described with reference to fig. 3.

Fig. 3 is a diagram showing an example of a hardware configuration of a control system of the injection molding machine 1.

As shown in fig. 3, the control system of the injection molding machine 1 includes a controller 700, a driver 710, and a sensor 720.

The controller 700 includes a CPU701, an FPGA (Field Programmable Gate Array: field programmable gate array) 705.

The CPU701 (an example of a control processing unit) performs control processing (hereinafter referred to as "operation control processing") related to the operation of the injection molding machine 1 based on data acquired from the driver 710 and the sensor 720, for example, by the FPGA 705. The operation control process includes a servo control process of the electric motor. Specifically, the CPU701 starts a control function (a function of the control unit 7001 described later) related to the operation of the injection molding machine 1 according to a predetermined interrupt request (hereinafter, simply referred to as "interrupt request") periodically output from the FPGA705, and executes a control process related to the operation of the injection molding machine 1. Then, the CP701 outputs data corresponding to the control instruction to the driver 710 or the like through the FPGA 705.

The interrupt request used in this example is a request for a so-called hardware interrupt output from hardware (in this example, FPGA 705) external to CPU 701. As the operation control process of the actuator or the servo control process performed as the operation control process, the CPU701 performs a process (hereinafter, referred to as "low priority process") having a relatively low priority in the background of a process (hereinafter, referred to as "high priority process") having a relatively high priority. When an interrupt request for high priority processing is input from the FPGA705 while low priority processing is being performed, the CPU701 calls out interrupt processing corresponding to the interrupt request. Then, the CPU701 starts high-priority processing corresponding to the interrupt request according to the interrupt processing. In this way, the CPU701 can appropriately perform the high-priority processing periodically performed at a predetermined control cycle (an example of a predetermined cycle) while performing the low-priority processing.

The FPGA705 (an example of a request output unit) functions as an interface between the controller 700 and the outside. That is, the interface device 704 includes an FPGA705.

The FPGA705 receives data (hereinafter, referred to as "control data") related to control of the actuator from the driver 710, or transmits data corresponding to a control instruction to the driver 710 according to a request from the CPU701.

Further, the FPGA705 receives measurement data concerning the state of the injection molding machine 1 from the sensor 720, or transmits data corresponding to a control command concerning the measurement operation of the sensor 720 in response to a request from the CPU701.

The FPGA705 periodically outputs an interrupt request to the CPU701 to start a control function related to the operation of the injection molding machine 1. Specifically, the FPGA705 may repeatedly set a timer for ending at a prescribed control period, and output an interrupt request at the end of the timer.

The driver 710 drives the actuator according to a control instruction from the controller 30. The actuator is, for example, an electric motor, and the driver 710 outputs a driving current to the electric motor in accordance with a control instruction from the controller 30. Thus, the controller 700 (CPU 701) can control the electric motor by the driver 710, thereby realizing a desired operation of the injection molding machine 1. The electric motors include, for example, a mold clamping motor 160, a mold thickness adjusting motor 183, an ejector motor 210, a metering motor 340, an injection motor 350, a motor 420, and the like.

The sensor 720 outputs measurement data related to the state of the injection molding machine 1. The sensor 720 includes, for example, an encoder capable of determining the rotational position of the electric motor. The encoders include, for example, a clamp motor encoder 161, a mold thickness adjustment motor encoder 184, an ejector motor encoder 211, a metering motor encoder 341, and an injection motor encoder 351. The sensor 720 includes a current sensor and a voltage sensor that detect a voltage and a current of the electric power system including a current and a voltage of the electric motor. The sensor 720 includes various sensors (for example, a link strain detector 141, a temperature detector 314, and a pressure detector 360) capable of measuring a force, a temperature, and a pressure acting on a predetermined portion of the injection molding machine 1.

[ functional Structure of controller ]

Next, a functional configuration of the controller 700 will be described with reference to fig. 4.

Fig. 4 is a block diagram showing an example of the functional configuration of the controller 700.

As shown in fig. 4, the controller 700 includes a control section 7001, a display processing section 7002, a storage section 7003, a setting section 7004, and a storage section 7005. The functions of the control unit 7001, the display processing unit 7002, the setting unit 7004, and the like are realized by loading a program installed in the auxiliary storage device 703 into the memory device 702 and executing the program on the CPU701, for example. The functions of the storage units 7003 and 7005 and the like are realized by, for example, a storage area defined in the auxiliary storage device 703 of the controller 700.

The control unit 7001 performs control related to the operation of the injection molding machine 1 based on data input from the driver 710 and the sensor 720. As described above, the function of the control section 7001 is started and executed according to the interrupt request periodically output from the FPGA 705.

The display processing unit 7002 displays an information screen on the display device 760 according to an input from a user received through the operation device 750. Specifically, the display processing unit 7002 displays a screen (hereinafter referred to as a "setting screen") for the user to make settings related to the interrupt request using the operation device 750.

The settings related to the interrupt request include settings related to the output timing of the interrupt request from the FPGA705 (for example, settings of correction time T1 described later). The settings related to the interrupt request include settings related to the start time of the operation control process according to the interrupt request (for example, settings of waiting time T2 described later).

The storage unit 7003 stores (registers) the setting contents (for example, setting values of correction time T1 and waiting time T2 described later) related to the interrupt request.

The setting unit 7004 performs setting related to the interrupt request. For example, the setting unit 7004 automatically performs setting related to the interrupt request, triggered by a predetermined input from the user or satisfaction of a condition other than the predetermined input received through the operation device 750 or the like. The conditions other than the predetermined input (hereinafter referred to as "automatic setting start conditions") may include, for example, initial start-up (power-on) in the inspection process of the injection molding machine 1 before shipment, initial start-up after initialization of the controller 700 of the injection molding machine 1, and the like. The automatic setting start condition may include initial start after modification (update) of predetermined hardware such as an actuator of the injection molding machine 1 and predetermined software such as a program related to the operation control process. For example, the setting unit 7004 may perform setting related to the interrupt request based on an input of the user received through the operation device 750 or the like, that is, an input corresponding to a setting content desired by the user. That is, the setting related to the interrupt request may be performed manually.

The setting unit 7004 may limit the function of automatically or manually performing the setting related to the interrupt request according to the input from the user. This can suppress a situation in which the content of the setting related to the interrupt request is changed unnecessarily, and the operation of the injection molding machine 1 is adversely affected.

For example, the setting unit 7004 recognizes a user who operates the injection molding machine 1, and determines whether to permit or not to permit the setting related to the interrupt request according to the input from the operation device 750. This can suppress a situation in which a user lacking knowledge about an interrupt request erroneously changes a setting about the interrupt request, for example. Specifically, a registration information database may be constructed in which settings associated with interrupt requests are allowed or not allowed for identification information (hereinafter referred to as "user identification information") specified for each user (for example, ID (Identifier), face authentication image data, etc. for each user). Thus, the setting unit 7004 can identify the user who is using the operation device 750 based on the ID input from the operation device 750 and the image data acquired at the time of face authentication.

Further, for example, when an input from a user is received by an external device of the injection molding machine 1, the setting unit 7004 may limit a function of performing a setting related to an interrupt request. Specifically, the function of performing the setting related to the interrupt request according to the input from a part or all of the external devices may be prohibited. This is because, for example, when a setting related to an interrupt request is changed according to an input from a user using an external device in a state where the operation state of the injection molding machine 1 is relatively difficult to grasp, there is a possibility that countermeasures may be delayed if the operation of the injection molding machine 1 is adversely affected by the influence thereof. Further, this is because, for example, when the setting related to the interrupt request is changeable according to the input from the external device, there is a possibility that a problem may occur from the viewpoint of security.

The storage unit 7005 stores various data used by the setting unit 7004. For example, the storage section 7005 may construct the above-described registration information database.

[ concrete example of the action of the controller ]

Next, a specific example of the operation of the controller 700 will be described with reference to fig. 5.

Fig. 5 is a timing chart showing an example of the operation of the controller 700. Specifically, fig. 5 is a timing chart showing the states of "data output", "data preparation", "interrupt timer", "interrupt process", and "operation control process" in the controller.

The "data output" indicates an output state of data (e.g., control data to the driver 710) as a result of the operation control process performed by the controller 700 (the control section 7001).

The "data preparation" indicates a preparation state of data (for example, data received from the driver 710 and the sensor 720, output data of the operation control process in the previous control cycle, and the like) used in the operation control process performed by the controller 700 (the control unit 7001). The data used in the operation control process is stored in the internal memory of the FPGA705, and the CPU701 can use the data by accessing the internal memory of the FPGA705 and execute the operation control process.

The "interrupt timer" indicates an operation state of a timer set for the FPGA705 to output an interrupt request. In the figure, the rising end of the timer in the operating state indicates the start of the timer, and the falling end indicates the end of the timer. The interrupt request is output triggered by the end of the timer.

The "interrupt process" indicates an implementation state (presence or absence of implementation) of a pre-process (interrupt process) for interrupting the low priority process and executing the operation control process in accordance with the interrupt request output from the FPGA 705.

The "operation control process" indicates the execution state (whether or not execution is performed) of the operation control process executed by the CPU 701.

In this example, as the setting related to the interrupt request, the output timing of the interrupt request is changed from the initial state, that is, the predetermined reference state. The reference state is a state in which the time of the interrupt request coincides with the reference time that becomes the trigger for starting the operation control process. In this example, the reference state is a state in which the time of the interrupt request coincides with the time when preparation of data used in the operation control process is assumed to be completed.

Specifically, the timing of the interrupt request is advanced from the reference state by the correction time T1 on the premise that the output period of the interrupt request, that is, the control period of the operation control process is not changed. More specifically, the end time of the timer for the interrupt request of the FPGA705 is advanced from the reference state by the correction time T1.

Accordingly, as shown in fig. 5, the FPGA705 outputs an interrupt request to the CPU701 at the end of the time timer before the completion of data preparation (time t 11).

When the interrupt request is output, the FPGA705 starts the next timer (around time t 12).

The CPU701 starts interrupt processing according to the output of the interrupt request from the FPGA705 (time t 12).

In this example, as the setting related to the interrupt request, the start timing of the operation control process according to the interrupt request is changed from the initial state. The initial state is, for example, a state in which the start time of the operation control coincides with the completion time of the interrupt processing. That is, in the initial state, when the interrupt processing is completed, the operation control processing is immediately started.

Specifically, the start timing of the operation control process is changed to a later one of the timing at which the interrupt process is completed and the timing at which the waiting time T2 has elapsed since the start of the interrupt process.

The interrupt processing at this time requires a relatively long time, and the waiting time T2 is substantially equal to the time at which the interrupt processing is received (time T13). Accordingly, the CPU701 starts the operation control processing at this timing.

In this example, the waiting time T2 is set so that the start time of the operation control process is substantially the same as (for example, immediately after) the time when the preparation of the data used in the operation control process in the FPGA705 is assumed to be completed. Therefore, the operation control process starts immediately after the preparation of the data is completed. Thus, the CPU701 can start the operation control processing after the preparation of the latest data is completed. Accordingly, the CPU701 can appropriately control the operation of the injection molding machine 1. Further, since the operation control is started immediately after the preparation of the data used in the operation control process is completed, the controller 700 easily ensures the real-time performance of the operation control process.

The waiting time T2 may be arbitrarily set as long as it is a period after the preparation of the data used in the operation control process is assumed to be completed.

When the operation control process in the control cycle is completed, the CPU701 outputs data related to the execution result of the operation control process in the control cycle (time t 14). The output data is stored (written) in an internal memory of the FPGA705, for example.

After the completion of the data output of the CPU701, if the timer started after the last interrupt request output ends, the FPGA705 outputs the interrupt request to the CPU701 (time t 15).

The CPU701 starts interrupt processing according to the output of the interrupt request from the FPGA705 (time t 16).

This interrupt processing is completed in a relatively short time (time t 17). Therefore, after the interrupt process is completed, the CPU701 waits for the waiting time T2 to elapse from the start of the interrupt process, and then starts the operation control process (time T18). Thus, even when the interrupt process ends relatively early, by appropriately setting the waiting time T2, the CPU701 can start the operation control process after the preparation of the data used in the operation control process is completed.

When the operation control process in the control cycle of this time is completed, the CPU701 outputs data related to the execution result of the operation control process in the control cycle of this time (time t 19).

The operation control processing in the previous and present control cycles is started when the waiting time T2 has elapsed since the start of the interrupt processing. Therefore, the controller 700 can make the output timings (data output time T0) of the data related to the execution result of the operation control process substantially identical with each other with the preparation completion of the data used in the operation control process as a reference. Therefore, the controller 700 can more appropriately ensure the real-time performance related to the operation control process.

In addition, instead of setting the waiting time T2, the FPGA705 may output a notification of completion of preparation of data used in the operation control process to the CPU 701. At this time, the start time of the operation control process is changed to a later one of the time when the interrupt process is completed and the time when the preparation of data is completed. Thus, the controller 700 can start the operation control process in response to completion of preparation of data.

[ setting Process related to interrupt request ]

Next, a setting process related to an interrupt request performed by the controller 700 will be described with reference to fig. 6.

Fig. 6 is a flowchart schematically showing an example of the setting process performed by the controller 700 in connection with the interrupt request. The flowchart may be executed when a predetermined input from a user is received by the operation device 750 or the like, for example. The present flowchart may be executed when the automatic setting start condition is satisfied, for example.

As shown in fig. 6, in step S102, the setting unit 7004 determines whether or not a function of automatically performing setting related to an interrupt request (hereinafter referred to as "automatic setting function") is effective.

The automatic setting function may be selectable by a user through the operation device 750 or the like, for example. When the automatic setting start condition is satisfied, the automatic setting start condition may be set to an active state as an initial state, or may be set to an active state or an inactive state as an initial state in accordance with the specifications of each purchasing side of the injection molding machine 1.

When the automatic setting function is valid, the setting unit 7004 proceeds to step S104, and when the automatic setting function is not valid, the flow chart of this time is ended.

In step S104, the setting unit 7004 actually operates the function of the control unit 7001 to measure the time required from the output (generation) of the interrupt request to the start of the operation control process in the initial state of the correction time T1 and the waiting time T2. That is, the setting unit 7004 measures the time required from the output of the interrupt request to the completion of the interrupt processing.

If the process of step S104 is completed, the controller 700 proceeds to step S106.

In step S106, the setting unit 7004 determines whether or not the number of measurements of the time required from the output (generation) of the interrupt request to the start of the operation control process is equal to or greater than the set number Nth (an integer of 1 or more). When the number of measurements is not equal to or greater than the set number Nth, the setting unit 7004 returns to step S104, and repeats the processing of steps S104 and S106 in the control cycle of the next operation control processing. On the other hand, when the number of measurements is equal to or greater than the set number Nth, the setting unit 7004 stops the actual operation of the function of the control unit 7001 and proceeds to step S108.

In addition, in the normal operation of the injection molding machine 1, the time required from the output of the interrupt request to the completion of the interrupt processing may be appropriately measured as a background process, and the measurement result may be used. In this case, the processing in step S104 and step S106 may be omitted.

In step S108, the setting unit 7004 sets the correction time T1 and the waiting time T2 based on the measurement result of the set number Nth.

For example, the setting unit 7004 may set the correction time T1 based on the maximum value among the measurement results of the set number Nth. Specifically, the setting unit 7004 may set the maximum value or more of the measurement results of the set number Nth as the correction time T1. This allows the interrupt processing to be completed before the time when preparation of data used for the operation control processing is completed. Accordingly, by appropriately setting the waiting time T2, the controller 700 can start the operation control process in response to completion of preparation of data. Specifically, the setting unit 7004 may set the required time assumed from the output of the interrupt request to the start of the interrupt processing to a value equal to or greater than the value subtracted from the determined correction time T1.

For example, the setting unit 7004 may set the correction time T1 and the waiting time T2 based on an average value or the like of the measurement results of the set number Nth.

Upon completion of the processing of step S108, the controller 700 ends the processing of the flowchart of this time.

In this way, in this example, the controller 700 can set the correction time T1 and the waiting time T2 based on the actual required time from the output of the interrupt request to the completion of the interrupt processing.

[ concrete example of setting Screen ]

Next, a setting screen for setting related to an interrupt request will be described with reference to fig. 7.

Fig. 7 is a diagram showing an example of a setting screen (setting screen 70) displayed on the display device 760.

The same setting screen may be displayed on the management device 2 and the terminal device outside the injection molding machine 1, which are communicably connected via the communication line NW. Thus, the user of the injection molding machine 1 such as a manager or a worker can confirm the content of the setting related to the interrupt request or perform the setting related to the interrupt request by the management apparatus 2 or the terminal apparatus.

As shown in fig. 7, the setting screen 70 includes a process content display unit 71, a correction time display unit 72, a waiting time display unit 73, and icons 74 to 77.

The processing content display unit 71 depicts the flow of processing from the output of the interrupt request to the start of the operation control processing in a time chart, and displays a time interval corresponding to the correction time T1 and the waiting time T2. Thus, the user can grasp the flow of the process from the output of the interrupt request to the start of the operation control process, and specifically confirm the time interval corresponding to the correction time T1 and the waiting time T2 in the flow.

The current setting value of the correction time T1 is displayed on the correction time display unit 72.

The current setting value of the waiting time T2 is displayed on the waiting time display 73.

The icon 74 shows whether the automatic setting function is valid or invalid, that is, whether the setting related to the interrupt request can be automatically performed or the setting related to the interrupt request can be manually performed. In this example, a state in which the automatic correction function is active is displayed.

The icon 75 is an operation target for starting the setting of the correction time T1 and the waiting time T2 by the automatic setting function. By operating the icon 75 by the operation device 750 or the like, the user can automatically set the correction time T1 and the waiting time T2 by the controller 700 according to the flowchart of fig. 6.

The icon 76 is an operation target for manually switching to a control state in which settings relating to the interrupt request can be made. The following means are possible: when the icon 76 is operated by the operation device 750 or the like, values can be input to the input boxes of the correction time T1 and the waiting time T2 in the correction time display unit 72 and the waiting time display unit 73.

In addition, as described above, when the setting related to the interrupt request corresponding to the input of the user received through the operation device 750 or the like is restricted (prohibited), the icons 75, 76 may be displayed in an inoperable state (for example, an unselected state). The values that can be input in the correction time T1 and the waiting time T2 may be limited in advance within a range that does not adversely affect the operation control process.

The icon 77 is an operation target for returning to a predetermined screen (for example, a main screen).

In this way, the user can confirm the content of the setting (the setting values of the correction time T1 and the waiting time T2) related to the interrupt request through the setting screen 70. The user can use the automatic setting function or manually cause the controller 700 to perform setting (changing) related to the interrupt request through the setting screen 70.

[ Effect ]

Next, the operation of the injection molding machine 1 (controller 700) according to the present embodiment will be described with reference to fig. 8.

Fig. 8 is a timing chart showing the operation of the controller of the injection molding machine according to the comparative example. The following description will be given of the same configuration as the controller 700 in the comparative example, without designating the same reference numerals.

In this example, the timer is set to be corresponding to the time when preparation of data used for operation control processing in the FPGA is supposed to be completed.

As shown in fig. 8, the FPGA outputs an interrupt request corresponding to the end of the timer (time t 21).

When the interrupt request is output, the FPGA starts the next timer (around time t 22).

The CPU starts interrupt processing based on the output of the interrupt request from the FPGA (time t 22).

When the interrupt request is completed, the CPU starts operation control processing (time t 23). In this control cycle, the interrupt processing ends in a relatively short time.

The CPU outputs data concerning the execution result of the operation control process in the control cycle (time t 24). The output data is stored (written) in an internal memory of the FPGA, for example.

After the completion of the data output by the CPU, if the timer started after the last output of the interrupt request is completed, the FPGA outputs the interrupt request to the CPU in response to the completion of the preparation of the data used in the operation control process as in the last time (time t 25).

The CPU701 starts interrupt processing according to the output of the interrupt request from the FPGA (time t 26).

When the interrupt process is completed, the CPU701 starts the operation control process (time t 27). In this control period, the interrupt processing takes a relatively long time as compared with the time of the last control period (dotted line in the figure). This is because the time required for interrupt processing may vary depending on the overhead of interrupt processing, the status of cache hits during interrupt processing, and the like.

When the operation control processing in the control period is completed, the CPU701 outputs data related to the execution result of the operation control processing in the control period (time t 28).

In the comparative example, as described above, the interrupt request is output in response to completion of preparation of data used in the operation control process. Therefore, the output timing (data output required time T0 c) of the data related to the execution result of the operation control process with the preparation completion of the data used in the operation control process as a reference depends on the length of time required for the interrupt process. That is, if the time required for the interrupt processing is relatively long, the start time of the operation control processing required for the operation control processing with the completion of the preparation of data as a reference becomes relatively late, which may affect the real-time performance of the operation control processing.

In contrast, in the present embodiment, the controller 700 outputs an interrupt request before a trigger (hereinafter referred to as "start trigger") serving as a reference for starting the operation control process is generated, and starts the control process after the trigger is generated. Specifically, the start trigger may be preparation completion of data necessary for the action control process.

Thus, the controller 700 can perform interrupt processing before the start triggering. Therefore, the influence of the deviation of the time required for the interrupt process on the start timing of the operation control process can be suppressed. Further, even if the interrupt process ends at a relatively early timing, the operation control process is started after the start of the trigger, and therefore the operation control process is not performed before the start of the trigger. Therefore, the controller 700 can more appropriately realize the real-time performance of the control process related to the operation of the injection molding machine 1.

In the injection molding machine 1, the same technique may be used for other control processes than the operation control process. At this time, the output timing (correction time T1) of the interrupt request and the timing (waiting time T2) of starting the other control process may be set appropriately in response to a trigger that becomes a reference for starting the other control process.

In the present embodiment, when the start preparation of the operation control processing is completed before the start trigger generation after the interrupt request is output, the controller 700 may wait for the generation of the trigger to start the operation control processing.

Thus, the controller 700 can start the operation control process in response to the generation of the start trigger. Therefore, in the injection molding machine 1, the controller 700 can more appropriately realize real-time performance regarding the operation thereof.

In the present embodiment, the controller 700 may start the operation control process after a predetermined time (waiting time T2) has elapsed from the start of the interrupt process based on the interrupt request.

Thus, by appropriately setting the waiting time T2, the controller 700 can start the operation control process after the start trigger is generated.

In the present embodiment, the controller 700 may measure the time required from the output of the interrupt request to the completion of the interrupt processing a plurality of times, and set the output timing (correction time T1) and waiting time T2 of the interrupt request based on the measurement result.

In this way, the controller 700 can set the output timing (correction time T1) and waiting time T2 of the interrupt request more appropriately in consideration of the actual deviation of the time required from the output of the interrupt request to the completion of the interrupt processing.

In addition, only the former of the output timing (correction time T1) and the waiting time T2 of the interrupt request may be set. This is because, as described above, when the FPGA705 outputs a notification of completion of data preparation to the CPU701, the operation control process can be started in response to completion of data preparation. Further, this is because, when the notification of the completion of the data preparation is not output, the correction time T1 is set to a relatively small value, whereby the timing of the completion of the interrupt processing can be surely set to be after the start trigger (completion of the data preparation).

In the present embodiment, when a predetermined input is received by the operation device 750, the display device 760 may display the setting content related to the start of the operation control process based on the output of the interrupt request including the output timing of the interrupt request.

Thus, the injection molding machine 1 can allow the user to confirm the setting contents (for example, the setting contents of the correction time T1 and the waiting time T2) related to the start of the operation control process based on the output of the interrupt request.

[ deformation, modification ]

While the embodiments of the injection molding machine management system SYS and the like have been described above, the present application is not limited to the above embodiments and the like, and various modifications and alterations can be made within the scope of the gist described in the claims.

For example, the content of the above embodiment relating to the timing of outputting the interrupt request and the timing of starting the control process based on the interrupt request may be employed in the control relating to the operation of another control machine. Examples of the other machines include industrial machines and industrial manipulators used in factories.

Finally, the present application claims priority based on japanese patent application No. 2021-060659, filed 3/31 in 2021, the entire contents of which are incorporated herein by reference.

Description of symbols

1-injection molding machine (industrial machine), 2-management device, 100-mold clamping device, 200-ejection device, 300-injection device, 400-moving device, 700-controller (control device), 701-CPU (control processing portion), 702-memory device, 703-auxiliary storage device, 704-interface device, 705-FPGA (request output portion), 710-driver, 720-sensor, 750-operation device (input device), 760-display device, 7001-control portion, 7002-display processing portion, 7003-storage portion, 7004-setting portion, 7005-storage portion, SYS-injection molding machine management system.

Claims (8)

1. An injection molding machine is provided with:

a mold clamping device for clamping the mold device;

an injection device for filling the mold device clamped by the clamping device with a molding material;

an ejector for taking out the molded article from the mold device after the molding material filled by the injection device is cooled and solidified; a kind of electronic device with high-pressure air-conditioning system

A control device for outputting interrupt request according to a prescribed period, and performing control processing related to the operation of the injection molding machine according to the interrupt request,

the control device outputs the interrupt request before a trigger generation that becomes a reference for starting the control process, and starts the control process after the trigger generation.

2. The injection molding machine according to claim 1, wherein,

the trigger is the end of the preparation of the data required for the control process.

3. The injection molding machine according to claim 1 or 2, wherein,

after outputting the interrupt request, and when preparation for starting the control process is completed before the trigger is generated, the control device waits for the generation of the trigger to start the control process.

4. An injection molding machine according to any one of claims 1 to 3, wherein,

the control device starts the control process after a prescribed time has elapsed from the start of the interrupt process based on the interrupt request.

5. An injection molding machine according to any one of claims 1 to 3, wherein,

the control device measures a time required from the output of the interrupt request to the completion of the interrupt processing based on the interrupt request a plurality of times, and sets the output timing of the interrupt request based on the measurement result.

6. The injection molding machine of claim 4, wherein,

the control device measures a time required from the output of the interrupt request to the completion of the interrupt processing based on the interrupt request a plurality of times, and sets the output timing of the interrupt request and the predetermined time based on the measurement result.

7. The injection molding machine according to any one of claims 1 to 6, comprising:

an input device that receives an input of a user; a kind of electronic device with high-pressure air-conditioning system

And a display device that displays, when a predetermined input is received by the input device, setting contents including an output timing of the interrupt request and related to start of the control process based on the output of the interrupt request.

8. A controller, comprising:

an interrupt request output unit that outputs an interrupt request at a predetermined cycle; a kind of electronic device with high-pressure air-conditioning system

A control processing unit for performing control processing related to the operation of the industrial machine based on the interrupt request,

the interrupt request output unit outputs the interrupt request before a trigger is generated as a reference for starting the control process,

the control processing section starts the control processing after the trigger is generated.