CN210211137U - Control device, lower computer, electric injection platform and injection molding machine - Google Patents
Control device, lower computer, electric injection platform and injection molding machine Download PDFInfo
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- CN210211137U CN210211137U CN201920322069.4U CN201920322069U CN210211137U CN 210211137 U CN210211137 U CN 210211137U CN 201920322069 U CN201920322069 U CN 201920322069U CN 210211137 U CN210211137 U CN 210211137U
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C2045/1784—Component parts, details or accessories not otherwise provided for; Auxiliary operations not otherwise provided for
Abstract
The utility model relates to an injection molding machine control field, concretely relates to controlling means, next machine, electricity penetrate platform and injection molding machine, this controlling means include the communication main website and with at least one communication slave station of communication main website communication, the communication main website is configured to receive the settlement parameter associated with electronic axle that the host computer sent, the settlement parameter includes speed settlement, position settlement, at least one among current settlement and the mode of action, communication main website and/or at least one communication slave station are configured into: and calculating a motion track for controlling the operation of the electric shaft according to the set parameters, and generating a servo motor operation instruction for driving the electric shaft to operate according to the motion track so as to control the operation of the servo motor. The utility model discloses a scheme can overcome because the delay that the operation parameter that the communication of host computer and next machine postpones and lead to when carrying out produces postpones for the deviation appears in the operation of electronic axle, with this precision that promotes electronic axle operation, thereby promote the quality of the production plastic products of whole injection molding machine.
Description
Technical Field
The utility model relates to an injection molding machine control field, specifically, concretely relates to controlling means, next machine, electricity penetrate platform and injection molding machine.
Background
The existing control system of the injection molding machine comprises an upper computer and a lower computer, wherein the upper computer receives set parameters input by a user, such as speed setting, position setting, current setting, action modes and the like related to an electric shaft of the injection molding machine, and calculates real-time operation parameters of the electric shaft according to the parameters, so that the real-time operation parameters are sent to the lower computer in real time, and the lower computer finally controls the electric shaft to operate according to the real-time operation parameters. Because the upper computer of the upper computer needs to participate in operation, the requirement on the controller of the upper computer is high, the hardware cost of the upper computer is high, and the communication speed between the upper computer and the lower computer is not particularly high, so that small delay, such as about 1 millisecond delay, exists when real-time operation parameters are issued to the lower computer, and finally small deviation occurs in the control of the electric axis, and the control precision of the electric axis is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a controlling means, next machine, electricity penetrate platform and injection molding machine to there is the hardware cost height and control system to have the control deviation to influence its control accuracy problem in the upper computer of the injection molding machine control system who solves among the prior art.
In order to achieve the above object, the present invention provides a control device for an injection molding machine, the control device comprising a communication master station and at least one communication slave station communicating with the communication master station, the communication master station being configured to receive a setting parameter associated with an electric axis sent by an upper computer, the setting parameter comprising at least one of a speed setting, a position setting, a current setting and an action mode;
the communication master station and/or the at least one communication slave station are configured to: calculating a motion track for controlling the operation of the electric shaft according to the set parameters; and generating a servo motor operation instruction for driving the electric shaft to operate according to the motion track so as to control the servo motor to operate.
Optionally, the upper computer communicates with the communication master station through an external bus, and the communication master station communicates with the communication slave station through an internal bus, wherein the external bus communication rate is lower than the internal bus communication rate.
Optionally, the communication master station includes an external communication interface, an internal communication interface, and a master station PLC;
the external communication interface is used for communicating with an upper computer through an external bus, and the internal communication interface is used for communicating with the communication slave station through an internal bus;
the master station PLC receives data sent by the upper computer through the external communication interface and distributes the data to the communication slave stations through the internal communication interface.
Optionally, the communication slave station comprises an internal communication interface and a slave station PLC;
the internal communication interface is used for data interaction with the communication master station and other communication slave stations;
and the slave station PLC is used for calculating the motion trail of the electric shaft according to the set parameters and generating a servo motor operation instruction for driving the electric shaft to operate so as to control the operation of the servo motor.
In order to achieve the above object, the utility model also provides a lower computer for injection molding machine, the lower computer includes above-mentioned, and the lower computer still includes servo motor, and the lower computer is configured into: and outputting three-phase alternating current for driving the servo motor to operate according to the instruction for operating the servo motor.
In order to realize the above purpose, the utility model also provides an electricity penetrates platform, and electricity penetrates the platform including foretell next computer.
Optionally, at least two communication slave stations respectively perform the glue melting function and the glue injection function.
Optionally, the communication master station of the radio station includes a power module for providing a dc power to the communication slave stations, and each communication slave station of the radio station includes a power module for driving the glue melting servo motor and the glue injecting servo motor to operate respectively.
In order to realize the aim, the utility model also provides an injection molding machine, which comprises an upper computer and the lower computer; the upper computer is configured to: and receiving the setting parameters set by the user and sending the setting parameters to the lower computer.
Optionally, the upper computer comprises a human-computer interface and a main controller; the human-computer interface is used for receiving set parameters, and the main controller is used for issuing the set parameters to the lower computer through the external bus and receiving data fed back by the lower computer.
Through the technical scheme, the utility model discloses a controlling means for injection molding machine, including the communication main website and with at least one communication slave station of communication main website communication, the communication main website is configured into the settlement parameter associated with electronic axle that receives the host computer and send, and the settlement parameter includes that speed sets for, the position is set for, at least one among the electric current settlement and the mode of action, communication main website and/or at least one communication slave station are configured into: and calculating a motion track for controlling the operation of the electric shaft according to the set parameters, and generating a servo motor operation instruction for driving the electric shaft to operate according to the motion track so as to control the operation of the servo motor. The utility model discloses a scheme can overcome because the delay that the operation parameter that the communication of host computer and next machine postpones and lead to when carrying out produces postpones for the deviation appears in the operation of electronic axle, with this precision that promotes electronic axle operation, thereby promote the quality of the production plastic products of whole injection molding machine.
Other features and advantages of the present invention will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments, but do not constitute a limitation of the invention. In the drawings:
fig. 1 is a block diagram of a first embodiment of a control device for an injection molding machine according to the present invention;
FIG. 2 is a block diagram of one embodiment of FIG. 1;
fig. 3 is a block diagram of a second embodiment of a control device for an injection molding machine according to the present invention;
fig. 4 is another block diagram of a second embodiment of a control device for an injection molding machine according to the present invention;
fig. 5 is a block diagram of a third embodiment of a control device for an injection molding machine according to the present invention;
fig. 6 is another block diagram of a third embodiment of a control device for an injection molding machine according to the present invention;
fig. 7 is a schematic curve diagram of the glue injection movement track of the electric injection platform of the present invention;
FIG. 8 is a flow chart of an embodiment of a control method for an injection molding machine of the present invention;
fig. 9 is a flowchart of another embodiment of a control method for an injection molding machine according to the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The embodiment of the utility model provides a controlling means for injection molding machine, the utility model relates to an injection molding machine is electronic injection molding machine, is one kind and utilizes pressure to inject the molten plastics into the mould of plastic products, the cooling forms the equipment that obtains the plastic products, in this equipment, realize the plastics melting through the screw rod that can rotate and remove, and inject the molten plastics into the mould die cavity, in this process relate to the melten gel and penetrate the gluey control relevant with the screw rod, and relate to mode locking and thimble control relevant with the mould operation, in full electric control, these loads of foretell screw rod, mode locking, thimble provide power through servo motor and realize the action of these loads, in concrete control, the control of above-mentioned load is collectively called the control of electronic axle, make it rotate or the back-and-forth movement according to predetermined speed through the control to electronic axle, or both rotation and movement are performed simultaneously to perform the function of the load.
As shown in fig. 1, in the first embodiment of the control device of the present invention, the control device includes a communication master station 220 and at least one communication slave station communicating with the communication master station 220, the communication slave station includes three communication slave stations 230-250 in the figure, the communication master station 220 and the communication slave station are disposed in the lower computer 200 of the injection molding machine, the lower computer 200 communicates with the upper computer 100 of the injection molding machine, and specifically communicates with the upper computer 100 through the communication master station 220. The upper computer 100 is used for controlling all protection and logic actions of the electric injection molding machine, receiving set parameters, namely shaft technological parameters, related to the electric shaft set by a user through a human-machine interface (HMI), the upper computer 100 issues the shaft technological parameters to the lower computer 200, and the lower computer 200 finally generates an operation instruction of a servo motor for driving the electric shaft to operate based on the shaft technological parameters, so that the servo motor is controlled to operate, and the control of the electric shaft is realized.
In this embodiment, the communication master station 220 is configured to receive setting parameters associated with the electric axes, which are transmitted by the upper computer 100, and the setting parameters include at least one of speed setting, position setting, current setting, and motion mode;
the master communication station 220 and/or the at least one slave communication station are configured to: calculating a motion track for controlling the operation of the electric shaft according to the set parameters; and generating a servo motor operation instruction for driving the electric shaft to operate according to the motion track so as to control the servo motor to operate.
Specifically, as shown in fig. 2, as a specific implementation manner of this embodiment, the upper computer 100 includes a human-machine interface (HMI) module, a controller of the upper computer 100, and an electronic control portion of the original injection molding machine, the lower computer 200 is an independent electric injection station, and includes a communication master station 220, the communication master station 220 includes a power module, the power module includes a rectifier circuit, for example, rectifies an input three-phase ac power supply 380V into a dc power of 500V or more, and provides the dc power supply for the work of other lower computers 200 through a dc bus, the communication slave stations respectively include an injection function module and a melt adhesive function module, and a power module, i.e., an inverter module, for driving the corresponding servo motor to operate is included inside, and converts the dc power into a three-phase power for driving the servo motor to operate. The upper computer 100 and the lower computer 200 communicate with each other through an external bus 300, specifically, an EtherCAT or CAN-Open protocol, and a master station and a slave station of the lower computer 200 communicate with each other through an internal bus 210, wherein the internal bus 210 is a high-speed bus, the communication rate of the internal bus 210 CAN reach 10Mbps or 100Mbps, the communication rate of the external bus 300 is only 1K or 10Kbps, the communication rate of the internal bus 210 is far higher than that of the external bus 300, and the communication delay between the communication master station 220 and the communication slave station CAN be basically ignored.
In this embodiment, after the lower computer 200 receives the setting parameters, the communication master station 220 and/or at least one communication slave station in the lower computer 200 calculates the motion trajectory of the electric axis by itself, so as to finally control the operation of the servo motor, so that the electric axis operates according to the motion trajectory. Compared with the prior art that the upper computer 100 outputs the operation parameters of the motion track to the lower computer 200 to control the operation of the servo motor, the scheme of the embodiment can overcome the delay generated when the operation parameters are executed due to the communication delay of the upper computer 100 and the lower computer 200, so that the operation of the electric shaft is deviated, and the scheme of the embodiment can provide the precision for controlling the operation of the electric shaft, thereby improving the quality of the plastic products produced by the whole injection molding machine.
In the second embodiment of the control device of the present invention, the communication master station 220 is further configured to assign the received setting parameters to the corresponding communication slave stations;
the communication slave station is configured to: calculating a motion track for controlling the operation of the electric shaft according to the set parameters; and generating a servo motor operation instruction for driving the electric shaft to operate according to the motion track so as to control the servo motor to operate.
That is, in this embodiment, the communication master station 220 mainly performs a data forwarding function, and assigns the setting parameters sent by the upper computer 100 to the communication slave stations, and the communication slave stations perform a function of calculating the motion trajectory.
Specifically, as shown in fig. 3 and 4, the lower computer 200 includes a communication master station 220 and more than one group of communication slave stations, the communication master station 220 is in communication connection with the more than one group of communication slave stations, specifically, 5 groups of communication slave stations are shown in fig. 3, namely, the communication slave station 230 to the communication slave station 270, and the communication master station 220 is used for receiving data of the upper computer 100 and feeding back real-time states of the stations of the lower computer 200 to the upper computer; the communication master station 220 receives and feeds back data with the upper computer 100 through an external bus 300 such as EtherCAT or CAN-Open, and the communication master station 220 and the communication slave stations distribute and feed back high-speed data through an internal bus 210; the upper computer 100 controls the hydraulic station or other devices in the communication of the non-slave station, namely the device 500 in the figure, through other types of communication or IO ports. When the upper computer 100 works, the communication and the alarm state of the lower computer 200 are monitored in real time, and an emergency stop instruction (such as a communication control word and a DO signal) is sent out when necessary; monitoring the stroke interval of the electric shaft and the abnormal speed when the electric shaft is static, immediately processing overtravel alarm and cutting off enabling and servo strong electricity once the abnormal speed exceeds the normal range, namely, the upper computer 100 monitors the feedback parameter state information of the lower computer 200 at the moment, if the abnormal speed exceeds the normal value, executing abnormal alarm processing, controlling the AC power supply of the lower computer 200 to be cut off, and completely cutting off the power supply of the lower computer 200 to stop working.
In this embodiment, a master station communication card is disposed on a controller of the communication master station 220, and master station communication interfaces, i.e., an external communication interface 221 and an internal communication interface 222, are disposed on the master station communication card, where the external communication interface 221 performs data interaction through an external bus 300 such as EtherCAT or CAN-Open, and the two sets of communication interfaces exchange data with each other through mapping; the communication master station 220 exchanges data with the upper computer 100 through the external communication interface 221 in real time, the communication master station 220 reads and writes parameters with the communication slave stations through the internal communication interface 222, and data of the upper computer 100 are distributed to the communication slave stations.
The controller of the communication master station 220 is also provided with a master station PLC223 used for developing the functions of the communication master station 220 or assisting the communication slave station to perform action calculation; the master PLC22 controls the external communication interface 221 to receive data from the host computer and controls the internal communication interface 222 to distribute the data to the slave communication stations. The master station PLC223 is further provided with a master station monitoring program module for monitoring communication states and software and hardware abnormalities, so as to timely monitor the state machine type of the communication master station 220, feed back to the upper computer 100 when the state is abnormal, and perform exception handling by the upper computer 100.
In this embodiment, the slave PLC, specifically, the slave PLC232 of one of the communication slaves 230, and the internal communication interface for receiving and sending data, that is, the internal communication module, specifically, the internal communication module 231 of the communication slave 230, specifically include an internal bus interface, a coding parameter reading and writing program module, and a real-time data reading and writing program module, so as to communicate with the communication master 220 and other communication slaves.
And the slave station PLC is provided with an autonomous program module for calculating a motion track and parameters, a slave station alarm program module for executing a safety stop function, an emergency stop program module for controlling an external emergency stop IO state, and a monitoring program module for automatically monitoring a communication state and software and hardware.
After the communication slave station receives an instruction of the upper computer 100 which is sent by the communication master station 220 and contains set parameters, the motion track is calculated by the autonomous program module, the controller of the communication slave station responds to an operation instruction by combining other conditions, the operation of the electric axis is controlled according to the motion track execution axis planned by the slave station PLC, specifically, the communication slave station obtains motion data of the electric axis through the communication master station 220, the axis motion parameters are calculated by the slave station PLC, after the operation instruction of the upper computer 100 is received, the communication slave station drives the servo motor to operate according to the calculated motion parameters, and the operation track is repaired in real time during the operation. Because some sudden abnormal conditions such as locked rotor can be encountered in the running process of the servo motor, the servo motor can not run according to the originally planned track speed, the original track needs to be modified for correction, and the servo motor is prevented from being damaged due to running in an abnormal state all the time.
Each communication slave station independently monitors the mechanical stroke of the controlled electric shaft and the zero-speed state in a static state besides the main function of calculating the motion track and controlling the operation of the electric shaft, immediately sends out a position overrun alarm or a speed overrun alarm once an abnormality occurs, automatically executes a safety stop function, and cuts off control enabling, namely the communication slave station monitors the state of the controlled electric shaft in real time, sends alarm information to the communication master station 220 in the abnormal state, the communication master station 220 forwards the alarm information to the upper computer 100, and executes corresponding abnormality processing by itself.
The lower computer 200 in the control device of the practical novel embodiment receives the setting parameters sent by the upper computer 100 through the communication master station 220 and sends the setting parameters to the communication slave station through the internal bus 210, and the controller of the communication slave station calculates the motion track of the electric shaft according to the setting parameters, so that the accurate control of the operation of the electric shaft is realized, and the control deviation occurring when the upper computer 100 sends the data of the motion track of the electric shaft through the external bus 300 is avoided.
The utility model discloses in controlling means's third embodiment, lower computer 200 to in the second embodiment specifically is the electricity and penetrates a platform equipment, as shown in FIG. 2, FIG. 5 and FIG. 6, this electricity penetrates a platform and includes communication master station 220 and is used for penetrating gluey servo communication slave station 230 and is used for the servo communication slave station 240 of melten gel, wherein the electronic axle of communication slave station 230 control realizes penetrating gluey function, wherein the electronic axle of communication slave station 240 control realizes the melten gel function.
Specifically, an external bus 300, such as an external communication interface 221 of EtherCAT or CAN-Open, and an internal communication interface 222 are arranged on the master station communication card of the communication master station 220, and the two groups of communication interfaces exchange data with each other through mapping; the communication master station 220 exchanges data with the upper computer 100 in real time through the external communication interface 221; the communication master station 220 reads and writes parameters with the communication slave stations through the internal communication interface 222 and distributes data of the upper computer 100 to the communication slave stations. The internal bus 210 is realized by a specific hardware realization structure and a communication protocol, so that the communication speed is high relative to the external bus 300, and the characteristics of strong real-time performance and low resource utilization are achieved; the cycle period of the internal bus 210 applied to the servo driver can reach 125 mus, which is much higher than that of the external bus 300; certainly, the internal bus 210 may also be specifically EtherCAT, PowerLink, or other low-speed communication protocols improved based on EtherCAT, although the communication rates of these communication protocols are slow, the communication master station 220 only forwards the setting parameters of the upper computer 100, and the calculation of the motion trajectory of the electric axis is performed in the communication slave station controller, so that the accurate execution of the motion trajectory of the electric axis can be still achieved, and the control deviation that occurs when the upper computer 100 outputs the motion trajectory data to the lower computer 200 is avoided.
The internal bus 210 has the following features:
the automatic scanning function is supported, the number of available equipment in the system is detected, and the maximum support is realized by extending 62 communication slave stations; and cross communication is supported, direct data communication is realized between the communication master station 220 and the communication slave stations and between the communication slave stations in each synchronous period, and the configurable address space shared by 984 bytes is realized at most.
And support the daisy chain topology, each apparatus includes two Ethernet interfaces, the communication master station 220 and communication slave station, and each communication slave station can be connected through a twisted pair, support the full duplex communication of 10Mbps/100Mbps rate; the variable cycle period is supported, and the variable cycle period can reach 125 mu s when being applied to a servo driver; the transmission delay is low, the data frame is delayed by 1.63 mu s by the master station, and the communication slave station is delayed by 1.94 mu s; the jitter of the synchronous clock is less than 100ns, so that the high-speed communication speed is realized, and the extremely low transmission delay is realized.
In this embodiment, the controller of the communication master station 220 is provided with a master station PLC223 for developing functions of the communication master station 220 or assisting the communication slave station to perform motion calculation, and the controller of the communication slave station is provided with a slave station PLC and an internal communication program module for receiving/transmitting data; an autonomous program module for calculating a motion track and parameters, a slave station monitoring program module for monitoring a mechanical stroke and a zero-speed state in a static state, a slave station alarming program module for executing a safety stop function, an emergency stop program module for controlling an external emergency stop IO state and a monitoring program module for automatically monitoring a communication state and software and hardware abnormity are arranged on the communication slave station PLC. Therefore, the controller of the communication slave station can automatically calculate the motion trail of the electric axis according to the set parameters sent by the upper computer 100.
The utility model discloses platform equipment is penetrated to electricity receives the settlement parameter that host computer 100 sent through its inside communication main website 220 to issue for the communication slave station through internal bus 210, the controller of communication slave station calculates the melten gel by oneself and penetrates the movement track of gluey relevant electronic axle according to this settlement parameter, with this accurate control of the operation of having realized these electronic axles, the control deviation that appears when having avoided host computer 100 to send down electronic axle movement track's data through external bus 300.
In the fourth embodiment of the control device of the present invention, based on the second or third embodiment of the control device, in this embodiment, in the case that the data processing load of the communication slave station exceeds the set processing capability, the communication master station 220 is further configured to assist the communication slave station to calculate the motion trajectory and generate the servo motor operation command.
In this embodiment, the communication master station 220 performs a certain calculation function in addition to allocating the setting parameters sent by the upper computer 100 to the corresponding communication slave stations, when the data processing load of the communication slave stations is heavy, the specific communication slave stations can determine according to the data amount processed by the communication slave stations, and when the processed data exceeds a preset value, the specific communication slave stations determine that the current processing load exceeds the processing capacity of the specific communication slave stations, so that a request for auxiliary processing can be sent to the communication master station 220, the communication master station 220 responds after receiving the request, and the communication slave stations send a part of the data to be processed to the communication master station 220, and the communication master station 220 processes the data and returns the processing result to the communication slave stations. Therefore, the processing load of the controller of the communication slave station can be reduced through the auxiliary calculation of the communication master station 220, so that the processing speed is increased, and particularly, the motion trail of the electric axis controlled by the controller of the communication slave station can be calculated in real time, so that the control of the electric axis meets the accurate requirement.
It should be noted that if there are a plurality of communication slave stations that need the communication master station 220 to perform the auxiliary computation, the communication master station 220 may queue up the requests for processing according to the order of the requests.
In a fifth embodiment of the control device of the present invention, based on the first embodiment of the control device, in this embodiment, the communication master station 220 is configured to: calculating a motion track for controlling the operation of the electric shaft according to the set parameters; generating a servo motor operation instruction for driving the electric shaft to operate according to the motion track; and transmitting the servo motor operation instruction to the corresponding communication slave station.
In this embodiment, in addition to the second or third embodiment of the control device, the communication master station 220 performs the function of assigning the setting parameters sent by the upper computer 100 to the corresponding communication slave stations, and also completely assumes the function of calculating the motion trajectories of the electric axes controlled by the communication slave stations, generates the calculated motion trajectories into operation commands for driving the servo motors, and sends the commands to the corresponding communication slave stations, so that the communication slave stations control the corresponding electric axes to operate.
The scheme of the embodiment has a high requirement on the processing capacity of the controller of the communication master station 220, and particularly when a plurality of communication slave stations exist, the master station PLC223 of the controller of the embodiment is required to have a high processing speed, so that the motion trajectory can be quickly calculated and an operation instruction can be generated, and the operation instruction can be quickly sent to the corresponding communication slave stations through the internal bus 210 to be executed, thereby not affecting the precision requirement of the operation of the electric axis. In this embodiment, the internal bus 210 is required to have a high speed to meet the real-time requirement of the operation command compared with the second or third embodiment, and therefore, cannot be the low-speed communication protocol improved by EtherCAT, PowerLink or other EtherCAT.
The utility model discloses still provide a lower computer of injection molding machine, in an embodiment, this lower computer includes foretell controlling means for injection molding machine, and this lower computer includes the aforesaid lower computer 200 that mentions in the foretell controlling means for injection molding machine's embodiment, including communication main website 220 and one or more communication slave station, wherein preferably communication main website 220 realizes allocating the settlement parameter that host computer 100 sent to communication slave station function, and the communication slave station calculates the orbit of the electronic axle of its control. Therefore, the lower computer 200 can finally control the operation of the servo motor corresponding to the electric shaft in real time, and the accuracy requirement of the operation of the electric shaft is met.
In another embodiment, further, the lower computer 200 may further include a servo motor, where the lower computer 200 is configured to: and outputting three-phase alternating current for driving the servo motor to operate according to the operation instruction of the servo motor. That is, the lower computer 200 further includes a servo motor and a power module for driving the servo motor to operate, specifically, as shown in fig. 2, the lower computer 200 is an electric injection station, the electric injection station includes a communication master station 220, a communication slave station 230 for injection servo and a communication slave station 240 for melt servo, wherein the communication slave station 230 and the communication slave station 240 include the power module, and the power module performs power conversion according to an operation instruction and outputs three-phase alternating current for driving the servo motor to operate, so as to drive the servo motor to operate.
The utility model discloses still provide an electricity and penetrate platform, this electricity penetrate the platform as shown in figure 2, figure 5 and figure 6, included foretell next machine 200, as an embodiment of this electricity penetrate platform, this electricity penetrate the platform can be like the electricity that mentions in controlling means's the third embodiment penetrate a platform equipment, realize basic melten gel and penetrate gluey function.
In this embodiment, the upper computer 100 sends the related setting parameters of the electric axis to the lower computer 200, and the communication master station 220 in the lower computer 200 calculates the movement locus of the electric axis by following the setting parameters or by communication recharging, and outputs the operation instruction of the servo motor driving the electric axis to move, so as to control the operation of the servo motor. Taking the communication master station 220 as an example for forwarding the setting parameters and the communication slave station calculating the motion trajectory, the glue spraying operation is implemented for the electric axis, the motion trajectory of the electric axis is as shown in fig. 7, the setting parameters of the electric axis sent by the upper computer 100 include a position setting and a speed setting parameter, the stroke of the electric axis is divided into multiple sections, each section corresponds to the position of the electric axis and the displacement speed of the electric axis, i.e. the speed setting, wherein the speed is set as a reference speed of the electric axis, i.e. the highest allowable speed of the electric axis during the stroke of the section, in fig. 7, as shown by a dotted line L1, an abscissa represents the operation time of the electric axis, an ordinate represents the speed setting, and different operation times represent different positions of the electric axis, so that the position setting is actually used here, for example, the setting speed corresponding to the first section of the stroke from zero time to T1 in the figure is 220, a second end stroke from T1 to T2, corresponding to a speed set at-20 mm/s, with negative numbers indicating that the direction of stroke is opposite to the first segment; the solid line L2 is a trajectory that the slave station calculates the motion trajectory of the electric axis by itself according to the speed setting and position setting parameters, and then controls the servo motor to operate so as to make the electric axis actually operate, and it can be seen from the figure that there is a large difference between the motion trajectory of the electric axis and the trajectory L1 formed by the set parameters, but the actual operating speed of each section of the stroke does not exceed the set speed. It can also be seen from the figure that the upper computer 100 only needs to send corresponding setting parameters, such as zero time, T1 time and T2 time, at different travel segments, and the actual running speed of the electric axis at each real-time point is formed by the motion trajectory calculated and generated by the controller of the communication slave station, so that the upper computer 100 does not need to send the running trajectory parameters of the electric axis in real time like the prior art, thereby avoiding the trajectory deviation of the electric axis caused by the communication delay between the upper computer 100 and the lower computer 200, and simultaneously reducing the requirement of the processing capability of the upper computer 100, thereby reducing the cost of the upper computer 100.
The utility model also provides an injection molding machine, which comprises an upper computer 100 and the lower computer 200 in one embodiment; the upper computer 100 is configured to: receives the setting parameters set by the user and sends the setting parameters to the lower computer 200.
Specifically, in this embodiment, as shown in fig. 3 and 4, the upper computer 100 includes a human-machine interface, i.e., the HMI module 110, and a main controller 120, wherein the human-machine interface receives setting parameters, i.e., shaft process parameters, related to the electric shaft, which are set by a user, and the process parameters include at least one of speed setting, position setting, current setting and motion mode. The main controller 120 issues the setting parameters to the lower computer 200 through the external bus 300, and receives data fed back by the lower computer 200.
Furthermore, signals of an external emergency stop button, namely an ESP button 400, are simultaneously accessed to the slave stations of the upper computer 100 and the lower computer 200 through IO ports, so that the communication slave stations of the upper computer 100 and the lower computer 200 can simultaneously carry out emergency stop control according to the signals, and the safety and reliability of the system are enhanced.
In this embodiment, the upper computer 100 is configured with an HMI module 110 and a main controller 120(CPU motherboard) connected to each other, the main controller 120 is provided with an HMI interface 121 and a main control unit, i.e., a main program block 122, and the HMI interface 121 is used for connecting a human-machine interface; the main controller 120 is communicatively connected with the communication master station 220 through an EtherCAT or CAN-Open communication interface 123.
Specifically, as shown in fig. 4, the human-computer interface includes a process data display interface, an equipment state display interface, a process data setting interface, and a mechanical data setting interface; namely, the human-computer interface has the functions of displaying process data, displaying equipment state, setting process data and/or setting mechanical data.
The transmission data between the upper computer 100 and the lower computer 200 is divided into two forms, which are non-real-time data and real-time data, respectively. The parameters such as mechanical parameters and process data, which are read and written by the upper computer 100 in each communication cycle are not classified into non-real-time data, so that the related set parameters of the electric axis belong to the non-real-time data, the data can be encoded in a protocol according to the numbers of the master station and the slave station, and the master station retrieves and reads and writes a parameter container corresponding to the encoding in the internal bus 210 according to the read-write control words sent by the upper computer.
In one embodiment, the step of "writing" such non-real time data is:
1) the upper computer 100 sends control words (including control words of 'write parameters'), parameter codes and parameter containers to a communication master station 220 in the lower computer 200 through EtherCAT or CAN-Open (hereinafter referred to as an external bus 300);
2) the communication master station 220 maps information from the external bus 300 to the internal bus 210;
3) each communication slave station acquires parameter codes and searches in a program section of the communication slave station;
4) each communication slave station finds out the corresponding parameter code;
5) each communication slave station assigns the data in the parameter container to the parameter address corresponding to the parameter code retrieved by the slave station;
6) the lower computer 200 feeds back the completion of receiving the write parameters;
7) the upper computer 100 finishes writing the parameter control word.
In one embodiment, the steps of "reading" such non-real time data are:
1) the upper computer 100 sends control words (including 'read parameter' control words), parameter codes and parameter containers to a communication master station 220 in the lower computer 200 through an external bus 300;
2) the communication master station 220 maps information from the external bus 300 to the internal bus 210;
3) the communication slave station acquires the parameter code and searches in the program section;
4) the communication slave station finds out the corresponding parameter code;
5) the communication slave station assigns data in the parameter address corresponding to the parameter code retrieved by the communication slave station to the parameter container;
6) the communication master station 220 maps the parameter container values of the internal bus 210 to the external bus 300;
7) the upper computer 100 finishes reading the parameter control word.
For real-time data, the communication master station 220 in the lower computer 200 is used as a data exchange station, and exchanges real-time data with each communication slave station once in each internal bus 210 cycle and exchanges data with the upper computer 100 once in each external bus 300 cycle. The data of the two buses are interacted in a manner of being mapped by the communication master station 220. The content of the specific real-time data includes two types, one type is necessary data, which includes control words, state words, actual speed, actual torque, actual pressure and actual position, wherein the control words are related instructions sent by the upper computer 100 to the lower computer 200 for control, such as an operating mode instruction of an electric axis, an emergency stop instruction and the like, and the required real-time performance is high. And the state word, the actual speed, the actual torque, the actual pressure and the actual position are related special parameters of the electric shaft fed back by the lower machine. The other is unnecessary data, including optionally: the method comprises the steps of setting speed, torque and pressure, wherein the set parameters related to the set electric axis of a human-computer interface are received by the upper computer 100, the set parameters are issued to the lower computer 200 by the upper computer 100 and cannot be modified in real time, and only when the set parameters are changed next time, the modified set parameters need to be issued to the lower computer 200, so that after the upper computer 100 sends the set parameters to the lower computer 200 once, the upper computer 100 does not need to repeatedly send the set parameters until the set parameters need to be modified next time, the data volume of a communication protocol is saved, and the data processing load of the upper computer 100 and the lower computer 200 is reduced.
In another embodiment of the present invention, the lower computer 200 is specifically an electric injection platform device, as shown in fig. 5 and fig. 6, the upper computer 100 is provided with a main control controller 120, the main control module stores a main program block 122, the main control program block is loaded with an input/output interface 1221, an action operation program block 1222 and a standard action program block 1223, the main control program block is loaded with an input/output interface 1221 and a man-machine interface 121 for communication, the setting parameters of the user through the man-machine interface 121 are obtained, the standard action program block 1223 removes a glue melting and glue injection curve planning program block, i.e. a program block for calculating the movement track of the electric axis related to glue and glue injection is removed, the program block is placed in the lower computer 200 for execution, and only when the electric injection platform is required to act, an action instruction control word is sent to the communication program block. Since the standard action block removes the curve planning block for glue melting and glue injection, the planning of the speed, position, current, injection pressure and/or action time of the glue melting and glue injection process is no longer involved. Therefore, the upper computer 100 sends the real-time operation data of the electric axis instead of the setting parameters, so that the data processing amount of the main control controller of the upper computer 100 can be reduced, the processing requirement is reduced, and a low-cost processor can be adopted, so that the cost of the upper computer 100 is reduced.
For the case that the lower computer 200 is an electric radiation table, the data issuing process of the upper computer 100 and the data feedback process of the lower computer 200 are as follows:
the data issuing process comprises the following steps:
1) the upper computer 100 sends control words, process parameters and action instructions to a communication master station 220 on the radio frequency station through an external bus 300;
2) the communication master station 220 maps the parameters and instructions from the external bus 300 to the internal bus 210;
3) the communication slave station obtains respective motion control data through the internal bus 210;
4) the communication slave station calculates a new axis motion track after the last action task is completed;
5) executing the action instruction;
in the data issuing process, the control word, the process parameter and the action command sent by the upper computer 100 are setting parameters associated with the electric axis, including setting parameters including speed setting, position setting, current setting, action mode and the like. Specifically, these setting parameters can be downloaded from the upper computer 100 to the radio station servo system at the initial stage of communication establishment; the data of the set parameters are downloaded once at the initial stage of communication establishment, and then the relevant data are automatically transmitted once every time of modification, so that the upper computer 100 does not need real-time transmission time and only issues the data when the set parameters are required to be modified; after the downloading of the parameters is completed, the upper computer 100 sends a shaft operation instruction to the communication master station 220 according to the injection molding machine operation timing sequence.
The data feedback process comprises the following steps:
1) each communication slave station feeds back the real-time motion state information of the state word and the axis to the internal bus 210;
2) the communication master station 220 maps information from the internal bus 210 to the external bus 300;
3) the upper computer 100 acquires data through the external bus 300.
In the data feedback process, the status word data and the axis real-time motion status information in the feedback data are the real-time data in the above embodiment, where the status word data is unnecessary data and the axis real-time motion status information is necessary data. The real-time motion information of the shaft comprises velocity feedback, position feedback, current feedback, injection pressure and/or action time and the like.
Further, the upper computer 100 also monitors the alarm state of the communication and electric shooting table servo system, and sends an emergency stop instruction (communication control word and DO signal) if necessary; the upper computer 100 monitors the electric shaft travel interval and the abnormal speed during prohibition, and immediately processes the overtravel once exceeding the monitoring range, thereby simultaneously realizing the real-time monitoring and abnormal processing of the running state of the lower computer 200 and ensuring that the running of the lower computer 200 is in a safe state.
The utility model discloses still provide a control method for injection molding machine, be applied to the next computer of injection molding machine, in an embodiment of this control method, as shown in FIG. 8, this control method includes:
step S10, receiving setting parameters which are sent by an upper computer and are associated with the electric axis, wherein the setting parameters comprise at least one of speed setting, position setting, current setting and action modes;
step S20, calculating a motion track for controlling the operation of the electric shaft according to the set parameters;
and step S30, generating a servo motor operation instruction for driving the electric shaft to operate according to the motion track so as to control the servo motor to operate.
Specifically, the control system of the injection molding machine is shown in a functional block diagram in fig. 1 and comprises an upper computer 100 and a lower computer 200, wherein a control device of the lower computer 200 comprises a communication master station 220 and at least one communication slave station communicating with the communication master station 220, the communication master station 220 and the communication slave station are arranged in the lower computer 200 of the injection molding machine, and the lower computer 200 communicates with the upper computer 100 of the injection molding machine, specifically communicates with the upper computer 100 through the communication master station 220. The upper computer 100 is used for controlling all protection and logic actions of the electric injection molding machine, receiving set parameters, namely shaft technological parameters, related to the electric shaft set by a user through a human-machine interface (HMI), the upper computer 100 issues the shaft technological parameters to the lower computer 200, the lower computer 200 calculates the motion track of the electric shaft based on the shaft technological parameters, and finally generates an operation instruction of a servo motor for driving the electric shaft to operate, so that the servo motor is controlled to operate, and the control of the electric shaft is realized.
In the control method of this embodiment, after the lower computer 200 receives the setting parameters, the communication master station 220 and/or at least one communication slave station in the lower computer 200 calculates the motion trajectory of the electric axis by itself, so as to finally control the operation of the servo motor, so that the electric axis operates according to the motion trajectory. Compared with the prior art that the upper computer 100 outputs the operation parameters of the motion track to the lower computer 200 to control the operation of the servo motor, the scheme of the embodiment can overcome the delay generated when the operation parameters are executed due to the communication delay of the upper computer 100 and the lower computer 200, so that the operation of the electric shaft is deviated, and the scheme of the embodiment can provide the precision for controlling the operation of the electric shaft, thereby improving the quality of the plastic products produced by the whole injection molding machine.
In another embodiment of the control method for an injection molding machine of the present invention, as shown in fig. 9, the control method further includes:
step S40, the communication master station distributes the received setting parameters to the corresponding communication slave station;
step S50, the communication slave station calculates a motion track for controlling the operation of the electric shaft according to the set parameters;
and step S60, the communication slave station generates a servo motor operation instruction for driving the electric shaft to operate according to the motion track so as to control the servo motor to operate.
In this embodiment, the communication master station 220 mainly performs a data forwarding function, and assigns the setting parameters sent by the upper computer 100 to the communication slave stations, and the communication slave stations perform a motion trajectory calculation function.
Specifically, as shown in fig. 3 and 4, the lower computer 200 includes a communication master station 220 and more than one group of communication slave stations, the communication master station 220 is in communication connection with the more than one group of communication slave stations, specifically, 5 groups of communication slave stations are shown in fig. 3, namely, the communication slave station 230 to the communication slave station 270, and the communication master station 220 is used for receiving data of the upper computer 100 and feeding back real-time states of the stations of the lower computer 200 to the upper computer; the communication master station 220 receives and feeds back data with the upper computer 100 through an external bus 300 such as EtherCAT or CAN-Open, and the communication master station 220 and the communication slave stations distribute and feed back high-speed data through an internal bus 210; the upper computer 100 controls the hydraulic station or other devices in the communication of the non-slave station, namely the device 500 in the figure, through other types of communication or IO ports. When the upper computer 100 works, the communication and alarm states of the lower computer 200 are monitored in real time, and an emergency stop instruction (such as a communication control word and a DO signal) is sent out when necessary; monitoring the stroke interval of the electric shaft and the abnormal speed when the electric shaft is static, immediately processing overtravel alarm and cutting off enabling and servo strong electricity once the abnormal speed exceeds the normal range, namely, the upper computer 100 monitors the feedback parameter state information of the lower computer 200 at the moment, if the abnormal speed exceeds the normal value, executing abnormal alarm processing, controlling the AC power supply of the lower computer 200 to be cut off, and completely cutting off the power supply of the lower computer 200 to stop working.
In this embodiment, a master station communication card is disposed on a controller of the communication master station 220, and an external communication interface 221 and an internal communication interface 222 are disposed on the master station communication card, where the external communication interface 221 performs data interaction through an external bus 300 such as EtherCAT or CAN-Open, and the two sets of communication interfaces exchange data with each other through mapping; the communication master station 220 exchanges data with the upper computer 100 through the external communication interface 221 in real time, the communication master station 220 reads and writes parameters with the communication slave stations through the internal communication interface 222, and data of the upper computer 100 are distributed to the communication slave stations.
The controller of the communication master station 220 is also provided with a master station PLC223 used for developing the functions of the communication master station 220 or assisting the communication slave station to perform action calculation; the master station PLC223 is provided with a master station monitoring program module for monitoring communication states and software and hardware abnormalities, so as to monitor the state machine type of the communication master station 220 in time, feed back to the upper computer 100 when the state is abnormal, and perform exception handling by the upper computer 100.
In this embodiment, the slave PLC and the internal communication module for receiving and sending data are disposed on the controller of the slave communication station, and specifically include an internal bus 210 interface, a coding parameter reading and writing program module, and a real-time data reading and writing program module, so as to implement communication with the master communication station 220 and other slave communication stations.
And the slave station PLC is provided with an autonomous program module for calculating a motion track and parameters, a slave station alarm program module for executing a safety stop function, an emergency stop program module for controlling an external emergency stop IO state, and a monitoring program module for automatically monitoring a communication state and software and hardware.
After the communication slave station receives an instruction of the upper computer 100 which is sent by the communication master station 220 and contains set parameters, the motion track is calculated by the autonomous program module, the controller of the communication slave station responds to an operation instruction by combining other conditions, the operation of the electric axis is controlled according to the motion track execution axis planned by the slave station PLC, specifically, the communication slave station obtains motion data of the electric axis through the communication master station 220, the axis motion parameters are calculated by the slave station PLC, after the operation instruction of the upper computer 100 is received, the communication slave station drives the servo motor to operate according to the calculated motion parameters, and the operation track is repaired in real time during the operation. Because some sudden abnormal conditions such as locked rotor can be encountered in the running process of the servo motor, the servo motor can not run according to the originally planned track speed, the original track needs to be modified for correction, and the servo motor is prevented from being damaged due to running in an abnormal state all the time.
Each communication slave station independently monitors the mechanical stroke of the controlled electric shaft and the zero-speed state in a static state besides the main function of calculating the motion track and controlling the operation of the electric shaft, immediately sends out a position overrun alarm or a speed overrun alarm once an abnormality occurs, automatically executes a safety stop function, and cuts off control enabling, namely the communication slave station monitors the state of the controlled electric shaft in real time, sends alarm information to the communication master station 220 in the abnormal state, the communication master station 220 forwards the alarm information to the upper computer 100, and executes corresponding abnormality processing by itself.
The lower computer 200 in the control device of the practical novel embodiment receives the setting parameters sent by the upper computer 100 through the communication master station 220 and sends the setting parameters to the communication slave station through the internal bus 210, and the controller of the communication slave station calculates the motion track of the electric shaft according to the setting parameters, so that the accurate control of the operation of the electric shaft is realized, and the control deviation occurring when the upper computer 100 sends the data of the motion track of the electric shaft through the external bus 300 is avoided.
Embodiments of the present application also provide a computer program product comprising program instructions that, when executed by a controller, enable the controller to implement any of the above-described embodiments of the control method for an injection molding machine.
Embodiments of the present application also provide a storage medium having computer-readable instructions stored thereon, which, when executed by a controller, enable the controller to perform the control method for an injection molding machine of any of the above-described embodiments.
Those skilled in the art can understand that all or part of the steps in the method for implementing the above embodiments may be implemented by a program to instruct related hardware, where the program is stored in a storage medium and includes several instructions to enable a (may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, various different embodiments of the present application may be arbitrarily combined with each other, and the embodiments of the present application should be considered as disclosed in the embodiments of the present application as long as the idea of the embodiments of the present application is not violated.
Claims (8)
1. A control device for an injection molding machine is characterized by comprising a communication master station and at least one communication slave station communicated with the communication master station;
the communication master station is configured to receive setting parameters which are transmitted by the upper computer and are associated with the electric axes, and the setting parameters comprise at least one of speed setting, position setting, current setting and action mode;
the master communication station and/or the at least one slave communication station is configured to:
calculating a motion trail for controlling the operation of the electric shaft according to the set parameters;
generating a servo motor operation instruction for driving the electric shaft to operate according to the motion track so as to control the servo motor to operate;
the upper computer communicates with the communication master station through an external bus, the communication master station communicates with the communication slave station through an internal bus, and the communication rate of the external bus is lower than that of the internal bus;
the communication master station comprises an external communication interface, an internal communication interface and a master station PLC;
the external communication interface is used for communicating with the upper computer through the external bus, and the internal communication interface is used for communicating with the communication slave station through the internal bus;
and the master station PLC receives the data sent by the upper computer through the external communication interface and distributes the data to the communication slave stations through the internal communication interface.
2. The control apparatus of claim 1, wherein the communication slave station comprises an internal communication interface and a slave station PLC;
the internal communication interface is used for data interaction with the communication master station and other communication slave stations;
and the slave station PLC is used for calculating the motion trail of the electric shaft according to the set parameters and generating a servo motor operation instruction for driving the electric shaft to operate so as to control the servo motor to operate.
3. A lower machine for an injection molding machine, the lower machine comprising the control device of any one of claims 1 to 2, the lower machine further comprising a servo motor, the lower machine configured to: and outputting three-phase alternating current for driving the servo motor to operate according to the instruction for operating the servo motor.
4. An electro-discharge station, characterized in that it comprises a lower machine according to claim 3.
5. The radio station as claimed in claim 4, wherein said at least two communication slave stations perform a glue melting function and a glue injection function, respectively.
6. The radio station as claimed in claim 5, wherein the communication master station of the radio station includes a power module for supplying dc power to the communication slave stations, and each of the communication slave stations of the radio station includes a power module for driving the operation of the melt adhesive servo motor and the injection servo motor, respectively.
7. An injection molding machine comprising an upper machine and the lower machine of claim 3;
the upper computer is configured to: and receiving the setting parameters set by the user and sending the setting parameters to the lower computer.
8. An injection molding machine as claimed in claim 7, wherein said host computer includes a human machine interface and a master controller; the human-computer interface is used for receiving the set parameters, and the main controller is used for issuing the set parameters to the lower computer through an external bus and receiving data fed back by the lower computer.
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| CN2018109523116 | 2018-08-21 | ||
| CN201810952311.6A CN108908851A (en) | 2018-08-21 | 2018-08-21 | The electricity of injection molding machine penetrates platform servo-system and its data interaction process |
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| CN201920322069.4U Active CN210211137U (en) | 2018-08-21 | 2019-03-13 | Control device, lower computer, electric injection platform and injection molding machine |
| CN201910190611.XA Pending CN109702960A (en) | 2018-08-21 | 2019-03-13 | Control device the next mechanical, electrical penetrates platform and injection molding machine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702960A (en) * | 2018-08-21 | 2019-05-03 | 广东伊之密精密机械股份有限公司 | Control device the next mechanical, electrical penetrates platform and injection molding machine |
| CN111993652A (en) * | 2020-07-24 | 2020-11-27 | 格力电器（武汉）有限公司 | Injection molding machine parameter importing method and system |
| CN112440279A (en) * | 2020-11-12 | 2021-03-05 | 深兰科技（上海）有限公司 | Control method and device of robot operation system |
| CN114506049A (en) * | 2022-01-24 | 2022-05-17 | 苏州安驰控制系统有限公司 | Injection molding machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110647120B (en) * | 2019-09-26 | 2021-01-01 | 北京机电工程研究所 | Motion control method suitable for extreme application conditions |
| CN112650148A (en) * | 2019-10-10 | 2021-04-13 | 摩梁(上海)智能科技有限公司 | Multi-axis motion control system and method |
| CN110941179B (en) * | 2019-12-09 | 2023-03-31 | 杭州和利时自动化有限公司 | Undisturbed downloading method, device and equipment and readable storage medium |
| CN114103042B (en) * | 2021-10-29 | 2024-02-06 | 广东拓斯达科技股份有限公司 | Control method of injection molding machine, injection molding machine and readable storage medium |
| CN115195069A (en) * | 2022-06-27 | 2022-10-18 | 佛山市南海区广工大数控装备协同创新研究院 | Universal data acquisition module and system for injection molding machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101916085B (en) * | 2010-08-05 | 2012-05-30 | 华南理工大学 | Control system and method of glue-injecting motor and glue-smelting motor of electric injection molding machine |
| KR101194563B1 (en) * | 2010-11-30 | 2012-10-25 | 삼성중공업 주식회사 | System and method for motion control in network |
| CN102632599B (en) * | 2012-03-27 | 2015-09-30 | 宁波恩瑞德机电科技有限公司 | A kind of control system of injection machine |
| CN105589447A (en) * | 2016-01-25 | 2016-05-18 | 海天塑机集团有限公司 | EtherCAT master-slave station integrated control card and control system |
| CN207281544U (en) * | 2017-10-26 | 2018-04-27 | 无锡市驰海智能科技有限公司 | Universal real time kinematics control system based on EtherCAT buses |
| CN108908851A (en) * | 2018-08-21 | 2018-11-30 | 广东伊之密精密机械股份有限公司 | The electricity of injection molding machine penetrates platform servo-system and its data interaction process |
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2018
- 2018-08-21 CN CN201810952311.6A patent/CN108908851A/en active Pending
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2019
- 2019-03-13 CN CN201920322069.4U patent/CN210211137U/en active Active
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702960A (en) * | 2018-08-21 | 2019-05-03 | 广东伊之密精密机械股份有限公司 | Control device the next mechanical, electrical penetrates platform and injection molding machine |
| CN111993652A (en) * | 2020-07-24 | 2020-11-27 | 格力电器（武汉）有限公司 | Injection molding machine parameter importing method and system |
| CN112440279A (en) * | 2020-11-12 | 2021-03-05 | 深兰科技（上海）有限公司 | Control method and device of robot operation system |
| CN112440279B (en) * | 2020-11-12 | 2022-03-22 | 深兰科技（上海）有限公司 | Control method and device of robot operation system |
| CN114506049A (en) * | 2022-01-24 | 2022-05-17 | 苏州安驰控制系统有限公司 | Injection molding machine |
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| CN108908851A (en) | 2018-11-30 |
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Address after: No. 83022, Keyuan Road, Shunde District, Foshan City, Guangdong Province Patentee after: Yizhimi Co.,Ltd. Address before: No. 83022, Keyuan Road, Shunde District, Foshan City, Guangdong Province Patentee before: GUANGDONG YIZUMI PRECISION MACHINERY Co.,Ltd. |