CN86105252A - Be used to control method and apparatus with movable member and stationary parts - Google Patents
Be used to control method and apparatus with movable member and stationary parts Download PDFInfo
- Publication number
- CN86105252A CN86105252A CN86105252.8A CN86105252A CN86105252A CN 86105252 A CN86105252 A CN 86105252A CN 86105252 A CN86105252 A CN 86105252A CN 86105252 A CN86105252 A CN 86105252A
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- movable member
- ozzle
- signal
- speed
- stationary parts
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- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
In the machine such as injector and die casting machine; include a movable member and a stationary parts; they will be meshing with each other in the course of the work and separate; for making movable member so that roughly zero velocity and stationary parts are meshed; send the drive motor that a deceleration instruction is given movable member a particular moment, this moment is determined by the relation apart from the two that the actual speed of movable piece and the movable piece expected reduce speed now to stopping.
Description
The invention relates to method and apparatus that includes movable member in movable member and the stationary parts machine of control, thereby particularly make movable member when stationary parts advances or injecting ozzle when stationary mold advances, can not have the method and apparatus of impact to be meshing with each other at a high speed about a kind of control injection machine and die casting machine.The present invention will be that example describes with the injection machine.
Figure 2 shows that the basic structure of the injection machine that the present invention can be suitable for. Motor 7 and 13 is fixed on the casing 40 among Fig. 2, and motor 7 is used for injection, filling and the metering of resin, and motor 13 is used for the clamping of mould and the propelling of ozzle.Gear 41 and 42 is installed on the axle 13A of motor 13, and gear 43 and 44 then is contained on the axle 7A of motor 7, by handling that the clutch coupling 45 and 46 be contained in a 7A and 13A end respectively can transmit or the driving force of transmission gear 41～44 not.Motor transmission shaft 47A and 48A are bearing on the casing 40, driving force can be passed to they or not pass to them by solenoidoperated cluthes 47 and 48.Gear 49 and 50 is installed on the 47A, and gear 51 and 52 then is contained on the 48A.Driving shaft 30A is bearing on the casing 40, and it drives a movable metal die 30C(and sees Fig. 1), constitute a metal die 30 by it with internal cavity.To the inside of casing 40, gear 32～34 is installed on axle 30A, the clutch coupling 901 by being positioned at a 30A one end is with the driving force transmission or be not delivered on the 30A.Gear 36 is installed on the driving shaft 30, be arranged in left side casing 35, be used for driving working shaft 38, mould support component 39 is slided along guide pole 38A and 38B by gear 37, thereby make movable metal die 30C reciprocating with respect to stationary metal mould 30B, just mould is closed or open.In addition, also have an axle 1A who is connecting screw rod 1 in casing 40, gear 50 is installed on the 1A.Gear 55 is installed on the axle 54, and it is supported on the gear 53 by bearing 54.
The course of work of above-mentioned injection machine is as follows: it repeats a succession of operation, comprise that movable metal die 30C advances to stationary metal mould 30B, boost in pressure is to increase the clamping force of mould, ozzle 5 advances to stationary metal mould 30B, injects molten resin to metal die, and metering and cooling make the resin plasticizing, ozzle 5 is towards casing 40 withdrawals, decompression, the product that has cast out is discharged in die sinking in metal die.Fig. 2 illustrates the original state of this injection machine, be effective clamping mold and adherence pressure, motor 13 energisings, it pushes ahead movable metal die through gear 36 and 37 driving shafts 38 by unillustrated intermediate gear drives axle 30A on 41,33 and figure of gear then.When moveable die stops and mould when clamped, clutch coupling 901 unclamps to make and drives power and can not be relayed on the gear 36, at the same time by gear 33, clutch coupling 45 and 47 conversions, only make a 47A rotation, casing 40 is advanced to metal die, thereby ozzle 5 is advanced to stationary mold 30B.Ozzle 5 is return by motor 13 counter-rotatings, and opening when direction opposite when then being subjected to motor 13 with clamping mold is rotated of mould acts on, thereby movable metal die 30C is return.
When ozzle 5 when stationary mold 30B moves, screw rod 1 rotation is transported to the resin in the hopper 34 in the injecting tube 2, the multiple heater heats (not shown) of resin this moment stirs, and mixes, and is plastified.Because the pressure of resin 6 in the cylinder 2, screw rod 1 is subjected to the promotion backward of the direction shown in the arrow N.Injection machine structure like this can not suck in cylinder 2 and the ozzle 5 air by hopper 3, thereby can be to the resin accurate measurement.When the speed of control motor 13 is clipped together the movable metal die 30C that is fixed on the bearing 39 and stationary metal mould 30B, movable metal die 30C advances to stationary metal mould 30B, movable metal die 30C and stationary metal mould 30B enough near the time, control and just be switched to pressure control.After engagement, two metal dies just fit together under predetermined pressure mutually.But where with when speed control transfers pressure control to then is undetermined, and when transferring pressure control to by speed control, speed or pressure will not be continually varyings.In addition, if when movable metal die 30C is meshed with stationary metal mould 30B, the speed of movable metal die 30C is too big, and then two metal dies all can be owing to big impulsive force be damaged, because the two all is by metal firmly.The vibration that causes owing to impulsive force has also prolonged two moulds and finished the time interval that meshes together under predetermined pressure.If before vibration is reduced to zero, apply and then can cause incomplete engagement with a damping force.Again furtherly, unless the speed when engagement is constant, otherwise the clamping force of mould can change.
Equally, at ozzle 5 when metal die 30 advances, the control of the speed control 15 of motor 13, during near stationary mold 30B, this control just was converted to pressure control movable metal die 30C ten minutes.Yet in such control, exist this problem: when speed control transfers pressure control to, since from speed control transfer pressure controlled position to and the time uncertain, the discontinuous variation of speed or pressure, like this when contact velocity is high owing to impact, the two all can damage ozzle 5 and metal die 30, owing to impact caused vibration, before mutually combining, ozzle and metal die will experience a long time under predetermined pressure simultaneously.On the other hand, before the vibration complete attenuation, apply a damping force, then just can not be meshed closely to ozzle 5.In addition, unless ozzle speed is not constant, otherwise the pressure of metal die is changed.
Therefore the objective of the invention is to provide a kind of method and apparatus of novelty, in order to control a kind of machine that includes movable member and stationary parts, make its movable member can be, and closely movable member and stationary parts are combined and do not produce bump with at a high speed to the stationary parts motion.
One aspect of the present invention provides a kind of equipment, be used to control a machine that includes a movable member and a stationary parts, in the course of work of this machine, movable member will combine and separate with stationary parts, it includes several steps: movable member is moved with a speed that is controlled to stationary parts, and sending deceleration instruction to the drive unit of moving-member a particular moment, this is determining apart from the relation between the two movable member according to the actual speed of movable member and expectation stops from reducing speed now to constantly.The translational speed that makes movable member thus is reduced to zero in the moment of itself and stationary parts engagement.
Another aspect of the present invention provides a kind of equipment, be used to control a machine that includes a movable member and a stationary parts, in the course of work of this machine and in the course of work of the drive unit of movable member, movable member and stationary parts combine and separate.This equipment is made up of such some devices: on behalf of the present position of movable member and it, the device of generation signal Sl, Sl follow stationary parts be meshed distance between that of zero velocity roughly; A position transducer that driven by drive unit, it produces the signal Sf of expression movable member present position; A device that produces expression target range signal Sn; A device that is used to obtain difference signal (Sn-Sf); A comparer is used for comparison signal Sl and difference signal (Sn-Sf), when the signal that is compared just produces signal V about equally the time
d; And a deceleration instruction generator, it provides a deceleration instruction Vn according to signal Vd to drive unit.
In the accompanying drawing:
Fig. 1 invents opertaing device figure applicatory for the injector and a playscript with stage directions;
Fig. 2 is the side diagrammatic sketch, has part and analyses and observe, and represents the CONSTRUCTED SPECIFICATION of injector shown in Figure 1;
Fig. 3 is the block scheme of the used control system of the present invention;
Fig. 4 is the block scheme of control system shown in Figure 1;
Fig. 5 is the process flow diagram that is used to illustrate control system work shown in Figure 4;
Fig. 6 a is the process flow diagram that is used in particular cases,
Fig. 6 b is the process flow diagram that is used for generally speaking.
The following describes most preferred embodiment of the present invention illustrated in figures 1 and 2.
Suppose a mold cramping position command Sc now, an injection molding ozzle is added on the controller 15 in proper order near position command Sn and a screw position instruction Si.At first, when mould holder held together, a rate signal Vc who calculates was added on the motor (M1) 13, was used to make moveable die 30C to move with normal speed towards stationary metal mould 30B in the B direction.The rotation of motor 13 is through gear 41,55,33, and driving shaft 30A and gear 36,37 are delivered on the axle 38, thereby movable metal die 30C is pushed ahead.In progradation, position transducer 14 is the axial location of detection axis 38 periodically, so that the feedback signal of the position S of a movable metal die 30C of expression is provided to controller 15.Like this, controller 15 is being supervised speed and the position of movable metal die 30C.
After metal die 30 is clamped as mentioned above, when ozzle 5 when stationary mold 30B advances, the ozzle 5 that makes that calculates is added on the motor 13 with the rate signal Vn that normal speed advances, it is by gear 41 and 55 drive ball screw rods 11, thereby the ozzle 5 that is installed on the bearing 10 is advanced to stationary mold 30B, and bearing 10 is driven by ball screw rod 11 by ball nut 12.The position transducer 14 that is contained in this progradation on the motor 13 sends out the expression ball nut 12 positions feedback signal Sf of ozzle 5 positions just to controller 15 periodically.Controller 15 is being supervised the position and the speed of ozzle 5 like this.
Along with the front end of ozzle 5 pushes up on the stationary mold 30B, resin just is injected in the metal die.At this moment, the screw rod turn signal Ri that calculates according to screw position instruction Si is added on the motor (M2) 7, thereby motor 7 rotates screw rod 1.Send into shearing, the stirring of the multiple screw rods 1 of resin 4 the cylinder 2 from hopper 3, charged into cylinder 2 like this, inject metal die then by plasticized resin 6.Because the pressure of the resin 6 in the cylinder 2, screw rod 1 is shunk back to the direction of arrow N, has avoided extraneous air to be inhaled in the cylinder 2 with regard to having recorded accurate amount of resin like this.Be connected in the revolution n of the tachometer generator 8 detection screw rods 1 on the motor 7, provide screw rod revolution feedback signal Rf to controller 15.
Like this, by the present invention, because carried out speed control, movable metal pattern 30C or ozzle 5 are with propelled at high velocity, in case at movable metal die 30C or ozzle 5 with before stationary metal mould 30B is meshed or in the engagement, speed is reduced to zero immediately, when movable metal die 30C or ozzle 5 contact with stationary mold 30B with low speed, low pressure, impact when contact is just little, and can guarantee perfect engagement at short notice.The operation that pushes movable metal die 30C or ozzle 5 to stationary metal mould 30B is realized by switch-clutch 901 by public motor (M1) 13, because the method for control operation is the same, will describe the method that control ozzle 5 advances to metal die 30 below in detail.
Fig. 3 is the characteristic working curve that is used to illustrate the ozzle 5 of the principle of the invention, horizontal ordinate express time t wherein, and ordinate is the speed V of ozzle 5.Speed at t moment ozzle is V
0Though at t
0Sent by the speed command shown in the family curve LL0, but the actual speed of ozzle 5 is by shown in the family curve LL1, it illustrates speed at t
3Constantly just become zero.U represents retarded velocity among Fig. 3, and ω c is a speed loop gain.Principle of the present invention describes with reference to operating characteristic shown in Figure 3.Ozzle speed is controlled in V
0, its speed and position are supervised periodically by preceding method.The difference of the existing position of position when ozzle 5 contacts with metal die 30 and ozzle just reduces speed now when equaling certain specific range, and this distance is meant that for making ozzle decelerate to it by existing speed just in time be zero necessary distance when running into metal die 30.At t
0The time send speed command shown in the family curve LL0, then as long as ozzle 5 according to this instruction campaign, at t
2Ozzle speed will become zero constantly.But because ozzle 5 has certain inertia, actual speed will be shown in family curve LL1, thereby ozzle 5 will be at t
3Contact with metal die 30 when speed is kept to zero constantly.The slope of family curve LL1 when speed is zero is the same with retarded velocity u.Because at t
1Constantly, at family curve LL2 and expression constant speed V
0The time t of intersection point C place of straight line
1Equal the inverse of speed loop gain ω c, speed V
1Become (V
0+ u/ ω c).Correspondingly at t
3Speed is (V constantly
0/ u+1/ ω c).Supposition now will make speed be kept to distance that zero institute must a process area S1 that A, B, C and D surrounded that serves as reasons, following equation establishment on ozzle 5 and metal die 30 are meshed that.
S1＝ 1/2 (V
2 0)/(u) + (V
0)/(ω
c) ……（1）
But because that the reality of ozzle 5 moves as family curve LL1 is represented, at t
0The time the position and the distance between speed is actual when being kept to zero the position corresponding to the area S2 that is centered on by straight line AB and AD and curve LL1.The area that straight line DC, BC and curve LL1 are centered on is designated as S3, and we just obtain following equation
S2＝S1-S3……（2）
Therefore, when ozzle 5 and metal die 30 in conjunction with preceding institute through distance equal area S1 pairing apart from the time send deceleration instruction, it always can make ozzle speed be reduced to before metal die 30 engages zero.Because ozzle speed is reduced to for zero time by speed loop gain ω c decision, thus select bigger speed gain ω c just may make ozzle one comparatively approach metal die 30 a bit on be reduced to zero.In other words, when sending deceleration instruction so that ozzle speed when on certain point, being kept to zero, ozzle 5 just being contacted with metal pattern 30 before speed is kept to zero, thereby cause impact near metal pattern 30.Characteristics of the present invention promptly are to make ozzle speed be kept to zero in fact when ozzle and metal die engagement.Be kept to after zero in ozzle speed, will control by speed control and switch to pressure control, ozzle just can stably not produce any shock and vibration to metal die 30 propellings.
When mold cramping, control method that movable metal die 30C advances to stationary metal mould 30B with top described identical.
Should be understood that motor can be that direct current generator also can be an alternating current generator, the motion of movable metal die and ozzle also can replace ball screw rod and ball nut, and these parts can be moved along guiding parts by motor-driven.
As mentioned above; control the method for injector according to the present invention; because the speed that may make movable metal die 30C and ozzle is reduced to zero at movable metal die during with static metal die engagement or before ozzle and metal die 30 combine, the impact when meshing or vibrate just can be prevented effectively.In addition, no matter the speed of movable metal die or ozzle how, the engagement force of generation is constant, thereby can produce the product of uniform quality and reduce the time.
Above, the present invention is example explanation with the injector, and the present invention also is applicable to die casting machine, and it is to pour into motlten metal in the cylinder by a piston injection metal die with the former difference.Push away and answer it, the present invention is applicable to any machine that includes a stationary parts and a movable member, and wherein movable member advances and breaks away to stationary parts with quite high speed.
Now opertaing device of the present invention to be described.
Fig. 4 is the details block scheme of used control system among Fig. 1, Fig. 2.Fig. 4 center 51 is for pressing the generator that equation (1) produces signal Sl, signal Sl obtains by computing machine continuous reference area Sl in each sampling period or sampling pulse, frame 14 is corresponding to position transducer shown in Figure 1 14, and it produces the signal Sf of the movable metal die of representative present position and is used as feedback signal.Frame 53 is a target range Sn setting apparatus.Under situation shown in Figure 3, it is corresponding to the distance between an A and the B or corresponding to time t3, and the speed of movable at this moment metal die or piston should be reduced to zero.Signal Sf and Sn are added on the subtracter 54, obtain difference signal (Sn-Sf), the remaining distance that its expression movable member must move, signal Sl and (Sn-Sf) being added on the comparer 55, it is sent signal Vd and is added on the motor 13 to produce a reduce-speed sign Vn to deceleration instruction generator 56 when the signal that is compared equates.
Now seeing the process flow diagram shown in Fig. 5 back, calculate reduce-speed sign Sl at 101 step computing machines by equation (1), in other words, is determined by the speed and the deceleration parameters of movable member for deceleration work is needed apart from Sl.Go on foot then writing position feedback signal Sf 102, press preceding method in 103 steps and determine remaining distance (Sn-Sf).Whether check Sl=Sn-Sf in 104 steps then.When assay was "No", program got back to for 102 steps, carried out for 102 and 103 steps again, and when assay was "Yes", promptly being decelerated to speed at 105 step motors 13 was zero.
At the process flow diagram under the special case of being used for shown in Fig. 6 a, increase/decrement △ V at 110 step setting movable member speed V and speed, utilize V and △ V to calculate Sl in 111 steps then, go on foot target settings apart from Sn 112, at 113 step accounting equation P=Sn-Sf, set feedback signal Sf in 114 steps.After this, whether check P=Sf in 115 steps.If assay is a "No", program just forwarded for 114 steps to, if assay is a "Yes", then just sent deceleration instruction to motor 13 in 116 steps.
Process flow diagram is applicable to general situation shown in Fig. 6 b, goes on foot respectively identical with the performed computing of 125 steps with 110,111,117,114 and 116 shown in Fig. 6 a 120,121,122,123.Process flow diagram difference shown in process flow diagram shown in Fig. 6 b and Fig. 6 a is whether 124 steps check Sl equals (Sn-Sf), if assay "No" program just got back to for 120 steps, re-executed for 120,121,122 and 123 steps, when the assay "Yes", promptly send deceleration instruction in 125 steps.
Claims (9)
1, a kind of controlling packet contains the method for the machine of a movable member and a stationary parts, and in the course of work of described machine, movable member will be meshing with each other and separate with stationary parts, and the feature of described method is to comprise the following steps:
Described movable member moves to described stationary parts with controlled velocity, and
Send a deceleration instruction a particular moment to the drive unit of described movable member, this moment determined by the actual speed of described movable member and the distance that is reduced speed now to stopping by movable member of giving meter, thereby makes the speed of described movable member when it and described stationary parts mesh be kept to zero.
2, by the method in the claim 1, wherein said movable member and described stationary parts are made of a movable metal die and a stationary metal mould of an injector respectively.
3, by the method in the claim 1, wherein said movable member and described stationary parts are made of the molten resin injection ozzle and the metal die of described injector respectively.
4, by the method in the claim 1, when the difference of the position when described movable member and the engagement of described stationary parts and the physical location of described movable member equals certain specific range, send described deceleration instruction, this distance is to be reduced to zero necessary distance from actual speed for the speed that makes described movable member on it and described stationary parts meshing point.
5, by the method for claim 2, further comprise the control switch step, be reduced to after zero in the speed of described movable member, the control of described injector switches to pressure control from speed control.
6, press the method for claim 1, wherein said machine comprises die casting machine, it includes a mould, a casting ozzle that injects motlten metal, and be used to make the device that described casting ozzle advances to described mould and make described motlten metal be molded into the device of described mould.
7, equipment that includes the machine of a movable member, a stationary parts of control, in the course of work of described machine, movable member will be close to and separate mutually with stationary parts, this machine also includes the drive unit of described movable device, and the feature of described equipment is made up of following array apparatus:
Produce the device of signal Sl, the existing position that Sl represents described movable member and described movable member are followed the distance between the position of described stationary parts so that roughly zero velocity is meshed;
The position dispensing device that driven by described drive unit is used to produce the signal Sf of the present position of representing described movable member;
Produce the device of expression target range signal Sn;
Obtain the device of difference signal (Sn-Sf);
Comparer is used for more described signal Sl and difference signal (Sn-Sf), when being compared signal about equally the time, produces signal Vd;
The deceleration instruction generator, it responds described signal Vd, produces deceleration instruction Vn and is added on the described drive unit.
8, by the equipment of claim 7, wherein said signal is used as the feedback signal of described equipment.
9, press the equipment of claim 7, wherein said equipment comprises an injector, it is made up of more such parts: a movable metal die, a stationary metal mould, one is injected ozzle, this ozzle is used for plasticized resin is injected the cavity that is constituted when being clamped together by the described movable metal die with static, a screw rod, and it is included in and is used to form described plasticizing resin in the described ozzle; First drive unit is used to make described movable metal die and described ozzle to relatively move; Second drive unit is used to rotate described screw rod; Described equipment also includes a tachometer generator that is driven by described second drive unit, is used to produce the signal of the described screw rod rotation number of representative; The device that the controller that described signal is added to described equipment and provides goes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 86105252 CN1013032B (en) | 1986-08-09 | 1986-08-09 | Method and apparatus for controlling movable part and stationary part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 86105252 CN1013032B (en) | 1986-08-09 | 1986-08-09 | Method and apparatus for controlling movable part and stationary part |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN86105252A true CN86105252A (en) | 1988-02-17 |
| CN1013032B CN1013032B (en) | 1991-07-03 |
Family
ID=4802784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 86105252 Expired CN1013032B (en) | 1986-08-09 | 1986-08-09 | Method and apparatus for controlling movable part and stationary part |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1013032B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109414859A (en) * | 2016-12-22 | 2019-03-01 | 日精树脂工业株式会社 | The control method and drive dynamic control device of hydraulic type injection moulding machine |
| WO2021223575A1 (en) * | 2020-05-07 | 2021-11-11 | 海天塑机集团有限公司 | Method and apparatus for eliminating influence on mold closing precision in case of mold closing overshoot during compression molding of injection molding machine |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503491B (en) * | 2014-11-20 | 2017-02-01 | 杭州电子科技大学 | Method for controlling material increase manufacturing flow precision through predicting scanning speed |
-
1986
- 1986-08-09 CN CN 86105252 patent/CN1013032B/en not_active Expired
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109414859A (en) * | 2016-12-22 | 2019-03-01 | 日精树脂工业株式会社 | The control method and drive dynamic control device of hydraulic type injection moulding machine |
| CN109414859B (en) * | 2016-12-22 | 2021-08-31 | 日精树脂工业株式会社 | Control method and drive control device for hydraulic injection molding machine |
| WO2021223575A1 (en) * | 2020-05-07 | 2021-11-11 | 海天塑机集团有限公司 | Method and apparatus for eliminating influence on mold closing precision in case of mold closing overshoot during compression molding of injection molding machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1013032B (en) | 1991-07-03 |
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