JP2001260161A - Molding machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a molding machine small in size and having a high processing speed. SOLUTION: In the molding machine wherein a handling device 50 for moving a molded article is attached to a molding machine main body 30, the first control means 120 of the main body 30 is synchronized with the second control means 720 of the handling device 50 through a memory means 150 directly accessible from both of the first and second control means. By this constitution, the control means are integrated up to a constitution where communication is unnecessary. Further, by making drive circuits 22, 23, 62-65 share a power source with each other, the small sized molding machine small in the maximum current can be realized.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a molding machine provided with a handling device for transferring a molded product to a molding machine body for producing a molded product using a molding die. It relates to improvement of control systems and drive systems. Specific examples of such a molding machine include a press, an injection molding machine, a die cast machine, and the like.

[0002]

2. Description of the Related Art An injection molding machine shown in a block diagram in FIG. 10 is a typical example of a molding machine for automatically manufacturing molded articles one after another, and a handling device 50 is attached to a molding machine main body 30.
The molding machine main body 30 is provided with, for example, a pair of mold fixing parts 33 and a mold movable part 34 as molding dies. The molding machine main body 30 injects a material such as a thermoplastic resin to molds 33 + 34. The molded product is formed by injecting it into the inside and applying an appropriate pressure or the like. An advance / retreat mechanism of the screw 32 is provided for performing injection or the like, and a mold movable section 34 is provided for opening and closing the mold. Is also provided.

As for these reciprocating mechanisms, the production and use of only mechanical and hydraulic types have been reduced, while those of electric and hybrid types have been increasing. However, on the injection side, an electric motor M1
A movement conversion mechanism 31 such as a ball screw mechanism for converting the rotational movement into a linear movement and transmitting the linear movement to the screw 32 is provided. A motion conversion mechanism 35 for transmitting the motion to the mold movable portion 34 is provided.

[0004] The handling device 50 is provided with a molding machine main body 3.
In order to move the molded article manufactured in Step 0 from the molding machine main body 30 to another place, for example, a mold 33
The molded product removed from the +34 is transferred to a transfer device, or the molded product is taken out from the mold 33 + 34 and stored in an appropriate carrier or the like. In such a handling apparatus, a single-axis or multi-axis material handling robot or the like is frequently used, and the number of electric motors corresponding to the degree of freedom of the movement of the robot arm is incorporated. In the handling device 50 of this example, four electric motors M3 to M6 are incorporated into power sources such as vertical movement, horizontal movement, column rotation, and arm rotation.

[0005] A drive unit 60 for electric drive and a control unit 70 comprising a microprocessor system, a sequencer, and the like for performing sequence control and the like are connected to such a handling device 50 via an appropriate cable or the like. Have been. The drive units 60 include electric motors M3 to M3.
6, driving circuits 62 to 65 are provided correspondingly,
In the control unit 70, follow-up control routines 73 to 76 are installed corresponding to the drive circuits 62 to 65, respectively, and each constitutes a servo mechanism. That is, a target value such as a position command is created by the program processing of the material handling control routine 72 installed in the control unit 70, and is passed to the follow-up control routine 73. A current command that causes a feedback amount such as a position detection value to follow the target value is generated, and the drive circuit 62 that receives the current command generates a drive current according to the current command, and outputs the drive current to the electric motor M3. It has become. The same applies to the other motors M4 to M6.

A drive unit 20 for electric drive and a control unit 10 such as a microprocessor system or a sequencer for performing sequence control and the like are also connected to the molding machine body 30 via appropriate cables and the like. Have been. Again, the drive unit 20 includes the electric motors M2,
Drive circuits 22 and 23 are provided corresponding to each of the M1s, and the control unit 10 has follow-up control routines 13 and 14 corresponding to the drive circuits 22 and 23, respectively, each of which forms a servo mechanism. I have. That is, when a target value such as a position command is created by the program processing of the molding control routine 12 installed in the control unit 10 and passed to the follow-up control routine 13, the follow-up control routine 13 executes
A current command that causes a feedback amount such as a detected position value to follow the target value is generated, and a drive current corresponding to the current command is generated in the drive circuit 22 that receives the current command, and is output to the electric motor M2. It has become so.

The same applies to the injection side motor M1 and the like, but a speed command and a force command are given from the molding control routine 12 to the follow-up control routine 14, and the follow-up control routine 14 follows the speed command. The speed control and the force control following the force command are selectively performed. In order to obtain a physical quantity that is fed back at the time of the control, the molding machine body 30 includes a current detection unit 41 that detects a drive current If of the electric motor M1, a rotation speed of the electric motor M1, a traveling speed of the screw 32, and the like. A speed detector 42 for detecting the corresponding speed Vf and a force detector 43 for detecting a force Ff corresponding to the thrust of the screw 32, the pressure in the injection cylinder, and the like are also provided.

Conventionally, the control unit 10 and the drive unit 20 and the control unit 70 and the drive unit 6
“0” is a separate device stored in another housing or the like, and each has its own power supply unit 11, 21, 71, 61. A drive circuit 23 for supplying a drive current to the electric motor M1 on the molding machine main body 30 side and a drive circuit 22 (a first drive circuit) for supplying a drive current to the electric motor M2 are required from the power supply unit 21 of the drive unit 20. Drive circuits 62 to 65 (second drive circuits) for supplying drive current to the electric motors M3 to M6 on the handling device 50 side, respectively.
The required power is supplied from the power supply unit 61 of the power supply.

In order for the molding machine body 30 and the handling device 50 to perform a cooperative operation, it is necessary for the control unit 10 and the control unit 70 to establish and confirm synchronization at the timing of a node such as delivery of a molded product. Therefore, the communication units 16 and 78 are provided in the separate control units 10 and 70, respectively. In the communication, a process number, a flag, and the like in the predetermined procedure are transmitted from the communication unit 16 to the communication unit 78 to indicate the progress of the molding process by the molding control routine 12, and the handling by the material handling control routine 72 is performed. In order to indicate the progress of the process, a process number or the like in the predetermined procedure is transmitted from the communication unit 78 to the communication unit 16. The control unit 10 stores the process numbers and the like in the memory 15 specific to the communication unit, and the control unit 70 stores them in the memory 77 specific to the communication unit. .

[0010] In the case of such a molding machine, the molding machine main body 30 has a mold clamping step of bringing the mold movable section 34 into contact with the mold fixing section 33 according to the sequence control of the molding control routine 12, and a screw 32. Injection process in which the screw 32 reaches the operation limit, switching from speed control to force control when the screw 32 reaches the operation limit, mold opening process for taking out a molded product, etc. Are performed in that order. On the handling device 50 side,
In accordance with the sequence control of the material handling control routine 72, a step of reciprocating the arm of the handling device 50 between a molded product take-out location from the molds 33 + 34 and a molded product transfer destination different from the location is performed.

At this time, in the control units 10 and 70, the molding control routine 12 and the material handling control routine 72 read the respective process numbers and the like from the memories 15 and 77 as needed and notify each other via the communication units 16 and 17 to each other. so,
Mutual synchronization is established. Then, each process proceeds while referring not only to its own process number and the like, but also to the partner's process number and the like. For example, after the mold opening on the molding machine main body 30 side is completed, the picking of the molded product is performed. Of the molding machine main body 3 after the arm protruding process by the handling device 50 for
By starting the mold clamping process on the 0 side, the molding machine body 3
0 and the handling device 50 cooperate without interference.

[0012]

In such a conventional molding machine, the main body of the molding machine and the handling device are separated, and each of them has been independently improved. For example, each device is independently devised to be smaller, and appropriate devices are combined. However, since the two units are separately provided with a drive unit and a control unit, the effect obtained only for the improvement of the mechanical part approaching the limit of miniaturization is small for the effort. Therefore, it is an issue to reduce the size of the control device and the like.

[0013] Further, with the miniaturization and the improvement of the performance of the electric motor, etc., the processing speed and energy saving have been improved in the mechanical part, whereas the control unit has a time delay inevitable communication. Intervention or the like is a bottleneck for improving the processing speed, and the presence of a plurality of power supplies having a large maximum current, which is expected to peak at the time of simultaneous operation, is a bottleneck for downsizing and energy saving of power supply equipment.

Therefore, it is a technical problem to reduce the size of the control device and the like and to make further efforts to eliminate the above-mentioned bottleneck. The present invention has been made to solve such a problem, and an object of the present invention is to realize a compact and fast processing machine. Another object of the present invention is to realize a compact molding machine having a small maximum current.

[0015]

The first to fifth solving means invented to solve such a problem are as follows.
The configuration and operation and effect will be described below.

[First Solution] A molding machine according to the first solution handles a molding machine body having a molding die and forming a molded product, as described in claim 1 at the beginning of the application. A device is attached, and the handling device is for moving the molded product. The first control means for controlling the operation of the molding machine main body and the second control means for controlling the operation of the handling device are provided. Directly accessible storage means are provided, and the first and second control means synchronize via the storage means.

In the molding machine of the first solving means, the first control means and the second control means are integrated to the point where communication is unnecessary, and the communication circuit and the like are omitted. Only small. Further, since the establishment and confirmation of the synchronization are performed by direct access of the storage means, there is no delay due to the communication, and the waiting time for coordination is reduced by that much, thereby improving the overall processing speed. Therefore, according to the present invention, it is possible to realize a compact molding machine having a high processing speed.

[Second Solution] A molding machine according to a second solution is the molding machine according to the first solution, wherein the main body of the molding machine is as described above. An electric motor is introduced into a part or all of the power source, and includes a force detecting unit for detecting a force generated in an operating unit driven by the electric motor. Control means for performing feedback control, that is, feedback control of the drive current of any one or more of the electric motors, and following the speed command of the electric motor via the current control means Speed control means, a force control means for causing the output of the force detection unit to follow a force command via the current control means, and the force command provided as a part of the force control means or separately provided. Output of force detector A first difference calculating means for calculating a difference between the speed command means and a second difference calculating means for calculating a difference between the speed command and the speed of the electric motor, which is provided as a part of the speed control means or provided separately. And comparing the difference between them and selectively switching one of the speed control means and the force control means to the current control means in accordance with the magnitude thereof. .

In the molding machine of the second solution, a speed following system is constituted by the current control means and the speed control means for an electric motor which requires both speed control and force control. A force follow-up system is constituted by the current control means and the force control means, and only one of the follow-up systems is selected and activated by the selection switching means. Since the selection switching is performed based on the command and the speed of the electric motor, it is no longer necessary to determine and set a threshold value in advance for comparison accompanying the switching timing determination.

As a result, the selection switching from the speed control to the force control can be reliably performed even if there is no predetermined value that is difficult to determine. Since the automatic switching from speed tracking to force tracking is always performed in a stable manner, the settling time when switching from speed control to force control is shortened, and the waiting time is also added, further increasing the processing speed. improves. Therefore, according to the present invention, it is possible to realize a compact molding machine that can process more quickly.

[Third Solution] A molding machine according to a third solution handles a molding machine body having a molding die and forming a molded product as described in claim 3 of the present invention. A device is attached, the handling device is for moving a molded product, and an electric motor is used for part or all of a power source in the molding machine main body, and a part of the power source in the handling device is provided. Alternatively, an electric motor is also employed in all of them, and a first drive circuit for supplying a drive current to the electric motor on the molding machine body side and a second drive circuit for supplying a drive current to the electric motor on the handling device side Are designed to receive their power from the same power source.

In the molding machine according to the third solution, the first drive circuit and the second drive circuit are integrated to the point where the power supply is shared, and the number of power supplies is reduced. It becomes small by the minute. In addition, even if both drive circuits operate simultaneously, the total maximum current is regulated by the common power supply, and if the capacity of the common power supply exceeds the required power of each drive circuit, the necessary conditions for operation are satisfied. Therefore, the capacity and the peak current of the common power supply can be made smaller than the sum of the individual power supplies based on a trade-off with the processing speed. Therefore, according to the present invention,
A compact molding machine with a small maximum current can be realized.

[Fourth Solution] A molding machine according to a fourth solution is the molding machine according to the third solution, wherein the first driving circuit is provided. In accordance with the amount of power received by any one or more of the second
There is a limitation means for limiting the amount of power received by the drive circuit.

In the molding machine according to the fourth solution, the amount of power supplied to the second drive circuit, that is, the amount of power supplied from the power supply to the circuit, is limited by the restricting means. Since the operation of the main body takes precedence over the operation of the handling device, suppressing the total maximum current does not disturb the molding process that affects the quality of the molded product. Therefore, according to the present invention, a compact molding machine having a small maximum current can be accurately realized.

[Fifth Solution Means] The molding machine of the fifth solution means is the molding machine of the third solution means as described in claim 5 at the beginning of the application. When the first control means controls the electric motor through the first drive circuit, the first control means selectively performs speed control according to a speed command and force control according to a force command. A limiting means for limiting the amount of power received by the two-drive circuit is provided.

In the molding machine of the fifth solving means, when the force control is performed by the first control means and the first drive circuit, the amount of power supplied to the second drive circuit by the limiting means is reduced. In general, the operation of the molding machine itself takes precedence over the operation of the handling equipment during the force control process that most affects the quality of the molded product. There is no loss of quality. Therefore, according to the present invention, a compact molding machine having a small maximum current can be accurately realized.

[0027]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Several forms for carrying out the molding machine of the present invention achieved by the above solution will be described.

[First Embodiment] A first embodiment of the present invention relates to the molding machine of the above-described second solving means, wherein the accumulator of the newly selected one at the time of switching by the selection switching means is provided. That is, the value is made to match the other accumulated value. In this case, the adjustment is made so that the accumulated value, which is a main factor of the divergence at the time of switching, matches at the time of switching.
The divergence is eliminated or reduced at the time of switching. In addition, such adjustment can be easily performed by transferring or delivering the accumulated value.
As a result, even if the speed is automatically switched from the speed following to the force following, the switching is performed smoothly.

[Second Embodiment] A second embodiment of the present invention, as described in claim 6 or the like at the time of filing of the application, includes first and second solving means relating to integration of control means, and driving The third to fifth solutions relating to the integration of the circuit are simultaneously performed. As a result, since both advantages are enjoyed, it is possible to realize a molding machine that is smaller, has a faster processing speed, and has a smaller maximum current.

Specific embodiments for carrying out the molding machine of the present invention achieved by the above-described means and embodiments will be described with reference to the following first to seventh embodiments.
The first embodiment shown in FIGS. 1 to 3 is similar to the first and second embodiments described above.
The second embodiment shown in FIG.
The example is also an embodiment of the first embodiment described above, and the third example of FIG. 5, the fourth example of FIG. 6, and the fifth example of FIG. 7 are modifications thereof. The sixth embodiment shown in FIG. 8 embodies the first, third, and fourth solving means described above, and the seventh embodiment shown in FIG. The third and fifth solutions are embodied.

In the drawings, for simplicity and the like, the housing panel, bases, frames, fasteners such as bolts, and couplings such as hinges are omitted from the drawings, and are necessary for the description of the invention. The components and related components are schematically illustrated. In the drawings, the same components as those in the related art are denoted by the same reference numerals, and the description thereof will not be repeated, and the following description will focus on differences from the related art.

[0032]

[First Embodiment] A first embodiment of the molding machine of the present invention will be described.
The specific configuration will be described with reference to the drawings. FIG.
FIG. 2 is an overall block diagram, FIG. 2 is a block diagram of the first control means, and FIG. 3 is a circuit diagram of the drive circuit. This molding machine differs from the above-described conventional apparatus of FIG. 10 in that control units 10 and 70 which are separate units are integrated into a control unit 100. The molding machine main body 30, the handling device 50, and the drive units 20, 60 are the same as before.

The control unit 100 (see FIG. 1) includes a microprocessor system and the like housed in a box or the like together with the power supply unit 11, and includes a power supply unit 71 and a communication unit 1.
6,78 are unnecessary and are omitted. Memory 15, 77
Are integrated into the memory 150 having a large storage capacity, and the memory 1
Data such as a process number relating to control of the molding machine main body 30 and the handling device 50 is appropriately assigned to 50. Along with these changes, the molding control routine 12 is partially changed to a molding control routine 120, and the material handling control routine 72 is partially modified to a material handling control routine 720. Follow-up control routine 13, 73-
76 is a follow-up control routine 14 in which almost the same components are installed, but selectively performs force control and speed control.
Has been improved with respect to the selection switching method, and has become a follow-up control routine 140. These are time-divided as appropriate under the management of a multitask management program (not shown) or the like, and are processed in parallel.

That is, the molding machine main body 30 is controlled by the program processing (first control means) of the molding control routine 120, the follow-up control routine 13 and the follow-up control routine 140, and the handling device 50 is controlled by the material handling control routine 72.
0 and the follow-up control routines 73 to 76 are controlled by program processing (second control means).
The storage means is directly accessible from all these routines (both the first and second control means).

With respect to the molding control routine 120 and the material handling control routine 720, the procedure for individually controlling the molding machine main body 30 or the handling device 50 is the same as the conventional one, but when establishing synchronization for cooperative operation, etc. Communication is not performed, but is performed directly via the storage means. That is, each of them stores its own process number and the like in a corresponding area of the memory 150, and reads out and refers to the partner's process number and the like stored in the memory 150 every time it becomes necessary for waiting or the like. They also do things to do.

The follow-up control routine 140 (see FIG. 2)
In order to perform feedback control in which current control is a minor loop when performing force control or speed control, a current control means 142 that feeds back a drive current If of the electric motor M1 and calculates a control value that causes the drive current If to follow a current command S. And current command output means 141 for outputting the calculated value to the drive circuit 23 by pulse width modulation (PWM). Also, the force command Fc given from the molding control routine 120
Force command Fc to perform force control to follow force Ff
Difference calculating means 145 for calculating the difference ΔF between the speed and the speed Vf
And a force control unit 144 that performs appropriate amplification, integration, or other processing on the difference ΔF to stabilize the control state, etc., and generates a current command to the current control unit 142.

Further, in the follow-up control routine 140, the speed command V also given from the molding control routine 120 is used.
a second difference calculating means 146 for calculating a difference ΔV between the speed command Vc and the speed Vf in order to perform a speed control for causing the speed Vf to follow the speed c. Current control means 142
A speed control means 143 for generating a current command to the motor is also provided. In order to automatically switch from speed control to force control when the screw 32 advances, the difference Δ
A comparison means 147 that compares F and ΔV and selects the speed control when the difference ΔF is larger than the difference ΔV, and selects the force control when the difference ΔF is smaller than the difference ΔV. A switching unit 148 for selecting one of the current command from the force control unit 144 and the current command from the speed control unit 143 as the current command S and sending the selected current command to the current control unit 142 is also provided. The force control means 144 and the speed control means 143 are selectively coupled to the current control means 142 according to the magnitude of ΔV.

Each means 1 in the follow-up control routine 140
41 to 148 are installed as a plurality of subtasks that can operate in parallel by time division or the like, or are embodied as a series of subroutines that are sequentially executed.
In any case, the commands Fc and Vc can be given as viewed from the molding control routine 120, and a group of programmable processing units that output the current command as a PWM signal as viewed from the drive circuit 23.

As for the other components, a permanent magnet synchronous motor or the like is used for the brushless DC servomotors for the electric motors M1 to M6, and a squirrel-cage induction motor is frequently used for the induction motor. In the motion conversion mechanism 31,
In addition to the ball screw mechanism, a swing mechanism, a combination thereof with a reduction gear, a combination of a pressurizing mechanism such as a ram cylinder, and the like are also used. Furthermore, when detecting pressure as the force Ff, a pressure gauge (pressure gauge) or the like is adopted as the force detector 43, and when detecting torque as the force Ff, a torque gauge or the like is adopted. . For the current detection unit 41, a Hall element or the like having excellent responsiveness and high accuracy is frequently used, and for the speed detection unit 42, various speed sensors such as an encoder based on intermittent light are used.

The speed control means 143 and the force control means 1
44 includes PID control, vector control, and d
A control method combining -q transformation is appropriately adopted,
The method is embodied by a general design technique using appropriate hardware and software. Drive circuits 22, 2
For 3,62 to 65, a three-phase voltage-type PWM inverter or the like that can efficiently output large power and has good controllability is preferred. For example, the drive circuit 23 will be described in detail (see FIG. 3). The circuit includes a pair of series-connected transistors Q1 and Q2, one of which is turned on and the other is cut off in accordance with a pulse signal Up;
Similarly, the inverter includes transistor pairs Q3 and Q4 that alternately conduct and cut off according to a pulse signal Vp, and transistor pairs Q5 and Q6 that alternately conduct and cut off according to a pulse signal Wp.

Each of the transistors Q1 to Q6 is composed of a power transistor such as an IGBT, and a flywheel diode, a snubber circuit (not shown) and the like are appropriately added as necessary. The three transistor pairs are connected between a pair of positive and negative wirings such as a power supply line 23a extending from a power supply unit 21 for converting a commercial alternating current into a direct current, and the positive side transistors Q1, Q3, and Q5 are turned on. When the electric current flows into the respective phases U, V and W of the electric motor M1 when the electric motor M1 is in the conducting state, the respective phases U, V and W of the electric motor M1 when the negative transistors Q2, Q4 and Q6 are on and in the conducting state. It is designed to draw current from. Note that between these transistors and the control unit 100, a pulse signal Up,
An amplifier for amplifying and generating a base current corresponding to Vp and Wp, a circuit 23b for preventing a pair of transistors from turning on at the same time and causing a failure such as a short circuit, and the like are also provided. The pulse signals Up, Vp, Wp are a set of PWM signals generated by the current command output means 141.

The usage and operation of the molding machine of the first embodiment will be described.

Also in this case, the molding machine main body 30 is controlled by the molding movable part 3 according to the sequence control of the molding control routine 120.
A mold clamping step of bringing the 4 into contact with the mold fixing section 33, an injection step of moving the screw 32 toward the mold movable section 34 while controlling the speed, and switching from speed control to force control when the screw 32 reaches the operation limit. Pressure holding step, a mold opening step for removing a molded product, and the like are performed in that order. Further, on the handling device 50 side, the arm of the handling device 50 is reciprocated between the place where the molded product is taken out from the molds 33 + 34 and the destination where the molded product is to be transferred in another place in accordance with the sequence control of the material handling control routine 720. A process is performed.

Although the overall flow and operation of these steps are the same as those in the prior art, the procedure for synchronizing the molding control routine 120 and the material handling control routine 720 with each other is different from the conventional one. The process number of the other party is referred to. For example, when the handling device 50 is to wait for the opening of the mold on the molding machine main body 30 to be completed, the material handling control routine 720 continues until the process number of the molding control routine 120 in the memory 150 reaches the value of the completion of the opening of the mold. Monitoring of 150 corresponding data values is performed.

On the other hand, when the main body 30 of the molding machine is to wait for the retraction of the arm on the handling device 50 side to be completed, the material handling control routine 72 in the memory 150 is performed.
The molding control routine 120 monitors the corresponding data value in the memory 150 until the process number of 0 becomes the value of the completion of the arm retraction. Thus, in this molding machine, the communication between the molding machine main body 30 and the handling device 5 can be performed simply and quickly without performing communication.
The respective steps can be advanced while appropriately cooperating with each other without interference with 0.

The injection step performed by advancing the screw 32 will also be described in detail because there is a difference from the conventional one. For simplicity, difference calculation means 145, 146
In the following description, it is assumed that the gain of the control means 144 and 143 is “1”. Further, it is assumed that the variable pressure control is performed after the constant speed feed. In response to this, the speed command Vc is given as a positive constant value from the start to the forward and stop, and the force command Fc is substantially equal to the speed command Vc. It is given as a large positive constant value, but it temporarily changes to a smaller value when stopped.

Then, until the mold 33 + 34 is filled with the molten material, the screw 32 advances smoothly and the force Ff does not increase, while the speed Vf follows the speed command Vc. Therefore, the difference ΔF is larger than the difference ΔV. Since the state is maintained, the output of the speed control means 143 is adopted as the current command S, and the state in which the speed Vf is made to follow the speed command Vc by the speed control is maintained. Thus, the operating portion, that is, the screw 32 advances at a constant speed until the operating limit is reached.

Then, when it reaches the operation limit, a strong reaction force or the like is generated to stop the progress and the force Ff increases rapidly, while the speed Vf cannot follow the speed command Vc. Accordingly, the difference ΔF sharply decreases, the difference ΔV sharply increases, and the difference ΔF falls below the difference ΔV. Then, the selection D and the switching unit 148 are switched, and the output of the force control unit 144 is adopted as the current command S. Therefore, the control target is switched from the speed command Vc to the force command Fc, and the force control is performed. Thus, after the screw 32 reaches the operation limit, the force Ff quickly matches the force command Fc.

Then, when the force command Fc steps down temporarily or stepwise, the difference ΔF becomes negative for a moment. However, the difference ΔF and the difference ΔV do not reverse in magnitude. 22 ensures that the selected state of force control is maintained. Then, the difference ΔF is quickly returned to zero, and the force Ff accurately follows the force command Fc. Then, even if the force command Fc changes, the force control is stably performed. In this way, selection switching or the like is reliably performed without a predetermined threshold value, and automatic switching from speed following to force following is performed stably.

[0050]

Second Embodiment A second embodiment of the molding machine of the present invention will be described.
The specific configuration will be described with reference to the drawings. FIG.
9 is a flowchart of a process of the follow-up control routine 140.

This molding machine differs from that of the first embodiment in that the follow-up control routine 140 is further improved. That is, the same control method as the speed control means 143 and the force control means 144, both of which involve an accumulation operation, is employed, and when switching in accordance with the selection D, the accumulation value of the newly selected one is replaced by the other. It is designed to match the cumulative value.

For example, the two control means 143 and 144 both perform PI control calculations. In the PI control, integral calculations (cumulative calculations) are performed in addition to proportional calculations. Are allocated to the same place, and both control means 14
Only one of 3, 144 is executed, and at the time of the switching, the accumulated value Σ is not cleared, etc., and is carried over to the other as it is.

In the program processing of the follow-up control routine 140, first, the force command Fc, the force Ff, and the speed command V
c and the speed Vf are given or converted into digital values and input (step S1), and the difference calculation means 14 is used therefrom.
5, 146, the difference ΔF and the difference ΔV are calculated (steps S1, S2). Next, the difference Δ
The selection D is generated by comparing V with the difference ΔF (step S4), and the flow branches in accordance with the selection D, and the difference ΔV
Is smaller than the difference ΔF, that is, when the selection D is “Yes”, the speed control means 143 calculates the current command S from the difference ΔV and the accumulated value 手段 (step S5). ", The current command S is calculated from the difference ΔF and the accumulated value Σ (step S
6).

In this way, when calculating the current command S, only one of the force control means 144 and the speed control means 143 is operated by the operation of the switching means 148 (branch of step S4). Moreover, at that time, the accumulated value Σ
Is delivered as is. Then, a control amount for current control is calculated based on the current command S and the drive current If (step S7), and the control amount is determined by a predetermined control signal Up, V
It is converted to p and Wp and sent to the drive circuit 23 (step S8). Then, a series of these processes S1 to S8 are repeated at a predetermined cycle or the like.

In this case, during the first half of the period in which the speed control is performed, the operation is the same as in the first embodiment described above. However, when the screw 32 reaches the operation limit, the following operation is performed. That is, in response to the change in the selection D, the speed control means 143 stops the calculation, and instead, the force control means 144 starts the calculation. At this time, since the accumulated value Σ is taken over as it is, the integration of the difference ΔV up to that time is performed. Since the value is changed to the integral value of the difference ΔF immediately after that, the deviation at the time of switching with respect to the current command S is eliminated. Alternatively, even if it is present, it is small in the transient state / transition state in which the integral operation is more dominant than the proportional operation.

In this way, after the screw 32 reaches the operation limit, automatic switching from speed following to force following is surely performed without a predetermined threshold value, and the force Ff quickly matches the force command Fc. . In addition, since the switching is performed smoothly, no shock or the like is generated, the overshoot is eliminated or reduced, and the following performance is improved.

[0057]

Third Embodiment A third embodiment of the molding machine of the present invention will be described.
The specific configuration will be described with reference to the drawings. FIG.
FIG. 3 is a block diagram of a control unit. This molding machine differs from those of the first and second embodiments in that the control unit 100 is a bus-coupled multiprocessor system.

In the control unit 100, the MPU board 101 and the MPU board 103 share a common bus line 1
04. The memory board 102 instead of the memory 150 is also connected to the bus line 104 and can be directly accessed from both the MPU boards 101 and 103. The MPU board 101 has a molding control routine 1 that controls the molding machine main body 30.
20, follow-up control routine 13 and follow-up control routine 140
Are installed on the MPU board 103, and a material handling control routine 720 for controlling the handling device 50 side and tracking control routines 73 to 76 are installed.
Both processes are performed in parallel.

In this case, as described above, synchronization is established via the memory board 102 without relying on communication. In this case, since the MPU is separated at the board level, task management is performed. Control routine 120
And the material handling control routine 720 do not need to be adapted to each other, and it is also possible to easily transfer and integrate those independently developed in different operating environments.

[0060]

Fourth Embodiment FIG. 6 shows a block diagram of a control unit 100. The molding machine of the present invention differs from that of the third embodiment in that the memory board 102 is a register group 105.
It is a point that became. The register group 105 is a register to which the process number is written by the molding control routine 120 and which can be read out from the material handling control routine 720, and a register to which the process number is written by the material handling control routine 720 and read out from the molding control routine 120. Also possible registers are included. This case also has the same advantages as described above.

[0061]

Fifth Embodiment A fifth embodiment of the molding machine of the present invention will be described.
The specific configuration will be described with reference to the drawings. FIG.
3 is a block diagram of the control unit 100. FIG. The difference between this molding machine and those of the first to fourth embodiments is that the control unit 100 includes the upper sequencer 106 and the lower M
This is a point of being divided into the PU board 108 and the PU board 108.

In the sequencer 106, a molding control routine 120 and a material handling control routine 720 are installed, and a flag group 107 composed of a large number of flags in place of both process numbers is allocated to the memory. The molding control routine 120 and the material handling control routine 720 are programmed using a ladder diagram or the like that simulates a relay circuit, and turn on or off each flag of the flag group 107 as the process proceeds. MPU board 1
08 includes a follow-up control routine 13, 140, 73-76.
Are installed, and those routines are programmed using an assembler, C language, or the like that is close to a machine language.

In this case, the two 106 and 108 are connected by a suitable bus line or cable so as to be able to transmit and receive signals.
Again, the control routines 120 and 720 are synchronized via the flag group 107 without relying on communication. Moreover,
The molding control routine 120 and the material handling control routine 720, which are often changed according to the application, are integrated in the sequencer 106, and the following control routine 13, which requires a high processing capability to perform software servo of the electric motors M1 to M6, 140, 73 to 76 are MPU
Since they are integrated on the board 108, it is also possible to easily achieve both appropriate controllability for the mechanical part where the cycle is not stopped and flexible adaptability to various applications.

[0064]

Sixth Embodiment A sixth embodiment of the molding machine of the present invention will be described.
The specific configuration will be described with reference to the drawings. FIG.
FIG. 3 is a block diagram of a control unit and a drive unit. This molding machine differs from those of the first and second embodiments in that the driving units 20 and 60 are also integrated into a driving unit 200.

In the drive unit 200, the drive circuits 22, 23, 62 to 65 are housed together with the power supply unit 21 in one box or the like, and the power supply unit 61 is omitted. Instead, a power supply line 23a or the like coming out of the power supply unit 21 is branched and connected to the drive circuits 62 to 65 as appropriate. Thus, the drive circuits 22 and 23 (first drive circuit) for supplying a drive current to the electric motor M1 on the molding machine main body 50 side and the handling device 50
Drive circuits 62 to 65 (second drive circuits) that supply drive current to the electric motors M3 to M6 on the side receive the respective powers from the same power supply 21.

Drive circuits 62 to 65 (second drive circuit) according to the amount of power received by drive circuit 23 (first drive circuit).
In order to limit the amount of received power, the limiting means detects whether the voltage of the power supply line 23a maintains a required value or drops below it, and when the voltage drops, an adjustment signal having a value corresponding to the amount of drop is detected. , And a variable resistor circuit 212 that is provided through a power supply line from the power supply unit 21 to the drive circuits 62 to 65 and that increases or decreases the resistance value in accordance with the adjustment signal from the adjustment circuit 211. .

In this case, the electric motor M of the molding machine body 30
1 and the electric motors M3 to M6 of the handling device 50 operate at the same time, so that the power supply unit 21 alone cannot supply sufficient power, and when the voltage of the power supply line 23a starts to drop below a required value, the adjustment is performed. This is detected by the circuit 211, and the resistance value of the adjustment circuit 211 increases accordingly.
Since the power supply to the drive circuits 62 to 65 is reduced, the voltage drop of the power supply line 23a is suppressed, and sufficient power is supplied to the drive circuit 23. During that time, the molding machine main body 30 operates preferentially, and the handling device 50 operates slowly according to the received power. Then, when the power consumption by the drive circuit 23 decreases and the voltage of the power supply line 23a recovers, the power supply to the drive circuits 62 to 65 is sufficiently performed, and
The handling device 50 also operates at high speed.

Thus, even if only one power supply unit 21 is used,
Both the molding machine main body 30 and the handling device 50 can be operated. In addition, even though the operation of the handling device 50 that does not affect the finish of the molded product may be slightly delayed, the operation of the molding machine main body 30 is not delayed at all and there is no shortage of pressure or the like. Yes, and also in this case, molding is performed appropriately. In addition, limiting means 211 + 212
Are realized only in the drive unit 200.

[0069]

Seventh Embodiment A seventh embodiment of the molding machine according to the present invention will be described.
The specific configuration will be described with reference to the drawings. FIG.
FIG. 3 is a block diagram of a control unit and a drive unit. This molding machine is different from that of the sixth embodiment in that the limiting means 211 + 212 embodied only inside the drive unit 200 is replaced with limiting means 213 + 214 which also uses the control unit 100.

That is, the limiting means 213 + 214 is provided in the drive unit 200 and controls the current E of the power supply line 23a.
Detecting means 213 for detecting the
The adjustment routine 214 is provided by the following control routine 140 (part of the first control means of the molding machine main body) via the drive circuit 23 (first drive circuit). In controlling M1, this is embodied by utilizing that the speed control according to the speed command Vc and the force control according to the force command Fc are selectively performed, and the force control is selected according to the selection D. Only when the detected current E deviates from the current value obtained by adding a predetermined value corresponding to the power loss in the drive circuit 23 to the current command of the follow-up control routine 140, and the drive circuits 62 to 6 only.
5 (second drive circuit).

The limitation is that the value of the upper limit value F sent by the adjustment routine 214 to the follow-up control routines 730 to 760 is reduced, and the follow-up control routines 730 to 760 that receive the control suppress the respective current commands to the upper limit value F or less. It is done by doing. The tracking control routines 730 to 760 are modifications of the tracking control routines 73 to 76, respectively.

In this case, the current limitation is easily realized by using the other calculation results and the like. Moreover, the sacrifice in throughput is minimized since the current limit is limited to the most important force control.

[0073]

[Others] In each of the above embodiments, the molding machine body 30
The two electric motors M1 and M2 are provided on the
Although the four electric motors M3 to M6 are provided on the 0 side, this is merely an example, and the number of electric motors and drive circuits is not limited to this, and is arbitrary. Further, the drive sources of the molding machine main body 30 and the handling device 50 need not be all electric motors, and other drive sources such as hydraulic pressure and pneumatic pressure may be used together.

Further, in the sixth and seventh embodiments, only the drive circuit 23 is subjected to voltage detection and current detection by the limiting means. This is an example in which priority driving of the electric motor for performing force control is specified. However, the present invention is not limited to this, and a plurality of / many drive circuits 22 and 23 corresponding to the first drive circuit are provided.
May be included in the target.

Further, the variable resistor circuit 212 in the sixth embodiment is an example of a circuit for limiting a supply current using a voltage drop, and the circuit of the limiting means is not limited to this. For example, a voltage drop using a power transistor or a combination of a switching circuit and a smoothing circuit may be used. In addition, the upper limit of the supply current may be varied by simply detecting the output current and feeding back the output current, instead of simply varying the voltage drop amount.

[0076]

As is apparent from the above description, in the molding machine of the first solution according to the present invention, the control means is integrated to the point where communication is not required, so that the processing machine is compact and capable of processing. There is an advantageous effect that a high-speed molding machine can be realized.

Further, in the molding machine according to the second solving means of the present invention, the selection switching from the speed control to the force control is performed quickly, so that the processing is smaller and the processing speed is faster. There is an advantageous effect that a molding machine can be realized.

Further, in the molding machine according to the third means of the present invention, a compact molding machine having a small maximum current can be realized by using a common power supply for each drive circuit. This has the advantageous effect of:

Further, in the molding machines according to the fourth and fifth solutions of the present invention, the drive current to the molding machine main body which affects the quality is preferentially ensured, so that the molding machine is small. In addition, there is an advantageous effect that a molding machine having a small maximum current can be accurately realized.

[Brief description of the drawings]

FIG. 1 is a block diagram of an overall structure of a first embodiment of a molding machine according to the present invention.

FIG. 2 is a block diagram of a first control unit.

FIG. 3 is a circuit diagram of the driving circuit.

FIG. 4 is a flowchart of follow-up control in a second embodiment of the molding machine of the present invention.

FIG. 5 is a block diagram of a control unit in a third embodiment of the molding machine of the present invention.

FIG. 6 is a block diagram of a control unit according to a fourth embodiment of the molding machine of the present invention.

FIG. 7 is a block diagram of a control unit in a fifth embodiment of the molding machine of the present invention.

FIG. 8 is a block diagram of a control unit and a drive unit according to a sixth embodiment of the molding machine of the present invention.

FIG. 9 is a block diagram of a control unit and a drive unit according to a seventh embodiment of the molding machine of the present invention.

FIG. 10 is an overall block diagram of a conventional molding machine.

[Explanation of symbols]

Reference Signs List 10 control unit (control device on molding machine main body side) 11 power supply unit 12 molding control routine (procedure control, first control means) 13, 14 follow-up control routine (servo motor control means) 15 memory 16 communication unit 20 drive unit ( 21. Power supply unit 22 Drive circuit (PWM inverter, etc.) 23 Drive circuit (PWM inverter, etc., first drive circuit) 23a Power supply line 30 Molding machine body (injection molding machine, etc.) 31 Motion conversion mechanism (Injection side actuator, operation part) 32 Screw (injection side actuator, operation part) 33 Mold fixed part (molding die) 34 Mold movable part (molding die) 35 Motion conversion mechanism (mold opening / closing side actuator) M1, M2 Electric Motor (servo motor, drive source) 41 Current detector (Hall CT, Hall element, insulation amplifier) 42 Speed Output unit (encoder, tachogenerator, resolver) 43 Force detection unit (pressure gauge, torque gauge, load cell, detection of acting force) 50 Handling device (material handling robot, etc.) M3 to M6 Electric motor (servo motor, drive source) 60 Driving unit (driving circuit on handling device side) 61 Power supply unit 62, 63 Driving circuit (second driving circuit such as PWM inverter) 64, 65 Driving circuit (second driving circuit such as PWM inverter) 70 Control unit (handling device) 71 Power supply unit 72 Material handling control routine (procedure control, second control means) 73, 74 Follow-up control routine (servo motor control means) 75, 76 Follow-up control routine (servo motor control means) 77 Memory 78 Communication unit 100 Control unit (control device integrated without communication) 101 MPU Board (microprocessor board) 102 Memory board (storage means directly accessible from both) 103 MPU board (microprocessor board) 104 Bus line 105 Register group (storage means directly accessible from both) 106 Sequencer (sequence control unit, control means) 107 Flag group (storage means directly accessible from both) 108 MPU board (following control unit, lower part of control means) 120 Molding control routine (procedure control, first control means) 140 tracking control routine (servo motor) 141 Current command output means (PWM, pulse width modulation means) 142 Current control means (current feedback control section,
143 Speed control means (current command generation means, PI calculation unit) 144 Force control means (current command generation means,
PI calculation section) 145 First difference calculation means (calculates difference in force) 146 Second difference calculation means (calculates difference in speed) 147 Comparison means (selection switching means) 148 Switching means (selection switching means) 150 Memory (both sides) 720) Material handling control routine (procedure control, second
Control means) 200 Drive unit (Drive circuit unit integrated by sharing power supply) 211 Adjustment circuit (Limiting means based on detected voltage) 212 Variable resistance circuit (Limiting means by voltage drop) 213 Current detecting means (Limiting based on current) Means) 214 Adjustment Routine (Current Based Limiting Means) 730-760 Follow-Up Control Routine (Current Command Upper Limit Value Varying Means, Limiting Means)

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) B29C 45/76 B29C 45/76 (72) Inventor Masao Oba 2-16-46 Minami Kamata, Ota-ku, Tokyo Tokimec Co., Ltd. (72) Inventor Uhiko Takeuchi 2-16-46 Minami Kamata, Ota-ku, Tokyo F-term in Tokimec Co., Ltd. (reference) 4F204 AP01 AR01 AR08 AR16 FA00 FB00 FN20 FN30 FQ06 FW50 4F206 AP017 AR017 AR087 AR16 JA07 JL02 JM16 JP11 JP13 JP30 JQ88 JT01 JT07 JT31 JT32 JT40 JW50

Claims (6)

[Claims] In a molding machine in which a handling device for moving a molded product is attached to a molding machine main body, a first control means of the molding machine main body and a second control means of the handling device can be directly accessed from any of them. A synchronizing device via a simple storage means. 2. The apparatus according to claim 1, wherein said molding machine main body includes an electric motor as a power source, and a force detecting section for detecting a force generated in an operating section driven by said electric motor. Means for controlling the drive current of the electric motor in a feedback manner; speed control means for causing the speed of the electric motor to follow a speed command via the current control means; and controlling the force via the current control means. Force control means for causing the output of the detection unit to follow the force command; first difference calculation means for calculating a difference between the force command and the output of the force detection unit; and a difference between the speed command and the speed of the electric motor. And a selection switching means for comparing one of the speed control means and the force control means and selectively coupling one of the speed control means and the force control means to the current control means in accordance with the magnitude of the difference. It is characterized by having Molding machine according to claim 1, wherein. 3. A molding machine in which a handling device for moving a molded article is attached to a molding machine main body, wherein both the molding machine main body and the handling device have an electric motor in part or all of a power source. A first drive circuit for supplying a drive current to the electric motor on the molding machine body side and a second drive circuit for supplying a drive current to the electric motor on the handling device side receive power from the same power supply. A molding machine characterized by the following. 4. The molding machine according to claim 3, further comprising limiting means for limiting the amount of power received by said second drive circuit in accordance with the amount of power received by said first drive circuit. 5. The apparatus according to claim 1, wherein said first control means of said molding machine main body includes said first control means.
When the electric motor is controlled via the drive circuit, the speed control according to the speed command and the force control according to the force command are selectively performed, and the power receiving amount of the second drive circuit is limited according to the selection. The molding machine according to claim 3, further comprising a restricting means. 6. The apparatus according to claim 3, wherein the first control means of the molding machine main body and the second control means of the handling device are synchronized via a storage means which can be directly accessed from any of the first control means. A molding machine according to any one of claims 1 to 5.