JP3962355B2 - Mold clamping control method of injection molding machine - Google Patents

Description

（ただし、ｋａ，ｋｂは定数）
の演算式により求める（ステップＳ９）。この場合、Ｐｉは基準値であり、定数ｋｂは、この基準値Ｐｉに対して所定の余裕度（オフセット）を設定するための定数となる。また、定数ｋａは、通常、「１〜２」の間の任意数に設定することができる。
【００２５】
なお、平均値Ｘｉの代わりに中央値Ｘｊを用いることもできる。即ち、各ショットにおける同一サンプリング順位の微分検出値Ｄｄ…に対する最小値Ｘｓと最大値Ｘｗを求め、この最小値Ｘｓと最大値Ｘｗから中央値Ｘｊを、Ｘｊ＝（Ｘｗ−Ｘｓ）／２の演算式により求めるとともに、この中央値Ｘｊと最大値Ｘｗから、各閾値Ｄｉを、
Ｄｉ＝〔｛（Ｘｗ−Ｘｊ）×ｋａ｝＋Ｘｊ〕＋ｋｂ
（ただし、ｋａ，ｋｂは定数）
の演算式により求めることもできる。この定数ｋａ，ｋｂは、前述した定数ｋａ，ｋｂと同一値であってもよいし、必要に応じて異ならせてもよい。
【００２６】
また、得られた閾値Ｄｉは、メモリ１４に設定されるとともに、さらに、図６に示すディスプレイ１５のデータ表示部１５ｓに表示される（ステップＳ１０）。同図に示すＤｉｓは、このようにして設定した各閾値Ｄｉ…をグラフ化した閾値データである。以上の閾値Ｄｉ…（閾値データＤｉｓ）を求める一連の処理は、全てシーケンス動作により自動で実行される。
【００２７】
他方、トルク検出値Ｔｄの検出により、型締工程の監視区間におけるトルク制限を行うためのトルク制限値Ｔｕの自動設定が行われる。即ち、トルク検出値Ｔｄは、シーケンスコントローラ１３を介してメモリ１４のデータエリアに書き込まれる。この場合、トルク検出値Ｔｄに係る一連の検出処理は、上述した微分検出値Ｄｄの場合と同様に行なわれる。即ち、トルク検出値Ｔｄは、サンプリング区間の開始から終了までの間において、サンプリング周期Δｔｓ毎に順次検出されるとともに、ショット回数Ｎ分だけ検出される。そして、ショット回数Ｎ分が終了したなら、得られたトルク検出値Ｔｄ…から、各ショットにおける同一サンプリング順位のトルク検出値Ｔｄ…に対する平均値Ａｉを算出するとともに、最大値Ａｗを選出する。最大値Ａｗは、上述した微分検出値Ｄｄの場合と同様に、前後のサンプリング順位に対して設定した所定の範囲における複数のサンプリング順位の中の最も大きい最大値を用いる。また、得られた平均値Ａｉと最大値Ａｗから、各サンプリング順位毎のトルク制限値Ｔｕを、

（ただし、ｋｐ，ｋｑは定数）
の演算式により求める。この場合、Ｑｉは基準値であり、定数ｋｑは、この基準値Ｑｉに対して所定の余裕度（オフセット）を設定するための定数となる。また、定数ｋｐは、通常、「１〜２」の間の任意数に設定される。
【００２８】
なお、各ショットにおける同一サンプリング順位のトルク検出値Ｔｄ…に対する最小値Ａｓと最大値Ａｗを求め、この最小値Ａｓと最大値Ａｗから中央値Ａｊを、Ａｊ＝（Ａｗ−Ａｓ）／２の演算式により求めるとともに、この中央値Ａｊと最大値Ａｗから、各トルク制限値Ｔｕを、

（ただし、ｋｐ，ｋｑは定数）
の演算式により求めることもできる。この定数ｋｐ，ｋｑは、前述した定数ｋｐ，ｋｑと同一値であってもよいし、必要に応じて異ならせてもよい。
【００２９】
一方、得られたトルク制限値Ｔｕは、メモリ１４に設定されるとともに、さらに、図６に示すディスプレイ１５のデータ表示部１５ｓに表示される。同図に示すＴｕｓは、このようにして設定した各トルク制限値Ｔｕ…をグラフ化したトルク制限値データである。以上のトルク制限値Ｔｕ…（トルク制限値データＴｕｓ）を求める一連の処理も、全てシーケンス動作により自動で実行される。
【００３０】
次に、生産稼働時における全体の動作について、図２に示すフローチャートを参照して説明する。
【００３１】
今、型締装置１ｃの可動盤３ｍは型開位置にあるものとする。型締工程では、まず、サーボモータ２が作動し、可動盤３ｍは型開位置から前進移動する（ステップＳ２１）。この場合、最初は可動盤３ｍが型閉方向へ高速で前進移動する高速型閉が行われる。この際、サーボ回路１１により可動盤３ｍに対する速度制御及び位置制御が行われる点は、前述した閾値Ｄｉを初期設定する場合と同じである。そして、可動盤３ｍが型閉方向へ移動し、予め設定した監視区間に達すれば、前述したサンプリング周期Δｔｓ毎にトルク（負荷トルク）の検出を行う（ステップＳ２２，Ｓ２３）。この監視区間は、前述したサンプリング区間と同じである。
【００３２】
また、トルクの検出は、前述した閾値Ｄｉを初期設定する場合と同様に、速度ループゲイン設定部２８から出力する速度制御信号Ｓｃを取込むことにより行う。これにより、サンプリング周期Δｔｓ毎に検出されるトルク検出値Ｔｄは、トルク微分器３１に付与され、このトルク微分器３１により微分されて微分検出値Ｄｄに変換される（ステップＳ２４）。一方、この微分検出値Ｄｄは、トルク微分比較処理部３２に付与される。他方、トルク微分比較処理部３２には、シーケンスコントローラ１３から、微分検出値Ｄｄと同じサンプリング順位の閾値Ｄｉが付与されるため、トルク微分比較処理部３２により、同じサンプリング順位の閾値Ｄｉと微分検出値Ｄｄが比較処理される（ステップＳ２５）。
【００３３】
今、可動型Ｃｍと固定型Ｃｃ間に異物が挟まった状態を想定する。この場合、異物を挟んだ時点で負荷トルクが急上昇するため、速度制御信号Ｓｃの大きさも急激に大きくなる。したがって、トルク微分器３１から得られる微分検出値Ｄｄも、図８に示すＤｄｅのように急激に大きくなり、偏差データＤｉｓを越えるため、トルク微分比較処理部３２は、異物が挟まったものとして検出し、サーボ回路１１からシーケンスコントローラ１３に異物検出信号Ｓｅを付与する。これにより、シーケンスコントローラ１３は、サーボモータ２の後退動作及び警報の発生等の所定の異常処理（異物検出処理）を行う（ステップＳ２６，Ｓ２７）。
【００３４】
一方、異物が挟まることなく正常な動作を継続すれば、検出値データＤｄｄが閾値データＤｉｓを越えることが無いため、設定したサンプリング期間Δｔｓ毎に、微分検出値Ｄｄの検出処理がそのまま繰り返される（ステップＳ２８，Ｓ２３…）。そして、監視区間の終了により、可動盤３ｍが低圧型締の終了する低圧終了位置、即ち、高圧型締開始位置に達すれば、高圧制御による高圧型締が行われ、さらに、所定の成形動作が終了すれば、型開きが行われる（ステップＳ２８，Ｓ２９）。なお、図６に示すＤｄｄは、各微分検出値Ｄｄ…をグラフ化した検出値データである。
【００３５】
他方、サンプリング周期Δｔｓ毎に検出されるトルク検出値Ｔｄは、トルク比較処理部３０に付与される。トルク比較処理部３０には、シーケンスコントローラ１３から、当該トルク検出値Ｔｄと同じサンプリング順位のトルク制限値Ｔｕが付与されており、このトルク比較処理部３０において、同じサンプリング順位におけるトルク制限値Ｔｕとトルク検出値Ｔｄが比較処理される。そして、トルク検出値Ｔｄが増加し、トルク制限値Ｔｕに達した場合には、トルク制限値Ｔｕを越えないように、シーケンスコントローラ１３及びサーボ回路１１によるトルク制御（トルク制限処理）が行われる。なお、図６に示すＴｄｄは、各トルク検出値Ｔｄ…をグラフ化したトルク検出値データである。
【００３６】
次に、閾値Ｄｉ（閾値データＤｉｓ）の更新方法について、図３に示すフローチャートを参照して説明する。
【００３７】
射出成形機１を自動運転により２４時間稼働させる場合、昼夜の温度変化等により、時間帯によってトルクの大きさが変動する。このため、閾値データＤｉｓの初期設定が適切に行われたとしても稼働時の時間帯によっては誤検出を生じる虞れがある。そこで、本実施例では、ショット回数が予め設定した設定数Ｍに達する毎に、前述した自動設定モードを実行、即ち、図１に示したフローチャートに基づく処理を実行し、閾値データＤｉｓを定期的に更新するようにした。なお、設定数Ｍは、一例として「１００」を設定することができる。
【００３８】
この場合、異常（異物検出）が発生しない限り、生産を継続した状態で自動設定モードを実行し、閾値データＤｉｓの更新を行うことができる。図３において、ステップＳ３１は、図１のフローチャートによる初期設定処理を示す。閾値Ｄｉ（閾値データＤｉｓ）が初期設定されることにより、この閾値Ｄｉ（閾値データＤｉｓ）を用いた成形処理が行われる（ステップＳ３２）。そして、ショット数が予め設定した設定数Ｍに達したなら、微分検出値Ｄｄ（検出値データＤｄｄ）の検出処理を行う（ステップＳ３３，Ｓ３４）。この場合、図１に示すフローチャートに従って微分検出値Ｄｄの取込みをショット回数Ｎ分だけ行う。一方、ショット回数Ｎ分が終了したなら、新たな閾値データＤｉｓを求めることにより更新を行う（ステップＳ３５，Ｓ３６）。
【００３９】
閾値Ｄｉ（閾値データＤｉｓ）が更新されることにより、更新された閾値Ｄｉ（閾値データＤｉｓ）を用いた成形処理が同様に継続して行われる（ステップＳ３７）。以後、生産計画による生産が終了するまで、同様の更新処理を繰り返して行う。即ち、ショット数が設定数Ｍに達したなら、初期設定の場合と同様に、微分検出値Ｄｄの検出処理を行うとともに、図１に示すフローチャートに従って微分検出値Ｄｄの取込みをショット回数Ｎ分だけ行い、この後、新たな閾値データＤｉｓを求めて更新を行う（ステップＳ３８，Ｓ３９，Ｓ３４…）。
【００４０】
よって、このような本実施例に係る型締制御方法によれば、自動設定モードを設け、この自動設定モードにより、監視区間におけるトルク（負荷トルク）を、予め設定したサンプリング周期Δｔｓにより順次検出し、かつ予め設定したショット回数Ｎ分だけ検出するとともに、得られた微分検出値Ｄｄ…から、各サンプリング順位毎の閾値Ｄｉ…を、所定の演算式により求めて設定するようにしたため、外乱要因によるトルクの変動が生じた場合であっても、異物検出に対する誤検出を確実に防止することができ、無用な運転停止の回避、更には型締制御に対する高度の安定性及び信頼性を確保することができる。特に、各閾値Ｄｉは、各ショットにおける同一サンプリング順位の微分検出値Ｄｄ…に対する平均値Ｘｉと最大値Ｘｗを求め、この平均値Ｘｉと最大値Ｘｗから、Ｄｉ＝〔｛（Ｘｗ−Ｘｉ）×ｋａ｝＋Ｘｉ〕＋ｋｂの演算式により求め、或いは各ショットにおける同一サンプリング順位の微分検出値Ｄｄ…に対する最小値Ｘｓと最大値Ｘｗを求め、この最小値Ｘｓと最大値Ｘｗから中央値Ｘｊを、Ｘｊ＝（Ｘｗ−Ｘｓ）／２により求めるとともに、この中央値Ｘｊと最大値Ｘｗから、各閾値Ｄｉを、Ｄｉ＝〔｛（Ｘｗ−Ｘｊ）×ｋａ｝＋Ｘｊ〕＋ｋｂの演算式により求めるようにしたため、的確な閾値Ｄｉを確実かつ安定して求めることができる。
【００４１】
また、最大値Ｘｗを選定するに際して、前後のサンプリング順位に対して設定した所定の範囲における複数のサンプリング順位の中の最も大きい最大値を用いるようにしたため、時間軸方向Ｆｔのバラツキに対しても所定の余裕度を設定することができ、時間軸方向Ｆｔにおけるバラツキによる誤検出を回避することができる。さらに、閾値Ｄｉを設定した後、ショット回数が設定数Ｍに達する毎に、自動設定モードを実行して閾値Ｄｉを更新するようにしたため、特に、昼夜の温度変化等により、時間帯によってトルクの大きさが変動する場合であっても誤検出を確実に回避することができる。しかも、検出値Ｄｄとして、トルクに対応するトルク検出値Ｔｄを微分して得た微分検出値Ｄｄを用いたため、トルク検出値Ｔｄの全体がドリフト等によりシフトしたような場合であっても、これに影響されることなく誤検出を回避することができる。
【００４２】
以上、実施例について詳細に説明したが、本発明はこのような実施例に限定されるものではなく、細部の構成，手法等において、本発明の要旨を逸脱しない範囲で任意に変更，追加，削除することができる。
【００４３】
例えば、監視項目は、型閉動作を行うサーボモータ２のトルクを適用した場合を示したが、図５に示す速度変換器２７から得る速度を適用してもよい。この場合、速度変換器２７の出力からは速度検出値Ｖｄが得られるため、この速度検出値Ｖｄを速度微分器３３により微分して得た加速度値を微分検出値Ｄｄとして用いるとともに、加速度比較処理部３４を用いて、前述したトルク微分比較処理部３２と同様の処理を行わせることができる。また、演算式は、必要により他の演算式を用いてもよく、例示の演算式に限定されるものではない。さらに、実施例は、駆動機構部５にトグルリンク機構９を用いた場合を示したが、トグルリンク機構を用いない直圧形式の駆動機構部にも同様に利用できる。
【００４４】
【発明の効果】
このように、本発明に係る射出成形機の型締制御方法は、自動設定モードを設け、この自動設定モードにより、前記監視区間における監視項目を、予め設定したサンプリング周期により順次検出し、かつ予め設定したショット回数分だけ検出するとともに、得られた検出値から各ショットにおける同一サンプリング順位の検出値に対する平均値Ｘｉ及び前後のサンプリング順位に対して設定した所定範囲における複数のサンプリング順位の中の最も大きい最大値Ｘｗを求め、この平均値Ｘｉと最大値Ｘｗから、又は、得られた検出値から各ショットにおける同一サンプリング順位の検出値に対する最小値Ｘｓ及び前後のサンプリング順位に対して設定した所定範囲における複数のサンプリング順位の中の最も大きい最大値Ｘｗを求めるとともに、この最小値Ｘｓと最大値Ｘｗから中央値Ｘｊを求め、この中央値Ｘｊと最大値Ｘｗから、各サンプリング順位毎の閾値を所定の演算式により求めて設定するようにしたため、次のような顕著な効果を奏する。
【００４５】
（１） 外乱要因によるトルクの変動が生じた場合であっても、異物検出に対する誤検出を確実に防止することができ、無用な運転停止の回避、更には型締制御に対する高度の安定性及び信頼性を確保することができる。
【００４６】
（２） 各ショットにおける同一サンプリング順位の検出値に対する平均値Ｘｉ及び最大値Ｘｗを求め、この平均値Ｘｉと最大値Ｘｗから、各閾値Ｄｉを、例えば、Ｄｉ＝〔｛（Ｘｗ−Ｘｉ）×ｋａ｝＋Ｘｉ〕＋ｋｂの演算式により求め、又は、平均値Ｘｉの代わりに中央値Ｘｊを求め、この中央値Ｘｊと最大値Ｘｗから、各閾値Ｄｉを、例えば、Ｄｉ＝〔｛（Ｘｗ−Ｘｊ）×ｋａ｝＋Ｘｊ〕＋ｋｂの演算式により求めるようにしたため、的確な閾値Ｄｉを確実かつ安定して得ることができる。
【００４７】
（３） 最大値Ｘｗを選定するに際して、前後のサンプリング順位に対して設定した所定の範囲における複数のサンプリング順位の中の最も大きい最大値を用いるようにしたため、特に時間軸方向のバラツキによる誤検出を回避することができる。
【００４８】
（４） 好適な実施の態様により、閾値を設定した後、ショット回数が設定数に達する毎に、自動設定モードを実行して閾値を更新するようにすれば、特に昼夜の温度変化等により、時間帯によってトルクの大きさが変動する場合であっても誤検出を確実に回避することができる。
【００４９】
（５） 好適な実施の態様により、検出値に、トルクに対応するトルク検出値を微分して得た微分検出値又は速度に対応する速度検出値を微分して得た微分検出値を用いれば、トルク検出値又は速度検出値の全体がドリフト等によりシフトしたような場合であっても、これに影響されることなく誤検出を回避することができる。
【図面の簡単な説明】
【図１】本発明の好適な実施例に係る型締制御方法に用いる閾値の設定方法を示すフローチャート、
【図２】同型締制御方法を含む生産稼働時における全体の動作を説明するためのフローチャート、
【図３】同型締制御方法に用いる閾値データの更新方法を説明するためのフローチャート、
【図４】同型締制御方法を実施できる射出成形機の構成図、
【図５】同射出成形機におけるサーボ回路の構成図、
【図６】同型締制御方法を実施する際におけるディスプレイの画面構成図、
【図７】同型締制御方法により検出した検出値の一覧表、
【図８】同型締制御方法を用いた際における最大値の選出方法説明図、
【符号の説明】
１ 射出成形機
２ サーボモータ
Ｄｄ 検出値（微分検出値）
Ｄｉ 閾値
Δｔｓ サンプリング周期
Ｔｄ トルク検出値
Ｖｄ 速度検出値[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a mold clamping control method for an injection molding machine that is suitable for detecting foreign matter between a movable mold and a fixed mold in a mold clamping process.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, in a mold clamping device of an injection molding machine that includes a drive unit having a servo motor and a ball screw mechanism and transmits the advance / retreat movement of the drive unit to the movable plate via a toggle link mechanism, the movable plate is moved in the mold closing direction. As a foreign matter detection method for detecting foreign matter (molded product or the like) sandwiched between a movable mold and a fixed mold when moved, injection molding disclosed in Japanese Patent Application Laid-Open No. 2002-172670 proposed by the present applicant has already been made. A foreign object detection method for a machine is known.
[0003]
The foreign object detection method disclosed in the publication detects a physical quantity associated with a mold closing operation in a monitoring section in the mold clamping process, and a deviation between the detected value of the physical quantity and a preset set value is greater than or equal to a preset threshold. In this method, foreign matter detection processing is performed, and in particular, a maximum value of the deviation is detected by performing trial mold clamping in advance, and a threshold is set by adding the maximum value to a preset reference value. Is.
[Patent Document 1]
Japanese Patent Laid-Open No. 2002-172670
[Problems to be solved by the invention]
By the way, the foreign matter detection method (clamping control method) described above adds a maximum value of the deviation between the detected value and the set value to the reference value and sets a certain threshold value. There is an advantage that a highly reliable setting can be made.
[0005]
However, the magnitude of the physical quantity that accompanies the mold closing operation from the start to the end of the monitoring section usually varies depending on mechanism errors, friction, lubrication and adjustment due to maintenance, servo motor rotation unevenness, etc., and automatic operation When the operation is performed for 24 hours, the physical quantity varies depending on the time zone due to temperature changes during the day and night. Therefore, if the threshold value is set to be constant, there is a risk of erroneous detection due to fluctuations in physical quantities due to disturbance factors.In the conventional method, the operator's confirmation work or production plan delay due to unnecessary shutdown is caused. There was a problem to be solved that a high degree of stability and reliability for tightening control could not be secured.
[0006]
The present invention solves such problems existing in the prior art and reliably prevents erroneous detection of foreign matter detection even when the monitoring item (physical quantity) varies due to disturbance factors. Accordingly, an object of the present invention is to provide a mold clamping control method for an injection molding machine which can avoid unnecessary operation stop and thereby ensure high stability and reliability for mold clamping control.
[0007]
[Means for Solving the Problems and Embodiments]
The present invention detects a monitoring item in a predetermined monitoring section set for the mold closing operation in the mold clamping process, and performs an abnormality process when the detected value Dd obtained by the detection becomes equal to or greater than a set threshold value Di. In the mold clamping control method of the injection molding machine 1, in particular, an automatic setting mode is provided. With this automatic setting mode, monitoring items in the monitoring section are sequentially detected by a preset sampling cycle Δts, and a preset number of shots N The detected value Dd... Is the average value Xi for the detected value Dd... Of the same sampling order in each shot and the most of a plurality of sampling orders in a predetermined range set for the preceding and succeeding sampling orders. A large maximum value Xw is obtained, and from each of the average value Xi and the maximum value Xw, or from the obtained detection value Dd. The minimum value Xs with respect to the detection value Dd... Of the same sampling order and the largest maximum value Xw among a plurality of sampling orders in a predetermined range set for the preceding and succeeding sampling orders, and the minimum value Xs and the maximum A median value Xj is obtained from the value Xw, and a threshold value for each sampling order is obtained from the median value Xj and the maximum value Xw by a predetermined arithmetic expression and set.
[0008]
In this case, according to a preferred embodiment, from the average value Xi and the maximum value Xw, the threshold value Di for each sampling order is set as Di = [{(Xw−Xi) × ka} + Xi] + kb (where ka and kb are Or a threshold value Di for each sampling order from the median value Xj and the maximum value Xw, Di = [{(Xw−Xj) × ka} + Xj] + kb (where ka and kb are constants) ). Further, after the threshold value Di is set, the threshold value Di can be updated by executing the automatic setting mode every time the number of shots reaches the set number M (including 0). As the monitoring item, the torque of the servo motor 2 that performs the mold closing operation or the speed of the servo motor 2 can be applied. In particular, the detected value Dd is obtained by differentiating the detected torque value Td corresponding to the torque. The differential detection value obtained by differentiating the speed detection value Vd corresponding to the speed or the differential detection value obtained in this way can be used.
[0009]
【Example】
Next, preferred embodiments according to the present invention will be given and described in detail with reference to the drawings.
[0010]
First, a schematic configuration of an injection molding machine 1 capable of performing the mold clamping control method according to the present embodiment will be described with reference to FIGS. 4 and 5.
[0011]
The injection molding machine 1 shown in FIG. 4 includes a mold clamping device 1c and an injection device 1i indicated by a virtual line. The mold clamping device 1c includes a fixed platen 3c and a drive platen 3r that are spaced apart from each other, and the fixed platen 3c and the drive platen 3r are fixed on a machine base (not shown). Further, four tie bars 4 are installed between the fixed plate 3c and the drive plate 3r, and the movable plate 3m is slidably loaded on the tie bars 4. A movable mold Cm is attached to the movable platen 3m, and a fixed mold Cc is attached to the fixed platen 3c. The movable mold Cm and the fixed mold Cc constitute a mold C.
[0012]
On the other hand, the drive mechanism 5 is disposed between the drive panel 3r and the movable panel 3m. The drive mechanism 5 includes a servo motor 2 attached to the drive board 3r, a ball screw part 6s rotatably supported on the drive board 3r, and a nut part 6n screwed to the ball screw part 6s. The drive mechanism 8 includes a screw mechanism 6 and a rotation transmission mechanism 7 that transmits the rotation of the servo motor 2 to the ball screw portion 6s, and a toggle link mechanism 9 attached between the drive panel 3r and the movable panel 3m. The toggle link mechanism 9 is configured by a combination of a plurality of toggle link members 9r... And a cross head 9h serving as an input portion is fixed to the nut portion 6n. Thus, the forward / backward movement of the nut portion 6n is transmitted to the movable platen 3m via the toggle link mechanism 9. Reference numeral 10 denotes an ejector mechanism.
[0013]
On the other hand, S indicates a control system. In the control system S, reference numeral 11 denotes a servo circuit, to which a servo motor 2 and a rotary encoder 12 attached to the servo motor 2 are connected. In addition, a sequence controller 13 is connected to the servo circuit 11, and a memory 15 and a display 15 provided with a touch panel are connected to the sequence controller 13.
[0014]
FIG. 5 shows a specific configuration of the servo circuit 11. The servo circuit 11 includes deviation calculating units 21 and 22, an adder 23, a position loop gain setting unit 24, a feed forward gain setting unit 25, an acceleration / deceleration time setting unit 26, a speed converter 27, a speed loop gain setting unit 28, and a driver. 29, a torque comparison processing unit 30, a torque differentiator 31, a torque differential comparison processing unit 32, a speed differentiator 33, and an acceleration comparison processing unit 34 are provided, and the servo control system is constituted by the system shown in FIG. In addition, the function (operation | movement) of each part is demonstrated by the whole operation | movement of the mold clamping apparatus 1c mentioned later.
[0015]
Next, the overall operation of the mold clamping apparatus 1c including the mold clamping control method according to the present embodiment will be described with reference to FIGS.
[0016]
First, a method for setting the threshold value Di used in the mold clamping control method according to the present embodiment will be described with reference to the flowchart shown in FIG.
[0017]
When executing the mold clamping control method according to the present embodiment, the automatic setting mode is selected by a function key displayed on the display 15. Thereby, the initial setting of the threshold Di is executed. This initial setting can usually be performed by trial molding. Now, it is assumed that the movable platen 3m is in the mold opening position. The servo motor 2 is activated by the start of trial molding, and the movable platen 3m moves forward from the mold opening position (step S1). In this case, first, high-speed mold closing is performed in which the movable platen 3m moves forward in the mold closing direction at high speed. At this time, the servo circuit 11 performs speed control and position control on the movable platen 3m. That is, a position command value is given from the sequence controller 13 to the deviation calculation unit 21 of the servo circuit 11 and compared with a position detection value obtained based on the detection pulse of the rotary encoder 12. Thereby, since a position deviation is obtained, position feedback control is performed based on this position deviation. The position deviation is compensated by the position loop gain setting unit 24, the feed forward gain setting unit 25, and the acceleration / deceleration time setting unit 26. The output of the acceleration / deceleration time setting unit 26 is given to the deviation calculation unit 22 and compared with the output of the speed converter 27. As a result, a speed deviation is obtained, and speed feedback control is performed based on this speed deviation. The speed deviation is compensated by the speed loop gain setting unit 28.
[0018]
When the movable platen 3m moves forward in the mold closing direction and reaches the start point of a preset sampling interval (= monitoring interval), detection of torque (load torque), which is a monitoring item, at every set sampling period Δts. (Steps S2 and S3). In this case, the sampling interval can be set between the low pressure mold clamping (low speed mold closing) start point and the high pressure mold clamping start point. These start points may be set depending on the position or time. The sampling period Δts can be set to 2.5 [ms] as an example. Thus, assuming that the time of the sampling interval is 8 seconds, the total number of samplings is 3200.
[0019]
The load torque is detected by taking in the speed control signal Sc output from the speed loop gain setting unit 28. That is, since the magnitude of the speed control signal Sc corresponds to the magnitude of the load torque, the voltage value of the speed control signal Sc is used as the torque detection value Td. The detected torque value Td detected at each sampling period Δts is differentiated by the torque differentiator 31 and converted into the detected differential value Dd. The detected differential value Dd is stored in the memory 14 via the sequence controller 13. Data is written in the data area (steps S4 and S5). Such detection processing of the differential detection value Dd is sequentially executed for each sampling period Δts until the sampling period ends (steps S6, S3...).
[0020]
Further, when the first shot (molding cycle) is completed, the next shot is performed, the differential detection value Dd is detected in the same manner, and a similar detection for the differential detection value Dd is performed for a preset number of shots N. Only (steps S7, S3...). FIG. 7 shows a list of differential detection values Dd... Written in the data area of the memory 14. The embodiment shows an example in which the number of shots N is set to “10” and sampling is performed in the order of t0, t1,... Tn in one shot.
[0021]
On the other hand, when all the detections for the number of shots N are completed, an average value Xi for the differential detection values Dd of the same sampling order in each shot is calculated from the obtained differential detection values Dd. In FIG. 7, for example, the average value Xi of the differential detection values Dd... (10 times) at the sampling order t1 indicates “11.7”. Further, the maximum value Xw is selected from the differential detection values Dd... Of the same sampling order in each shot (step S8). For example, the maximum value Xw at the sampling order t1 in FIG. 7 indicates “12.5”.
[0022]
In this case, as the maximum value Xw, the largest maximum value among a plurality of sampling orders in a predetermined range set for the preceding and succeeding sampling orders is selected. The reason for this will be described with reference to FIG. Now, assuming that the maximum value is selected from the same sampling order, the threshold data obtained by graphing each threshold value Di ... in a time series changes like Dir shown in FIG. 8, and this threshold value data Dir is: With respect to the change of the detection value data Ddd shown in the figure, it changes in the same tendency except that it is offset upward. This detection value data Ddd is a graph of each differential detection value Dd... In time series. However, the detected value data Ddd is not necessarily detected in synchronization with the threshold value data Dir, and varies in the time axis direction Ft such as a time delay. As a result, the detection value data Ddd may exceed the threshold data Dir in the time axis direction Ft, resulting in erroneous detection.
[0023]
Therefore, the maximum value Xw is selected as the largest maximum value among a plurality of sampling orders in a predetermined range set for the preceding and succeeding sampling orders, and the threshold data Dir of the threshold data Dir as shown in FIG. This problem was avoided by expanding the peak value in the time axis direction Ft by a predetermined time width. In this case, the range to be expanded (predetermined range) can be arbitrarily set by selecting a numerical value “1, 2, 3, 4. That is, “1” means that the sampling order for one time is expanded before and after. When “1” is selected, the predetermined range is the sampling order for three times, specifically, the sampling order t1. , T0, t1, and t2 are selected from the three sampling orders, and the largest maximum value Xw is selected. Similarly, “2” extends the sampling order for two times before and after, and the predetermined range includes the sampling order for five times. Note that the maximum value Xw of the sampling order t1 in FIG. 7 is an example using the maximum value (not shown) of the sampling order t2.
[0024]
Then, from the obtained average value Xi and maximum value Xw, the threshold value Di for each sampling order is calculated,

(However, ka and kb are constants)
(Step S9). In this case, Pi is a reference value, and the constant kb is a constant for setting a predetermined margin (offset) with respect to the reference value Pi. Moreover, the constant ka can be normally set to any number between “1 and 2”.
[0025]
The median value Xj can be used instead of the average value Xi. That is, the minimum value Xs and the maximum value Xw with respect to the differential detection values Dd... In the same sampling order in each shot are obtained, and the median value Xj is calculated from the minimum value Xs and the maximum value Xw by Xj = (Xw−Xs) / 2. From the median value Xj and the maximum value Xw, each threshold value Di is
Di = [{(Xw−Xj) × ka} + Xj] + kb
(However, ka and kb are constants)
It can also obtain | require by the computing equation of. The constants ka and kb may be the same value as the constants ka and kb described above, or may be different as necessary.
[0026]
The obtained threshold value Di is set in the memory 14 and further displayed on the data display unit 15s of the display 15 shown in FIG. 6 (step S10). Dis shown in the figure is threshold data obtained by graphing the threshold values Di... Set in this way. A series of processes for obtaining the above threshold values Di... (Threshold data Dis) are all automatically executed by a sequence operation.
[0027]
On the other hand, the torque limit value Tu for performing the torque limit in the monitoring section of the mold clamping process is automatically set by detecting the torque detection value Td. That is, the torque detection value Td is written into the data area of the memory 14 via the sequence controller 13. In this case, a series of detection processing relating to the torque detection value Td is performed in the same manner as in the case of the differential detection value Dd described above. That is, the torque detection value Td is sequentially detected for each sampling period Δts from the start to the end of the sampling period, and is detected for the number of shots N. When the number of shots N is completed, an average value Ai for the torque detection values Td of the same sampling order in each shot is calculated from the obtained torque detection values Td, and a maximum value Aw is selected. As the maximum value Aw, as in the case of the differential detection value Dd described above, the largest maximum value among a plurality of sampling orders in a predetermined range set for the preceding and following sampling orders is used. Further, from the obtained average value Ai and the maximum value Aw, a torque limit value Tu for each sampling order is obtained.

(Where kp and kq are constants)
Obtained by the following equation. In this case, Qi is a reference value, and the constant kq is a constant for setting a predetermined margin (offset) for this reference value Qi. The constant kp is normally set to an arbitrary number between “1 and 2”.
[0028]
The minimum value As and the maximum value Aw for the torque detection values Td... Of the same sampling order in each shot are obtained, and the median value Aj is calculated from the minimum value As and the maximum value Aw by Aj = (Aw−As) / 2. In addition to calculating the torque limit value Tu from the median value Aj and the maximum value Aw,

(Where kp and kq are constants)
It can also obtain | require by the computing equation of. The constants kp and kq may be the same value as the constants kp and kq described above, or may be different as necessary.
[0029]
On the other hand, the obtained torque limit value Tu is set in the memory 14 and further displayed on the data display unit 15s of the display 15 shown in FIG. Tus shown in the figure is torque limit value data in which the torque limit values Tu... Set in this way are graphed. A series of processes for obtaining the torque limit values Tu... (Torque limit value data Tus) are all automatically performed by a sequence operation.
[0030]
Next, the overall operation during production operation will be described with reference to the flowchart shown in FIG.
[0031]
Now, it is assumed that the movable platen 3m of the mold clamping device 1c is in the mold open position. In the mold clamping process, first, the servo motor 2 is operated, and the movable platen 3m moves forward from the mold opening position (step S21). In this case, first, high-speed mold closing is performed in which the movable platen 3m moves forward in the mold closing direction at high speed. At this time, the speed control and the position control for the movable platen 3m are performed by the servo circuit 11 as in the case where the threshold value Di is set initially. When the movable platen 3m moves in the mold closing direction and reaches a preset monitoring section, torque (load torque) is detected every sampling period Δts described above (steps S22 and S23). This monitoring interval is the same as the sampling interval described above.
[0032]
Further, the torque is detected by taking in the speed control signal Sc output from the speed loop gain setting unit 28, as in the case where the threshold value Di is initially set. As a result, the torque detection value Td detected at each sampling period Δts is applied to the torque differentiator 31, and is differentiated by the torque differentiator 31 to be converted into a differential detection value Dd (step S24). On the other hand, this differential detection value Dd is given to the torque differential comparison processing unit 32. On the other hand, the torque differential comparison processing unit 32 is given a threshold value Di having the same sampling order as the differential detection value Dd from the sequence controller 13. The value Dd is compared (step S25).
[0033]
Now, it is assumed that a foreign object is sandwiched between the movable mold Cm and the fixed mold Cc. In this case, since the load torque rapidly increases when the foreign object is sandwiched, the magnitude of the speed control signal Sc also increases rapidly. Accordingly, the differential detection value Dd obtained from the torque differentiator 31 also suddenly increases as shown by Dde shown in FIG. 8 and exceeds the deviation data Dis. Therefore, the torque differential comparison processing unit 32 detects that a foreign object is caught. Then, the foreign substance detection signal Se is given from the servo circuit 11 to the sequence controller 13. As a result, the sequence controller 13 performs predetermined abnormal processing (foreign matter detection processing) such as the backward movement of the servo motor 2 and the generation of an alarm (steps S26 and S27).
[0034]
On the other hand, if the normal operation is continued without being caught, the detection value data Ddd does not exceed the threshold data Dis, so that the detection processing of the differential detection value Dd is repeated as it is for each set sampling period Δts ( Steps S28, S23 ...). When the movable platen 3m reaches the low pressure end position at which the low pressure mold clamping ends, that is, the high pressure mold clamping start position by the end of the monitoring section, the high pressure mold clamping by the high pressure control is performed, and a predetermined molding operation is performed. When finished, mold opening is performed (steps S28 and S29). Note that Ddd shown in FIG. 6 is detection value data obtained by graphing each differential detection value Dd.
[0035]
On the other hand, the torque detection value Td detected every sampling period Δts is given to the torque comparison processing unit 30. The torque comparison processing unit 30 is given a torque limit value Tu having the same sampling order as the detected torque value Td from the sequence controller 13. In the torque comparison processing unit 30, The detected torque value Td is compared. When the torque detection value Td increases and reaches the torque limit value Tu, torque control (torque limit processing) is performed by the sequence controller 13 and the servo circuit 11 so as not to exceed the torque limit value Tu. Note that Tdd shown in FIG. 6 is torque detection value data obtained by graphing the torque detection values Td.
[0036]
Next, a method for updating the threshold Di (threshold data Dis) will be described with reference to the flowchart shown in FIG.
[0037]
When the injection molding machine 1 is operated for 24 hours by automatic operation, the magnitude of torque varies depending on the time of day due to temperature changes during the day and night. For this reason, even if the threshold data Dis is initially set appropriately, there is a risk of erroneous detection depending on the time zone during operation. Therefore, in this embodiment, every time the number of shots reaches a preset setting number M, the automatic setting mode described above is executed, that is, processing based on the flowchart shown in FIG. Updated to As an example, the setting number M can be set to “100”.
[0038]
In this case, as long as no abnormality (foreign matter detection) occurs, the automatic setting mode can be executed while production is continued, and the threshold data Dis can be updated. In FIG. 3, step S31 shows the initial setting process by the flowchart of FIG. By initially setting the threshold value Di (threshold value data Dis), a molding process using the threshold value Di (threshold value data Dis) is performed (step S32). When the number of shots reaches a preset number M, a detection process of the differential detection value Dd (detection value data Ddd) is performed (steps S33 and S34). In this case, the differential detection value Dd is acquired for the number of shots N in accordance with the flowchart shown in FIG. On the other hand, when the number of shots N has been completed, update is performed by obtaining new threshold data Dis (steps S35 and S36).
[0039]
By updating the threshold Di (threshold data Dis), the molding process using the updated threshold Di (threshold data Dis) is continuously performed in the same manner (step S37). Thereafter, the same update process is repeated until the production according to the production plan is completed. That is, when the number of shots reaches the set number M, the detection processing of the differential detection value Dd is performed as in the case of the initial setting, and the differential detection value Dd is taken in by the number of shots N according to the flowchart shown in FIG. After that, new threshold data Dis is obtained and updated (steps S38, S39, S34...).
[0040]
Therefore, according to the mold clamping control method according to this embodiment, an automatic setting mode is provided, and the torque (load torque) in the monitoring section is sequentially detected by the preset sampling cycle Δts by this automatic setting mode. In addition, detection is performed for a preset number of shots N, and the threshold values Di for each sampling order are obtained from the obtained differential detection values Dd. Even when torque fluctuation occurs, it is possible to reliably prevent false detection of foreign matter detection, avoid unnecessary operation stop, and ensure high stability and reliability for mold clamping control. Can do. In particular, for each threshold Di, an average value Xi and a maximum value Xw for the differential detection values Dd... Of the same sampling order in each shot are obtained, and Di = [{(Xw−Xi) × from the average value Xi and the maximum value Xw. ka} + Xi] + kb, or the minimum value Xs and the maximum value Xw for the differential detection values Dd... of the same sampling order in each shot are obtained, and the median value Xj is calculated from the minimum value Xs and the maximum value Xw as Xj. = (Xw−Xs) / 2, and the threshold value Di is determined from the median value Xj and the maximum value Xw by an arithmetic expression of Di = [{(Xw−Xj) × ka} + Xj] + kb. The accurate threshold value Di can be obtained reliably and stably.
[0041]
Further, when selecting the maximum value Xw, the largest maximum value among a plurality of sampling orders in a predetermined range set with respect to the preceding and succeeding sampling orders is used, so that variations in the time axis direction Ft are also used. A predetermined margin can be set, and erroneous detection due to variations in the time axis direction Ft can be avoided. Furthermore, after setting the threshold value Di, every time the number of shots reaches the setting number M, the automatic setting mode is executed and the threshold value Di is updated. Even if the size fluctuates, it is possible to reliably avoid erroneous detection. Moreover, since the differential detection value Dd obtained by differentiating the torque detection value Td corresponding to the torque is used as the detection value Dd, even if the entire torque detection value Td is shifted due to drift or the like, It is possible to avoid erroneous detection without being influenced by.
[0042]
The embodiment has been described in detail above, but the present invention is not limited to such an embodiment, and the detailed configuration, method, etc., can be arbitrarily changed, added, and the like within the scope of the present invention. Can be deleted.
[0043]
For example, although the monitoring item shows the case where the torque of the servo motor 2 that performs the mold closing operation is applied, the speed obtained from the speed converter 27 shown in FIG. 5 may be applied. In this case, since the speed detection value Vd is obtained from the output of the speed converter 27, the acceleration value obtained by differentiating the speed detection value Vd by the speed differentiator 33 is used as the differential detection value Dd, and acceleration comparison processing is performed. Using the unit 34, the same processing as that of the torque differential comparison processing unit 32 described above can be performed. In addition, other arithmetic expressions may be used as necessary, and are not limited to the illustrated arithmetic expressions. Furthermore, although the Example showed the case where the toggle link mechanism 9 was used for the drive mechanism part 5, it can utilize similarly for the drive mechanism part of the direct pressure type which does not use a toggle link mechanism.
[0044]
【The invention's effect】
As described above, the mold clamping control method of the injection molding machine according to the present invention is provided with the automatic setting mode, and in this automatic setting mode, the monitoring items in the monitoring section are sequentially detected by the preset sampling cycle, and The detection is performed for the set number of shots, and the average value Xi for the detection value of the same sampling order in each shot from the obtained detection value and the most of the plurality of sampling orders in the predetermined range set for the preceding and succeeding sampling orders A predetermined maximum range obtained from the average value Xi and the maximum value Xw, or the minimum value Xs for the detected value of the same sampling order in each shot and the preceding and succeeding sampling order, from the average value Xi and the maximum value Xw. Obtaining the largest maximum value Xw among a plurality of sampling orders in The median value Xj is obtained from the minimum value Xs and the maximum value Xw, and the threshold value for each sampling order is obtained and set from the median value Xj and the maximum value Xw by a predetermined arithmetic expression. Has a remarkable effect.
[0045]
(1) Even when torque fluctuations due to disturbance factors occur, it is possible to reliably prevent false detection of foreign matter detection, avoid unnecessary operation stop, and further provide high stability against mold clamping control. Reliability can be ensured.
[0046]
(2) An average value Xi and a maximum value Xw with respect to detection values of the same sampling order in each shot are obtained, and each threshold value Di is determined from this average value Xi and maximum value Xw, for example, Di = [{(Xw−Xi) × ka} + Xi] + kb, or a median value Xj is obtained instead of the average value Xi, and each threshold value Di is determined from this median value Xj and the maximum value Xw, for example, Di = [{(Xw−Xj ) × ka} + Xj] + kb, the accurate threshold value Di can be obtained reliably and stably.
[0047]
(3) When selecting the maximum value Xw, since the largest maximum value among a plurality of sampling orders in a predetermined range set with respect to the preceding and succeeding sampling orders is used, the erroneous detection due to the variation in the time axis direction in particular. Can be avoided.
[0048]
(4) According to a preferred embodiment, after the threshold value is set, every time the number of shots reaches the set number, the automatic setting mode is executed to update the threshold value. Even when the magnitude of the torque varies depending on the time zone, erroneous detection can be reliably avoided.
[0049]
(5) According to a preferred embodiment, if the detection value is a differential detection value obtained by differentiating the torque detection value corresponding to the torque or a differential detection value obtained by differentiating the speed detection value corresponding to the speed. Even if the entire torque detection value or speed detection value is shifted due to drift or the like, erroneous detection can be avoided without being affected by this.
[Brief description of the drawings]
FIG. 1 is a flowchart showing a threshold setting method used in a mold clamping control method according to a preferred embodiment of the present invention;
FIG. 2 is a flowchart for explaining the overall operation during production operation including the same mold clamping control method;
FIG. 3 is a flowchart for explaining a threshold data update method used in the same mold clamping control method;
FIG. 4 is a configuration diagram of an injection molding machine capable of performing the same mold clamping control method;
FIG. 5 is a configuration diagram of a servo circuit in the injection molding machine,
FIG. 6 is a screen configuration diagram of a display when performing the same mold clamping control method;
FIG. 7 is a list of detected values detected by the same mold clamping control method;
FIG. 8 is an explanatory diagram of a method for selecting a maximum value when using the same mold clamping control method;
[Explanation of symbols]
1 Injection molding machine 2 Servo motor Dd Detection value (differential detection value)
Di threshold value Δts Sampling cycle Td Torque detection value Vd Speed detection value

Claims (6)

  Clamping control of an injection molding machine that detects a monitoring item in a predetermined monitoring section set for the mold closing operation in the mold clamping process and performs an abnormal process if the detected value exceeds a set threshold value In the method, an automatic setting mode is provided, and with this automatic setting mode, the monitoring items in the monitoring section are sequentially detected by a preset sampling period, and the number of shots set in advance is detected, and the obtained detection value is obtained. The average value Xi for the detected value of the same sampling order in each shot and the largest maximum value Xw among the plurality of sampling orders in the predetermined range set for the preceding and succeeding sampling orders are obtained, and this average value Xi and the maximum value Xw Or from the obtained detection value, the maximum value for the detection value of the same sampling order in each shot. The largest maximum value Xw among a plurality of sampling orders in a predetermined range set for the value Xs and the preceding and following sampling orders is obtained, and the median value Xj is obtained from the minimum value Xs and the maximum value Xw, and the median value Xj And a maximum value Xw, a threshold value for each sampling order is obtained by a predetermined arithmetic expression and set, and a mold clamping control method for an injection molding machine. From the average value Xi and the maximum value Xw, a threshold value Di for each sampling order is determined.
Di = [{(Xw−Xi) × ka} + Xi] + kb
(However, ka and kb are constants)
2. The mold clamping control method for an injection molding machine according to claim 1, wherein the mold clamping control method is calculated by the following equation. From the median value Xj and the maximum value Xw, a threshold value Di for each sampling order is obtained.
Di = [{(Xw−Xj) × ka} + Xj] + kb
(However, ka and kb are constants)
2. The mold clamping control method for an injection molding machine according to claim 1, wherein the mold clamping control method is calculated by the following equation.   2. The mold of an injection molding machine according to claim 1, wherein, after the threshold value is set, the threshold value is updated by executing the automatic setting mode every time the number of shots reaches a set number (including 0). Tightening control method.   2. The mold clamping control method of an injection molding machine according to claim 1, wherein the monitoring item is a torque of a servo motor that performs the mold closing operation or a speed of the servo motor.   6. The detection value is a differential detection value obtained by differentiating a torque detection value corresponding to the torque or a differential detection value obtained by differentiating a speed detection value corresponding to the speed. The mold clamping control method of the injection molding machine as described.

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