JP5702878B2 - Pressure control device for injection molding machine - Google Patents

Pressure control device for injection molding machine Download PDF

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JP5702878B2
JP5702878B2 JP2014099823A JP2014099823A JP5702878B2 JP 5702878 B2 JP5702878 B2 JP 5702878B2 JP 2014099823 A JP2014099823 A JP 2014099823A JP 2014099823 A JP2014099823 A JP 2014099823A JP 5702878 B2 JP5702878 B2 JP 5702878B2
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pressure
injection
peak
holding
screw
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JP2015013467A (en
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淳平 丸山
淳平 丸山
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FANUC Corp
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FANUC Corp
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17Component parts, details or accessories; Auxiliary operations
    • B29C45/76Measuring, controlling or regulating
    • B29C45/77Measuring, controlling or regulating of velocity or pressure of moulding material
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76Measuring, controlling or regulating
    • B29C2945/76003Measured parameter
    • B29C2945/76006Pressure
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76Measuring, controlling or regulating
    • B29C2945/76177Location of measurement
    • B29C2945/7618Injection unit
    • B29C2945/76214Injection unit drive means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76Measuring, controlling or regulating
    • B29C2945/76344Phase or stage of measurement
    • B29C2945/76381Injection
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76Measuring, controlling or regulating
    • B29C2945/76494Controlled parameter
    • B29C2945/76498Pressure
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76Measuring, controlling or regulating
    • B29C2945/76494Controlled parameter
    • B29C2945/76595Velocity
    • B29C2945/76598Velocity linear movement
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76Measuring, controlling or regulating
    • B29C2945/76655Location of control
    • B29C2945/76658Injection unit
    • B29C2945/76665Injection unit screw
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76Measuring, controlling or regulating
    • B29C2945/76822Phase or stage of control
    • B29C2945/76862Holding, dwelling

Description

本発明は、射出成形機の圧力制御装置に関する。   The present invention relates to a pressure control device for an injection molding machine.

インラインスクリュ式射出成形機では、加熱シリンダ内のスクリュを回転させながらスクリュを後退させることで、溶融樹脂を加熱シリンダの先端部に圧送する計量工程と、その後にスクリュを前進させて金型内に溶融樹脂を充填する射出工程と保圧工程とを行う。   In an in-line screw type injection molding machine, the screw is moved backward while rotating the screw in the heating cylinder, and the metering process in which the molten resin is pumped to the tip of the heating cylinder, and then the screw is advanced into the mold. An injection process for filling the molten resin and a pressure holding process are performed.

射出工程では、予め設定された射出ストロークと射出速度とに基いてスクリュを前進させることで、加熱シリンダ内の溶融樹脂を金型内に充填する。そして射出/保圧切り替え位置まで前進すると、射出工程から保圧工程に切り替わる。保圧工程では、予め設定された保圧圧力と保圧時間とに基いて圧力制御を行うことで、溶融樹脂を金型内にフル充填させ、さらに樹脂の収縮による成形品のヒケを補う。   In the injection process, the mold is filled with the molten resin in the heating cylinder by advancing the screw based on a preset injection stroke and injection speed. Then, when moving forward to the injection / holding pressure switching position, the injection process is switched to the pressure holding process. In the pressure-holding step, pressure control is performed based on a preset pressure-holding pressure and pressure-holding time, so that the molten resin is fully filled in the mold, and further, sink marks of the molded product due to resin shrinkage are compensated.

特許文献1には、スクリュを前進させて金型のキャビティ内への樹脂の充填を開始し、前記キャビティ内で樹脂が満杯になる手前より、前記スクリュのスクリュ位置を維持し、前記キャビティ内を充満させた後、保圧工程に移行する技術が開示されている(図5参照)。   In Patent Literature 1, the screw is advanced to start filling the resin into the mold cavity, and the screw position of the screw is maintained before the resin is filled in the cavity. A technique for shifting to a pressure holding process after filling is disclosed (see FIG. 5).

特許文献2には、射出圧力が予め設定した切り替え圧力に達した時点からパック圧力制御用のタイマを計時させ始めるとともに、パック圧力を作用させ、さらに、このタイマのタイムアウトによってパック圧力制御から保圧制御への切り替えを行う技術が開示されている。また、特許文献3には、充填圧力の検出値が第1の設定圧力値に達するまで、速度制御によって充填を行い、上記充填圧力の検出値が上記第1の設定圧力値以上になった時点で、制御を速度制御から上記第1の設定圧力値で制御する圧力制御に切り換え、上記圧力制御で充填を行った状態で、充填速度が設定速度以下になった時点で、第2の設定圧力値で制御する保圧制御に切り換えを行う技術が開示されている(図6参照)。   In Patent Document 2, the pack pressure control timer starts to be counted from the point in time when the injection pressure reaches the preset switching pressure, and the pack pressure is applied. A technique for switching to control is disclosed. In Patent Document 3, filling is performed by speed control until the detected value of the filling pressure reaches the first set pressure value, and the detected value of the filling pressure becomes equal to or higher than the first set pressure value. Then, the control is switched from the speed control to the pressure control controlled by the first set pressure value, and the second set pressure is reached when the filling speed becomes lower than the set speed in the state where the filling is performed by the pressure control. A technique for switching to holding pressure control that is controlled by a value is disclosed (see FIG. 6).

特開2008−74114号公報JP 2008-74114 A 特開平2−274522号公報JP-A-2-274522 特開2010−721号公報JP 2010-721 A

金型内の樹脂流路が狭い場合や、薄肉成形の場合などにおいて樹脂をフル充填するには、射出・保圧工程において大きなピーク圧が必要になる場合がある。しかし、ピーク圧が過大になると、加熱シリンダや金型が破損したり、成形品にバリが発生するといった不具合が生じるため、過大なピーク圧力を発生させることなく金型に樹脂をフル充填させるための技術が求められている。   In order to fully fill the resin when the resin flow path in the mold is narrow or in the case of thin-wall molding, a large peak pressure may be required in the injection / pressure holding process. However, if the peak pressure is excessive, the heating cylinder or mold may be damaged, or burrs may occur in the molded product, so the mold is fully filled with resin without generating excessive peak pressure. Technology is required.

ここで、射出圧力あたりの金型のキャビティ内への樹脂の充填性能を、充填効率と呼ぶことにする。充填効率が高いほど、低い射出圧力で金型に樹脂をフル充填させることが可能になる。高い充填効率を得るには、充填完了または充填完了の少し手前まで過大にならない範囲で高い圧力を維持する圧力制御、すなわちピーク圧力保持制御を行い、その後に成形品のヒケを補う保圧工程に切り替えることが望ましい。   Here, the filling performance of the resin into the mold cavity per injection pressure is referred to as filling efficiency. The higher the filling efficiency, the more resin can be fully filled in the mold with a lower injection pressure. In order to obtain high filling efficiency, pressure control that maintains high pressure within the range that does not become excessive until filling completion or just before filling completion, that is, peak pressure holding control, is followed by a pressure holding process that compensates for sink marks in the molded product. It is desirable to switch.

そこで本発明の目的は、保圧工程において射出圧力を制御する圧力制御部と、ピーク圧力検出部と、ピーク圧力保持制御部とを備える、射出成形機の圧力制御装置であって、前記ピーク圧力検出部は、射出圧力のピーク圧力発生時点とピーク圧力値を検出し、また、前記ピーク圧力保持制御部は、保圧工程において、ピーク圧力発生時点からピーク圧力保持制御完了条件が成立するまでの間、射出圧力が前記検出したピーク圧力値を保持するように圧力制御を行う、射出成形機の圧力制御装置を提供することである。   Accordingly, an object of the present invention is a pressure control device for an injection molding machine, comprising a pressure control unit that controls an injection pressure in a pressure-holding step, a peak pressure detection unit, and a peak pressure holding control unit, wherein the peak pressure The detection unit detects a peak pressure generation time and a peak pressure value of the injection pressure, and the peak pressure holding control unit is configured to detect a peak pressure holding control completion condition from when the peak pressure is generated in the pressure holding process. In the meantime, the present invention is to provide a pressure control device for an injection molding machine that performs pressure control so that the injection pressure maintains the detected peak pressure value.

本願の請求項1に係る発明は、射出スクリュを駆動する射出スクリュ駆動部と、射出圧力を検出する射出圧力検出部と、射出工程において前記射出スクリュの移動速度を制御するスクリュ速度制御部と、保圧工程において射出圧力を制御する圧力制御部と、射出工程から保圧工程に切り替える射出保圧切替部と、射出圧力のピーク圧力発生時点とピーク圧力値を検出するピーク圧力検出部とを有し、保圧工程において、ピーク圧力発生時点からピーク圧力保持制御完了条件が成立するピーク圧力保持制御完了時点までの間、射出圧力が前記検出したピーク圧力値を保持するように圧力制御を行うピーク圧力保持制御部を有し、前記圧力制御部は、前記ピーク圧力保持制御完了時点から保圧工程の完了時点までの間、保圧工程の設定圧力に基いて圧力制御を行うことを特徴とする射出成形機の圧力制御装置である。   The invention according to claim 1 of the present application includes an injection screw driving unit that drives an injection screw, an injection pressure detection unit that detects an injection pressure, a screw speed control unit that controls a moving speed of the injection screw in an injection process, A pressure control unit that controls the injection pressure in the pressure-holding process, an injection pressure-holding switching unit that switches from the injection process to the pressure-holding process, and a peak pressure detection unit that detects the peak pressure generation point and the peak pressure value of the injection pressure. In the pressure holding process, the peak is controlled so that the injection pressure holds the detected peak pressure value from the time when the peak pressure is generated to the time when the peak pressure holding control completion condition is satisfied. A pressure holding control unit, and the pressure control unit is based on a set pressure of the pressure holding process from the time when the peak pressure holding control is completed to the time when the pressure holding process is completed. A pressure control device for an injection molding machine and performs pressure control.

請求項2に係る発明は、前記ピーク圧力保持制御完了条件は、ピーク圧力発生時点から所定時間が経過すること、またはピーク圧力発生時点から所定スクリュ前進量だけスクリュが前進すること、またはスクリュ前進速度が所定速度まで低下することのうち少なくとも一つであることを特徴とする請求項1に記載の射出成形機の圧力制御装置である。
請求項3に係る発明は、前記ピーク圧力検出部は、単位時間あたりの圧力変化量が所定変化量以下になった時点、またはスクリュ速度が所定速度以下になった時点をピーク圧力発生時点として検出し、該ピーク圧力発生時点の射出圧力をピーク圧力値として検出することを特徴とする請求項1または2のいずれか一つに記載の射出成形機の圧力制御装置である。
According to a second aspect of the present invention, the peak pressure holding control completion condition is that a predetermined time elapses from the peak pressure generation time, a screw is advanced by a predetermined screw advance amount from the peak pressure generation time, or a screw advance speed. The pressure control device for an injection molding machine according to claim 1, wherein the pressure control device is at least one of decreasing to a predetermined speed.
According to a third aspect of the present invention, the peak pressure detection unit detects a point in time when the pressure change amount per unit time becomes a predetermined change amount or less, or a time point when the screw speed becomes a predetermined speed or less as the peak pressure generation time 3. The pressure control device for an injection molding machine according to claim 1, wherein the injection pressure at the time when the peak pressure is generated is detected as a peak pressure value.

請求項4に係る発明は、前記圧力制御部は、射出保圧切り替え時点からピーク圧力発生時点までの間、保圧工程の設定圧力に基いて圧力制御を行うことを特徴とする請求項1〜3のいずれか一つに記載の射出成形機の圧力制御装置である。
請求項5に係る発明は、前記圧力制御部は、射出保圧切り替え時点からピーク圧力発生時点までの間、スクリュ速度が保圧制限速度以下になるように制御することを特徴とする請求項1〜3のいずれか一つに記載の射出成形機の圧力制御装置である。
The invention according to claim 4 is characterized in that the pressure control unit performs pressure control based on the set pressure in the pressure holding process from the injection holding pressure switching time to the peak pressure generation time. 4. The pressure control device for an injection molding machine according to any one of 3 above.
The invention according to claim 5 is characterized in that the pressure control unit controls the screw speed to be equal to or lower than the pressure holding limit speed from the injection holding pressure switching time to the peak pressure generation time. It is a pressure control apparatus of the injection molding machine as described in any one of -3.

本発明による射出成形機の圧力制御装置によれば、ピーク圧力を検出した時点からピーク圧力値を保持することで、バリが発生するよりも低い圧力値に抑えながら高い充填効率が得られる。また本発明によれば、ピーク圧力保持制御完了条件が成立した後は、成形品のヒケを補う保圧工程に切り替えるため、ピーク圧力を長時間保持することにより成形品に歪みが発生することを防止できる。   According to the pressure control device for an injection molding machine according to the present invention, by maintaining the peak pressure value from the time when the peak pressure is detected, a high filling efficiency can be obtained while suppressing the pressure value to be lower than the occurrence of burrs. Further, according to the present invention, after the peak pressure holding control completion condition is satisfied, the pressure is controlled to compensate for the sink of the molded product. Can be prevented.

射出成形機および該射出成形機を制御する制御装置の概略構成図である。It is a schematic block diagram of the injection molding machine and the control apparatus which controls this injection molding machine. 本発明に係る圧力制御装置の一実施形態を示すブロック図である。It is a block diagram showing one embodiment of a pressure control device concerning the present invention. 本発明に係る圧力制御装置を有する射出成形機で成形した場合の射出圧力及びスクリュ位置の、1成形サイクルの間での時間的推移を説明するためのグラフである。It is a graph for demonstrating temporal transition between one molding cycle of the injection pressure at the time of shape | molding with the injection molding machine which has the pressure control apparatus which concerns on this invention, and a screw position. 本発明に係る圧力制御装置が実行する圧力制御の処理のフローを説明する図である。It is a figure explaining the flow of the process of the pressure control which the pressure control apparatus which concerns on this invention performs. 従来技術(特許文献1)に係る射出成形方法で成形した場合の射出圧力及びスクリュ位置の、1成形サイクルの間での時間的推移を説明するためのグラフである。It is a graph for demonstrating temporal transition between one molding cycle of the injection pressure at the time of shape | molding with the injection molding method which concerns on a prior art (patent document 1), and a screw position. 従来技術(特許文献2,3)に係る射出成形方法で成形した場合の射出圧力及びスクリュ位置の、1成形サイクルの間での時間的推移を説明するためのグラフである。It is a graph for demonstrating temporal transition between one molding cycle of the injection pressure at the time of shape | molding with the injection molding method which concerns on a prior art (patent documents 2, 3), and a screw position.

以下、本発明の実施形態を図面と共に説明する。
図1は、射出成形機および該射出成形機を制御する制御装置の概略構成図である。スクリュ3が挿入されたシリンダ1の先端にはノズル2が装着され、シリンダ1の後端の側部には樹脂ペレットをシリンダ1に供給するホッパ4が取り付けられている。スクリュ3は、スクリュ3をその軸方向に駆動する駆動手段としての射出用サーボモータM1、伝動機構及びボールネジ/ナット等の回転運動を直線運動に変換する変換機構7によって軸方向に駆動され、射出及び背圧制御がなされるように構成されている。また、スクリュ3は、スクリュ3を回転させるための回転駆動手段としてのサーボモータM2と、ベルト、プーリ等で構成される伝動機構6により回転駆動されるようになっている。
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic configuration diagram of an injection molding machine and a control device that controls the injection molding machine. A nozzle 2 is attached to the tip of the cylinder 1 in which the screw 3 is inserted, and a hopper 4 for supplying resin pellets to the cylinder 1 is attached to the side of the rear end of the cylinder 1. The screw 3 is driven in the axial direction by an injection servo motor M1 as a driving means for driving the screw 3 in the axial direction, a transmission mechanism, and a conversion mechanism 7 that converts a rotary motion of a ball screw / nut or the like into a linear motion. And back pressure control. The screw 3 is rotationally driven by a servo motor M2 as a rotational driving means for rotating the screw 3 and a transmission mechanism 6 including a belt, a pulley, and the like.

射出用サーボモータM1、スクリュ回転用サーボモータM2には、それぞれ、その回転位置・速度を検出する位置・速度検出器Penc1、位置・速度検出器Penc2が取り付けられている。これら位置・速度検出器Penc1,Penc2によって、スクリュ3の位置(スクリュ軸方向の位置)、移動速度(射出速度)、スクリュ3の回転速度を検出できる。また、スクリュ3に加わる溶融樹脂からのスクリュ軸方向の圧力を検出するロードセル等の圧力センサ5が設けられている。   A position / speed detector Penc1 and a position / speed detector Penc2 for detecting the rotation position / speed are attached to the injection servomotor M1 and the screw rotation servomotor M2, respectively. These position / speed detectors Penc1 and Penc2 can detect the position of the screw 3 (position in the screw axis direction), the moving speed (injection speed), and the rotational speed of the screw 3. In addition, a pressure sensor 5 such as a load cell that detects the pressure in the axial direction of the screw from the molten resin applied to the screw 3 is provided.

PMCCPU17には、射出成形機のシーケンス動作を制御するシーケンスプログラム等を記憶したROM18および演算データの一時記憶等に用いられるRAM19が接続されている。CNCCPU20には、射出成形機を全体的に制御する自動運転プログラム等を記憶したROM21および演算データの一時記憶等に用いられるRAM22が接続されている。   Connected to the PMCCPU 17 are a ROM 18 storing a sequence program for controlling the sequence operation of the injection molding machine and a RAM 19 used for temporary storage of calculation data. Connected to the CNC CPU 20 are a ROM 21 that stores an automatic operation program and the like for overall control of the injection molding machine, and a RAM 22 that is used for temporary storage of calculation data.

サーボCPU15には、位置ループ、速度ループ、電流ループの処理を行うサーボ制御専用の制御プログラムを格納したROM13やデータの一時記憶に用いられるRAM14が接続されている。更に、サーボCPU15には、サーボCPU15からの指令に基づいて、スクリュ回転用サーボモータM2を駆動するサーボアンプ12や、射出用サーボモータM1を駆動するサーボアンプ11が接続されている。   The servo CPU 15 is connected to a ROM 13 that stores a control program dedicated to servo control that performs processing of a position loop, a speed loop, and a current loop, and a RAM 14 that is used for temporary storage of data. Furthermore, the servo CPU 15 is connected to a servo amplifier 12 that drives a screw rotation servomotor M2 and a servo amplifier 11 that drives an injection servomotor M1 based on a command from the servo CPU15.

各サーボモータM1,M2には、前述したように、それぞれ位置・速度検出器Penc1,Penc2が取り付けられている。これら位置・速度検出器Penc1,Penc2からの出力が、サーボCPU15にフィードバックされる。サーボCPU15は、CNCCPU20から指令される各軸(射出用サーボモータM1、または、スクリュ回転用サーボモータM2)への移動指令と位置・速度検出器Penc1、位置・速度検出器Penc2からフィードバックされる検出位置と検出速度に基づいて、位置、速度のフィードバック制御を行うとともに、電流フィードバック制御も実行して、各サーボアンプ11,12を駆動制御する。   As described above, the position / speed detectors Penc1 and Penc2 are attached to the servomotors M1 and M2, respectively. Outputs from these position / velocity detectors Penc 1 and Penc 2 are fed back to the servo CPU 15. The servo CPU 15 receives a movement command to each axis (injection servo motor M1 or screw rotation servo motor M2) commanded by the CNC CPU 20, and detection fed back from the position / speed detector Penc1 and position / speed detector Penc2. Based on the position and detection speed, position and speed feedback control is performed, and current feedback control is also executed to drive-control the servo amplifiers 11 and 12.

また、位置・速度検出器Penc1からの位置フィードバック信号により、スクリュ3の前進位置(軸方向位置)を求める現在位置レジスタが設けられており、該現在位置レジスタによりスクリュ位置を検出できるように構成されている。また、サーボCPU15には、圧力センサ5での検出信号(アナログ信号)をA/D変換器16でデジタル信号に変換した樹脂圧力(スクリュにかかる樹脂圧力)が入力されている。   Further, a current position register for obtaining the forward position (axial position) of the screw 3 by a position feedback signal from the position / speed detector Penc1 is provided, and the screw position can be detected by the current position register. ing. Further, the servo CPU 15 receives a resin pressure (resin pressure applied to the screw) obtained by converting a detection signal (analog signal) from the pressure sensor 5 into a digital signal by the A / D converter 16.

LCD/MDI(液晶表示装置付き手動入力装置)25は、LCD表示回路24を介してバス26に接続されている。さらに、不揮発性メモリで構成される成形データ保存用RAM23もバス26に接続されている。この成形データ保存用RAM23には射出成形作業に関する成形条件と各種設定値、パラメータ、マクロ変数等を記憶する。   An LCD / MDI (manual input device with a liquid crystal display device) 25 is connected to a bus 26 via an LCD display circuit 24. Further, a molding data storage RAM 23 composed of a nonvolatile memory is also connected to the bus 26. The molding data storage RAM 23 stores molding conditions relating to injection molding work, various set values, parameters, macro variables, and the like.

以上の構成により、PMCCPU17が射出成形機全体のシーケンス動作を制御し、CNCCPU20がROM21の運転プログラムや成形データ保存用RAM23に格納された成形条件等に基づいて各軸のサーボモータM1,M2に対して移動指令の分配を行なう。また、サーボCPU15は、各軸(射出用サーボモータM1やスクリュ回転用サーボモータM2)に対して分配された移動指令と、位置・速度検出器Penc1,Penc2で検出された位置および速度のフィードバック信号等に基づいて、従来と同様に位置ループ制御、速度ループ制御、さらには電流ループ制御のサーボ制御を行い、いわゆるデジタルサーボ処理を実行する。   With the above configuration, the PMC CPU 17 controls the sequence operation of the entire injection molding machine, and the CNC CPU 20 controls the servo motors M1 and M2 for each axis based on the operating conditions stored in the ROM 21 and the molding conditions stored in the molding data storage RAM 23. To distribute the movement command. Further, the servo CPU 15 sends a movement command distributed to each axis (injection servo motor M1 and screw rotation servo motor M2), and position and speed feedback signals detected by the position / speed detectors Penc1 and Penc2. Based on the above, servo control of position loop control, speed loop control, and current loop control is performed in the same manner as in the past, and so-called digital servo processing is executed.

次に、本発明に係る射出成形機の圧力制御装置の一実施形態を図2のブロック図を用いて説明する。
射出成形機の圧力制御装置は、スクリュ3を駆動する射出スクリュ駆動部30と、射出圧力を検出する射出圧力検出部40と、射出工程においてスクリュ3の移動速度を制御するスクリュ速度制御部31と、保圧工程において射出圧力を制御する圧力制御部32と、射出工程から保圧工程に切り替える射出保圧切替部50と、射出圧力のピーク圧力発生時点とピーク圧力値とを検出するピーク圧力検出部41と、ピーク圧力保持制御部42とを備える。
Next, an embodiment of a pressure control device for an injection molding machine according to the present invention will be described with reference to the block diagram of FIG.
The pressure control device of the injection molding machine includes an injection screw drive unit 30 that drives the screw 3, an injection pressure detection unit 40 that detects the injection pressure, a screw speed control unit 31 that controls the moving speed of the screw 3 in the injection process, and The pressure control unit 32 that controls the injection pressure in the pressure holding step, the injection pressure holding switching unit 50 that switches from the injection step to the pressure holding step, and the peak pressure detection that detects the peak pressure generation point and the peak pressure value of the injection pressure Unit 41 and a peak pressure holding control unit 42.

スクリュ速度制御部31は、ピーク圧力保持制御部42(接点B)または圧力制御部32(接点A)のいずれかから速度指令を受け取り、射出スクリュ駆動部30(サーボアンプ11,12)にトルク指令を送り、射出用サーボモータM1を駆動する。
ピーク圧力検出部41は、射出圧力検出部40で検出された射出圧力の値からピーク圧力発生時点とそのピーク圧力を検出する。ピーク圧力検出部41で検出されたピーク圧力はピーク圧力保持制御部42に出力される。
The screw speed control unit 31 receives a speed command from either the peak pressure holding control unit 42 (contact point B) or the pressure control unit 32 (contact point A), and sends a torque command to the injection screw drive unit 30 (servo amplifiers 11 and 12). To drive the injection servo motor M1.
The peak pressure detector 41 detects the peak pressure generation time and the peak pressure from the value of the injection pressure detected by the injection pressure detector 40. The peak pressure detected by the peak pressure detection unit 41 is output to the peak pressure holding control unit 42.

ピーク圧力保持制御部42は、保圧工程において、ピーク圧力発生時点からピーク圧力保持制御完了条件が成立する時点までの間、切り替え接点Bを介して速度指令をスクリュ速度制御部31に与えることにより、射出圧力がピーク圧力検出部41が検出したピーク圧力値を保持するよう圧力制御を行う。   In the pressure holding process, the peak pressure holding control unit 42 gives a speed command to the screw speed control unit 31 via the switching contact B from the time when the peak pressure is generated until the time when the peak pressure holding control completion condition is satisfied. The pressure control is performed so that the injection pressure maintains the peak pressure value detected by the peak pressure detection unit 41.

一方、圧力制御部32は、射出圧力検出部40から射出圧力を受け取り、射出保圧切替部50による射出保圧切替え時点からピーク圧力発生時点までの間、及びピーク圧力保持制御完了時点から保圧工程の完了時点までの間は、切り替え接点Aを介して速度指令をスクリュ速度制御部31に与えることにより、保圧工程の設定圧力に基づいて圧力制御を行う。   On the other hand, the pressure control unit 32 receives the injection pressure from the injection pressure detection unit 40, holds the pressure from the injection holding pressure switching time by the injection holding pressure switching unit 50 to the peak pressure generation time, and from the time when the peak pressure holding control is completed. Until the completion of the process, the speed control is performed based on the set pressure of the pressure holding process by giving a speed command to the screw speed control unit 31 via the switching contact A.

次に、本発明に係る射出成形機の圧力制御装置により実行される射出圧力の制御を、図3を用いて説明する。
充填時の過大なピーク圧力を低減し、かつ所定の射出圧力以内で高い充填効率を得るには、前述したように、射出保圧切替時に発生するピーク圧力を、充填完了または充填完了の少し手前まで維持するような圧力制御(すなわち、ピーク圧力保持制御)を行い、その後に成形品のヒケを補う保圧工程に切り替えることが望ましい。
Next, the injection pressure control executed by the pressure control device of the injection molding machine according to the present invention will be described with reference to FIG.
In order to reduce the excessive peak pressure during filling and to obtain high filling efficiency within the prescribed injection pressure, as described above, the peak pressure generated during injection holding pressure switching should be slightly before filling completion or filling completion. It is desirable to perform pressure control (that is, peak pressure holding control) that maintains the pressure until the pressure is maintained, and then switch to a pressure holding process that compensates for sink marks in the molded product.

図3は、本発明に係る圧力制御装置を有する射出成形機で成形した場合の射出圧力、スクリュ位置の、1成形サイクルの間での時間的推移を説明するためのグラフである。本発明の圧力制御装置による圧力制御では、図3に示されるように、射出工程における速度制御から保圧工程における圧力制御に切り替わり、射出圧力がピーク値になると、ピーク圧力保持制御完了条件が成立するまでの間ピーク圧力を保持し、ピーク圧力保持制御完了時点から保圧工程の完了時点までの間、保圧工程の設定圧力に基いて、図1に示される制御装置10により圧力制御を行う。   FIG. 3 is a graph for explaining the temporal transition of the injection pressure and screw position during one molding cycle when molding is performed by an injection molding machine having the pressure control device according to the present invention. In the pressure control by the pressure control device of the present invention, as shown in FIG. 3, the speed control in the injection process is switched to the pressure control in the pressure holding process, and the peak pressure holding control completion condition is satisfied when the injection pressure reaches the peak value. 1 is held, and the pressure control is performed by the control device 10 shown in FIG. 1 based on the set pressure in the pressure holding process from the time when the peak pressure holding control is completed to the time when the pressure holding process is completed. .

図3に示されるように、本発明の射出成形機の圧力制御装置では、ピーク圧力を検出した時点からピーク圧力値を保持することで、バリが発生するよりも低い圧力値に抑えながら高い充填効率が得られる。ピーク圧力保持制御完了条件が成立した後は、成形品のヒケを補う保圧工程の設定圧力に基いて圧力制御を行うため、ピーク圧力を長時間保持することにより成形品に歪みが発生することを防止できる。   As shown in FIG. 3, in the pressure control device of the injection molding machine of the present invention, by holding the peak pressure value from the time when the peak pressure is detected, high filling while suppressing the pressure value lower than the occurrence of burrs. Efficiency is obtained. After the peak pressure hold control completion condition is satisfied, pressure control is performed based on the set pressure of the pressure holding process that compensates for sink marks in the molded product, so that the molded product is distorted by holding the peak pressure for a long time. Can be prevented.

<ピーク圧力検出部>
射出圧力は、スクリュが軸方向に受ける力をロードセルなどの力検出器を用いて検出することによって取得してもよいし、射出シリンダ内の樹脂圧力を樹脂圧力センサを用いてを検出することによって取得してもよいし、射出スクリュ駆動部30の駆動トルクを検出して取得してもよいし、射出スクリュを油圧で駆動する場合は油圧の圧力を検出して取得してもよい。
<Peak pressure detector>
The injection pressure may be acquired by detecting the force that the screw receives in the axial direction by using a force detector such as a load cell, or by detecting the resin pressure in the injection cylinder using a resin pressure sensor. It may be acquired by detecting the driving torque of the injection screw drive unit 30, or when the injection screw is driven by hydraulic pressure, it may be acquired by detecting the pressure of the hydraulic pressure.

射出圧力のピーク値を検出するピーク圧力検出部41は単位時間あたりの圧力変化量を検出し、単位時間当たりの圧力変化量が増加から減少に転じた時点(極大値の発生時点)をピーク圧力発生時点として検出することができる。このとき、ピーク圧力発生を検出した時点は、単位時間当たりの圧力変化量が減少に転じている時点なので、ピーク圧力発生を検出した時点は実際のピーク圧力発生時点よりも1サンプリング時間だけ後になり、ピーク圧力検出時点の圧力値は実際のピーク圧力よりも小さい値となる。しかし、実際のピーク圧力発生時点と、ピーク圧力発生を検出した時点との時間差は小さく、実際のピーク圧力値とピーク圧力検出時点の圧力値との差も小さいことから、検出したピーク圧力値を保持するにあたってピーク圧力発生を検出した時点の圧力値を保持するようにしてもよい。   The peak pressure detection unit 41 that detects the peak value of the injection pressure detects the amount of pressure change per unit time, and the time when the amount of pressure change per unit time starts to increase (decreases when the maximum value occurs) is the peak pressure. It can be detected as the time of occurrence. At this time, since the time point when the peak pressure generation is detected is the time point when the amount of pressure change per unit time has started to decrease, the time point when the peak pressure generation is detected is one sampling time after the actual peak pressure generation time point. The pressure value at the time of detecting the peak pressure is smaller than the actual peak pressure. However, since the time difference between the actual peak pressure generation time and the detection time of the peak pressure is small, and the difference between the actual peak pressure value and the pressure value at the peak pressure detection time is also small, the detected peak pressure value is In holding, the pressure value at the time when the generation of the peak pressure is detected may be held.

または、ピーク圧力検出部41は、ピーク圧力発生近傍で単位時間あたりの圧力変化量が所定変化量以下になった時点をピーク圧力発生時点として検出してもよい。ピーク圧力検出部41は、所定変化量が正の値の場合は、圧力の極大値発生時点よりも少し前の時点をピーク圧力発生時点として検出し、一方、所定変化量が負の値の場合は、圧力の極大値発生時点よりも少し後の時点をピーク圧力発生時点として検出する。   Alternatively, the peak pressure detection unit 41 may detect a point in time when the pressure change amount per unit time near the peak pressure generation is equal to or less than a predetermined change amount as the peak pressure generation point. When the predetermined change amount is a positive value, the peak pressure detection unit 41 detects a time point slightly before the time when the maximum value of the pressure is generated as the peak pressure generation time point. On the other hand, when the predetermined change amount is a negative value, Detects a time point slightly later than the time point when the maximum value of pressure is generated as the time point when peak pressure is generated.

または、ピーク圧力検出部41は、スクリュ速度が所定速度以下になった時点をピーク圧力発生時点として検出してもよい。これは、樹脂の充填完了付近においては、キャビティ内への樹脂の流動が減少し、単位時間あたりの射出圧力の上昇量がスクリュ速度とほぼ比例するようになり、したがってピーク圧力の発生時点ではスクリュ速度がゼロになる時点と略一致することを利用している。   Alternatively, the peak pressure detection unit 41 may detect a time point when the screw speed is equal to or lower than a predetermined speed as a peak pressure generation time point. This is because the resin flow into the cavity decreases near the completion of resin filling, and the amount of increase in the injection pressure per unit time becomes almost proportional to the screw speed. It uses the fact that it almost coincides with the time when the speed becomes zero.

このとき、樹脂の種類や成形品の形状によっては、ピーク圧力発生時点に対応するスクリュ速度は変化するため、前記所定速度は樹脂の種類や成形品の形状によって予め決めておいてもよいし、オペレータが設定するようにしてもよい。   At this time, depending on the type of resin and the shape of the molded product, the screw speed corresponding to the peak pressure generation time changes, so the predetermined speed may be determined in advance by the type of resin and the shape of the molded product, It may be set by an operator.

<ピーク圧力保持制御部>
ピーク圧力保持制御部42は、射出圧力がピーク圧力を保持するように、スクリュ速度を操作して圧力制御を行なってもよいし、射出スクリュ駆動部30の駆動トルクを操作して圧力制御を行なってもよい。また、ピーク圧力保持制御中は、スクリュは軸方向に完全に停止するのでなく、圧力を保持するために前進する場合がある。この時の前進速度は、樹脂の種類や成形品の形状、または金型への樹脂の充填状態によって変える。なお、射出保圧切り替え後からピーク圧力発生時点までの間は、保圧工程の設定圧力に基いて圧力制御を行ってもよいし、スクリュが停止するように制御してもよいし、スクリュ速度が所定速度になるように制御してもよい。
<Peak pressure holding control unit>
The peak pressure holding control unit 42 may perform pressure control by operating the screw speed so that the injection pressure maintains the peak pressure, or may perform pressure control by operating the driving torque of the injection screw driving unit 30. May be. Further, during the peak pressure holding control, the screw may not stop completely in the axial direction but may advance to hold the pressure. The advance speed at this time varies depending on the type of resin, the shape of the molded product, or the state of resin filling into the mold. It should be noted that during the period from when the injection holding pressure is switched to when the peak pressure is generated, pressure control may be performed based on the set pressure in the holding pressure process, the screw may be controlled to stop, or the screw speed may be May be controlled to be a predetermined speed.

ピーク圧力保持制御完了条件としては、ピーク圧力発生時点から所定時間が経過することとしてもよいし(図1に示される制御装置10は計時手段を備えている。)、またはピーク圧力発生時点から所定スクリュ前進量だけスクリュが前進することとしてもよい。スクリュ3の前進量は、射出用サーボモータM1に取り付けられた位置・速度検出器Penc1からサーボCPU15にフィードバックされる位置検出信号を用いて計測できる。   As a condition for completing the peak pressure holding control, a predetermined time may elapse from the time when the peak pressure is generated (the control device 10 shown in FIG. 1 includes a time measuring means) or a predetermined time from the time when the peak pressure is generated. The screw may advance by the amount of advancement of the screw. The advance amount of the screw 3 can be measured using a position detection signal fed back to the servo CPU 15 from the position / speed detector Penc1 attached to the injection servomotor M1.

または、ピーク圧力保持制御完了条件は、スクリュ前進速度が所定速度まで低下することとしてもよい。スクリュ3の前進速度は、射出用サーボモータM1に取り付けられた位置・速度検出器Penc1からサーボCPU15にフィードバックされる速度検出信号を用いて計測できる。これは、充填未完了状態では金型のキャビティ内へ樹脂が流動するため、ピーク圧力を保持するためのスクリュ速度が大きいが、充填完了に近づくにしたがってキャビティ内へ樹脂の流動が減少し、ピーク圧力を保持するためのスクリュ速度が小さくなることを利用している。スクリュ前進速度が所定速度まで低下してからピーク圧力保持制御を完了することで、充填完了付近まではピーク圧力を保持し、その後は成形品のヒケを補う保圧工程の設定圧力に基いて圧力制御を行う。   Alternatively, the peak pressure holding control completion condition may be that the screw forward speed is reduced to a predetermined speed. The forward speed of the screw 3 can be measured using a speed detection signal fed back to the servo CPU 15 from a position / speed detector Penc1 attached to the injection servomotor M1. This is because the resin flows into the mold cavity when the filling is not completed, and the screw speed for maintaining the peak pressure is large. The fact that the screw speed for maintaining the pressure is small is utilized. By completing the peak pressure holding control after the screw forward speed has dropped to the specified speed, the peak pressure is maintained until the completion of filling, and then the pressure is based on the set pressure in the pressure-holding process to compensate for sink marks in the molded product. Take control.

図4は本発明に係る圧力制御装置が実行する圧力制御の処理のフローを説明する図である。以下、各ステップに従って説明する。
●[ステップSA01]射出工程を実行する。
●[ステップSA02]射出保圧工程切り替えを実行する。
●[ステップSA03]設定圧力になるように圧力制御を行う。
●[ステップSA04]ピーク圧力が発生したか否か判断し、発生した場合(YES)には、ステップSA05へ移行し、発生していない場合(NO)、ステップSA03へ戻る。
●[ステップSA05]ピーク圧力を保持するように制御を実行する。
●[ステップSA06]ピーク発生時点から所定時間が経過したか否か判断し、所定時間が経過した場合(YES)には、ステップSA07へ移行し、所定時間が経過していない場合(NO)には、ステップSA05へ戻る。
●[ステップSA07]設定圧力になるように圧力制御を実行する。
●[ステップSA08]保圧工程完了か否か判断し、保圧工程が完了した場合(YES)には、ステップSA09へ移行し、保圧工程が完了していない場合(NO)には、ステップSA07へ戻る。
●[ステップSA09]計量工程および減圧工程を実行し、処理を終了する。
FIG. 4 is a diagram for explaining a flow of pressure control processing executed by the pressure control apparatus according to the present invention. Hereinafter, it demonstrates according to each step.
[Step SA01] The injection process is executed.
[Step SA02] Injection holding pressure process switching is executed.
[Step SA03] Pressure control is performed so that the set pressure is reached.
[Step SA04] It is determined whether or not a peak pressure has occurred. If it has occurred (YES), the process proceeds to Step SA05. If not (NO), the process returns to Step SA03.
[Step SA05] Control is executed so as to maintain the peak pressure.
[Step SA06] It is determined whether or not a predetermined time has elapsed from the peak occurrence point. If the predetermined time has elapsed (YES), the process proceeds to Step SA07, and if the predetermined time has not elapsed (NO). Returns to step SA05.
[Step SA07] The pressure control is executed so that the set pressure is reached.
[Step SA08] It is determined whether or not the pressure holding process is completed. When the pressure holding process is completed (YES), the process proceeds to Step SA09, and when the pressure holding process is not completed (NO), the step Return to SA07.
[Step SA09] The measurement process and the decompression process are executed, and the process is terminated.

1 シリンダ
2 ノズル
3 スクリュ
4 ホッパ
5 圧力センサ
6 伝動機構
7 変換機構

10 制御装置
11 サーボアンプ
12 サーボアンプ
13 ROM
14 RAM
15 サーボCPU
16 A/D変換器
17 PMCCPU
18 ROM
19 RAM
20 CNCCPU
21 ROM
22 RAM
23 成形データ保存用RAM
24 LCD表示回路
25 LCD/MDI
26 バス

30 射出スクリュ駆動部
31 スクリュ速度制御部
32 圧力制御部

40 射出圧力検出部
41 ピーク圧力検出部
42 ピーク圧力保持制御部

50 射出保圧切替部

M1 射出用サーボモータ
Penc1 位置・速度検出器

M2 スクリュ回転用サーボモータ
Penc2 位置・速度検出器
1 cylinder 2 nozzle 3 screw 4 hopper 5 pressure sensor 6 transmission mechanism 7 conversion mechanism

10 Controller 11 Servo amplifier 12 Servo amplifier 13 ROM
14 RAM
15 Servo CPU
16 A / D converter 17 PMCCPU
18 ROM
19 RAM
20 CNCCPU
21 ROM
22 RAM
23 Molding data storage RAM
24 LCD display circuit 25 LCD / MDI
26 Bus

30 Injection screw drive unit 31 Screw speed control unit 32 Pressure control unit

40 Injection pressure detection unit 41 Peak pressure detection unit 42 Peak pressure holding control unit

50 Injection holding pressure switching part

M1 Servo motor for injection Penc1 Position / speed detector

M2 Servomotor for screw rotation Penc2 Position / speed detector

Claims (5)

射出スクリュを駆動する射出スクリュ駆動部と、射出圧力を検出する射出圧力検出部と、射出工程において前記射出スクリュの移動速度を制御するスクリュ速度制御部と、保圧工程において射出圧力を制御する圧力制御部と、射出工程から保圧工程に切り替える射出保圧切替部と、射出圧力のピーク圧力発生時点とピーク圧力値を検出するピーク圧力検出部とを有し、
保圧工程において、ピーク圧力発生時点からピーク圧力保持制御完了条件が成立するピーク圧力保持制御完了時点までの間、射出圧力が前記検出したピーク圧力値を保持するように圧力制御を行うピーク圧力保持制御部を有し、
前記圧力制御部は、前記ピーク圧力保持制御完了時点から保圧工程の完了時点までの間、保圧工程の設定圧力に基いて圧力制御を行うことを特徴とする射出成形機の圧力制御装置。
An injection screw driving unit that drives the injection screw, an injection pressure detection unit that detects the injection pressure, a screw speed control unit that controls the moving speed of the injection screw in the injection process, and a pressure that controls the injection pressure in the pressure holding process A control unit, an injection / holding pressure switching unit that switches from the injection step to the pressure-holding step, and a peak pressure detection unit that detects a peak pressure generation time point and a peak pressure value of the injection pressure,
In the pressure holding process, the peak pressure holding is performed so that the injection pressure holds the detected peak pressure value from the time when the peak pressure is generated to the time when the peak pressure holding control completion condition is met. Having a control unit,
The pressure control device for an injection molding machine, wherein the pressure control unit performs pressure control based on a set pressure in the pressure holding process from the time when the peak pressure holding control is completed to the time when the pressure holding process is completed.
前記ピーク圧力保持制御完了条件は、ピーク圧力発生時点から所定時間が経過すること、またはピーク圧力発生時点から所定スクリュ前進量だけスクリュが前進すること、またはスクリュ前進速度が所定速度まで低下することのうち少なくとも一つであることを特徴とする請求項1に記載の射出成形機の圧力制御装置。   The peak pressure holding control completion condition is that a predetermined time elapses from the peak pressure generation time, the screw advances by a predetermined screw advance amount from the peak pressure generation time, or the screw advance speed decreases to a predetermined speed. The pressure control device for an injection molding machine according to claim 1, wherein the pressure control device is at least one of them. 前記ピーク圧力検出部は、単位時間あたりの圧力変化量が所定変化量以下になった時点、またはスクリュ速度が所定速度以下になった時点をピーク圧力発生時点として検出し、該ピーク圧力発生時点の射出圧力をピーク圧力値として検出することを特徴とする請求項1または2のいずれか一つに記載の射出成形機の圧力制御装置。   The peak pressure detection unit detects when a pressure change amount per unit time is equal to or less than a predetermined change amount or when a screw speed is equal to or less than a predetermined speed as a peak pressure generation time. 3. The pressure control device for an injection molding machine according to claim 1, wherein the injection pressure is detected as a peak pressure value. 前記圧力制御部は、射出保圧切り替え時点からピーク圧力発生時点までの間、保圧工程の設定圧力に基いて圧力制御を行うことを特徴とする請求項1〜3のいずれか一つに記載の射出成形機の圧力制御装置。   4. The pressure control unit according to claim 1, wherein the pressure control unit performs pressure control based on a set pressure in a pressure holding process from an injection holding pressure switching time to a peak pressure generation time. Pressure control device for injection molding machine. 前記圧力制御部は、射出保圧切り替え時点からピーク圧力発生時点までの間、スクリュ速度が保圧制限速度以下になるように制御することを特徴とする請求項1〜3のいずれか一つに記載の射出成形機の圧力制御装置。   4. The pressure control unit according to claim 1, wherein the screw speed is controlled so as to be equal to or lower than a pressure holding limit speed from an injection holding pressure switching time to a peak pressure generation time. 5. The pressure control apparatus of the injection molding machine as described.
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