JPH05138705A - Method and device for controlling motor-driven injection molding machine - Google Patents

Method and device for controlling motor-driven injection molding machine

Info

Publication number
JPH05138705A
JPH05138705A JP32993491A JP32993491A JPH05138705A JP H05138705 A JPH05138705 A JP H05138705A JP 32993491 A JP32993491 A JP 32993491A JP 32993491 A JP32993491 A JP 32993491A JP H05138705 A JPH05138705 A JP H05138705A
Authority
JP
Japan
Prior art keywords
movable
mechanism section
speed
section
molding machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP32993491A
Other languages
Japanese (ja)
Other versions
JPH07100340B2 (en
Inventor
Nobuyuki Nakamura
伸之 中村
Takeshi Arai
健 荒井
Takahiro Kobayashi
孝浩 小林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissei Plastic Industrial Co Ltd
Original Assignee
Nissei Plastic Industrial Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissei Plastic Industrial Co Ltd filed Critical Nissei Plastic Industrial Co Ltd
Priority to JP32993491A priority Critical patent/JPH07100340B2/en
Publication of JPH05138705A publication Critical patent/JPH05138705A/en
Publication of JPH07100340B2 publication Critical patent/JPH07100340B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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  • Injection Moulding Of Plastics Or The Like (AREA)

Abstract

PURPOSE:To realize high maintenance, by a method wherein correct and high- precision control is realized and generation of damage of a movable mechanism part or a defective molded product is prevented. CONSTITUTION:A feedback control system drive-controlling a movable mechanism part 3, for example, a screw movement driving mechanism part 3p of an injection device 3s by a driving motor 2 is constituted. Especially, a position of a movalbe part 4 in the movagble mechanism part 3 is detected directly and a position and/or a speed of the movable part 4 is feedback-controlled so that a detected measured value (the first measured value) Dx becomes coincident with an instruction value Ds established beforehand. Then the position and/or the speed of the movable part 4 obtained by a rotation of the driving motor 2 and the obtained second measured value Dy and first measured value Dx are compared with each other, throgh which when a deflection between the first measured value Dx and second measured value Dy exceeds the established value, abnormality treatment is performed.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は駆動モータにより射出装
置におけるスクリュ進退駆動機構部等の可動機構部を駆
動制御するフィードバック制御系を備えた電動射出成形
機の制御方法及び装置に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method and apparatus for an electric injection molding machine having a feedback control system for driving and controlling a movable mechanism portion such as a screw advancing / retreating drive mechanism portion in an injection device by a drive motor.

【0002】[0002]

【従来の技術】図2は電動射出成形機における従来の制
御装置50を示す。同図において、51は射出装置であ
る。射出装置51は先端に溶融樹脂を射出する射出ノズ
ル52nを有し、かつ後部に材料を供給するホッパ52
hを有する加熱筒52を備え、加熱筒52の内部にはス
クリュ53を装填する。また、スクリュ53の後端はス
クリュ進退駆動機構部54に結合する。スクリュ進退駆
動機構部54はスクリュ53の後端に結合したボールナ
ット55nとこのボールナット55nに装填したボール
ネジ55bからなるボールネジ機構55を備えるととも
に、ボールネジ55bの後端に設けた被動ギア56eと
この被動ギア56eに噛合した駆動ギア56dからなる
伝達ギア機構56を備え、駆動ギア56dはサーボモー
タ57の回転軸に取付ける。他方、61は射出装置51
の制御系を示し、検出処理部62、比較処理部63、6
4、変換処理部65、66、サーボモータ57のドライ
ブ回路67、サーボモータ57の回転を検出するエンコ
ーダ68を備えてフィードバック制御系を構成するとと
もに、検出処理部62はCPU等を備える中央制御部6
9に接続する。
2. Description of the Related Art FIG. 2 shows a conventional controller 50 in an electric injection molding machine. In the figure, reference numeral 51 is an injection device. The injection device 51 has an injection nozzle 52n for injecting a molten resin at the tip, and a hopper 52 for supplying the material to the rear.
A heating cylinder 52 having h is provided, and a screw 53 is loaded inside the heating cylinder 52. Further, the rear end of the screw 53 is coupled to the screw advancing / retreating drive mechanism portion 54. The screw advancing / retreating drive mechanism portion 54 is provided with a ball screw mechanism 55 composed of a ball nut 55n coupled to the rear end of the screw 53 and a ball screw 55b loaded in the ball nut 55n, and a driven gear 56e provided at the rear end of the ball screw 55b and this. A transmission gear mechanism 56 including a drive gear 56d meshed with the driven gear 56e is provided, and the drive gear 56d is attached to the rotation shaft of the servo motor 57. On the other hand, 61 is an injection device 51.
Showing the control system of the detection processing unit 62, the comparison processing units 63, 6
4, a conversion control unit 65, 66, a drive circuit 67 of the servo motor 57, an encoder 68 for detecting the rotation of the servo motor 57 to configure a feedback control system, the detection processing unit 62 is a central control unit including a CPU and the like. 6
Connect to 9.

【0003】これにより、射出装置51は、例えば射出
工程において次のように機能する。まず、中央制御部6
9からはスクリュ53の変速位置及び各変速位置におけ
る速度指令値が検出処理部62に付与される。これによ
り、ドライブ回路67はサーボモータ57を作動させ、
伝達ギア機構56及びボールネジ機構55を介してスク
リュ53を前進させる。スクリュ53の位置はエンコー
ダ68により求められ、その実測値は検出処理部62に
付与されるとともに、変換処理部65により速度に変換
され、変換された速度の実測値は比較処理部63に付与
される。一方、比較処理部63には検出処理部62から
速度指令値が付与されているため、速度指令値と実測値
が比較処理され、その偏差は変換処理部66により電流
指令値に変換された後、比較処理部64に付与される。
また、比較処理部64にはサーボモータ57に流れる駆
動電流の実測値が付与されるとともに、当該実測値と電
流指令値が比較され、その偏差はドライブ回路67に付
与される。この結果、速度の実測値が速度指令値と一致
するようにフィードバック制御が行われる。なお、検出
処理部62はエンコーダ68により得るスクリュ53の
位置を監視し、変速位置に達したなら次段における速度
指令値を比較処理部63に付与する。
Thus, the injection device 51 functions as follows in the injection process, for example. First, the central control unit 6
From 9, the shift position of the screw 53 and the speed command value at each shift position are given to the detection processing unit 62. As a result, the drive circuit 67 operates the servo motor 57,
The screw 53 is moved forward via the transmission gear mechanism 56 and the ball screw mechanism 55. The position of the screw 53 is obtained by the encoder 68, and the measured value thereof is given to the detection processing unit 62 and converted into the speed by the conversion processing unit 65, and the converted measured value of the speed is given to the comparison processing unit 63. It On the other hand, since the speed command value is given to the comparison processing unit 63 from the detection processing unit 62, the speed command value and the actual measurement value are compared, and the deviation thereof is converted into the current command value by the conversion processing unit 66. , To the comparison processing unit 64.
Further, the comparison processing unit 64 is provided with the actual measurement value of the drive current flowing through the servo motor 57, the actual measurement value and the current command value are compared, and the deviation thereof is provided to the drive circuit 67. As a result, feedback control is performed so that the measured speed value matches the speed command value. The detection processing unit 62 monitors the position of the screw 53 obtained by the encoder 68, and when the shift position is reached, the speed command value in the next stage is given to the comparison processing unit 63.

【0004】他方、71は型締装置であり、固定型72
を支持する固定盤73と可動型74を支持する可動盤7
5を備え、可動盤75は可動盤進退駆動機構部76に結
合する。可動盤進退駆動機構部76は前記スクリュ進退
駆動機構部54と同様に構成され、77はボールネジ機
構、78は伝達ギア機構である。また、79はサーボモ
ータ、81は型締装置71の制御系である。型締装置7
1も基本的には射出装置51と同様に構成され、かつ同
様に機能する。
On the other hand, 71 is a mold clamping device, which is a fixed mold 72.
The movable platen 7 that supports the fixed plate 73 that supports the movable mold 74
5, the movable platen 75 is coupled to the movable platen advance / retreat drive mechanism unit 76. The movable plate advancing / retreating drive mechanism unit 76 is configured similarly to the screw advancing / retreating drive mechanism unit 54, and 77 is a ball screw mechanism and 78 is a transmission gear mechanism. Further, 79 is a servo motor, and 81 is a control system of the mold clamping device 71. Mold clamping device 7
1 is basically configured and functions similarly to the injection device 51.

【0005】[0005]

【発明が解決しようとする課題】しかし、上述した従来
の制御装置50は、次のような解決すべき課題が存在し
た。
However, the above-described conventional control device 50 has the following problems to be solved.

【0006】第一に、スクリュ53等の可動部の位置制
御及び/又は速度制御を行うに際し、サーボモータに付
設したエンコーダから可動部の位置及び/又は速度を求
めていたため、フィードバック制御系に組込まれないサ
ーボモータ57と可動部間におけるボールネジ機構55
及び77や伝達ギア機構56及び78等の可動機構部が
存在し、結局、可動機構部のバックラッシュ、温度変化
等に伴う歪及び摩耗による経年変化等による誤差によ
り、可動部の位置及び/又は速度に対する正確かつ高精
度の制御が困難となる。
First, when performing position control and / or speed control of the movable part such as the screw 53, the position and / or speed of the movable part was obtained from the encoder attached to the servo motor, and therefore it is incorporated in the feedback control system. Ball screw mechanism 55 between the servo motor 57 and the movable part
And 77 and the transmission gear mechanisms 56 and 78, etc., and eventually, the position and / or the position of the movable portion is changed due to backlash of the movable mechanism portion, distortion due to temperature change, etc., and error due to aging due to wear. It is difficult to control speed accurately and accurately.

【0007】第二に、経年変化による摩耗の度合等を定
量的に検出できないとともに、トラブルによるガタ発生
等を検出できないため、可動機構部の故障や成形不良品
の発生等を未然に防止できないなど、高度のメンテナン
スを実現できない。
Secondly, since it is not possible to quantitatively detect the degree of wear due to aging and the occurrence of backlash due to troubles, it is impossible to prevent the failure of the movable mechanism portion or the occurrence of defective products. , High maintenance is not possible.

【0008】本発明はこのような従来の技術に存在する
課題を解決したものであり、正確かつ高精度の制御を実
現できるとともに、可動機構部の故障や成形不良品の発
生等を未然に防止できるなど、高度のメンテナンスを実
現できる電動射出成形機の制御方法及び装置の提供を目
的とする。
The present invention solves the problems existing in the prior art as described above, and realizes accurate and high-precision control, and prevents the failure of the movable mechanism and the generation of defective products. It is an object of the present invention to provide a control method and device of an electric injection molding machine that can realize high-level maintenance.

【0009】[0009]

【課題を解決するための手段】本発明に係る電動射出成
形機の制御方法は、駆動モータ2により可動機構部3、
例えば、射出装置3sのスクリュ進退駆動機構部3p、
型締装置3rの可動盤進退駆動機構部3q、射出装置の
スクリュ回転駆動機構部、突出し装置の突出しピン進退
駆動機構部、ノズル移動装置の進退駆動機構部等を駆動
制御するフィードバック制御系において、可動機構部3
における可動部4の位置及び/又は速度を直接検出し、
検出した実測値(第一実測値)Dxが予め設定した指令
値Dsと一致するように、可動部4の位置及び/又は速
度をフィードバック制御するようにしたことを基本的な
特徴とする。この場合、他の形態に係る制御方法とし
て、さらに、駆動モータ2の回転から可動部4の位置及
び/又は速度を求め、求めた第二実測値Dyと第一実測
値Dxを比較することにより、第一実測値Dxと第二実
測値Dyの偏差が設定値を越えたなら異常処理を行うこ
とができる。
A control method for an electric injection molding machine according to the present invention is configured so that a drive motor 2 drives a movable mechanism section 3,
For example, the screw advancing / retreating drive mechanism section 3p of the injection device 3s,
In the feedback control system for driving and controlling the movable plate advancing / retreating drive mechanism part 3q of the mold clamping device 3r, the screw rotation driving mechanism part of the injection device, the ejecting pin advancing / retreating drive mechanism part of the ejecting device, the advancing / retreating drive mechanism part of the nozzle moving device, Movable mechanism part 3
Directly detecting the position and / or speed of the movable part 4 at
The basic feature is that the position and / or speed of the movable part 4 is feedback-controlled so that the detected measured value (first measured value) Dx matches the preset command value Ds. In this case, as a control method according to another embodiment, the position and / or speed of the movable portion 4 is further obtained from the rotation of the drive motor 2 and the obtained second actual measurement value Dy and the first actual measurement value Dx are compared. If the deviation between the first actually measured value Dx and the second actually measured value Dy exceeds the set value, the abnormality processing can be performed.

【0010】また、本発明に係る電動射出成形機の制御
装置1は、可動機構部3における可動部4の位置及び/
又は速度を直接検出する検出機能部(第一検出機能部)
10と、検出機能部10から得る実測値(第一実測値)
Dxが予め設定した指令値Dsと一致するように、可動
部4の位置及び/又は速度をフィードバック制御する制
御機能部11を備えることを基本的な特徴とする。この
場合、さらに、駆動モータ2の回転から可動部4の位置
及び/又は速度を求める第二検出機能部13と、第二検
出機能部13から得る第二実測値Dyと上述した第一実
測値Dxを比較し、第一実測値Dxと第二実測値Dyの
偏差が設定値を越えたなら異常処理を行う異常処理機能
部14を備えて構成できる。
Further, in the control device 1 for the electric injection molding machine according to the present invention, the position of the movable portion 4 in the movable mechanism portion 3 and / or
Alternatively, a detection function unit that directly detects the speed (first detection function unit)
10 and the actual measurement value obtained from the detection function unit 10 (first actual measurement value)
The basic feature is to include a control function unit 11 that feedback-controls the position and / or speed of the movable unit 4 so that Dx matches the preset command value Ds. In this case, further, the second detection function unit 13 that obtains the position and / or the speed of the movable unit 4 from the rotation of the drive motor 2, the second actual measurement value Dy obtained from the second detection function unit 13, and the first actual measurement value described above. An abnormality processing function unit 14 that compares Dx and performs abnormality processing when the deviation between the first actually measured value Dx and the second actually measured value Dy exceeds a set value can be provided.

【0011】[0011]

【作用】本発明に係る電動射出成形機の制御方法及び装
置1によれば、まず、可動部4、例えば、射出装置3s
のスクリュ進退駆動機構部3pより進退移動するスクリ
ュ4sの位置及び/又は速度は、検出機能部(第一検出
機能部)10によって直接検出される。そして、検出機
能部10から得る実測値(第一実測値)Dxは制御機能
部11に付与される。制御機能部11は第一実測値Dx
と予め設定された指令値Dsを比較してその偏差を得
る。よって、この偏差は、例えば、駆動モータ2のドラ
イブ回路に付与され、第一実測値Dxが指令値Dsと一
致するようにフィードバック制御が行われる。この場
合、フィードバック制御系は制御対象であるスクリュ4
sの位置及び/又は速度を直接検出して得られる第一実
測値Dxが用いられるため、駆動モータ2からスクリュ
4s間に存在するボールネジ機構や伝達ギア機構のバッ
クラッシュや経年変化等に基づく誤差を排除する制御が
行われる。
According to the control method and apparatus 1 of the electric injection molding machine according to the present invention, first, the movable part 4, for example, the injection device 3s.
The position and / or speed of the screw 4s that moves back and forth from the screw advancing / retreating drive mechanism section 3p is directly detected by the detection function section (first detection function section) 10. Then, the actual measurement value (first actual measurement value) Dx obtained from the detection function unit 10 is given to the control function unit 11. The control function unit 11 uses the first measured value Dx
And a preset command value Ds are compared to obtain the deviation. Therefore, this deviation is given to the drive circuit of the drive motor 2, for example, and feedback control is performed so that the first actual measurement value Dx matches the command value Ds. In this case, the feedback control system is the screw 4 that is the controlled object.
Since the first measured value Dx obtained by directly detecting the position and / or speed of s is used, an error due to backlash or secular change of the ball screw mechanism or the transmission gear mechanism existing between the drive motor 2 and the screw 4s. The control is performed to eliminate the.

【0012】また、第二検出機能部13からは駆動モー
タ2の回転により間接的に求めたスクリュ4sの位置及
び/又は速度を得る。これより得る実測値は第二実測値
Dyとなり、異常処理機能部14は第一実測値Dxと第
二実測値Dyを比較し、その偏差を得るとともに、その
偏差が予め設定した設定値を越えたなら警報等を発する
異常処理を行う。この場合、偏差が設定値以下であれ
ば、駆動モータ2とスクリュ4s間におけるボールネジ
機構等の可動機構部に存在する誤差は小さいが、他方、
偏差が設定値を越えれば、可動機構部の誤差が増大した
ことを意味する。したがって、経年変化やトラブル等に
基づいて発生する誤差の定量的な増加状態を監視でき、
また、異常となる設定値を越えたなら、異常処理、例え
ば、警報を発生させることにより、部品交換等を行うこ
とができるとともに、このような原因に基づく成形不良
品の発生等も未然に防止できるなど、高度のメンテナン
スが可能となる。
Further, the position and / or speed of the screw 4s indirectly obtained by the rotation of the drive motor 2 is obtained from the second detection function unit 13. The actual measurement value obtained from this becomes the second actual measurement value Dy, and the abnormality processing function unit 14 compares the first actual measurement value Dx and the second actual measurement value Dy to obtain the deviation thereof, and the deviation exceeds the preset value. Troubleshoot abnormalities such as issuing an alarm. In this case, if the deviation is equal to or less than the set value, the error existing in the movable mechanism portion such as the ball screw mechanism between the drive motor 2 and the screw 4s is small, but on the other hand,
If the deviation exceeds the set value, it means that the error of the movable mechanism unit has increased. Therefore, it is possible to monitor the quantitative increase state of errors that occur due to aging and troubles,
In addition, if the set value exceeds the abnormal value, abnormal processing, for example, by issuing an alarm, it is possible to replace parts and prevent the occurrence of defective products due to such causes. It becomes possible to perform high-level maintenance.

【0013】[0013]

【実施例】次に、本発明に係る好適な実施例を挙げ、図
面に基づき詳細に説明する。
DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, preferred embodiments according to the present invention will be described in detail with reference to the drawings.

【0014】まず、本発明に係る電動射出成形機の制御
装置の構成について、図1を参照して説明する。
First, the structure of a control device for an electric injection molding machine according to the present invention will be described with reference to FIG.

【0015】同図において、Mは電動射出成形機であ
り、特に、説明を容易にするため、射出装置3sと型締
装置3rを抽出して示す。射出装置3sは先端に溶融樹
脂を射出する射出ノズル21nを有し、かつ後部に材料
を供給するホッパ21hを有する加熱筒21を備え、加
熱筒21の内部には可動部4を構成するスクリュ4sを
装填する。また、スクリュ4sの後端は可動機構部3を
構成するスクリュ進退駆動機構部3pに結合する。スク
リュ進退駆動機構部3pはスクリュ4sの後端に結合し
たボールナット22nとこのボールナット22nに装填
したボールネジ22bからなるボールネジ機構22を備
えるとともに、ボールネジ22bの後端に設けた被動ギ
ア23eとこの被動ギア23eに噛合した駆動ギア23
dからなる伝達ギア機構23を備え、駆動ギア23dは
サーボモータ2s(駆動モータ2)の回転軸に取付け
る。
In the figure, M is an electric injection molding machine, and in particular, the injection device 3s and the mold clamping device 3r are extracted and shown in order to facilitate the description. The injection device 3s has a heating cylinder 21 having an injection nozzle 21n for injecting a molten resin at the tip and a hopper 21h for supplying a material to the rear, and the screw 4s constituting the movable part 4 is provided inside the heating cylinder 21. To load. Further, the rear end of the screw 4s is coupled to the screw advancing / retreating drive mechanism portion 3p which constitutes the movable mechanism portion 3. The screw advancing / retreating drive mechanism section 3p includes a ball screw mechanism 22 composed of a ball nut 22n coupled to the rear end of the screw 4s and a ball screw 22b loaded in the ball nut 22n, and a driven gear 23e provided at the rear end of the ball screw 22b and this. Drive gear 23 meshing with driven gear 23e
The drive gear 23d is attached to the rotary shaft of the servomotor 2s (drive motor 2).

【0016】他方、25は射出装置3sの制御系を示
す。10sはスクリュ4sの位置を直接検出可能な検出
機能部(第一検出機能部)10を構成するスケールであ
り、位置を速度に変換する変換処理部26、変速位置を
検出する検出処理部27、さらにコンパレータ28の入
力側に接続する。また、サーボモータ2sはドライブ回
路29の出力側に接続するとともに、ドライブ回路29
の入力側は比較処理部32の出力側に接続する。比較処
理部32の一方の入力側には、ドライブ回路29からサ
ーボモータ2sに流れる駆動電流を検出した電流検出値
がフィードバックされ、かつ他方の入力側には変換処理
部31の出力側を接続する。さらにまた、変換処理部3
1の一方の入力側は比較処理部30の出力側に接続する
とともに、比較処理部30の一方の入力側には、前述し
た変換処理部26の出力側を接続し、かつ他方の入力側
は前述した検出処理部27の出力側に接続する。そし
て、検出処理部27の他の入力側はCPU等を備える中
央制御部35に接続する。一方、13sはサーボモータ
2における回転軸の回転を検出するエンコーダであり、
変換処理部33を介して前述したコンパレータ28の他
方の入力側に接続する。なお、エンコーダ13sと変換
処理部33は第二検出機能部13を構成する。また、コ
ンパレータ28の出力側は中央制御部35に接続すると
ともに、中央制御部35には警報発生部34を接続し、
以上により、異常処理機能部14を構成する。
On the other hand, 25 indicates a control system of the injection device 3s. 10s is a scale that constitutes a detection function unit (first detection function unit) 10 that can directly detect the position of the screw 4s, and includes a conversion processing unit 26 that converts the position into a speed, a detection processing unit 27 that detects a shift position, Further, it is connected to the input side of the comparator 28. The servo motor 2s is connected to the output side of the drive circuit 29 and
The input side of is connected to the output side of the comparison processing unit 32. The current detection value obtained by detecting the drive current flowing from the drive circuit 29 to the servo motor 2s is fed back to one input side of the comparison processing section 32, and the output side of the conversion processing section 31 is connected to the other input side. .. Furthermore, the conversion processing unit 3
One input side of 1 is connected to the output side of the comparison processing section 30, the output side of the conversion processing section 26 described above is connected to one input side of the comparison processing section 30, and the other input side is It is connected to the output side of the detection processing unit 27 described above. Then, the other input side of the detection processing unit 27 is connected to the central control unit 35 including a CPU and the like. On the other hand, 13s is an encoder for detecting the rotation of the rotary shaft of the servo motor 2,
It is connected to the other input side of the above-mentioned comparator 28 via the conversion processing unit 33. The encoder 13s and the conversion processing unit 33 configure the second detection function unit 13. The output side of the comparator 28 is connected to the central control unit 35, and the central control unit 35 is connected to the alarm generation unit 34.
With the above, the abnormality processing function unit 14 is configured.

【0017】次に、射出装置3sの機能、一例として射
出工程における機能について説明する。
Next, the function of the injection device 3s, as an example, the function in the injection step will be described.

【0018】まず、中央制御部35からはスクリュ4s
の変速位置及び各変速位置における速度指令値が検出処
理部27に付与される。これにより、ドライブ回路29
はサーボモータ2sを作動させ、伝達ギア機構23及び
ボールネジ機構22を介してスクリュ4sを前進させ
る。スクリュ4sの位置はスケール10sにより直接検
出され、検出された第一実測値Dxは検出処理部27に
付与されるとともに、変換処理部26により速度を表す
第一実測値Dxに変換され、比較処理部30に付与され
る。比較処理部30では検出処理部27から付与される
速度指令値Dsと第一実測値(速度)Dxが比較処理さ
れ、その偏差は変換処理部31により電流指令値に変換
された後、比較処理部32に付与される。一方、比較処
理部32にはサーボモータ2sに流れる駆動電流の実測
値が付与され、当該実測値と電流指令値が比較され、そ
の偏差はドライブ回路29に付与される。これにより、
第一実測値(速度)Dxが指令値Dsと一致するように
フィードバック制御される。なお、かかるフィードバッ
ク制御系は制御機能部11を構成する。また、検出処理
部27はスケール10sから得られる第一実測値(位
置)Dxによりスクリュ4sの位置を監視し、変速位置
に達したなら次段における速度指令値を比較処理部30
に付与する。
First, from the central control unit 35, the screw 4s
The shift position and the speed command value at each shift position are given to the detection processing unit 27. As a result, the drive circuit 29
Operates the servo motor 2s to move the screw 4s forward via the transmission gear mechanism 23 and the ball screw mechanism 22. The position of the screw 4s is directly detected by the scale 10s, the detected first measured value Dx is given to the detection processing unit 27, and is converted into the first measured value Dx representing the speed by the conversion processing unit 26 for comparison processing. It is given to the part 30. In the comparison processing unit 30, the speed command value Ds given from the detection processing unit 27 is compared with the first measured value (speed) Dx, and the deviation is converted into a current command value by the conversion processing unit 31, and then the comparison process is performed. Assigned to the part 32. On the other hand, the measured value of the drive current flowing through the servo motor 2s is given to the comparison processing unit 32, the measured value is compared with the current command value, and the deviation is given to the drive circuit 29. This allows
Feedback control is performed so that the first measured value (speed) Dx matches the command value Ds. The feedback control system constitutes the control function unit 11. Further, the detection processing unit 27 monitors the position of the screw 4s by the first measured value (position) Dx obtained from the scale 10s, and when the shift position is reached, the speed command value in the next stage is compared with the comparison processing unit 30.
Given to.

【0019】よって、本発明に係る制御方法では制御対
象であるスクリュ4sの位置を直接検出して得られる第
一実測値Dxが用いられるため、サーボモータ2sから
スクリュ4s間に存在するボールネジ機構22や伝達ギ
ア機構23のバックラッシュや経年変化等に基づく誤差
を排除する制御が行われる。
Therefore, in the control method according to the present invention, the first measured value Dx obtained by directly detecting the position of the screw 4s to be controlled is used. Therefore, the ball screw mechanism 22 existing between the servo motor 2s and the screw 4s is used. Control is performed to eliminate an error due to backlash of the transmission gear mechanism 23, secular change, or the like.

【0020】一方、エンコーダ13sからはサーボモー
タ2sの回転数(回転位置)が検出され、変換処理部3
3に付与される。変換処理部33ではスクリュ4sの位
置が間接的に求められ、第二実測値(位置)Dyを得る
とともに、この第二実測値Dyはコンパレータ28に付
与される。コンパレータ28には前述した第一実測値
(位置)Dxが付与されているため、コンパレータ28
は第一実測値Dxと第二実測値Dyを比較し、その偏差
を得るとともに、この偏差は中央制御部35に付与され
る。中央制御部35には当該誤差に対して異常値か否か
を判別するための設定値が予め設定されており、当該が
誤差が設定値を越えたなら、異常処理、即ち、異常検出
信号を警報発生部34に付与して異常発生ランプ等を点
灯させて警報を発する。
On the other hand, the encoder 13s detects the rotational speed (rotational position) of the servomotor 2s, and the conversion processing unit 3
3 is given. In the conversion processing unit 33, the position of the screw 4s is indirectly obtained, the second measured value (position) Dy is obtained, and the second measured value Dy is given to the comparator 28. Since the first actual measurement value (position) Dx described above is given to the comparator 28, the comparator 28
Compares the first measured value Dx with the second measured value Dy, obtains a deviation thereof, and the deviation is given to the central controller 35. The central control unit 35 is preset with a set value for determining whether or not the error is an abnormal value. If the error exceeds the set value, an abnormal process, that is, an abnormal detection signal is issued. The alarm is given to the alarm generation unit 34 to turn on an abnormality occurrence lamp or the like to issue an alarm.

【0021】よって、経年変化やトラブル等に基づいて
発生する誤差の定量的な増加状態を監視できる。また、
誤差が異常に増加したなら、異常処理に基づいて、部品
交換等を行うことができるとともに、このような原因に
基づく成形不良品の発生等も未然に防止でき、十分なメ
ンテナンスが可能となる。
Therefore, it is possible to monitor the quantitatively increasing state of the error generated due to secular change or trouble. Also,
If the error increases abnormally, the parts can be replaced based on the abnormal processing, and the defective molding due to such a cause can be prevented and sufficient maintenance can be performed.

【0022】他方、型締装置3rも同様に構成され、か
つ機能する。型締装置3rは固定型36を支持する固定
盤37と、可動型38を支持する可動盤39を備え、可
動盤39は可動盤進退駆動機構部3qに結合する。な
お、他の構成は射出装置3s側と同じである。このた
め、型締装置3rにおける射出装置3s側と同一部分に
ついては同一符号を付し、その構成を明確にするととも
に、詳細な説明は省略する。型締装置3rでは可動盤3
9を射出装置3s側のスクリュ4sに置換すれば、他の
構成及び機能は前述した射出装置3s側と同じになる。
On the other hand, the mold clamping device 3r is similarly constructed and functions. The mold clamping device 3r includes a fixed plate 37 that supports the fixed mold 36 and a movable plate 39 that supports the movable mold 38. The movable plate 39 is coupled to the movable plate advancing / retreating drive mechanism section 3q. Note that the other configurations are the same as those on the injection device 3s side. Therefore, the same parts of the mold clamping device 3r as those on the injection device 3s side are designated by the same reference numerals to clarify the configuration thereof, and detailed description thereof will be omitted. The movable platen 3 is used in the mold clamping device 3r.
If 9 is replaced with the screw 4s on the injection device 3s side, other configurations and functions become the same as those on the injection device 3s side described above.

【0023】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い。
例えば、可動機構部3として、射出装置3sのスクリュ
進退駆動機構部3p、型締装置3rの可動盤進退駆動機
構部3qを例示したが、図示しない射出装置のスクリュ
回転駆動機構部、突出し装置の突出しピン進退駆動機構
部、ノズル移動装置の進退駆動機構部等の他の可動機構
部においても、同様に本発明を適用できる。その他、細
部の構成、手法等において、本発明の要旨を逸脱しない
範囲で任意に変更できる。
The embodiment has been described in detail above.
The present invention is not limited to such an embodiment.
For example, as the movable mechanism unit 3, the screw advancing / retreating drive mechanism unit 3p of the injection device 3s and the movable plate advancing / retreating drive mechanism unit 3q of the mold clamping device 3r are illustrated. The present invention can be similarly applied to other movable mechanism parts such as the ejector pin advance / retreat drive mechanism part and the advance / retreat drive mechanism part of the nozzle moving device. In addition, the detailed configuration, method, and the like can be arbitrarily changed without departing from the scope of the present invention.

【0024】[0024]

【発明の効果】このように、本発明に係る電動射出成形
機の制御方法及び装置は、検出機能部により、可動機構
部における可動部の位置及び/又は速度を直接検出し、
制御機能部によって、検出した実測値(第一実測値)が
予め設定した指令値と一致するように、可動部の位置及
び/又は速度をフィードバック制御するようにしたた
め、次のような顕著な効果を奏する。
As described above, the control method and apparatus for the electric injection molding machine according to the present invention directly detects the position and / or speed of the movable part in the movable mechanism part by the detection function part,
The control function unit feedback-controls the position and / or speed of the movable unit so that the detected actual measurement value (first actual measurement value) matches the preset command value. Play.

【0025】 駆動モータと可動部間に存在するボー
ルネジ機構や伝達ギア機構等の可動機構部もフィードバ
ック制御系に組込まれるため、可動機構部に存在するバ
ックラッシュ、温度変化等に伴う歪及び摩耗による経年
変化等による誤差が排除され、制御対象である可動部の
位置及び/又は速度に対して正確かつ高精度の制御を実
現できる。
Since a movable mechanism portion such as a ball screw mechanism or a transmission gear mechanism existing between the drive motor and the movable portion is also incorporated in the feedback control system, backlash existing in the movable mechanism portion, distortion and wear due to temperature change, etc. It is possible to eliminate an error due to secular change, etc., and to realize accurate and highly accurate control of the position and / or speed of the movable part that is the control target.

【0026】 また、第二検出機能部により、駆動モ
ータの回転から可動部の位置及び/又は速度を求め、異
常処理機能部によって、求めた第二実測値と第一実測値
を比較し、かつ第一実測値と第二実測値の偏差が設定値
を越えたなら異常処理を行うようにしたため、経年変化
による摩耗の度合等を定量的に検出できるとともに、ト
ラブルによるガタ発生等を検出可能となるため、可動機
構部の故障や成形不良品の発生等を未然に防止できるな
ど、高度のメンテナンスを実現できる。
Further, the second detection function unit obtains the position and / or speed of the movable portion from the rotation of the drive motor, the abnormality processing function unit compares the obtained second actual measurement value with the first actual measurement value, and If the deviation between the first measured value and the second measured value exceeds the set value, abnormal processing is performed, so that it is possible to quantitatively detect the degree of wear due to aging, and also to detect the occurrence of backlash due to trouble. Therefore, it is possible to realize a high level of maintenance such as the prevention of malfunction of the movable mechanism and the occurrence of defective products.

【図面の簡単な説明】[Brief description of drawings]

【図1】本発明に係る電動射出成形機の制御装置を示す
ブロック構成図、
FIG. 1 is a block configuration diagram showing a control device of an electric injection molding machine according to the present invention,

【図2】従来の技術に係る電動射出成形機の制御装置を
示すブロック構成図、
FIG. 2 is a block configuration diagram showing a control device of an electric injection molding machine according to a conventional technique,

【符号の説明】[Explanation of symbols]

1 制御装置 2 駆動モータ 3 可動機構部 3s 射出装置 3p スクリュ進退駆動機構部 3r 型締装置 3q 可動盤進退駆動機構部 4 可動部 Dx 実測値(第一実測値) Ds 指令値 Dy 第二実測値 10 検出機能部(第一検出機能部) 11 制御機能部 13 第二検出機能部 14 異常処理機能部 1 control device 2 drive motor 3 movable mechanism part 3s injection device 3p screw advancing / retreating drive mechanism part 3r mold clamping device 3q movable plate advancing / retreating drive mechanism part 4 movable part Dx measured value (first measured value) Ds command value Dy second measured value 10 Detection Function Section (First Detection Function Section) 11 Control Function Section 13 Second Detection Function Section 14 Abnormal Processing Section

Claims (6)

【特許請求の範囲】[Claims] 【請求項1】 駆動モータにより可動機構部を駆動制御
するフィードバック制御系を備える電動射出成形機の制
御方法において、可動機構部における可動部の位置及び
/又は速度を直接検出し、検出した実測値が予め設定し
た指令値と一致するように、可動部の位置及び/又は速
度をフィードバック制御することを特徴とする電動射出
成形機の制御方法。
1. A method for controlling an electric injection molding machine comprising a feedback control system for driving and controlling a movable mechanism section by a drive motor, wherein the position and / or speed of the movable section in the movable mechanism section is directly detected, and the measured value is detected. The method for controlling an electric injection molding machine is characterized in that the position and / or the speed of the movable part is feedback-controlled so that the above-mentioned value agrees with a preset command value.
【請求項2】 可動機構部は射出装置のスクリュ進退駆
動機構部、型締装置の可動盤進退駆動機構部、射出装置
のスクリュ回転駆動機構部、突出し装置の突出しピン進
退駆動機構部、ノズル移動装置の進退駆動機構部の一又
は二以上であることを特徴とする請求項1記載の電動射
出成形機の制御方法。
2. The movable mechanism section includes a screw advance / retreat drive mechanism section of an injection device, a movable plate advance / retreat drive mechanism section of a mold clamping device, a screw rotation drive mechanism section of an injection device, a projecting pin advance / retreat drive mechanism section of a ejector, and a nozzle movement. The control method for the electric injection molding machine according to claim 1, wherein the forward / backward drive mechanism section of the apparatus is one or more.
【請求項3】 駆動モータにより可動機構部を駆動制御
するフィードバック制御系を備える電動射出成形機の制
御方法において、可動機構部における可動部の位置及び
/又は速度を直接検出し、検出した第一実測値が予め設
定した指令値と一致するように、可動部の位置及び/又
は速度をフィードバック制御するとともに、駆動モータ
の回転から可動部の位置及び/又は速度を求め、求めた
第二実測値と第一実測値を比較することにより、第一実
測値と第二実測値の偏差が設定値を越えたなら異常処理
を行うことを特徴とする電動射出成形機の制御方法。
3. A control method for an electric injection molding machine comprising a feedback control system for driving and controlling a movable mechanism section by a drive motor, wherein the position and / or speed of the movable section in the movable mechanism section is directly detected and detected. The second measured value obtained by feedback-controlling the position and / or speed of the movable part so that the measured value matches the preset command value, and also by obtaining the position and / or speed of the movable part from the rotation of the drive motor. And a first actual measurement value are compared with each other, and if the deviation between the first actual measurement value and the second actual measurement value exceeds a set value, abnormality processing is performed, and a method for controlling an electric injection molding machine.
【請求項4】 駆動モータにより可動機構部を駆動制御
するフィードバック制御系を備える電動射出成形機の制
御装置において、可動機構部における可動部の位置及び
/又は速度を直接検出する検出機能部と、検出機能部か
ら得る実測値が予め設定した指令値と一致するように、
可動部の位置及び/又は速度をフィードバック制御する
制御機能部を備えることを特徴とする電動射出成形機の
制御装置。
4. A control device for an electric injection molding machine, comprising a feedback control system for drivingly controlling a movable mechanism section by a drive motor, and a detection function section for directly detecting the position and / or speed of the movable section in the movable mechanism section, Make sure that the measured value obtained from the detection function unit matches the preset command value,
A control device for an electric injection molding machine, comprising a control function unit for feedback-controlling the position and / or speed of a movable part.
【請求項5】 可動機構部は射出装置のスクリュ進退駆
動機構部、型締装置の可動盤進退駆動機構部、射出装置
のスクリュ回転駆動機構部、突出し装置の突出しピン進
退駆動機構部、ノズル移動装置の進退駆動機構部の一又
は二以上であることを特徴とする請求項4記載の電動射
出成形機の制御装置。
5. The movable mechanism section includes a screw advance / retreat drive mechanism section of an injection device, a movable plate advance / retreat drive mechanism section of a mold clamping device, a screw rotation drive mechanism section of an injection device, a protruding pin advance / retreat drive mechanism section of an ejector, and a nozzle movement. The control device for the electric injection molding machine according to claim 4, wherein the control device is one or more of the advancing / retreating drive mechanism part of the device.
【請求項6】 駆動モータにより可動機構部を駆動制御
するフィードバック制御系を備える電動射出成形機の制
御装置において、可動機構部における可動部の位置及び
/又は速度を直接検出する第一検出機能部と、第一検出
機能部から得る第一実測値が予め設定した指令値と一致
するように、可動部の位置及び/又は速度をフィードバ
ック制御する制御機能部と、駆動モータの回転から可動
部の位置及び/又は速度を求める第二検出機能部と、第
二検出機能部から得る第二実測値と第一実測値を比較
し、第一実測値と第二実測値の偏差が設定値を越えたな
ら異常処理を行う異常処理機能部を備えることを特徴と
する電動射出成形機の制御装置。
6. A control device for an electric injection molding machine, comprising a feedback control system for driving and controlling a movable mechanism section by a drive motor, wherein a first detection function section for directly detecting the position and / or speed of the movable section in the movable mechanism section. And a control function unit that feedback-controls the position and / or speed of the movable unit so that the first measured value obtained from the first detection function unit matches a preset command value; The second detection function section for obtaining the position and / or speed is compared with the second measurement value and the first measurement value obtained from the second detection function section, and the deviation between the first measurement value and the second measurement value exceeds the set value. A control device for an electric injection molding machine, which is provided with an abnormality processing function unit that performs abnormality processing.
JP32993491A 1991-11-18 1991-11-18 Control method and device for electric injection molding machine Expired - Fee Related JPH07100340B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP32993491A JPH07100340B2 (en) 1991-11-18 1991-11-18 Control method and device for electric injection molding machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP32993491A JPH07100340B2 (en) 1991-11-18 1991-11-18 Control method and device for electric injection molding machine

Publications (2)

Publication Number Publication Date
JPH05138705A true JPH05138705A (en) 1993-06-08
JPH07100340B2 JPH07100340B2 (en) 1995-11-01

Family

ID=18226913

Family Applications (1)

Application Number Title Priority Date Filing Date
JP32993491A Expired - Fee Related JPH07100340B2 (en) 1991-11-18 1991-11-18 Control method and device for electric injection molding machine

Country Status (1)

Country Link
JP (1) JPH07100340B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5861118A (en) * 1995-10-20 1999-01-19 Nissei Plastic Industrial Co., Ltd. Method and system for controlling injection molding apparatus
EP1318005A1 (en) * 2001-12-06 2003-06-11 Krauss-Maffei Kunststofftechnik GmbH Safety function for an injection moulding machine

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5861118A (en) * 1995-10-20 1999-01-19 Nissei Plastic Industrial Co., Ltd. Method and system for controlling injection molding apparatus
EP1318005A1 (en) * 2001-12-06 2003-06-11 Krauss-Maffei Kunststofftechnik GmbH Safety function for an injection moulding machine
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