TW200927445A - Mold clamping device and method of controlling mold clamping - Google Patents

Abstract

A mold clamping device for applying mold clamping force by using an electromagnet has a mold clamping force detection section for detecting the mold clamping force, a supply current calculation section for calculating the value of an electric current supplied to the electromagnet, the calculation being based on an error between a target mold clamping force and the value of the mold clamping force detected by the mold clamping force detection section, and a limit section for suppressing the electric current value calculated by the supply current calculation section to a predetermined pattern. The mold clamping device can appropriately control mold clamping force obtained by the electromagnet.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mold clamping device and a mold clamping control method. [Prior Art] Previously, in an injection molding machine, a resin was injected from an injection device and injected into a nozzle. A molded article is obtained by curing in a cavity space between the fixed mold and the movable mold. Further, a mold clamping device for performing mold closing, mold clamping, and mold opening for moving the movable mold relative to the fixed mold is disposed. In the above-described mold clamping device, there is a hydraulic type clamping device driven by supplying oil to the hydraulic cylinder, and an electric clamping device driven by the electric motor. However, the electric clamping device is It is very controllable and does not pollute the surrounding energy. It is very efficient and is widely used. In this case, the rotation of the ball screw by the driving of the motor generates a thrust, and the thrust is expanded by the elbow mechanism to generate a large clamping force (e.g., Patent Document 1). The clamping device composed of the toggle mechanism has a mechanical continuity, so the current value supplied to the motor that drives the ball screw is related to the clamping force generated by the ball screw drive of the electric motor. Therefore, by supplying the rated current (electricity W having a current value corresponding to the target clamping force), the motor' can stably obtain the target clamping force. In addition, a linear motor is used in the mold opening and closing operation, and a mold clamping device using the electromagnet suction force in the mold clamping operation (for example, Patent Document 7041-9723-PF; Ahddub 5 200927445 [Patent Document] JP-A-2003-25398 [Patent Document 2] International Publication No. 05/090052 [Claim of the Invention] [Problems to be Solved by the Invention] However, the electromagnet has a reactivity which is deteriorated due to the influence of a thirsty current. Therefore, even if the rated current is supplied, the clamping force corresponding to the current value cannot be generated immediately, and it takes some time to obtain the target clamping force. In addition, because the forming cycle is shortened, that is, the productivity is ensured. The viewpoint 'is required to have to obtain the target clamping force within a predetermined allowable time from the start of the clamping (when the current starts to supply the electromagnet), and maintains the steady state. Here, considering that the clamping is started, By supplying a current that exceeds the rated current (for example, the maximum current) to the electromagnet, the rated current is supplied after the target clamping force is reached, Starting reactivity of high clamping force © 157^ 'At the beginning of clamping mode' When a current exceeding a lot of rated current is supplied to the electromagnet, for example, the phenomenon shown in Fig. 1 may occur. Fig. 1 is for It shows that when the mold clamping force reactivity in the normal feedback control is increased, the plane of the (4) inscription is generated. In the i-th (A) diagram, the horizontal drawing shows the passage of time, and the vertical axis indicates that it is supplied to the electromagnet. The current value ◎ the solid line I ' is not related to the current value of the electromagnet that has passed through the time period. In the first (B) diagram, the horizontal axis is synchronized with the horizontal axis of the first (A) diagram, which indicates that The passage of time 'the longitudinal pumping system indicates the magnitude of the clamping force. The solid line F indicates the displacement of the clamping force corresponding to the passage of time. 7041-9723-PF; Ahddub 6 200927445 As shown by the solid line I in Figure 1(A), At the beginning of the mode-locking (tl), the supply current I is fed back to achieve the target clamping force, and therefore, the maximum current is applied. Corresponding to the supply of the maximum current, the clamping force is supplied to the rated current. In comparison with the situation, it will start well with good reactivity. Moreover, in 1:2, in After detecting the target clamping force, the supply current I is reduced to the rated current. However, the supply current I is affected by the feedback control delay. Therefore, in t2, 'current is supplied regardless of the target clamping force! It will immediately decrease, accepting the influence of feedback control delay, and starting from the maximum current. The delay of the above feedback control is known to be generated by the action of the integrator in PI control. Therefore, the clamping force is Overshoot within the allowable error range of the target clamping force (hereinafter referred to as "permissible clamping force"). In the drawing, 'after t2, it will become the overshoot state. Also, in ts, even if you want to supply The current 丨 is reduced to the rated current because the electromagnet is poorly reactive and the clamping force F does not decrease immediately, and after a temporary increase, it begins to decrease. As a result, the state of the overshoot continues until t4 until it has been cancelled by the allowable time tp. In this way, when the current is initially supplied and the current is larger than the rated current, if the supply current I is not properly controlled, the clamping force cannot be maintained at the target clamping force until the allowable time tp. Within the scope, there will also be problems in the clamping force. If the target clamping force forming cycle is not obtained until the allowable time is reached, the production volume will become smaller. Moreover, the over-clamping force is not only a cause of poor molding, but also shortens the life of the mold. However, in the mold clamping device using the electromagnet, unlike the mold clamping device using the toggle mechanism described in Patent Document 1, a gap is formed between the electromagnet and the absorbing surface 7041-9723-PF; Ahddub 7 200927445. , will produce a mechanical non-continuous part. Regarding the gap, even if it is adjusted in advance so that a proper clamping force can be obtained when the mold is clamped, the corresponding clamping force is subtly changed, and the change affects the magnitude of the clamping force (that is, when the gap becomes small, Then the clamping force will increase. ^ Also, the magnetic flux generated by the electromagnet is distributed, and its behavior is difficult to control. From the above characteristics of the electromagnet, it is known that the clamping force obtained by the electromagnet is fundamentally difficult to control. Therefore, when it is required to maintain the target clamping force within the allowable time, it is necessary to avoid the above-mentioned overshooting, and the excessive clamping force is applied to the mold for a long time. At the end of the test, the mold life ♦ will be shorter. The present invention has been made in view of the above disadvantages, and an object thereof is to provide a mold clamping device and a mode locking control method capable of appropriately controlling a clamping force obtained by an electromagnet. [Means for Solving the Problem] Here, In order to solve the above problems, the present invention is a mold clamping device that applies a clamping force by an electromagnet, characterized in that it includes a clamping force detecting portion, detects the clamping force, and supplies a current calculating unit. Calculating a current value supplied to the electromagnet based on an error between a clamping force detection value detected by the clamping force detecting portion and a target clamping force; and a limiting unit that calculates a difference in the supply current calculation unit The current value is suppressed to a predetermined formula 0. The 'characteristic of the present invention' is that the restriction unit is based on the restriction information indicated by the supply current limit value that has passed between the two, and is calculated by the core calculation current calculation unit. The current value is suppressed to the aforementioned limit value of the corresponding time. <7041-9723-PF; Ahddub 8 200927445 • The feature of H θ is that the restriction portion is disposed between the supply current calculation unit and the electromagnet. The characteristics of the second month are the above-mentioned restrictions, which are based on the aforementioned restrictions. The current value of the current supply and current is regarded as the predetermined value exceeding the rated current at the beginning of the mode-locking, Yu; +, eclipse The force 'below the predetermined value before the above-mentioned target clamping force tolerance range is exceeded. The present invention is characterized in that the restriction portion is configured to lower the current value of the supply electrode and the current from the predetermined value at a predetermined reduction rate. X. The invention is characterized in that the current limit is such that the current value of the supply current is lowered from the predetermined value before the clamping force reaches the target mold clamping force tolerance. In this type of clamping device, the clamping force obtained by the electromagnet can be appropriately controlled. [Effect of the Invention] With the use of the present invention, it is possible to provide a mold clamping device and a mode locking control method capable of appropriately controlling the clamping force obtained by the electromagnet Q. [Embodiment] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Further, in the present embodiment, regarding the mold clamping device, the moving direction of the movable slider when the mold is closed is regarded as the side, and the moving direction of the movable slider for performing the mold opening is regarded as the rear cymbal. The direction in which the screw is moved when the injection is performed is taken as the front side, and the direction in which the screw is moved during the measurement is regarded as the rear. Fig. 2 is a view showing a state in which the mold device and the mold-locking device 7041-9723-PF/Ahddub 9 200927445 according to the embodiment of the present invention are placed; and the third figure shows the mold device and the lock in the embodiment of the present invention. State diagram of the mold device when it is opened. In the drawing, the 1〇 is a clamping device, and the ^ is the pivot of the molding machine.

Gd, which is laid on the aforementioned frame Fr to form a track, is used as a support and guides two guides of the i-th guiding member of the clamping device 1 (in the drawing, only two guides are shown) In the Gd, the u, which is placed on the guide Gd, is regarded as a fixed slider of the 固定1 fixing member fixed to the frame of the frame and the guide member μ, and the aforementioned fixing The slider U is spaced apart from the predetermined interval 'and' and is disposed opposite to the slider 13 after being opposed to the slider u as the second fixing member, between the fixed slider u and the rear slider 13 The tie rods 14 of the four joint members (in the drawing, only two of the four tie rods 14 are shown). Further, the rear slider 13 is placed on the guide Gd only slightly with respect to the guide Gd as the rod 14 is expanded and contracted. Further, in the present embodiment, the 'fixed slider n is fixed with respect to the frame © Fr and the guide Gd by S', and the slider 13 can only move a little with respect to the guide Gd. The slider 13 is fixed relative to the frame and the guide Gd, and the fixed slider u can only be moved a little relative to the guide (3), and is opposite to the fixed slider u along the pull rod 14 and is regarded as the first The movable slider 12 of the movable member is configured to be movable forward and backward in the mold opening and closing direction. Therefore, a guide hole (not shown) for penetrating the tie rod 14 is formed at a position corresponding to the tie rod 14 of the movable slider 12. A first threaded portion (not shown) is formed at a front end portion of the tie rod 14, and the first 7〇41-9723-pp; Ahddub ηη 200927445: because: the first threaded portion and the spiral scarf are nl And the two outer fixed sliders 11 and the rear side of each of the pull rods 14 have a smaller outer diameter than the tie rods 14 and are used as the guide pillars of the second guiding members. The rear end surface protrudes rearward, and the second thread portion, the front phase slider Π and the rear slider 13 are formed in the vicinity of the rear end surface of the rear slider 13 with the tie rod 14_. By connecting the second threaded portion and the nut n2, the screw is connected. In this embodiment

The middle guide post 21 is formed integrally with the tie rod 14 _ body, but the guide post 21 and the tie rod 14 may be formed separately. Further, at the fixed slider 11, a fixed mold 15' as a first mold is fixed to the movable slider 12, and a movable mold which is regarded as a second mold is fixed. When the block 12 advances and retreats, the fixed mold 15 and the movable mold 16 are separated, and the mold closing, mold clamping, and mold opening are performed. Further, as the mold clamping is performed, a plurality of cavity spaces (not shown) are formed between the fixed mold 15 and the movable mold 16, and the resin (not shown) which is emitted from the injection device 17 and is used as a molding material is used. It is filled into the aforementioned cavity spaces. Further, the mold device 19 is constituted by a fixed mold 15 and a movable mold 16. And the absorbing plate 22 which is disposed in parallel with the movable slider 12 and is regarded as the second movable member is disposed further rearward than the rear slider 丨3, and advances and retreats along the respective guide posts 21 Freely guided by the guide 21. Further, at the absorbing plate 22, a guide hole 23 for penetrating the guide post 21 is formed at the corresponding guide post 21. The guide hole 23 has a large diameter portion 24, and a front end surface opening 'accommodating the ball nut n2; and a small diameter portion 25 at the suction 7041-9723-PF; Ahddub 11 200927445, the rear end surface of the board 22 is open, and has a guide In the embodiment, the sliding plate 22 is guided by the guide post 21, so that the suction plate 22 can be guided by the guide Gd without being guided by the guide post 21.

线性 However, in order to advance and retract the movable slider 12, a linear motor 28 as a motoring portion and a driving unit for opening and closing the mold is disposed between the movable slider 12 and the frame Fr. The linear motor 28 has a stator 29 as a second driving element and a mover 31 as a second driving element. The stator 29 is parallel to the guide member on the pivot frame Fr, and is movable and slidable. The movement range of the block 12 corresponds to the movement of the movable slider 12 at the lower end of the movable slider 12, and faces the stator 29 and traverses a predetermined range. The mover 31 has a core 34 and a coil 35. Further, the core body 34 is protruded toward the stator 29, and has a plurality of magnetic pole teeth 33 formed at a predetermined pitch, and the coils 35 are wound around the respective magnetic pole teeth 33. Further, the magnetic pole teeth 33 are perpendicular to the moving direction of the movable slider 12 and are parallel to each other. Further, the stator 29 has a core (not shown) and a permanent magnet (not shown) extending over the core. In the permanent magnet, the magnetic poles of the N pole and the S pole are staggered and magnetized at the same pitch as the magnetic pole teeth 33. Therefore, when the linear motor 28 is driven by supplying a predetermined current to the coil 35, the mover 31 is advanced and retracted, and the movable slider 12 is retracted, whereby the mold closing and mold opening can be performed. In the present embodiment, the permanent magnets are disposed on the stator 29, and the coils 35 are disposed on the movers 31. However, the coils may be disposed in the stator and the permanent magnets may be disposed on the movers. In this case, with the linear 7041-9723-PF; Ahddub 12 200927445, the motor 28 is not driven by the drive coil. 茛 (4) 匕 is used to supply power to the wiring of the coil. However, when the movable slider 12 is advanced and the movable mold (4) comes into contact with the fixed mold 15, the mold is closed and then the mold is applied. Further, in order to implement the mold clamping, an electromagnet group 37 as a first drive portion and as a lock (four) portion is disposed between the rear slider 13 and the damper plate 22. Further, the front and rear sliders 13 and the suction plate 22 are provided to extend and retreat, and the rod body 39 which is a clamping force transmitting member that connects the movable slider 12 and the suction plate 22 is provided. The rod body 39 is connected to the advancement and retraction of the movable slider a during the mold closing and the mold opening to move the suction plate 22 forward and backward, and the clamping force generated by the electromagnet group 37 during the mold clamping. It is transmitted to the movable slider 12. Further, the 'clamping device» is constituted by a fixed slider u, a movable slider 12, a rear/moon block 13 suction plate 22, a linear motor 28, an electromagnet group 37, a rod body 29, and the like. Further, in the mold clamping device 1 , the operation of the linear drive motor of the mold opening and closing drive unit and the operation of the electromagnet group 37 as the drive unit for the mold clamping are controlled by the control unit 60. The control unit 6 will be described in detail later. The electromagnet group 37 is composed of an electromagnetic field 49 formed as an ith driving member on the side of the rear slider 13 and a absorbing portion 51 as a second driving member on the side of the force absorbing S22. The protruding portion 51 surrounds a predetermined portion of the distal end surface of the absorbing plate 22. In the present embodiment, the absorbing plate 22 surrounds the rod body 39 and forms a portion facing the electromagnet 49. Further, in a predetermined portion of the rear end surface of the rear slider 13, in the present embodiment, it is formed slightly above and below the rod body 39 as having 7〇41-9723-PF; Ahddlib 13 200927445 • Rectangular sectional shape Two grooves 45 which are parallel to each other in the coil arrangement portion are formed with a rectangular core body 46 between the respective grooves 45, and a yoke body 47 is formed in other portions. Further, a coil 48 is wound around the core 46. Further, the core body 46 and the vehicle body 47 are integrally formed of a casting material, but may be formed of an electromagnetic laminated steel sheet formed by laminating a thin plate made of a ferromagnetic material. In the present embodiment, the electromagnet 49 is formed separately from the rear slider 13, and the absorbing portion 51 is formed separately from the absorbing plate 22. However, the electromagnet may be a part of the rear slider 13 so that it can be sucked. The portion 51 is a portion of the suction plate 22. Therefore, in the electromagnet group 37, when a current (direct current) is supplied to the coil 48 of the month 1, the electromagnet 49 is driven to suck the absorbing portion 51, and the above-mentioned clamping force can be generated. Further, the rod body 39 is coupled to the suction plate 22 at the rear end portion, and is coupled to the movable slider 12 at the front end portion. Therefore, the rod body 39 is moved forward with the movable slider 12 before closing the mold, and the suction plate 22 is advanced. When the mold is opened, the movable slider 12 is retracted and retracted, and the suction plate 22 is retracted. . Therefore, at the central portion of the rear slider 13, a hole 41 for penetrating the body 39 and a hole 42' for inserting the rod 39 into the center of the absorbing plate 22 are formed. In the bearing member Bri, the bearing member B11 is slidably supported by the rod body 39 so as to face the opening of the front end of the hole 41. Further, a thread 43 is formed at a rear end portion of the rod body 39, and the thread 43 is screwed to a nut 44 as a mold thickness adjusting mechanism that is rotatably supported by the suction plate 22. 7041-9723-.pF; Ahddub 14 200927445 • A large-diameter gear (not shown) is formed on the outer circumferential surface of the nut 44, and the thickness of the mold is not provided in the suction plate 22 as a driving portion for adjusting the thickness of the mold. The small-diameter gear attached to the output shaft of the mold thickness adjustment motor of the adjustment motor is engaged with a gear formed on the outer circumferential surface of the nut 44. Further, when the mold thickness adjusting motor is driven to correspond to the thickness of the mold device 19, and the nut 44 is rotated relative to the screw thread 43, the position of the rod body 39 with respect to the suction plate 22 is adjusted, and the suction plate 22 is adjusted. The position relative to the fixed slider 11 and the movable slider 12 is adjusted to achieve the optimum value of the gap. That is, the mold thickness can be adjusted by changing the relative positions of the movable slider 12 and the suction plate 22. Further, in the present embodiment, the core body 46, the yoke body 47, and the absorbing plate 22 are integrally formed of an electromagnetic laminated steel sheet, but the core 46 and the absorbing portion 51 in the rear slider 13 may be provided. It is composed of an electromagnetic laminated steel plate. In the present embodiment, the electromagnet cymbal 49 is formed on the rear end surface of the rear slider 13, and the absorbing portion 51 is disposed on the distal end surface of the absorbing plate 22 so as to be movable toward and away from the electromagnet 49. The absorbing portion is disposed on the rear end surface of the rear slider 13, and the electromagnet is disposed to face the front end surface of the absorbing plate 22 so as to face the absorbing portion. Next, the details of the control unit 60 will be described. Fig. 4 is a view showing an example of the configuration of the control unit. In Fig. 4, the control unit 60 is constituted by a higher-level controller 61, an adder 62, a p! controller 63 as a supply current calculation unit, a limiter 64 as a restriction unit, an amplifier 65, and the like. Further, although the control unit 60 controls the driving of the linear motor 28, the driving system of the linear motor 28 is omitted in the drawings 7041-9723-PF; Ahddub 15 200927445. The host controller 6 has a CPU, a memory, and the like, and controls the linear motor Μ and the electromagnet 49 by causing the control program recorded in the memory to be processed by the CPU. The upper controller 6 outputs an instruction indicating the magnitude of the clamping force (five) the force command) and an instruction (position command) indicating the position at which the linear motor (9) must move. The position command is processed in the linear motor 28 drive system', so the description thereof is omitted here.锁 锁 The clamping force command from the upper controller 61 is input to the adder 62 of the linear motor drive unit. Set in the clamping device! . The clamping force detection value (the clamping force detection value) detected by the upper clamping force detector is also input to the adder 62 to add the thief 62, which is the clamping force value indicated by the clamping force command ( The clamping force ♦” value) and the clamping force detection value calculate the error of the lock=detection value relative to the clamping force command (clamping force error). The calculated clamping force error is added to the PI controller. 63. And the 'clamping force detector 55' can also be detected by the forcing device that detects the elongation of the tie rod 14 or the force sensor disposed on the rod body 39 or the detector. The magnetic flux between the iron 49 and the absorbing portion 51 is detected by a detecting device. The cymbal controller 63 is configured, for example, by a feeding card, and can be quickly calculated based on the clamping force error PI control (proportional integral control). The value of the current supplied to the electromagnet 49 is corrected (corrected), and the current electromagnet current command indicating the current value is turned to the limiter 64. Here, the so-called "can be 49 (corrected) lock The current value of the mold force error "" means that the current value of the clamping force error can be quickly eliminated in consideration of the severity of the electromagnet. Therefore, the current value calculated by the controller 63 is not necessarily the current value determined by the error of the clamping force 7041-9723-PF; Ahddub 16 200927445, and may be a current value larger than the current value.

The limiter 64 sets a limit on the current value (input current value) indicated by the electromagnet current command input from the PI controller 63 in accordance with the current limit mode input in advance. Here, the "current limitation mode" is information indicating the relationship between the time and the supply current limit value (that is, information indicating the supply current limit value corresponding to the passage of time). Therefore, the limiter 64 determines, according to the limit mode, the current limit value corresponding to the time of inputting the electromagnet current command, according to the limit mode, an electromagnet current command for indicating a current value indicating the input current value according to the limit value (having Limit current command) input amplifier 65. The so-called "limitation of the input current value according to the limit value" is when the input current value exceeds the limit value, and is suppressed to the current value indicated by the limit value, and when the wheeled current value is lower than the limit value, the input current is made The value is output as it is. The amplifier 65' is constituted, for example, by a drive card, and supplies a current corresponding to a limited current command input by the limiter 64 to the coil 49 of the electromagnet 49. The electromagnet 49 is driven in response to the supply of current. Next, the operation of the mold clamping device 1A having the above configuration will be described. The control unit 60 performs mold opening and closing processing, and supplies current to the coil 35 in the state of Fig. 3 when the mold is closed. Then, the linear motor Μ is driven, and the movable slider 12 advances. As shown in Fig. 2, the movable mold 16 abuts against the fixed mold 15. At this time, between the rear slider 13 and the absorbing plate 22, that is, the optimum gap 5 is formed between the electromagnet 49 and the absorbing portion 51. Moreover, the force required to close the mold is much smaller than the clamping force. 7041-9723-PF; Ahddub 200927445 - The field movable slider 12 reaches the predetermined position (when the movable mold 16 abuts at the solid eight 15, or at the position to be reached), the clamping process will start 'also' The host controller 6 outputs a mold clamping force command indicating a preset clamping force target value (hereinafter referred to as "target clamping force") to the adder 62. The adder 62 calculates the clamping force error based on the clamping force command value and the clamping force detection value sequentially input by the clamping force detector 55, and inputs it to the n controller 63. The Pi controller 63 compensates for the clamping force error by ρι control, calculates the current value supplied to the electromagnet 49 in order to eliminate the clamping force error, and inputs the electromagnet current command indicating the current value to the limiter. 64. The limiter 64, according to the limit mode, causes the limit to be applied to the electromagnet current command by limiting the current value corresponding to the time elapsed, and outputting the limited current command to the amplifier 65 amplifier 65, so as to correspond to the limited current. The commanded current is supplied to the coil 48 of the electromagnet 49. The electromagnet 49 is driven by supplying a current to the coil 48, and the suction portion 51 is sucked by the suction force of the electromagnet 49. Therefore, the clamping force is transmitted to the movable slider 12 through the absorbing plate 22 and the rod 39, and the lock is applied. Further, the control unit 60 supplies a current exceeding a current value current (hereinafter referred to as "rated current") corresponding to the target clamping force to the coil after the output of the clamping force command in order to improve the starting reactivity of the clamping force. 48. More specifically, the current command outputted by the PI controller 指示 indicates the current value exceeding the rated current at the start of the mode-locking with a large clamping force error. However, when the current exceeding the rated current is continuously supplied to the coil 48, a clamping force exceeding the allowable error range with respect to the target clamping force is generated (the clamping force is above 7041-9723-PF; Ahddub 18 200927445 • / ). Here, the control unit 60 of the present embodiment controls the overshoot to prevent the clamping force from being applied. This control is achieved by the limiter 64 limiting the supply current in accordance with the limit mode. The restriction mode will be detailed later. After the target clamping force is obtained, 'in the clamping process, the clamping force detection value detected by the clamping force detector 55 is successively input to the adder 62, by the adder 62, the controller 63. The limiter 64 and the amplifier 65 adjust the current supplied to the coil 48 to maintain the clamping force within the tolerance of the target clamping force, and perform feedback control. At this time, the resin which is melted in the injection device 17 is ejected from the injection nozzle 18, and is filled in each cavity space of the mold device 19. When the resin in each cavity space is cooled and solidified, the control unit 6 turns off the blunt current supply of the coil while the mold is being opened, and the linear motor 28 is driven, the movable slider 12 will retreat, as shown in Fig. 3, the movable mold 16 is placed at the retreat limit position, and the mold opening is performed. 〇 Next, the clamping force control according to the restriction mode will be explained. Fig. 5 is a view for explaining the mold clamping force control according to the restriction mode of the first embodiment. In the fifth (A) diagram, the horizontal axis represents the passage of time, and the vertical axis represents the current value. The solid line L1 is shown with a limit mode in which the limiter 64 is set. The dotted line I indicates the transition of the supply current value actually supplied to the coil 48 of the electromagnet 49 by the amplifier 65. In the fifth (B) diagram, the horizontal axis indicates the time of synchronization with the horizontal axis of (A), and the vertical axis indicates the magnitude of the clamping force (the clamping force detection value). The solid line I indicates the transition of the clamping force corresponding to the passage of time. 7041-9723-PF; Ahddub 19 200927445 • As shown in the fifth (·, the restriction mode u in the first embodiment is defined as the allowable error range of the target clamping force of the F-phase in the clamping force (hereinafter referred to as After the "permissible clamping force"), before the allowable clamping force, that is, before the upper punch (t2), the limit value is immediately reduced to the rated current. As a result, the clamping force reaches the target clamping force. At this time, the restriction mode is set so that the supply current is lowered in advance. Therefore, even if the electromagnet feedback control with slow reactivity is used, the current can be supplied in the restriction mode, so that the clamping force can be prevented from being overshooted. When the mode L1 is set to the limiter 64, the clamping force f is controlled by the control unit 60. Shortly after starting the mode locking (tl), in order to improve the clamping force of the clamping force, the self-PI controller The 63 series outputs a current command indicating the maximum current (the maximum current that the amplifier 65 can supply to the electromagnet 49 within the range in which the device operation is properly protected), and the current command is output to the limiter 64. Therefore, according to the limit mode L1 Restricted The current command is output to the amplifier 65 via the limiter 64 ,, and the current corresponding to the current command is supplied to the coil 48 of the electromagnet 49 by the amplifier 65. Moreover, between tl and ts, The solid line L1 overlaps with the broken line I. By supplying current according to the limit mode L1, the maximum current is supplied to the coil 48 shortly after the start of the mold clamping (t丨). By supplying the maximum current, the clamping force F is started. The reactivity is better than the rated current, and in t2, it will approach the upper limit of the allowable clamping force (or become the upper limit). Here, 'only when there is no normal feedback control of the limiter 64 Even if the target clamping force is reached in t2, the current will not fall 7041-9723-PF due to the delay of the feedback control; Ahddub 20 200927445 will drop immediately. As a result, the clamping force will only overshoot during normal feedback control. However, in the present embodiment, the restriction mode is set so as not to overshoot. Therefore, before the clamping force F exceeds the allowable error range, the control unit makes the supply current not exceed the limit value of the restriction mode. At t2 After the rated current will be supplied along the restricted mode L1.

The boxing force, the clamping force JT will be lowered, and then maintained within the allowable clamping force, & is stable in the normal state 0 〇, and the clamping force F is detected successively by the clamping force detector 55. It is input to the adder 62. The adder 62 sequentially calculates the clamping force F error (clamping force error) with respect to the target lock wedge force, and inputs the ρι controller 63. Therefore, when the clamping force error becomes small, the current value indicated by the current command output from the power controller 63 according to the feedback control is sometimes smaller than the limit mode 匕1. In this case, the current command from the PI controller 63 is passed through the limiter 64 without being biased, and is input to the amplifier 65, and the current corresponding to the read current command is output from the amplifier 65 to the coil 48. ❹ This state represents the situation after t s . After t s, the power supply and the beam I are separated from the limit mode L1 and become smaller than the limit value. That is, after the ts feedback control system does not apply the restriction to the limiter 64 and is effective, the clamping force F is maintained at the allowable clamping force. As described above, when the mold clamping device 1 of the first embodiment is used, a current (maximum current) larger than the rated current is supplied at the beginning of the mode locking, based on the punching force. The current is supplied to the electromagnet 49 in a limited mode in which the supply current is reduced to the rated current. Therefore, on the one hand, the starting reactivity can be improved, and on the other hand, the possibility of generating an overshoot can be reduced. 7041-9723-pp; Ahddub 200927445. However, in the first embodiment, the "clamping force F" is lowered (undershoot) to the outside of the allowable error range in response to a decrease in the supply current after reaching the allowable error range once. As a result, it takes some time for the clamping force F to reach the allowable error range again, and there is a problem that the time required for the self-mode-locking (t1) to the clamping force to stabilize the normal state becomes long. Here, an example of solving this problem has the following second embodiment. Next, a second embodiment will be described. Fig. 6 is a view for explaining the mode-locking force control according to the restriction mode of the second embodiment. In Fig. 6, the same reference numerals are given to the same as in Fig. 5. As shown in Fig. 6(A), the restriction mode [I in the second embodiment is defined such that after the clamping force F reaches the allowable clamping force, before the allowable clamping force is exceeded, that is, on Before the punch (t2), the limit value starts to decrease. However, the limit value does not immediately decrease to the rated current, but gradually becomes smaller and gradually reaches the rated current. The reason is that when the supply current is immediately lowered by Φ in t2, as shown in the first embodiment, the clamping force is again lower than the allowable clamping force, and finally reaches a stable normal state (the clamping force is stably maintained). The time required to allow the clamping force is extended. In this way, when the clamping force reaches the allowable error range, the limiting mode is set so that the supply current is lowered in advance. Therefore, even if the electromagnet is controlled to be slow in response, the current can be supplied in the limiting mode. Can prevent the clamping force from rushing. Next, the control of the mold clamping force F by the control unit 60 when the restriction mode U is set to the limiter 64 will be described. 7041-9723-PF; Ahddub 22 200927445 Short-circuit after starting the mold clamping (ti), in order to improve the clamping reactivity of the clamping force, the current command output from the PI controller 63 to indicate the current value above the maximum current is output to the limit. 64. Therefore, the limited current command in accordance with the limit mode L1 is output to the amplifier 65 via the limiter 64, and the current corresponding to the current command having the limit is supplied to the coil 48 of the electromagnet 49 by the amplifier 65. Further, between tl and ts, the solid line L1 overlaps with the broken line I.

藉 By supplying current according to the limit mode L1, the maximum current will be supplied to the coil 48 shortly after the start of the mode-locking (t丨). By supplying the maximum current, the starting reactivity of the clamping force F is higher than the rated current supplied. Even better, in the 2, it will be close to the upper limit of the allowable clamping force (or, become the upper limit). Here, only when the normal feedback control of the limiter 64 is not provided, even if the target clamping force is reached in t2, the current does not drop immediately due to the delay of the feedback control. As a result, the clamping force will only surge during normal feedback control. However, in the present embodiment, the restriction mode is set so as not to overshoot, and thereafter, the supply current is controlled so as not to exceed the limit value of the restriction mode. Therefore, the supply current after 't2' begins to decrease in the limit mode u. That is, the supply current is not immediately reduced to the rated current, and the slope of the reduction is small. As a result, the mold clamping force F is not excessively lowered: it is maintained within the allowable mold clamping force, and becomes stable in the normal time state 0 W 2 and is detected, and is input to the adder 62. Adder 62, the attacker's heart is called the nose force relative to the target lock force of the clamping force F error (clamping force error), wheeled into the ρι controller ". Because 7041-9723-PF; Ahddub 23 200927445 « When the error of the clamping force becomes small, the current value indicated by the current command output from the pi controller 63 according to the feedback control is sometimes smaller than the limit mode li. In this case, from the PI controller 63 The current command is input to the amplifier 65 without being restricted by the limiter 64. The current corresponding to the current command is output from the amplifier 65 to the coil 48. This state indicates the situation after ts. After ts, the current is supplied. 1, leaving the limit mode L1, becomes a value smaller than the limit value. That is, after ts, the feedback control system is not limited by the limiter 64 and is effective. The clamping force F is maintained at the allowable mode-locking. As described above, when the mold clamping device 1 of the second embodiment is used, the current (maximum current) which is supplied with a larger current than the rated current at the beginning of the mold clamping is based on the clamping force. Before, let the supply current In the limiting mode in which the reduction rate is lowered, the current is supplied to the electromagnet 49. Therefore, on the one hand, the starting reactivity can be improved, and on the one hand, the possibility of generating an overshoot can be reduced. Further, the clamping force can be prevented from being undershoot. The clamping force becomes a stable normal state within the allowable time. Further, here, although the restriction mode u is provided from the start of the clamping, the restriction mode u may be omitted from t1 to t2, at t2. After that, the limit mode is set. Since the limit mode limit value of the self-derivation to 12 is set to the maximum current, the task as the limit value cannot be fully utilized. However, the limit mode L1 of the second embodiment is at the maximum current = Between the rated current and the majority of the nodes, it becomes a complicated mode. As a result, the clamping force may become unstable. In Figure 6(B), after t2, the clamping force is within the tolerance. Moving up and down, but locking 7041-9723-Pp; Ahddub 24 200927445 The force system shows an unstable state β. There are also problems in which the node is difficult to determine. An example of solving this problem is the third embodiment. Third Embodiment Fig. 7 is a view for explaining the mold clamping force control in the restriction mode u according to the third embodiment. In Fig. 7, the same figure as in Fig. 6 is assigned the same number. As shown in Fig. 7(A), the restriction mode u in the third embodiment is defined such that the limit value is gradually decreased from the maximum current before the clamping force F reaches the allowable clamping force. As a result, the limit value is The number of nodes between the reductions is less than the restriction mode in the second embodiment, and in particular, there is no node within the allowable time tp. Next, the control unit 6 will be described when the restriction mode L1 is set to the limiter 64. The control of the clamping force f caused by 0. Shortly after the start of mold clamping (tl), in order to improve the starting reactivity of the clamping force, the PI controller 63 outputs a current command indicating the current value of the maximum current or more to the limiter 64. Therefore, the current command having a limit according to the limit mode u is output to the amplifier 65 by the limiter 64, and the current corresponding to the current command having the limit is supplied to the electric power tl to ts by the amplifier 65. The solid line L1 and the coil 48 of the magnet 49. Moreover, it overlaps from the dotted line I. By supplying current in accordance with the limit mode U, the maximum current is supplied to the coil 48 shortly after the start of the mode locking (8). By supplying the maximum current, the starting reactivity of the clamping force F is better than the rated current supplied. After that, supply current! ', in the clamping force F reaches the allowable clamping force (4) U, 7041-9723-PF; Ahddub 200927445

According to the restriction mode L1, the reduction rate is lowered at a predetermined rate. Here, the t2 in which the current starts to decrease is different from that of the second embodiment, and is set before the allowable error range of the target clamping force is reached. As a result, the degree of increase in the clamping force F is slightly slower than the decrease in the supply current. The mold clamping force F reaches the allowable mold clamping force before the allowable time tp in a state where the degree of increase is small, and a maximum point is formed within the allowable mold clamping force during the allowable time tp. Thereafter, after ts is the same as in the case of describing the second embodiment, the supply current I is separated from the restriction mode L1'. The feedback control becomes effective. Therefore, the clamping force f is maintained at the allowable clamping force by feedback control. As described above, when the mold clamping device 1 of the third embodiment is used, the supply current is larger than the rated current (maximum current) at the beginning of the mode locking, 'before the clamping force reaches the allowable clamping force. The limiting mode in which the limit value is slowly lowered causes the current to be supplied to the electromagnet 49. Therefore, on the one hand, the starting reactivity can be improved', on the one hand, the possibility of generating an overshoot can be reduced, and the clamping force can be made within the allowable time. Stable normal state. Moreover, since the supply current is gradually lowered before the clamping force reaches the allowable clamping force, the inclination of the clamping force is reduced, and the clamping force is achieved with a slower inclination. As a result, the control of the clamping force is easier than that of the 帛2 embodiment, and the restriction mode can be made simple. Further, in the present embodiment, it is assumed that the maximum force i_疋 is changed in the allowable clamping force during the a-time tp, and the shape of the restriction mode L1 is determined in the allowable time ^. (From the interval of t1 to t2 or the inclination after the u (reduction rate)) X is such that the clamping force forms a maximum point within the allowable clamping force. In this way, the shape of the restriction mode can be simplified. 7041-9723-PF; Ahddub 200927445 Next, the fourth embodiment will be described. Fig. 8 is a diagram for explaining the clamping force control according to the restriction mode of the fourth embodiment. In Fig. 8, the same reference numerals are given to the same as in Fig. 6 or Fig. 7. As shown in Fig. 8(A), the restriction mode u in the fourth embodiment is defined as The time limit is earlier than the third embodiment, and the limit value is decreased from the maximum current. In the figure, the example shows the decrease from the start of the mold clamping (t1). Next, the limit mode L1 is set to the limit. At the time of the valve 64, the control of the clamping force F by the control unit 60. Shortly after starting the mode locking (tl), in order to improve the starting reactivity of the clamping force, the current controller 63 outputs a current indicating a maximum current or more. The value current command is output to the limiter 64. Therefore, between ti and t2, the limited current command in accordance with the limit mode L1 is output to the amplifier 65 by the limiter 64, corresponding to the current command having a limit. Current by amplifier 65 The coil 48 is supplied to the electromagnet 49. Further, the solid line L1 overlaps the broken line I between 〇1 and ts. By supplying current in accordance with the limit mode L1, at the start of mode locking (t丨), After the maximum current is supplied to the coil 48〇, the supply current starts to decrease at a predetermined reduction rate. By initially supplying the maximum current, the starting reactivity of the clamping force F is better than the rated current supplied, before the allowable time. The allowable clamping force is achieved. Further, by the reduction of the supply current, the clamping force F is maintained at the allowable clamping force without generating an overshoot after reaching the allowable clamping force. Thereafter, after ts, the current is supplied. In the same manner as described in the second embodiment, the control mode is released from the restriction mode L1, and the feedback control becomes effective. 7〇41-9723-PF; Ahddub 27 200927445 . Therefore, the 'clamping force F' is maintained by feedback control. As described above, when the mold clamping device of the fourth embodiment is used, the supply current is larger than the rated current (maximum current) at the beginning of the mode locking, and then 'decreased according to the limit value. Restricted mode In this way, the current is supplied to the electromagnet 49. Therefore, on the one hand, the starting reactivity can be improved, and on the other hand, the possibility of generating an overshoot can be reduced, and the clamping force can be stabilized in a normal state within the allowable time. In the fourth embodiment, the "current supply is self-mode-locked from the beginning of the mold-on (11)." Therefore, the starting reactivity of the clamping force F is worse than that of the third embodiment (the clamping force F is initially tilted). The degree of the clamping force F when the allowable clamping force is reached is greater than the inclination when the clamping force F reaches the allowable clamping force in the third embodiment. The reason for this is that the reduction rate (absolute value of inclination) of the supply current L1 when the clamping force F reaches the allowable clamping force is small in the fourth embodiment. In the fourth embodiment, the time for supplying the maximum current is shorter than that of the third embodiment. Therefore, when the supply current is reduced at the same rate of reduction as in the third embodiment, the allowable time may be exceeded. The allowable clamping force cannot be achieved. Therefore, it is necessary to reduce the reduction rate. When the clamping force F inclination (increased rate) when the allowable clamping force is increased is increased, the subsequent clamping force F control is relatively difficult. Therefore, in the restriction mode I in the fourth embodiment, the node is in the restriction mode in the third embodiment after the elapse of the allowable time! There are more, but there is a tendency to become more complicated. From the above viewpoints, it can be seen that the restriction mode L1 of the third embodiment is better than the restriction mode L1 of the fourth embodiment of the embodiment of the present invention, such as 7041-9723-PF; Ahddub 28 200927445. Further, when the problem of the second embodiment is solved in the third embodiment, the restriction mode L1 of the third embodiment can be said to be better than the restriction modes of the first, second, and fourth embodiments. In other words, in the third embodiment, the time for supplying the maximum current is shortened, and the restriction mode can be simplified and the clamping force can be easily controlled. However, as shown in the fourth embodiment, when the time for supplying the maximum current is shortened too much, the restriction mode becomes complicated and the clamping force is difficult to control. Therefore, when it is regarded as the restriction mode, it is necessary to appropriately set the time for supplying the maximum current and the rate of decrease of the limit value (inclination) thereafter. Further, the creation of the restriction mode may be carried out according to the simulation using a computer or the actual use of the experimental value of the mold clamping device. Further, in each of the restriction modes of the above-described embodiments, the respective contacts are connected in a straight line when the limit value is lowered. However, for example, the limit value may be multi-stepped in a stepwise manner. In the present embodiment, the mold clamping force detector 55 for detecting the load applied to the mold is preferably used as the mold clamping force detecting portion. Therefore, the mold clamping force detector 55 is exemplified. However, the mold clamping force detecting portion may use a magnetic flux density detector that detects the magnetic flux density of the electromagnet, or may detect the distance measured by the gap <5 between the rear slider 13 and the absorbing plate 2 2 . And so on. However, the method of controlling the mold clamping device in the present embodiment may be a mold clamping device that does not open and close the mold by the driving of the linear motor 28. In particular, when the linear motor 28 is attached, the magnet is exposed on the surface of the frame, so that dust or the like adheres. Therefore, 'the mold opening and closing drive unit does not use the linear horse 7041-9723-PF; Ahddub 29 200927445 " up 28 ' as shown in the 9th' to make (4) the rotary motor that is locked in the field of the magnetic field generated by the motor frame Application variant. The description of the electromagnet group as the second drive unit is the same as that of the second and second drawings, and therefore the description thereof will be omitted. The mold opening/closing motor 作为, which is the i-th drive unit and the mold opening/closing drive unit (mold opening/closing drive unit), is attached so as not to be movable on the motor holder 固定 fixed to the frame. Here, the rotary motor of the mold opening and closing motor 74 is locked by a motor that blocks the field of the motor frame. The motor shaft system (not shown) is self-rotating = motor is projected. The motor shaft system is coupled to the ball screw 72. The ball screw 72 is screwed to the ball nut 71 to constitute a motion direction changing device that converts the rotational motion generated by the rotary motor into a linear motion. Further, the ball nut 71 is disposed so as not to be rotatable on the movable slider flange portion 12a projecting from the lower portion of the movable slider 12. As a result, the movable slider 14 can be advanced by the rotation of the mold opening and closing motor 74, and the mold opening and closing operation of the movable mold can be performed. Further, a position detector 75 is attached to the rear end of the mold opening and closing motor 74, and the position of the movable slider 12 can be grasped by reading the rotation angle 胄 of the mold opening and closing of the stirrup 74. The mold opening/closing processing unit 61 controls the mold opening and closing motor 74. In the present configuration, when the clamping force is generated by the electromagnet to the mold device 19, the mold opening and closing processing unit 61 is variably controlled when the mold is started to be boosted and the mold position is not shifted. The current supply to the mold opening and closing motor 74 is supplied. Specifically, it will stop the supply of current. Thereby, the mold clamping 7041-9723-PF and the Ahddub 30 200927445 force caused by the position control of the mold opening and closing motor 74 are not observed. The present invention has been described with reference to the detailed and specific embodiments thereof. However, the present invention is not limited thereto, and various changes and modifications may be made without departing from the spirit and scope of the invention. The present application is based on the priority of Japanese Patent Application No. 2007-255821, filed on Sep. 28, 2007, and the entire contents of the Japanese Patent Application No. 2007-255821. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1(A) to Fig. 1(B) are diagrams for explaining problems occurring when the mold clamping force reactivity in the usual feedback control is improved. Fig. 2 is a view showing a state in which the mold device and the mold clamping device are clamped in the embodiment of the present invention. Fig. 3 is a view showing a state in which the mold device and the mold clamping device are opened in the embodiment of the present invention. Fig. 4 is a view showing a configuration example of a control unit. Figs. 5(A) to 5(B) are views for explaining the mold clamping force control according to the restriction mode of the first embodiment. Figs. 6(A) to 6(B) are views for explaining the mold clamping force control according to the restriction mode of the second embodiment. Figs. 7(A) to 7(B) are diagrams for explaining the clamping force control according to the restriction mode of the third embodiment. Figs. 8(A) to 8(B) are diagrams for explaining the clamping force control according to the restriction mode of the fourth embodiment. 7041-9723-PF; Ahddub 31 200927445 Fig. 9 is a schematic view showing a modification of the present application using a rotary motor after the field of magnetic field generation is blocked at the motor casing.

The main component symbol description] 10 ~ clamping device; 12 ~ movable slider; 13 ~ rear slider; 15 ~ fixed mold; 17 ~ injection device; 19 ~ mold device; 22 ~ suction plate; 24 ~ large diameter; 2 8~ linear motor; 31~ mover; 39~ rod body; 43~thread; 45~ coil arrangement part; 47~ yoke body; 49~ electromagnet; 55~ clamping force detector; 61~ upper position control 63~PI controller; 65~amp; 72~ball screw; 11~ fixed slider; 12a~ movable slider flange 14~ pull rod; 16~ movable mold; 18~ injection nozzle; 21~ guide; 23~ guide hole; 25~ small diameter part; 29~ stator; 37~electromagnet group; 41, 42~ hole; 44~ nut; 46~ core; 48~ coil; 51~ sorption part; 6 0 ~ Control unit; 62~ adder; 64~ limiter; 71~ ball screw nut; 73~ motor support; 7041-9723-PF; Ahddub 32 200927445 74~ mold opening and closing motor; B r 1~ bearing member;

Fr~ frame; 111, 112~ screw 75~ position detector; Gd~ guide;

7041-9723-PF; Ahddub 33

Claims (1)

200927445 X. Applying for the patent Fan Park·· L kinds of lock-mode devices, by electromagnetic means: has a chess knife, its characteristic clamping force detection part, detect the above clamping force; ^ give current calculation (four) 'based The error of the mold force detection value and the target mold clamping force is detected by the aforementioned clamping force to calculate the current value of the:: lock iron; and w supply-to the forward electromagnetic ❹ The restriction unit calculates the supply current to a predetermined mode. <Current value suppression, 2. The clamping device according to the patent scope 帛i, wherein the restriction portion is based on the restriction information indicating the supply current limit value corresponding to the passage of the preset time, The current value calculated by the supply current calculation unit is suppressed to the aforementioned limit value corresponding to the passage of time. The mold clamping device according to claim 1 or 2, wherein the restriction portion is disposed between the supply current calculation unit and the electromagnet. 4. The clamping device according to claim 2, wherein the limiting portion is configured to cause the current value of the supply current to exceed a predetermined value of the rated current at the start of the clamping according to the restriction information, the lock The mold force is lowered from the aforementioned predetermined value before exceeding the tolerance range of the aforementioned target clamping force. 5. The mold clamping device according to claim 4, wherein the limiting portion lowers a current value of the supply current from the predetermined value at a predetermined reduction rate. A clamping device according to the fourth or fifth aspect of the invention, wherein the limiting portion is configured to cause the current value of the supply current to be in the above-mentioned mode-locking mode. The force is lowered from the aforementioned predetermined value before the force reaches the tolerance range of the target clamping force. 7. A mode-locking control method in which a clamping force is applied by an electromagnet, which is characterized by: The clamping force caused by the electromagnet is detected, and the error between the detected value of the clamping force and the target clamping force is determined according to the error, and the current value of the feeding material is calculated. The value is suppressed to the preset mode. 8. In the seventh paragraph of the patent application, the aforementioned current value is based on the restriction information indicating the corresponding limit value, and the limit value is described in the month 1J. In the mode-locking control method described in the item, the supply current after the preset time is suppressed to 7041-9723-PF corresponding to the passage of time; Ahddub 35