546911 A7 B7 五、發明説明（) 本發明係與伺服驅動式夾模單元之模具有關，更詳而 言之是指一種伺服驅動式夾模單元之模具保護方法。 (請先閲讀背面之注意事項再填寫本頁) 按，以現今一般之射出成型機而言，大體包含有一機 台、一爽模單元、一射出單元及一電控系統；其中該夾模 5 單元主要具有一模具、多數之繫桿及一肘節機構，該模具 具有一靜模板及一動模板，該等繫桿係用以連結該靜模板 與該動模板，該肘節機構係聯結於一用以產生動力之驅動 件與該動模板間，而可由該驅動件之驅動，使該動模板由 該肘節機構所帶動，並沿該等繫桿前進或後退，而與該靜 10 模板爽合或分離者。 經濟部智慧財產局員工消費合作社印製 惟，為避免該動模板在夾合進給的行程中，如遇到異 物時，會有推擠異物之情形發生，乃會設計有一保護方 法，以減低模具之受損；而一般之保謾方法，是於動模板 進給之行程中，設定一模具保護區段及一動模板通過該模 15 具保護區段起點至終點間之時間上限，並使該動模板採低 壓及低速通過該模具保護區段；如此，該動模板如未能於 此一模具保護時間之上限内通過該模具保護區段時，則判 斷為該模具内有異物之存在，並使該動模板停止作動或退 回原始狀態； 20 雖然，該動模板係以低壓及低速通過該模具保護區 段，但，由於該動模板係受該肘節機構之連動，而該肘節 機構具有隨位置而改變其機械利益之特性，使得該動模板 在抵觸至異物時，其作用於該動模板上之機械利益已增大 而已非單由原驅動件所輸出之低壓源，使該模具與異物間 -3- 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 546911 A7 B7 五、發明説明（） (請先閲讀背面之注意事項再填寫本頁) 之推擠壓力大增，進而使得該模具會有受損之情形發生； 且，亦必須在等待模具保護時間之上限過後，如該動模板 仍未通過於該模具保護區段之終點時，方能確認該異物之 存在，並使該動模板退回原點；此種之保護方法不僅緩不 5 濟急，而無法適時地在該動模板抵遇異物時，隨即作異常 現象之處理（動模板退回原點），將導致模具仍有損壞之現 象。 另，亦有一種以馬達電流之輸出是否為異常，而直接 作為檢測模具内是否有異物之存在者；不過利用電流異常 10 之方式，必須在一控制器上設有一電流量測點，且在馬達 上也必須設有電流輸出點，此舉不僅會有量測點之解析度 不佳及受雜訊干擾之間題產生，並且在實際應用上會有可 靠度不足以及成本較為昂貴之問題需考量。 有鑑於上述之缺失，本案發明人乃經詳思細索，並累 15 積多年從事加工機之研究開發經驗，終而有本發明之產 生。 經濟部智慧財產局員工消費合作社印製 亦即，本發明之主要目的乃在提供一種伺服驅動式夾 模單元之模具保護方法，係可於模具進給之行程中，即時 檢測出模具内是否有無異物而作進一步之處理程序者。 20 緣此，為達上述之目的，本創作一種伺服驅動式夾模 單元之模具保護方法，其步驟如下：一 ·依模具動模板之 不同位置，改變用以產生動力源之一伺服馬達之扭力輸 出，以達到低壓之保護效果；二·利用伺服馬達上之編碼 -4- 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 546911 A7 B7 五、發明説明（） 器内之設定值與動模板位移時所接收之訊號比對是否為異 常，以檢測模具内有無異物，而作正常或異常之處理者。 (請先閲讀背面之注意事項再填寫本頁) 為使貴審查委員對於本發明之目的、特徵及功效有更 進一步之了解與認同，茲舉本發明較佳之實施例，並配合 5 下列圖式詳細說明如后： 笫一圖係本發明一較佳實施例之流程圖。 笫二圖係本發明較佳實施例中，動模板之位置與肘節 機構所產生機械利益之關係曲線圖。 笫三圖係本發明較佳實施例中，馬達轉矩輸出與動模 10 板位置之關係曲線圖。 請參閱笫一至笫三圖，係本發明一較佳實施例所提供 一種伺服驅動式夾模單元之模具保護方法（100)，其步騾如 下： 一·依動模板之不同位置，改變伺服馬達之扭力輸 15 出： 經濟部智慧財產局員工消費合作社印製 由於受伺服馬達所驅動之肘節機構，在伺服馬達所輸 出之轉矩（扭力）為一恆定值時，具有隨動模板之位置移動 而將伺服馬達之扭力所產生之機械利益隨之改變之特性 (如笫一圖所示，動模板位置與肘節機構所產生機械利益 20 之關係圖），因此可由上述該動模板位置與肘節機構之機 械利益變化關係，並在設定該動模板於一預定之位移速度 下，反導出欲使該動模板所受之推力（模具保護力）恆為一 低壓值範圍内時，使該伺服馬達之轉矩（扭力）輸出與該動 模板位置間之關係（如笫二圖所示），可由下式表示之： -5- 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 546911 A7546911 A7 B7 V. Description of the invention () The present invention relates to the mold of a servo-driven clamping unit, more specifically, it refers to a method for protecting a mold of a servo-driven clamping unit. (Please read the precautions on the back before filling out this page.) Press. For today's general injection molding machines, it generally includes a machine, a cool mold unit, an injection unit and an electronic control system; The unit mainly has a mold, a majority of tie rods and a toggle mechanism. The mold has a static template and a movable template. The tie rods are used to connect the static template and the movable template. The toggle mechanism is connected to a Between the driving member for generating power and the movable platen, it can be driven by the driving member to cause the movable platen to be driven by the toggle mechanism, and to advance or retreat along the tie rods, and it is cooler than the static 10 platen. Combined or separated. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, in order to prevent the movable template from sandwiching the feed, if a foreign body is encountered, it will push the foreign body, and a protection method will be designed to reduce The damage of the mold; and the general protection method is to set the upper limit of the time between the start and the end of the 15 protective sections of the mold during the feeding stroke of the movable template and make the The moving template passes through the mold protection section with low pressure and low speed; in this case, if the moving template fails to pass the mold protection section within the upper limit of the mold protection time, it is determined that there is a foreign matter in the mold, and Stop the moving template or return to the original state; 20 Although the moving template passes the mold protection section at low pressure and low speed, because the moving template is linked by the toggle mechanism, the toggle mechanism has The characteristics of its mechanical benefits are changed according to the position, so that when the movable template resists foreign objects, the mechanical benefits of the movable template on the movable template have been increased, and it is not solely driven by the original The output low-pressure source enables the mold to be separated from foreign objects. -3- The paper size is in accordance with Chinese National Standard (CNS) A4 (210X297 mm) 546911 A7 B7. 5. Description of the invention () (Please read the notes on the back before filling This page) greatly increases the pushing and pressing force, which will cause the mold to be damaged; and, after waiting for the upper limit of the mold protection time, if the movable template has not passed through the mold protection section At the end, you can confirm the existence of the foreign object and return the moving template to its original point; this kind of protection method not only slackens the trouble, but also fails to timely act as an abnormal phenomenon when the moving template meets the foreign object. Processing (moving the template back to the origin) will cause the mold to still be damaged. In addition, there is also a method that uses the motor current output as an abnormality to directly detect the presence of foreign objects in the mold; however, using the current abnormality 10 method, a current measurement point must be set on a controller, and The motor must also be provided with a current output point. This will not only cause problems between poor resolution of the measurement point and noise interference, but also will have problems of insufficient reliability and more expensive costs in practical applications. Consider. In view of the above-mentioned shortcomings, the inventor of this case has carefully considered and accumulated 15 years of experience in research and development of processing machines, and finally has the invention of this invention. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, that is, the main purpose of the present invention is to provide a mold protection method for a servo-driven clamping unit, which can detect the presence or absence of the presence of the mold in the mold feed stroke. Foreign objects for further processing. 20 For this reason, in order to achieve the above-mentioned purpose, a method for protecting a mold of a servo-driven clamping unit is created. The steps are as follows: 1. Depending on the position of the mold moving template, the torque of a servo motor used to generate a power source is changed. Output to achieve the protection effect of low voltage; 2. Utilize the coding on the servo motor -4- The paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) 546911 A7 B7 V. Description of the invention () Setting in the device Whether the value is abnormal when compared with the signal received when the moving template is displaced, in order to detect the presence of foreign matter in the mold, and treat it as normal or abnormal. (Please read the notes on the back before filling this page.) In order for your reviewers to further understand and approve the purpose, features and effects of the present invention, the preferred embodiment of the present invention is given below, in conjunction with 5 the following drawings The detailed description is as follows: (a) The figure is a flowchart of a preferred embodiment of the present invention. Figure 22 is a graph showing the relationship between the position of the movable template and the mechanical benefits generated by the toggle mechanism in the preferred embodiment of the present invention. Fig. 23 is a graph showing the relationship between the motor torque output and the position of the movable die 10 plate in the preferred embodiment of the present invention. Please refer to Figures 1 to 3, which are a mold protection method (100) of a servo-driven clamping unit provided by a preferred embodiment of the present invention. The steps are as follows: 1. Change the servo motor according to different positions of the template The torque output is 15: The consumer cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs prints the toggle mechanism driven by the servo motor. When the torque (torque) output by the servo motor is a constant value, it has the position of the follower template. The characteristic that the mechanical benefit generated by the torque of the servo motor changes with the movement (as shown in the first figure, the relationship between the position of the movable template and the mechanical benefit 20 generated by the toggle mechanism), so the position of the movable template and the When the mechanical interest of the toggle mechanism changes, and when the movable template is set at a predetermined displacement speed, the thrust (mold protection force) to which the movable template is subjected is kept constant within a low pressure range, so that the The relationship between the torque (torque) output of the servo motor and the position of the movable template (as shown in Figure 2) can be expressed by the following formula: -5- This paper scale is applicable to China Home Standard (CNS) A4 size (210X297 mm) 546911 A7
五、發明說明（） 經濟部智慧財產局員工消費合作社印製V. Description of the Invention () Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs
Tq(x)% = l/F(x)xGain%其中 x為動彳吴板的位置 Tq(x)為伺服馬達產生之推動力（扭力），隨動模板之位 5置而異，其轉矩最大輸出為100% F(x)為肘節機構之機械利益，隨動模板之位置而異 Gain之意義：以伺服馬達在最小的轉矩（扭力）輸出 下’仍可維持動模板依設定速度運動為原則 Gain之決定：從最小值找起，如1、2、··· 1〇〇 1〇 由上式說明可知，當正常狀況下，使用者在設定夾模 過程中’該動模板於模具保護區段内之速度條件後，該伺 服馬達之扭力輸出將隨動模板之位置移動而改變，其改變 之條件係依據下列兩項因素而變異，其一為肘節機構產之 機械利益之反函數；其二為在設定速度關模下之最小轉矩 15輸出為原則；使得該動模板在模具保護區段内隨著其本身 位置之不同，而僅被供給可移動之馬達最小扭力，達到低 壓保護效果。 二·由編碼器檢測模具内是否有無異物： 藉由上式之說明，可在設定該動模板於該模具保羞區 20段内位移之速度時，將下列三項對應參數，即一 ·該動模 板位於模具保護區段内任一點之位置；二伺服馬達因應 動模板位置所作不同扭力之輸出；三模具保護區段之起 點至模具保護區段之終點間，動模板位於任_點上之所需 位移時間等；作一參數設定（即將動模板位置、移動奚此 -6- 本紙張尺度適用中國國家標準（CNS)A4規格（21〇 X 297公釐） (請先閱讀背面之注意事項再填寫本頁) ----- 訂--- 線#· -ί I I. 546911 A7Tq (x)% = l / F (x) xGain% where x is the position of the movable plate and Tq (x) is the driving force (torque) generated by the servo motor, which varies with the position of the moving template 5 The maximum torque output is 100%. F (x) is the mechanical benefit of the toggle mechanism. It varies with the position of the moving plate. The meaning of Gain: With the servo motor at the minimum torque (torque) output, the moving plate can be maintained according to the setting. Speed motion is determined by the principle of Gain: starting from the minimum value, such as 1, 2, ... 1001. From the above description, it can be known that, under normal conditions, the user should 'move the template during the setting of the clamping mode. After the speed condition in the mold protection section, the torque output of the servo motor will change with the position of the moving template. The conditions for the change will vary according to the following two factors. One is the mechanical benefits produced by the toggle mechanism. The inverse function; the second is the principle of the minimum torque 15 output at the set speed to close the mold as a principle; so that the movable template is only supplied with the minimum torque of the movable motor with its own position in the mold protection section To achieve the effect of low voltage protection. 2. Detect the presence or absence of foreign objects in the mold by the encoder: According to the above formula, when setting the moving speed of the movable template within 20 segments of the mold shame zone, set the following three corresponding parameters, namely The moving template is located at any point in the mold protection section; the second servo motor outputs different torque according to the position of the moving template; between the starting point of the three mold protection section and the end of the mold protection section, the moving template is located at any point Required displacement time, etc .; make a parameter setting (i.e., move the template position, move it here) 6- This paper size is applicable to the Chinese National Standard (CNS) A4 specification (21〇X 297 mm) (Please read the precautions on the back first (Fill in this page again) ----- Order --- 线 # · -ί I I. 546911 A7
五、發明說明（） 經濟部智慧財產局員工消費合作社印製 位置所需之時間及馬達所因應輸出之扭力作一參數設定） 於該伺服馬達之編碼器（Encoder)中；而可藉由該編碼器中 之設定參數，與實際夾模時，動模板在經過該模具保護區 段内所接收之伺服馬達扭力輸出、動模板位移量、及動模 5 板任一位移點之時間作即時之分析比對，使得當設定值與 實際值有誤差值之產生時，即視為該模具内有異物之存 在’並作異常之處理，即可藉由該編碼器判斷出模具内有 無異物’而決定是否將該動模板退回原點者。 換言之’編碼器係將所需維持模具依正常速度運動狀 1〇悲之飼服馬達扭力、動模板位置及動模板移至位置點之所 而時間作一設定值，並將此一設定值作一命令脤衝訊號輸 出至孩馬達上，以作為保護模具之依據，及同時由此一設 定值與實際作動時之各項數值作分析比對是否有無誤差值 之產生，以作為異常判斷之依據。 15 以上述詳細之說明後，相信貴審查委員必能了解本發 明之王要特點，是以再將本發明之詳細過程簡述如下·· 如笫一圖所示，首先，設定動模板欲通過該模具保護 區&之速度，並下達夾模之命令，使動模板在進入該模具 保護區段之起點時，依設定之速度進給，並依動模板在經 該模具保護區段内之不同位置，使該祠服馬達輸出不同之 扭力，而可由該肘節機構所產生之不同機械利益施予該動 模具一低壓範圍之推力，並由編碼器中所設定之參數值， 與實際作動時所產生之各項數值作比對分析，如有產生誤 差值時，即視為模具内有異物，而可同時作異常之處理， -------.—1裝--------訂--------- (請先閱讀背面之注意事項再填寫本頁)V. Description of the invention () The time required for the printing of the position by the consumer cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs and the torque output corresponding to the motor is set as a parameter) in the encoder of the servo motor (Encoder); The setting parameters in the encoder and the actual mold clamping, the torque output of the servo motor received by the moving template through the protection zone of the mold, the displacement of the moving template, and the time of any displacement point of the 5 plates of the moving mold are real-time Analyze and compare so that when there is an error between the set value and the actual value, it is deemed that there is a foreign body in the mold, and the abnormal treatment is performed, and the encoder can determine whether there is a foreign body in the mold. The person who decides whether to return the moving template to the origin. In other words, the 'encoder' sets the time required to maintain the mold to move at a normal speed. The torque of the feeding motor, the position of the moving template, and the time when the moving template moves to the position point are set as a set value. A command rush signal is output to the child motor as a basis for protecting the mold, and at the same time, a set value is analyzed and compared with the actual value of each value to determine whether there is an error value, which is used as the basis for abnormal judgment. . 15 After the above detailed description, I believe that your review committee will be able to understand the main features of the king of the present invention. Therefore, the detailed process of the present invention will be briefly described as follows. As shown in the figure below, first, set the moving template to pass. The speed of the mold protection zone & order the clamping mold, so that when the moving template enters the starting point of the mold protection section, it feeds at the set speed and moves the template in the protection section of the mold. The different position causes the temple clothing motor to output different torque, and the mechanical force generated by the toggle mechanism can be used to give a thrust in the low pressure range of the moving mold, and the parameter value set in the encoder and the actual action The various values generated at the time are compared and analyzed. If there is an error value, it is regarded as a foreign matter in the mold, and the abnormality can be handled at the same time. ---- Order --------- (Please read the notes on the back before filling this page)
546911 經濟部智慧財產局員工消費合作社印製 A7 B7 五、發明說明（） 如無誤差值時，則繼續夾模之動作，使該動模板通過該模 具保護區段之終點後，以高壓鎖模合該動模板與該靜模 板，而完成夾模之動作。 是以’上述即為本發明所提供伺服驅動式夾模單元之 5 模具保護方法一較佳之實施例，接著再將其優點說明如 下： 一·由於該伺服馬達之扭力係因應動模板之位置改變 而改變（即因應肘節機構之機械利益改變），並僅維持該動 模板可於預定之速度下運動；而可使該模具在模具保護區 10 段内’皆受一低壓之推力所抵推，使該模具在與異物抵觸 時並不具有擠推異物之力量，而可使該模具之損傷減至最 低。 二·由於該伺服馬達之編碼器，已將所需維持模具正 吊運動狀態之伺服馬達扭力、動模板位置、動模板位移點 15 之時間及動模板位移之速度設為定值，並產生命令脤衝訊 號至該伺服馬達上，而與實際夾模時之數值比對分析，以 作為模具内是否有無異物或異常之判斷依據，並可立即反 應作異常之處理，達成即時而適切地使模具之損傷減至最 低。 20 唯’以上所述者，僅為本發明之較佳實施例而已，故 舉凡應用本發明說明書及申請專利範圍所為之等效結構變 化理應包含在本發明之專利範圍内。 -8- 本紙張尺度適財^?^#準（CNS)A4規‘（210 X 297公ΪΤ ；* 裝 訂--------- (請先閱讀背面之注意事項再填寫本頁) 546911 A7 B7 五、發明説明（） 簡單圖式說明： 第一圖係本發明一較佳實施例之流程圖。 笫二圖係本發明較佳實施例中，動模板之位置與肘節 機構所產生之機械利益間之關係曲線圖。 5 笫三圖係本發明較佳實施例中，馬達轉矩輸出與動模 板位置間之關係曲線圖。 "—141 丨 (請先閱讀背面之注意事項再填寫本頁)546911 Printed by A7 B7, Consumer Cooperative of Intellectual Property Bureau of the Ministry of Economic Affairs 5. Description of the invention () If there is no error value, continue the clamping action, after the moving template passes the end of the protective section of the mold, the mold is clamped under high pressure. The moving template and the static template are combined to complete the clamping action. Based on the above, it is a preferred embodiment of the 5 mold protection method of the servo-driven clamping unit provided by the present invention, and then its advantages are described as follows: 1. Since the torque of the servo motor is changed due to the position of the movable template And change (that is, in response to the mechanical benefits of the toggle mechanism), and only maintain that the movable template can move at a predetermined speed; so that the mold can be pushed by a low-pressure thrust within 10 segments of the mold protection zone , So that the mold does not have the force to push the foreign object when it is in conflict with the foreign object, and the damage to the mold can be minimized. 2. Due to the encoder of the servo motor, the torque of the servo motor, the position of the moving template, the time of the moving template displacement point 15 and the speed of the moving template displacement required to maintain the mold hanging state have been set to a fixed value, and the command is generated.脤 Punch the signal to the servo motor, and compare and analyze the value with the actual clamping, as the basis for judging whether there are foreign objects or abnormalities in the mold, and can immediately respond to the abnormal treatment to achieve the timely and appropriate mold The damage is minimized. 20 The above are only the preferred embodiments of the present invention. Therefore, the equivalent structural changes in applying the description of the present invention and the scope of patent application should be included in the patent scope of the present invention. -8- This paper is suitable for financial standards ^? ^ # S (CNS) A4 Regulations' (210 X 297 GMT; * Binding --------- (Please read the precautions on the back before filling this page) 546911 A7 B7 V. Description of the invention () Simple diagram description: The first diagram is a flowchart of a preferred embodiment of the present invention. The second diagram is the position of the movable template and the toggle mechanism in the preferred embodiment of the present invention. The relationship curve between the generated mechanical benefits. 5 笫 The three diagrams are the relationship between the motor torque output and the position of the movable template in the preferred embodiment of the present invention. &Quot; -141 丨 (Please read the precautions on the back first (Fill in this page again)
、1T 經濟部智慧財產局員工消費合作社印製 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X297公釐）、 1T Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs This paper size applies to China National Standard (CNS) Α4 specification (210X297 mm)