TWI359733B - - Google Patents

Description

1359733 IX. Description of the Invention: [Technical Field] The present invention relates to a mold clamping device and a mode locking control method. [Prior Art] In the injection molding machine, a resin is obtained by ejecting a nozzle from a shooting nozzle of an injection device and filling a cavity between a fixed mold and a movable mold to obtain a molded product. The movable mold phase material is a mold clamping device that performs mold closing, mold clamping, and mold opening, and the above-mentioned mold clamping device has an oil type that is driven by supplying oil to the oil pressure rainbow. The description of @ $ , , , and electric motor-driven electric mode-locking, & electric clamping device, is very controllable and will not pollute the surrounding. In addition, it is widely used, and it is widely used. In this case, the two screws... force, by the elbow. The force produces a large clamping force (for example, the patent document is a two-mechanism clamping device, the structure is mechanically continuous, and the current value of the motor of the electric two-action ball screw is corresponding to 1: The L value is determined by the snail. Therefore, the relationship between the frontal force and the mechanical value is supplied to the second Τ: (there is a system, and the θ machine, 硓 stably obtains the target clamping force. g I in the mold opening and closing operation in / Gutian bracket W · * to use the linear system in the middle of the clamping operation, 2). A metal-clad clamping device (for example, Patent Document 7041-9723-PF; Ahddub 5 1359733 [Patent Document 1] Japanese Patent Laid-Open Publication No. 2003-25398. [Patent Document 2] International Publication No. 05/090052. [The problem to be solved by the invention] However, the electromagnet has a characteristic that the reactivity is deteriorated due to the influence of the eddy current. Therefore, even if the rated current is supplied, the clamping force corresponding to the current value cannot be immediately generated, and a certain need is required. In some cases, the target lock climbing force can be obtained. In addition, because the forming cycle is shortened, that is, the viewpoint of productivity is ensured, and it is required to start from the mold clamping (the current starts to supply the electromagnet). ''The target clamping force is obtained within the predetermined allowable time, and the steady state is maintained. ° Here, considering that the current exceeding the rated current (for example, the maximum current) is supplied to the electromagnet at the beginning of the mold clamping, After the target clamping force is reached, the rated current is supplied to increase the starting reactivity of the clamping force. • However, when the clamping is started, when the rated voltage is exceeded When a large amount of current is supplied to the electromagnet, for example, a phenomenon as shown in Fig. 1 may be generated. Fig. 1 is a diagram for explaining a problem occurring when the normal feedback inverse is raised. In the i-th (4) diagram In the horizontal direction, the vertical axis indicates the current value supplied to the electromagnet. The solid line I indicates that the current value supplied to the electromagnet does not correspond to the passage of time. B) In the figure, the horizontal axis is synchronized with the horizontal axis of the first (A) diagram, which indicates the passage of the acquisition time, and the vertical sleeve 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

I SJ 1359733 As shown in the first line (I), at the beginning of the mode-locking (t), the supply current I' is feedback-controlled so that the target clamping force is reached, and therefore, the maximum current is applied. Corresponding to the supply of the maximum current, the clamping force is started with good reactivity as compared with the case where the rated current is supplied. Further, in t2, after the detection of the target clamping force is detected, the supply current I is lowered to the rated current. However, the supply current is affected by the feedback control delay. Therefore, in t2, the current is supplied regardless of the target clamping force! It does not decrease immediately, accepts the influence of feedback control delay and in ts, it starts to decrease from the maximum current. The aforementioned delay in feedback control is well known to be produced by the action of an integrator in the pi. Therefore, the clamping force is overshoot within the allowable error range of the (4) private clamping force (hereinafter referred to as "allowable clamping force"). In the drawing, after t2, it will become the overshoot state. Further, in ts, even if the supply current 丨 is lowered to the rated current, the electromotive force is poorly reacted, and the mold clamping force F does not immediately decrease, and after the temporary increase, it starts to decrease. As a result, the state of the overshoot continues until t4 until it has been punctured by the current time tp. In this way, when the mold clamping is started, when the current is larger than the rated current, if the power supply is not properly controlled, the clamping force cannot be maintained at the target clamping force until the allowable time is stopped. Within the tolerance range, there is also the problem of overshooting the clamping force. If the target clamping force is not obtained until the time tp, the forming cycle becomes longer, and the production 1 becomes less. Moreover, the over-clamping force is not only the cause of forming, but also shortens the life of the mold. However, in the mold clamping device using the electromagnet, unlike the mold clamping device using the elbow mechanism of the patent document 1, the electromagnet and the absorbing surface 7041-9723-PF'.Ahddub 7 1359733 A gap is formed between them, which causes a mechanical discontinuity. 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 clamping force (i.e., when the gap becomes small). , the clamping force will increase). Moreover, 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, it is extremely difficult to avoid the above-mentioned overshooting system when it is required to maintain the target clamping force within the allowable time, and the excessive clamping force is applied to the mold for a long time. As a result, the life of the mold will become shorter. SUMMARY OF THE INVENTION The present invention has been made in view of the above disadvantages, and an object thereof is to provide a lock mode control method capable of appropriately controlling a clamping force obtained by an electromagnet. 'U & [Means for Solving the Problem] In order to solve the above problems, the present invention is a mode locking device in which a clamping force is applied by an electromagnet, and the present invention has a mode-locking device. Force=2: Clamping force; the supply current calculation unit is based on the error of the clamping force detection value and the target clamping force indicated above, and A is supplied to the electromagnet before the weeping. ...the electric-value of the electric iron of the electric iron and the restricting portion, the current value calculated by the current calculating unit is suppressed to a predetermined setting, and the characteristic of the invention is The supply current corresponding to the elapse of the pre-time is suppressed by the aforementioned supply lightning, "12" limit information, to the current limit value corresponding to the passage of time. Further, the invention is characterized in that the restriction portion of the present invention is disposed between the current calculation unit and the electromagnet. The above-mentioned restrictions are based on the aforementioned restrictions on Beixun, so that the aforementioned supply Thunder* 4^4 takes φ ^ ^ /, κ electric k value As the set value of the super-g constant current at the beginning of the mode-locking, 兪, +· MW 叮 过 过 J J J J J , , , , , , , , , , , , , , , , , , , , , , , , , , 钼 钼 钼 钼The established value is reduced. Further, the feature of the present invention is that the J^丄^ character system is a restriction unit that lowers the current value of the supply lightning current by a predetermined reduction rate.

Further, the special portion A of the present invention is a restriction portion for causing the current value of the supply to be in the lock. The 锁 clamping force is reduced from the aforementioned set value before the range of the first 16 target clamping force tolerance #. In this type of clamping device, the h k ^ mold force is applied. b k is used to control the lock obtained by the electromagnet. [Effect of the invention] When the present invention is used, it is possible to provide a mold clamping device and a mold clamping control method capable of appropriately controlling the clamping force obtained by electromagnetic. [Embodiment] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Further, in the present embodiment, "the mold clamping device is configured such that the direction in which the slider is moved when the mold is closed is taken as the front side", and the moving direction of the movable slider when the mold is opened is regarded as the rear side, and the device is turned off (four). 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. Figure 2 is a view showing a state of the mold device and the mold-locking device 7041-9723-PF; Ahddub 9 when the mold is locked; and Figure 3 is a view showing 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 1G-type clamping device, the frame of the injection molding machine, is laid on the frame Fr to form an obedient, and is used as the first and the first of the guide and the clamping device. Two guides of the guiding member (in the drawing, only j shows that lj〇, n in the two guides Gd are loaded on the aforementioned guiding state Gd' is relatively fixed to the foregoing The frame takes into account that the m-sliding slider of the first member of the first member of the guide member μ is spaced apart from the front slider 丨丨 and that it is disposed opposite to the slider 11 and is regarded as the second fixing. After the member, the slider 13' is between the fixed slider u and the rear slider 13, and the frame is slid by the tie rod 14 of the four joint members (in the figure, only two of the four tie rods 14 are shown) Further, the rear slider 13 can be placed on the guide Gd only slightly with respect to the guide Gd as the tension rod U expands and contracts. Further, in the present embodiment, the slider is fixed. The u is fixed relative to the frame r and the guide Gd, and the rear slider 13 can only be moved relative to the guide, but the rear slider i 3 can be made relative to the frame guide G. d is fixed, fixed, and η $, and a little. Seeing that the month block 11 can only face the fixed slider u with respect to the guide to move the aforementioned tie rod 14 and =?: moving the slider 12" is configured such that an uncircular guide hole for penetrating the tie rod 14 is formed in the mold opening and closing direction with respect to the tie rod 14 in the movable slider 12. '·, at the front end of the aforementioned pull rod U The portion is formed with a threaded portion (not shown), the front 7041-9723-PF; Ahddub 10 1359733 is described by pulling the first thread portion and the nut nl, and -A = fixed sliding Further, in the 15 knives behind the aforementioned pull rods 14, the outer diameter is smaller than the tie rods 14 and is used as the guide post of the second guiding member. The second portion protrudes rearward from the rear end surface of the rear slider 13 And the rod 14 is formed as shown. Further, in the vicinity of the rear end surface of the rear slider 13, a second thread portion is formed, and the fixed slider 丨丨 and the rear slider 丨 3 are formed by In the present embodiment, the guide post 21 is integrally formed with the tie rod 14, but the guide post 2 may be formed. The first system is formed separately from the tie rod 14. Further, the fixed slider 11 is fixed with a solid mold 15 as a second mold, and the movable slider 12 is fixed as a second mold/ The movable mold 16 is moved forward and backward with the movable slider 12, and the fixed mold 15 and the movable mold 16 are separated from each other to perform mold closing, mold clamping, and mold opening. Moreover, as the mold clamping is performed, the fixed mold 15 is fixed. A plurality of cavity spaces (not shown) are formed between the movable molds 16 and the resin (not shown) which is emitted from the injection device 17 and is used as a molding material from the injection device 17 is filled in the cavity spaces. The device 1 9 is composed of a fixed mold 15 and a movable mold 16. Further, the absorbing plate 22 which is disposed in parallel with the movable slider 12 and is regarded as the second movable member is disposed rearward of the rear slider 13 and moves forward and backward along the respective guide posts 21. , guided by the guide column 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, sucking 7041-9723-PF; Ahddub 11 rear end 22, the show group knows A. A sliding surface on which the guide post 21 slides. In the embodiment, the suction plate 22 is guided by the column 21 of the Kodaku et al., and the primary β can also make the suction plate 22 not be guided by the guide post 21. Road 2| 仫疋, 引. The guide 21 is guided by the guide ϋ Gd. However, in order to advance and retract the movable slider 12, the linear motor 28 as the first drive unit and the drive unit is disposed between the frame 12 and the frame F1. The linear motor 28 has a stator 29 as a first month driving element and a mover 3 as a second driving element. The stator 29 is attached to the frame ,, parallel to the guide Gd, and movable The movement range of the slider 12 corresponds to the movement + 31, which is in 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 advanced and retracted to perform mold closing and mold opening. Further, in the present embodiment, the permanent magnet is disposed in the stator 29' so that the coil 35 is disposed on the mover 31. However, the coil may be disposed in the stator and the permanent magnet may be disposed on the mover. In this case, 'with the linear 7041-9723-PF; Ahddub 12 1359733, the motor 28 is driven', the coil does not move, and the wiring for supplying electric power to the coil can be easily applied. However, when the movable slider 12 is advanced and the movable mold 16 comes into contact with the fixed mold 15, the mold is closed and then the mold is applied. In addition, in order to carry out the mold clamping, an electromagnet group as a second drive unit and a drive unit for the mold clamping is disposed between the rear slider 13 and the absorbing plate 22, and is placed in a retractable manner. The slider 13 and the absorbing plate 22 extend and serve as a rod body 39 that couples the clamping force transmitting members of the movable slider 1.2 and the absorbing plate 22. The rod body 39 is connected to the movable slider 12 during the mold closing and the mold opening, and the rain plate moves the suction plate 22 forward and backward to make the clamping force generated by the electromagnet group 37 during the mold clamping. It is transmitted to the movable slider 12. Further, the mold clamping device 10 is composed of a fixed slider u, a movable slider Μ, a rear slider 13, a absorbing plate 22, a linear motor 28, an electromagnet group 37, and a rod body 29. Further, in the mold clamping device 10, the operation of the linear motor 28 as the driving unit for opening and closing the mold and the operation of the electromagnet group 37 as the driving 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 electromagnet 49 which is formed as a first driving member on the side of the rear slider 3, and a absorbing portion 51 which is formed as a second driving member on the side of the absorbing plate 22. The suction port 51 is a predetermined portion of the front end surface of the suction plate 22 before being surrounded. In the present embodiment, the suction plate 22 surrounds the rod body 39, and a P-knife that faces the electromagnet is formed. In the rear slider, a predetermined portion of the rear end surface of the j 3 is formed in a rectangular cross-sectional shape of the body, which is slightly above and below the rod body 39, and has a rectangular cross-sectional shape of the body A41-9723-PP; Ahddub 1359733 The 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 the vehicle body 47 is formed in other portions. Further, a coil 48 is wound around the core 46. Further, the core body 46 and the yoke 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 Φ 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 The absorbing portion 51 is a portion of the absorbing plate 22. Therefore, in the electromagnet group 37, when a current (direct current) is supplied to the 'coil 48, the electromagnet 49 is driven to suck the absorbing portion 51, and the above-described 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 advances with the movable slider 12 before closing the mold, and advances the suction plate 22, so that the movable slider 12 retreats and retreats when the mold is opened, so that the suction plate 22 is rearward. Therefore, at the central portion of the rear slider 13, a hole 41 for penetrating the simple body 39 and a hole 42 for penetrating the rod body 39 into the center of the suction plate 22 are formed, and the shaft is disposed. The bearing member Br1 is slidably supported by the rod member 39 facing the front end opening of the hole 41, and the threaded portion 43 is formed at the rear end portion of the rod body 39. The nut 44 of the mold degree adjusting mechanism that is rotatably supported by the suction plate 22 is screwed. 7041-9723-PF; Ahddub 14 1359733 A large-diameter gear (not shown) is formed on the outer peripheral surface of the nut 44, and a non-illustrated mold which is a driving portion for adjusting the thickness of the mold is disposed in the sucker plate 22 which will be described later. The thickness adjustment is @ it, and the small-diameter gear mounted on the output shaft of the mold thickness adjustment motor is engaged with the gear formed on the outer peripheral surface of the nut. Further, when the thickness of the mold device 19 is driven to drive the mold thickness adjusting motor so that the nut 44 is rotated relative to the screw 43 by a predetermined amount, the position of the rod φ body 39 with respect to the absorbing plate 22 is adjusted, and the absorbing plate is adjusted. The position of 22 relative to the solid/month block 11 and the movable slider j 2 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 this embodiment, an electromagnet is formed on the rear end surface of the rear slider 13.

49', the portion 51 is disposed on the front end surface of the sucker plate 22 so as to be adjacent to the electromagnet 49, but 'the suction portion may be disposed on the rear end surface of the rear slider 13, and the electromagnet and the foregoing The absorbing portions are disposed to face each other on the front end surface of the sucker plate 22 so as to face each other. Next, the detailed description of the control unit 60 will be a schematic diagram showing an example of the configuration of the control unit. In Fig. 4, the control unit 6Q is composed of a higher-level controller, an adder 62, a π controller μ 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 drawing 15 7041-9723-PF; Ahddub. The host controller 61 has a CPU, a memory, and the like, and the control program recorded in the hidden body is processed by the CPU, thereby controlling the operation of the linear motor 28 iron 49. The upper controller 61 outputs a buckle command (clamping force command) indicating a large clamping force, and a beat command (position command) indicating a position at which the linear motor 28 must move. The position command is processed in the linear motor Μ drive system, so the description thereof is omitted here. . The clamping force command of the upper controller 61 is input to the adder 62 of the linear motor drive port P. The clamping force detection value (the clamping force detection value) detected by the clamping force detection = 5 set on the clamping device 1 is also rotated by: 62. The adder 62' calculates the error of the clamping force detection value relative to the clamping force command according to the clamping force value (lock = command value) indicated by the clamping force command and the clamping force detection value (Zhao Cuo, (Clamping force error). The calculated clamping force error system is 163. Moreover, the clamping force detector core system can also be used for the detection of the rod 14 elongation or the load detection of the rod sensor. The crying machine and the knife 3 are configured to detect the magnetic flux between the electromagnet 49 and the absorbing portion 51. The second control is: 3, for example, a feeding card, according to the lock The force error force binary control _ can quickly eliminate the _ modulo two current value, so that the indication (four) ^ fly phase is output to the limiter 64. In the speed-cancellation (correction) of the clamping force error, the speed of the clamping force can quickly eliminate the error of the clamping force. Therefore, the PI controller 63 calculates the value of (4). The current value is not necessarily the current value determined by the error of the clamping force 7041-9723-PF; Ahddub 1359733, 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 device 63 according to 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 the current limit value corresponding to the time of inputting the electromagnet current command according to the limit mode, and according to the limit value, the electromagnet current command indicating the 2 stream value indicating the input current value is limited (with limitation The current command) is input to the amplifier 65. It is stated that "the input current value is limited 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 input 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 above-described mold clamping device will be described. The control unit 60 performs a mold opening and closing process, and when the mold is closed, the flow is supplied to the line _35 in the state of the third figure. 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, the optimum gap 5 is formed between the rear slider 13 and the absorbing plate 22, that is, between the electromagnet 49 and the absorbing portion η. Moreover, the force required to close the mold is much smaller than the clamping force. 7041-9723-PF; Ahddub 17 丄乃 9733 ^ ¥ The movable slider 12 reaches a predetermined position (when the movable mold 16 abuts at a solid, /, 15, or at a position to be abutted), the mold clamping process ]. That is, the upper controller 61 causes the mold clamping force command indicating the preset clamping force target ', (hereinafter, referred to as "target clamping force") to be rotated to the adder 62. The adder 62 calculates a clamping force error based on the clamping force command value and the clamping force detection value sequentially input by the clamping force detector, and inputs it to the controller 63. The PI controller 63 compensates for the clamping force error by ρι, 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 causes the limit to be applied to the electromagnet current command by the limit of the current value - corresponding to the time limit, so that the limited current command is output to the amplifier 65. The amplifier 65 supplies a current corresponding to the current command having a limit 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 locking mold is implemented. 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. More specifically, at the beginning of the mode-locking with a large clamping force error, the current command output by the controller 63 indicates the current value exceeding the rated current. 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 (7041-9723-PF above the clamping force; Ahddub 18 1359733) . Here, the control unit 60 of the present embodiment controls the prevention of the lock *mould force overshoot. 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 detecting device 55 is successively wheeled into the adder 62 by the adder 62 and the PI 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 is ejected from the injection nozzle 18 to be filled in each cavity space of the mold device 19. • When the resin in each of the six spaces is cooled and solidified, the control unit 6 turns off the current supply of the coil in the state of Fig. 2 when the mold is opened. At the same time, the linear motor 28 is driven, and the movable slider 12 is retracted. As shown in Fig. 3, the movable mold 16 is placed at the reverse limit position to open the mold. • Next, explain the clamping force control according to the restriction mode. 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 indicates that the restriction mode of the limiter 64 is set. The dotted line I indicates the transition of the current supply current value supplied to the electromagnet 49 coil by the amplifier 65. In the fifth (B) diagram, the horizontal axis represents the time passage synchronized with the horizontal axis of (Α), and the vertical axis represents the magnitude of the clamping force (the clamping force detection value). The solid line F indicates the transition of the clamping force corresponding to the passage of time. 7041-9723-PF/Ahddub 19 1359733 As shown in Fig. 5(A), the restriction mode L1 in the first embodiment is a tolerance range in which the clamping force F reaches the target clamping force ( After the "allowable clamping force" is referred to as "the allowable clamping force", that is, before the upper clamping force is exceeded, that is, before the upper punch (t2), the limit value is immediately reduced to the rated current. In this way, when the clamping force reaches the target clamping force, the limiting mode is set to lower the supply current in advance, so that even if the electromagnet feedback control with slow reactivity is used, the current can be supplied in the limiting mode. , so, • can prevent the clamping force from overshooting. The control of the clamping force F by the control unit 60 when the limit mode L1 is set to the limiter 64 will be described. Shortly after the start of mold clamping (tl), in order to improve the starting response of the clamping force, the maximum current is output from the PI controller 63 (the amplifier 65 can be supplied to the electromagnet within the range where the device operation is properly ensured) The current command of the current value of 49 is output to the limiter 64. Therefore, the limited current command in accordance with the limit mode L1 is output to the amplifier 65 by the limiter 64. 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, the solid line L1 overlaps the broken line I from tl to ts. By supplying current in accordance with the limit mode L1, the maximum current is supplied to the coil 48 not long after the start of the mode locking (t1). The starting reactivity by supplying the maximum current clamping force F is better than the rated current supplied, and in the second, the upper limit of the allowable clamping force (or the upper limit) is approached. 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 will not be 7〇41-9723-PF due to the delay of the feedback control; Ahddub 20 I S]

Engraved ^. As a result, 'only in the usual feedback control, the mode-locking is 'in the present embodiment, the limit mode is set so that it does not: Therefore, before the clamping force F exceeds the allowable error range, the system supplies the current. The limit value of the limit mode is not exceeded. Therefore, after t2 2, the rated current is supplied along the limit mode u. As a result, the F 7 of the clamping force is low, and the reading material is within the charm of the material, and becomes a stable normal state. Further, the clamping force F' is sequentially detected by the clamping force detector 55, and is input to the adder 62. The adder 62 sequentially calculates the clamping force F error with respect to the target clamping mode (clamping force error) ), input the ρι controller 63. Therefore, when the clamping force error becomes small, the current value indicated by the electric command from the PI controller according to the feedback control is sometimes smaller than the limit mode ^. Next, 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 current command is output from the amplifier 65 to the coil 48. • This state indicates the situation after ts After ts, supply The flow I, which leaves the limit mode L1, becomes a value smaller than the limit value. Also after the ts, the feedback control system does not apply the limit to the limiter 64 and is effective, and the clamping force F is maintained. Clamping force As described above, when the clamping device 1 of the third embodiment is used, the current (maximum current) larger than the rated current is supplied at the beginning of the clamping, depending on the clamping force Before the overshoot, the supply current is reduced to the rated current limit mode, and 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 the overshoot can be reduced. 7041-9723- PF; Ahddub 21 1359733 However, in the first embodiment, the "clamping force F" is lowered (undershoot) to the outside of the allowable error range after the degree of the tolerance is within the allowable error range. The problem that the clamping force F reaches the tolerance range again and takes some time' has the problem that the self-mode-locking (t1) to the clamping force becomes stable and the normal state becomes longer. Here, an example of solving the problem is The second embodiment will be described below. Fig. 6 is a view for explaining the clamping force control according to the restriction mode of the second embodiment. In Fig. 6, the fifth embodiment The same number is given to the same circle. As shown in Fig. 6(A), the restriction mode u in the second embodiment is defined as exceeding the allowable clamping force after the clamping force F reaches the allowable clamping force. Before, that is, before the overshoot (t2), the limit value starts to decrease. However, the limit value does not immediately decrease to the rated current, but gradually becomes smaller and slowly reaches the rated current. The reason is: when at t2 When the supply current is immediately lowered, as in the embodiment of 帛1, the clamping force is again lower than the allowable mode-locking j, and finally reaches a stable normal state (the clamping force is stably maintained at the allowable clamping force). It takes time to lengthen. 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 reactivity is controlled by the electromagnet feedback control, the current can be supplied in the limiting mode, so ' Can prevent the clamping force from rushing. Next, the control of the mold clamping force F by the control unit 60 when the limit mode is set to the limiter 64 will be described. 7〇41-9723-PF; Ahddub is] 22 1359733 Shortly after the start of mold clamping (ti), in order to improve the starting reactivity of the clamping force, the PI controller 63 outputs a current command system indicating the current value above the maximum current. It is rotated out to the limiter 64. Therefore, the current command with a limit according to the limit mode u is rotated by the limiter 64 to the amplifier 65, and the current corresponding to the current command by the amplifier 65, "t 1 to ts, is The coil 48 is supplied to the electromagnet 49. Further, the solid line L1 and the broken line I overlap.

By supplying current in accordance with the limit mode, the maximum current is supplied to the coil 48 shortly after the start of the mode-locking (u). The starting reactivity by supplying the maximum current clamping force F is better than the rated current supplied. In u, the upper limit of the allowable clamping force is approached (or becomes 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, Because of the delay of the feedback control, the current does not drop. As a result, the clamping force will only be overshooted during normal feedback control. However, in this embodiment, the limiting mode is set so that it does not overshoot. Therefore, after t2, the control causes the supply current to not exceed the limit value of the limit mode. Therefore, after t2, the supply current starts to decrease along the limit mode li. That is, the supply current does not immediately decrease to the rated current. The slope of the reduction is small. As a result, the clamping force F is maintained within the allowable clamping force without excessively decreasing, and becomes a stable normal state within the allowable time tp. Moreover, the 'clamping force F is clamped. force The detector 55 is sequentially detected and input to the adder 62. The adder 62 sequentially calculates the clamping force F error (clamping force error) with respect to the target clamping force, and inputs it to the PI controller 63. 9723-PF; Ahddub 23 1359733 Therefore, when the clamping force error 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 L1. Next, the current command from the PI controller 63 is passed through the limiter 64 without being biased, and is input to the amplifier 65. The current corresponding to the current command is output from the amplifier 65 to the coil 48. This state is after the ts In the case of fs, the current I is supplied, leaving the limit mode L1, which is 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 is F is maintained at the allowable clamping force. As described above, when the mold clamping device 1 of the second embodiment is used, the current (maximum current) larger than the rated current is supplied at the beginning of the mode locking. According to the clamping force Previously, the current was supplied to the electromagnet 49 in a limiting mode in which the supply current was lowered at a predetermined rate of decrease. 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. Under the mold force, the clamping force becomes a stable normal state within the allowable time. Moreover, although the restriction mode ^ is set in the self-mode-locking, there is no restriction from tl to t2. In the mode u, the limit mode is set after the U. Since the limit mode limit value between the F1 s + 9 and the U von t1 to t2 is set to the maximum power and current, the limit value cannot be fully utilized. However, the limit mode L1 of the 帛2 embodiment is a complex mode with a majority of nodes between the maximum current and the rated current: The result is that the clamping force may become unstable. In Fig. 6(B), although the clamping force after t2 is moved up and down within the tolerance range, 7041-9723-PF; Ahddub 24 1359733 is shown to be unstable. Further, there is a case where it is difficult for the node to determine an example of the problem, and there is a third embodiment. The following questions. Form. Third Embodiment - Fig. 7 is a view for explaining a mode of the mold force control according to the third embodiment. In Figure 7, and the lock on the 6th "1 - number. As shown in Fig. 7(A), the restriction mode u in the third embodiment is defined such that the limit value is gradually lowered from the = large current before the clamping force F reaches the allowable clamping force. . As a result, the number of nodes in which the limit value is gradually lowered is less than the limit mode in the second embodiment, and in particular, there are no nodes in the six-time period tp.备. Next, the control of the clamping force f by the control unit 60 when the restriction mode L1 is set to the limiter 64 will be described. Shortly after the start of mold clamping (tl), in order to increase the starting reactivity of the clamping force, the PI controller 63 outputs an electric current command indicating the current value of the maximum current or more to the limiter 64. Therefore, the current command having the limit according to the limit mode L1 is output to the amplifier 65 by the limiter 64, and the current corresponding to the current command with 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. By supplying current according to the limit mode L1, the maximum current is supplied to the coil 48 shortly after the start of the mode locking (f1). By supplying the maximum current, the starting reactivity of the clamping force F is greater than the rated current supplied. It’s better. After that, the current I is supplied in the ^ 2 041-9723-PF before the clamping force F reaches the allowable clamping force; Ahdd\ib 25 1359733

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 clamping force F, in the state where the degree of increase is small, reaches the allowable clamping force before the allowable time tp, at the allowable time tp. In the middle, a maximum point is formed within the allowable clamping force. Thereafter, after ts is the same as in the case of describing the second embodiment, the supply current I is released from the restriction mode L1, and the feedback control becomes effective. Therefore, the clamping force ρ 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 at the beginning of the mold clamping (maximum electric 々_«·), and the lock is achieved according to the clamping force. The limit mode in which the limit value is gradually lowered before the mold force causes the current to be supplied to the electromagnet to start the reactivity, and on the other hand, the possibility of generating the overshoot can be reduced, and the clamping force can be stabilized in a normal state within the allowable time. Because the supply current will drop slowly before the clamping force reaches the allowable clamping force, the slope of the clamping force can be reduced, and the allowable clamping force can be achieved with a slower inclination. As a result, the control of the Φ ^ 0 clamping force is easier than that of the second embodiment, and the limiting mode can be changed to a a a a 燹 燹 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且 而且The maximum point σ _ force forms the second formula L1 within the allowable clamping force. In the allowable time 讣, the shape of the limiting mode L1 (from tl to rate) is determined so that the clamping force is equal to the tolerance 2 or t2 After the tilt (reduction - to make it possible to form a maximum point in the limit mode u. The shape of the sub-L1 is simple. 7041-9723-PF; Ahddub 1359733 Figure 8 is used to illustrate the basis of the system In the eighth embodiment, the fourth embodiment will be described. 4 The mode-locking force control of the embodiment restriction mode is the same as that of Fig. 6 or Fig. 7. + <Restriction mode L1, time 'The limit value is as shown in Fig. 8(A)'. The fourth embodiment is defined such that the system starts to decrease from the start of the self-mode-locking (11), which is earlier than the third embodiment. The example of the reduction in the figure. Next, when the restriction mode L1 is set to the limiter 64, the control is performed. The control of the clamping force F caused by the portion 60. Shortly after the start of the clamping (t1), in order to improve the starting reactivity of the clamping force, the PI controller 63 outputs a current command system indicating the current value of the maximum current or more. It is rotated out to the limiter 64. Therefore, between t1 and ΐ2, the limited current command in accordance with the limit mode L1 is rotated by the limiter 64 to the amplifier 65, corresponding to the current having the limited current command, It is supplied to the coil 48 of the electromagnet 49 by the amplifier 65. Further, 'the solid line L1 overlaps the broken line I from t1 to ts. By supplying current according to the limit mode L1, at the start of mode locking (tl ), the maximum power / il will be supplied to the coil 48 ^, the supply current begins to decrease at a given rate of reduction "by initially supplying the maximum current, the starting reactivity of the clamping force F is better than the rated current supplied, The allowable clamping force can be reached before the allowable time tp. Moreover, by the reduction of the supply current, the clamping force F, after reaching the allowable clamping force, is maintained at the allowable clamping after the allowable clamping force. After ts, supply current I, In the same manner as described in the second embodiment, the feedback mode L1 is released, and the feedback control becomes effective. [S] 7〇41"9723-PF; Ahddub 1359733 Therefore, the clamping force F' is maintained by feedback control The clamping force is allowed. As described above, when the clamping device 1 of the fourth embodiment is used, the supply current is larger than the rated current (maximum current) at the beginning of the clamping, and then 'based on the limit value. The restrictive mode of the downward pressure causes the current to be supplied to the electromagnet 49. Therefore, on the one hand, the starting reactivity can be improved, on the other hand, the possibility of generating an overshoot can be reduced, and the clamping force can be stabilized normally within the allowable time. status. However, in the fourth embodiment, since the supply current is reduced from the beginning of the mode-locking (tl), the starting reactivity of the clamping force F is worse than that of the third embodiment (the clamping force F was originally used). The inclination is smaller than that of the third embodiment). Further, the inclination of the mold clamping force F when the allowable clamping force is reached is larger than the inclination when the clamping force F in the third embodiment reaches the allowable clamping force. This is because the rate of decrease (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 other words, in the fourth embodiment, the time during which the maximum current is supplied 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, there is a possibility that the inter-material tp is required. The clamping force cannot be achieved. Therefore, it is necessary to reduce the reduction rate. . Tian Lida reached the tilt of the clamping force F when the clamping force was applied. (Increased, the subsequent clamping mode will be relatively difficult. Therefore, the limiting mode in the state I, # is recorded in the six 4 ± only his form After the time tp of the valley, the restriction mode in the implementation mode of the node 3 is still more than the first formula, and it is complicated from the above viewpoints, 篦^ caution, sentence. The restriction mode u of the third embodiment can be said to be better than the restriction mode li of 7041-9723-PP; Ahddub 28 1359733, and the fourth embodiment. 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 by the shortening of the second embodiment, so that 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 used 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) afterwards. Further, the restriction - mode creation can 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 the above-described respective embodiments, the respective restriction modes are formed by connecting the respective contacts in a straight line when the limit value is lowered. However, for example, the limit value may be multi-stepwise 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 a distance detector that measures the gap 5 between the rear slider 13 and the absorbing plate 22. 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 used, the magnet exposes the surface of the frame, so that dust or the like adheres. Therefore, the present application for the mold opening and closing drive unit does not use the linear horse 7041-9723-PF; Ahddub 29 1359733 up to 28' as shown in FIG. 9 and uses a rotary motor that locks the field in which the motor frame generates a magnetic field. Modification. The description of the electromagnet group as the second driving unit is the same as that of the second and second drawings. Therefore, the description thereof will be omitted. The first driving unit and the mold opening: the mold opening/closing motor 7 4 of the driving unit (mold opening/closing driving unit) are attached so as not to be movable on the stirrup device 73 fixed to the frame. Here at the mold opening_motor 74, the system will be used

A rotary motor in which the field is locked. A motor (4) not shown is rotated; a motor is protruded. The motor shaft is coupled to the ball screw 72. The ball screw 72 and the ball screw 71 are screwed together to form 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 ... which protrudes from the lower portion of the movable slider 12. As a result, the movable slider 12 can be advanced by the mold opening_motor 74, and the mold opening and closing operation of the movable mold can be performed. = and "The position detector 75 is attached to the rear end of the mold opening and closing motor 74, and the rotation angle " of the mold opening/closing motor 74 is read by the month b, and the position of the movable slider 1 2 is grasped. JS·itf-, θ 曰 The mold opening and closing processing unit 61 controls the mold opening and closing motor 74. In the present configuration, when the right-side 乂 electromagnet generates a clamping force to the mold device 19, when the pressure is increased, the mold opening/closing processing unit p 61 is used when the mold is started to be lifted. The current supply to the mold opening and closing motor 74 is variably controlled. In particular, the current situation will 'stop the supply of current', so as not to affect the mold opening, the motor 7 4 position control caused by the clamping mold 7041-9723-PF; Ahddub 30 [S] 1359733 The present invention is described with reference to the detailed and specific embodiments, but the invention is not limited thereto, and the invention is not limited to the scope of the invention. . The present application is based on the priority of Japanese Patent Application No. 2007-255821, filed on Sep. 28, 2008, and the entire contents of the Japanese Patent Application No. 20-S. [Simplified Schematic Description] Figures 1(A) to 1(B) are diagrams for explaining the problem points that arise when the normal feedback/resistance of the clamping force in control is increased. 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. Lu 4 is a diagram 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 1359733 Fig. 9 is a schematic view showing a modification of the present application using a rotary type motor in which a field of magnetic field generation is blocked at a motor casing.

[Main component symbol description] 10~ Clamping device; 1.2~ movable slider; 13~ rear slider; 15~ fixed mold; 17~ injection device; 19~ mold device; 22~ suction plate; ; 28 ~ linear motor; 31 ~ mover; 39 ~ rod body; 43 ~ thread; 45 ~ coil arrangement; 47 ~ yoke 'body; 49 ~ electromagnet; 55 ~ clamping force detector 61 ~ upper control 63~PI controller; 65~amplifier; 72~ball screw; 1b fixed slider; 12a~ movable slider flange part 14~ pull rod; 16~ movable mold; 18~jecting nozzle; 21~ guide post; 23~guide hole; 2 5~small diameter section; 29~stator; 37~electromagnet group; 41,42~hole; 44~nut; 46~core; 48~coil; 51~ sorption part; 60~ Control unit; 62~ adder; 64~ limiter; 71~ ball screw nut. 73~ motor support unit; 7041-9723-PF; Ahddub 32 1359733 74~ mold opening and closing motor; 75~ position detector; Br Bearing member; Gd ~ guide; Fr ~ frame; nl, n2 ~ nut.

7041-9723-PF; Ahddub 33 [S3

Claims (1)

—窠097134521号 100年1〇月曰25曰Revision and replacement page X. Patent application scope: 1. A mode-locked nightmare, &丄β', which is characterized by an electromagnet, which is characterized by: /, The lock is detected by the clamping force detecting portion, and is supplied to the electromagnetic lock force detecting portion, and the clamp mode supply current calculating portion is detected, and the mold clamping value and the target mode locking are determined based on the mold force detection value. Force error, iron current value; and system two! ! The current value calculated by the supply current calculation unit is suppressed to a predetermined mode, wherein the limiting unit uses the current value of the supply current as a target clamping force exceeding a rated current at the start of the lock change. The clamping force is reduced from the aforementioned predetermined value before the front force exceeds the front force. 2. The clamping device described in item i of the patent scope, :: the system is based on the supply of electricity corresponding to the passage of the preset time: limit: force to limit the information 'Sha is suppressed by the aforementioned supply flow value The aforementioned limit value to the corresponding time. If the clamping device described in the second or second aspect of the patent application is applied, the limiting portion is disposed between the supply current calculations. In the above-mentioned, the front part and the system part reduce the current value of the supply current by a predetermined value. The reduction rate is as described above. The mode of the lock mode described in the first or fourth aspect of the patent application is such that the current i ' of the supply current and the clamping force of the current are 7041 - 9723 - Ρ π 1359733 '丨3452丨 Before the correction of the replacement page error range on the 25th of the 100th year of the 100th year, from the above-mentioned established value reduction method, the clamping force is applied by the electromagnet, and the above-mentioned target clamping force is allowed to be allowed. The method is characterized in that the clamping force by the electromagnet is detected, an error between the detected value of the clamping force and the target clamping force is obtained, and the current supplied to the electromagnet is calculated based on the error. Value, the current value is suppressed to the preset mode, The current value supplied to the electromagnet is greater than the predetermined value of the rated current at the beginning of the lock, and before the above-mentioned mode-locking, the knife exceeds the target clamping force, and the error range is The established value is reduced. 7. The method of controlling the mode locking according to the application of the patent -6, wherein the current value is determined according to the restriction information indicating the second limit value corresponding to the preset time, and is suppressed to the corresponding time two: the foregoing limitation value. People over 7041-9723-PF1 35