TWI629156B - Injection molding machine - Google Patents

Abstract

The present invention provides an injection molding machine in which an actual value of a control amount of a movable portion can easily reach a set value in a short time. The injection molding machine of the present invention includes a movable portion, a driving portion that drives the movable portion, and a control device that controls the driving portion. The control device calculates the foregoing based on the deviation between the actual value and the set value of the control amount of the movable portion The setting value of the operation amount of the driving unit is calculated based on the calculation result of the setting value of the aforementioned operation amount in the past injection.

Description

Injection molding machine

This application claims priority based on Japanese Patent Application No. 2013-273085 filed on December 27, 2013. The entire contents of its application are incorporated herein by reference.

The present invention relates to an injection molding machine.

The injection molding machine fills the cavity space in the mold device with a liquid molding material, and solidifies the filled molding material to form a molded product (for example, see Patent Document 1). The injection molding machine includes a movable portion, a driving portion that drives the movable portion, and a control device that controls the driving portion.

(Prior technical literature) (Patent Literature)

Patent Document 1: Japanese Patent Application Laid-Open No. 2011-183705

In the past, it was difficult for the actual value of the control amount of the movable portion to reach the set value in a short time.

The present invention has been made in view of the above-mentioned problems, and an object thereof is to provide an injection molding machine in which an actual value of a control amount of a movable portion can easily reach a set value in a short time.

In order to solve the above problems, according to an aspect of the present invention, there is provided an injection molding machine including: a movable portion; a driving portion that drives the movable portion; and a control device that controls the driving portion. The control device is based on the movable portion. The deviation between the actual value of the control amount and the set value is used to calculate the set value of the operation amount of the driving section, and the set value of the operation amount in the current injection is calculated based on the calculation result of the set value of the operation amount in the previous injection .

According to an aspect of the present invention, there is provided an injection molding machine in which an actual value of a control amount of a movable portion can easily reach a set value in a short time.

2‧‧‧ injection molding machine

10‧‧‧ clamping device

11‧‧‧Frame

12‧‧‧ fixed platen

13‧‧‧ movable platen

15‧‧‧ rear platen

16‧‧‧ Tie

18‧‧‧ Strain Sensor

20‧‧‧ elbow joint mechanism

26‧‧‧Mould clamping motor

26a‧‧‧Encoder

30‧‧‧Mould device

31‧‧‧Mold gap sensor

32‧‧‧Fixed

33‧‧‧ movable mold

34‧‧‧Mould cavity space

50‧‧‧ injection device

51‧‧‧Press Cylinder

52‧‧‧Screw

53‧‧‧Measuring motor

54‧‧‧ Injection motor

56‧‧‧ Nozzle

60‧‧‧ ejector

61‧‧‧Ejection

62‧‧‧Ejector motor

65‧‧‧ Ejection gap sensor

70‧‧‧control device

Fig. 1 is a view showing an injection molding machine according to an embodiment of the present invention.

Fig. 2 is a diagram showing a control device and a control object of the injection molding machine of Fig. 1.

Hereinafter, the embodiments for implementing the present invention will be described with reference to the drawings. In each drawing, the same or corresponding components are denoted by the same or corresponding component symbols, and the description is omitted.

Fig. 1 is a view showing an injection molding machine according to an embodiment of the present invention. For example, as shown in FIG. 1, the injection molding machine 2 includes a mold clamping device 10, an injection device 50, an ejection device 60, and a control device 70 (see FIG. 2). The mold clamping device 10 performs a closed mold process, a mold clamping process, and an open mold process. The mold closing process is a process of closing the mold device 30, the mold closing process is a process of fastening the mold device 30, and the mold opening process is a process of opening the mold device 30. The injection device 50 performs a filling process, a holding process, and a metering process. The filling process is a process of filling the molding cavity space 34 in the mold device 30 with a liquid molding material, the holding process is a process of applying pressure to the molding material in the cavity space 34, and the metering process is metering for the next injection molding Process of materials. The ejection device 60 performs an ejection process. The ejection process is a process of ejecting the molded product from the mold device 30 after the mold is opened.

The injection molding machine 2 automatically and repeatedly manufactures a molded product by, for example, automatically performing a closed molding process, a mold clamping process, a filling process, a holding process, a metering process, a cooling process, a mold opening process, and an ejection process. The cooling process is a process of solidifying the molding material in the cavity space 34. In order to shorten the forming cycle, a metering process can be performed in the cooling process. The single injection includes, for example, a closed mold process, a mold clamping process, a filling process, a holding process, a metering process, a cooling process, a mold opening process, and an ejection process.

Next, the mold clamping device 10 will be described. In the description of the mold clamping device 10, the moving direction of the movable platen 13 (right direction in the first figure) when the mold is closed is set to be forward, and the moving direction of the movable platen 13 when the mold is opened (left direction in FIG. ) Will be described later.

For example, as shown in FIG. 1, the mold clamping device 10 includes a frame 11, a fixed platen 12, a movable platen 13, a rear platen 15, a tie bar 16, a toggle mechanism 20, and a mold clamping motor 26.

The fixing platen 12 is fixed on the frame 11. A fixed die 32 is mounted on a surface of the fixed platen 12 that faces the movable platen 13.

The movable platen 13 is configured to move freely along a guide (for example, a guide rail) 17 laid on the frame 11, and can move forward and backward relative to the fixed platen 12. A movable mold 33 is mounted on a surface of the movable platen 13 that faces the fixed platen 12.

The mold is closed, closed, and opened by moving the movable platen 13 forward and backward with respect to the fixed platen 12. The fixed mold 32 and the movable mold 33 constitute a mold device 30.

The rear pressure plate 15 is connected to the fixed pressure plate 12 by a plurality of (for example, four) tie bars 16 and is placed on the frame 11 to move freely in the mold opening and closing direction. In addition, the rear pressure plate 15 may be configured to move freely along a guide member laid on the frame 11. The guide of the rear platen 15 may be shared with the guide 17 of the movable platen 13.

In this embodiment, the fixed platen 12 is fixed to the frame 11, and the rear platen 15 is free to move in the mold opening and closing direction with respect to the frame 11. However, the rear platen 15 may be fixed to the frame 11 to fix the platen. 12 is free to move relative to the frame 11 in the mold opening and closing direction.

The tie bar 16 is parallel to the mold opening and closing direction and extends in accordance with the mold clamping force. A strain sensor 18 is provided on at least one tie rod 16. The strain sensor 18 detects the actual value of the clamping force by detecting the strain of the tie rod 16, and outputs a signal indicating the actual value to the control device 70. The control device 70 performs feedback control so that the deviation between the actual value of the clamping force and the set value becomes zero.

The clamping force sensor for detecting the clamping force is not limited to the strain sensor 18. For example, a force sensor can also be used as the clamping force sensor.

The toggle mechanism 20 is disposed between the movable platen 13 and the rear platen 15, and is respectively installed on the movable platen 13 and the rear platen 15. By moving the toggle mechanism 20 in the mold opening and closing direction, the movable platen 13 is advanced and retracted relative to the rear platen 15.

The mold clamping motor 26 is a driving portion that drives the movable platen 13 by driving the toggle mechanism 20. Between the mold clamping motor 26 and the toggle mechanism 20, a ball conversion mechanism, that is, a ball screw mechanism, which converts the rotary motion of the mold clamping motor 26 into linear motion and transmits it to the toggle mechanism 20, is provided.

The mold clamping motor 26 includes an encoder 26a. The encoder 26 a detects the actual value of the rotation angle of the output shaft of the mold clamping motor 26 and outputs a signal indicating the actual value to the control device 70. The control device 70 performs feedback control so that the deviation between the actual value of the rotation angle and the set value becomes zero.

Next, the operation of the mold clamping device 10 will be described. The operation of the mold clamping device 10 is controlled by a control device 70. The control device 70 includes a storage unit such as a memory and a CPU, and causes the CPU to execute control stored in the storage unit. Program to control the operation of the mold clamping device 10.

In the mold-closing process, the mold clamping motor 26 is driven to operate the toggle mechanism 20 to advance the movable platen 13. The movable mold 33 is brought close to the fixed mold 32.

In the mold clamping process, the mold clamping motor 26 is driven in a state where the movable mold 33 is in contact with the fixed mold 32 to generate a driving force of the mold clamping motor 26 multiplied by the clamping force of the toggle ratio. A cavity space 34 is formed between the fixed mold 32 and the movable mold 33 in a mold clamping state. Filling process, holding process, cooling process, and metering process can be performed in the mold clamping process.

During the mold opening process, the mold clamping motor 26 is driven to operate the toggle mechanism 20 and the movable platen 13 is moved backward. The ejection process can then be performed.

In addition, the mold clamping device 10 may include a hydraulic cylinder instead of the mold clamping motor 26 as a driving portion of the movable platen 13. In addition, the mold clamping device 10 may include a linear motor for mold opening and closing and an electromagnet for mold clamping. When the clamping force is generated by the adsorption force of the electromagnet, a magnetic sensor that detects the strength of the magnetic field around the electromagnet may be used as the clamping force sensor.

FIG. 2 is a diagram showing a control device and a control target of the mold clamping device 10 of FIG. 1. The control device 70 includes, for example, a mold clamping force pattern generating section 71, a rotation angle setting section 72, a control calculation section 73, a PWM modulation section 74, and a converter 75. The clamping force pattern generation unit 71 outputs a signal indicating a mode of a set value of the clamping force to the rotation angle setting unit 72. The rotation angle setting unit 72 calculates a set value of the rotation angle of the mold clamping motor 26 so that the deviation between the actual value of the mold clamping force and the set value becomes zero. A clamping force corresponding to the rotation angle of the clamping motor 26 is generated. For calculating the setting value of the rotation angle, for example, PI calculation and PID calculation can be used. The rotation angle setting section 72 The signal of the set value is output to the control arithmetic unit 73. The control calculation unit 73 generates a control signal so that the deviation between the actual value of the rotation angle and the set value becomes zero. The control signals can be generated using PI calculations, PID calculations, and the like. The control calculation section 73 outputs a control signal to the PWM modulation section 74. The PWM modulation section 74 performs PWM modulation on the control signal and generates a PWM signal. The converter 75 converts the power of the AC power source to the mold clamping motor 26 in accordance with the PWM signal.

During the mold clamping process, the control device 70 calculates the set value of the operation amount of the drive unit based on the deviation between the actual value of the control amount of the movable unit and the set value. In the mold clamping process, the movable part is the movable platen 13, the control amount is the clamping force acting between the movable platen 13 and the fixed platen 12, the driving part is the mold clamping motor 26, and the operation amount is the mold clamping motor 26. Rotation angle. When the integral operation is used to calculate the set value of the rotation angle, the deviation of the actual value of the clamping force from the set value multiplied by the integral value of the integral gain and the sum of the initial set value are used as the set value of the rotation angle. The initial set value at the start of the automatic operation of the injection molding machine 2 may be zero or a value set in advance.

In the mold clamping process, the control device 70 calculates the set value of the operation amount in the current injection according to the calculation result of the set value of the operation amount in the past injection. For example, after the automatic operation is started, the control device 70 stores the set value of the operation amount at the end of the mold clamping process for the nth injection, and uses the stored setting value as the mold clamping process for the n + 1th injection. The initial setting value of the operation amount. Here, n is a natural number of 1 or more. By injection in the past, it is possible to know in advance the mold clamping horse whose actual value of clamping force is substantially the same as the set value. Up to 26 rotation angle setting values. Therefore, by using the set value in the past injection as the initial set value in the current injection, the actual value of the clamping force can easily reach the set value in a short time. The same applies to processes other than the mold clamping process.

The setting value stored in the control device 70 may not be the setting value at the end of the mold clamping process, as long as it is a setting value after a certain period of time has elapsed from the start of the mold clamping process. In addition, the setting value stored in the control device 70 may not be the setting value during the previous injection, or may be, for example, the setting value during the previous injection. In addition, the setting value stored in the control device 70 may be a setting value in a past automatic operation or a setting value in a past manual operation. The same applies to processes other than the mold clamping process.

In the mold clamping process, the control device 70 may also calculate the set value of the operation amount in the current injection based on the average value of the set value of the operation amount in the multiple injections in the past. Able to absorb noise. The same applies to processes other than the mold clamping process.

In a process (such as a mold clamping process), when the set value of the control amount is gradually changed with the passage of time, the control device 70 may divide one process into a plurality of processes for the set value of each control amount. And calculate the set value of the operation amount in each process after the division. At this time, the control device 70 stores the setting value of the operation amount in the past injection in each process after the division, and uses it as the initial setting value of the operation amount in the current injection. Alternatively, the control device 70 may store the setting value of the operation amount in the past injection in only a part of the plurality of processes after the division, and use the offset value of the setting value of the stored operation amount as the remaining process. Initial setting of the operation amount value.

In addition, in the closed molding process, the control device 70 may calculate the set value of the operation amount of the driving part based on the deviation between the actual value of the control amount of the movable part and the set value. In the mold closing process, the movable part may be the movable platen 13, the control amount may be the gap between the fixed mold 32 and the movable mold 33 indicating the amount of movement of the movable platen 13, the driving part may be the clamping motor 26, and the operation amount may be the clamping motor Rotation angle of 26. The gap between the fixed mold 32 and the movable mold 33 can be detected by a mold gap sensor 31 or the like. The mold gap sensor 31 outputs a signal indicating the actual value of the gap to the control device 70. The control device 70 performs feedback control so that the deviation between the actual value of the gap and the set value becomes zero. When a predetermined gap is formed between the fixed mold 32 and the movable mold 33 and a molding material is started to be filled into the mold device 30 (so-called opening molding), fluctuation of the gap can be suppressed.

In the closed molding process, the control device 70 may calculate the set value of the operation amount in the current injection according to the calculation result of the set value of the operation amount in the past injection. The actual value of the gap can easily reach the setpoint in a short time.

Next, the injection device 50 will be described with reference to FIG. 1 again. The description of the injection device 50 is different from the description of the mold clamping device 10. The moving direction of the screw 52 during filling (left direction in the first figure) is set to the front, and the moving direction of screw 52 during measurement (right in the first figure) Direction) will be described below.

The injection device 50 includes a pressure cylinder 51, a screw 52, a metering motor 53, an injection motor 54, and a pressure sensor 55.

The pressure cylinder 51 heats the molding material supplied from the supply port 51a. The supply port 51 a is formed at the rear of the pressure cylinder 51. A heating source such as a heater is provided on the outer periphery of the pressure cylinder 51. A nozzle 56 is provided at the front end of the pressure cylinder 51.

The screw 52 is arranged in the pressure cylinder 51 so as to be rotatable and move forward and backward freely.

The metering motor 53 is a driving unit that rotates the screw 52. The metering motor 53 may have an encoder 53a. The encoder 53a detects the actual value of the rotation speed of the output shaft of the metering motor 53, and outputs a signal indicating the actual value to the control device 70. During the measurement process, the control device 70 can perform feedback control so that the deviation between the actual value of the rotation speed and the set value is zero.

The injection motor 54 is a driving unit that advances and retracts the screw 52. Between the screw 52 and the injection motor 54, a motion conversion unit that converts the rotational motion of the injection motor 54 into a linear motion of the screw 52 is provided. The injection motor 54 may have an encoder 54a. The encoder 54 a detects the actual value of the forward speed of the screw 52 by detecting the actual value of the rotation speed of the output shaft of the injection motor 54, and outputs a signal indicating the actual value to the control device 70. During the filling process, the control device 70 may perform feedback control so that the deviation between the actual value of the forward speed of the screw 52 and the set value is zero.

The pressure sensor 55 detects an actual value of the back pressure of the screw 52 and outputs a signal indicating the actual value to the control device 70. During the holding process, the control device 70 may perform feedback control so that the deviation between the actual value of the back pressure of the screw 52 and the set value is zero.

In the filling process, the injection motor 54 is driven to advance the screw 52, and the liquid molding material accumulated in front of the screw 52 is filled in the cavity space 34 of the mold device 30. The setting value of the forward speed of the screw 52 may be constant or may be changed according to the screw position or elapsed time. If When the screw 52 is advanced to a predetermined position (so-called V / P switching position), the holding process is started. In addition, after the elapsed time from the start of the filling process reaches a predetermined time, the holding process may be started.

During the holding process, the injection motor 54 is driven to push the screw 52 forward and apply pressure to the molding material in the cavity space 34. It can replenish the molding material corresponding to the volume shrinkage caused by the cooling of the molding material. The setting value of the back pressure of the screw 52 may be constant or may be gradually changed according to the elapsed time or the like. After the entrance (so-called gate) of the cavity space 34 is sealed to prevent the molding material from flowing backward from the cavity space 34, the cooling process is started. The metering process can be performed in the cooling process.

In the measurement process, the measurement motor 53 is driven to rotate the screw 52, and the molding material is sent forward along a spiral groove formed in the screw 52. With this operation, the molding material is gradually melted. As the liquid molding material is fed forward of the screw 52 and accumulated in the front of the cylinder 51, the screw 52 moves backward. The setting value of the rotation speed of the screw 52 may be constant or may be changed according to the screw position or the elapsed time.

In order to limit the rapid retreat of the screw 52 during the measurement process, the injection motor 54 may be driven to apply a predetermined back pressure to the screw 52. When the screw 52 is retracted to a predetermined position and a predetermined amount of molding material is accumulated in front of the screw 52, the measurement process is ended.

During the holding process, the control device 70 may calculate the set value of the operation amount of the driving part based on the deviation between the actual value of the control amount of the movable part and the set value. During the holding process, the movable part may be the screw 52, the control amount may be the back pressure of the screw 52, the driving part may be the injection motor 54, and the operation amount may be the radial injection. The current supplied by the motor 54 is output. The current supplied to the injection motor 54 can be detected by a current sensor connected to the injection motor 54.

During the holding process, the control device 70 may calculate the set value of the operation amount in the current injection according to the calculation result of the set value of the control amount in the previous injection. The actual value of the back pressure of the screw 52 can easily reach the set value in a short time.

Similarly, in the measurement process, the control device 70 may calculate the set value of the operation amount of the driving part based on the deviation between the actual value of the control amount of the movable part and the set value. In the measurement process, the movable part may be the screw 52, the control amount may be the back pressure of the screw 52, the driving part may be the injection motor 54, and the operation amount may be the current supplied to the injection motor 54. In the measurement process, the control device 70 may calculate the set value of the operation amount in the current injection according to the calculation result of the set value of the control amount in the previous injection. The actual value of the back pressure of the screw 52 can easily reach the set value in a short time.

In addition, in the filling process, the control device 70 may calculate the set value of the operation amount of the driving part based on the deviation between the actual value of the control amount of the movable part and the set value. In the filling process, the movable portion may be the screw 52, the control amount may be the forward speed of the screw 52, the driving portion may be the injection motor 54, and the operation amount may be the rotation speed of the injection motor 54. At this time, the forward speed of the screw 52 can be detected by a speed sensor provided outside the injection motor 54 instead of the encoder 54 a of the injection motor 54. The speed sensor detects the forward speed of the member that advances and retreats with the screw 52. In the measurement process, the control device 70 may calculate the set value of the operation amount in the current injection according to the calculation result of the set value of the control amount in the previous injection. Forward speed of screw 52 The actual value of can easily reach the set value in a short time.

In addition, although the injection device of this embodiment is a coaxial screw type, it may be a screw pre-molding type. The screw pre-molding type injection device supplies the molding material melted in the plasticizing cylinder to the injection cylinder, and injects the molding material from the injection cylinder into the mold device. The screw is configured to be rotatable or rotatable and retreat freely in the plastic cylinder, and the plunger is configured to retreat freely in the injection cylinder.

Next, the ejection device 60 will be described. The description of the ejection device 60 is the same as that of the mold clamping device 10. The moving direction of the movable platen 13 (right direction in the first figure) when the mold is closed is set to the front, and the moving direction of the movable platen 13 when the mold is opened ( (Left direction in FIG. 1) will be described as the rear.

For example, as shown in FIG. 1, the ejection device 60 includes an ejection lever 61 and an ejection motor 62.

The ejection lever 61 is inserted through the through hole of the movable platen 13 and moves forward and backward relative to the movable platen 13. As the ejection lever 61 advances and retracts, the ejection member 35 disposed in the movable mold 33 advances and retracts, and the ejection member 35 ejects the molded product from the movable mold 33.

An ejection gap sensor 65 may be mounted on the movable platen 13. The ejection gap sensor 65 can detect the actual value of the gap between the movable platen 13 and the ejection member 35, and output a signal indicating the actual value to the control device 70. The control device 70 may perform feedback control so that the deviation between the actual value of the gap and the set value is zero.

The ejection motor 62 is a driving portion that drives the ejection lever 61. Ejector motor A movement conversion unit 63 is provided between 62 and the ejection lever 61 to convert the rotary motion of the ejection motor 62 into a linear motion of the ejection lever 61. The motion conversion unit 63 is configured by, for example, a ball screw mechanism.

The ejection motor 62 may have an encoder 62a. The encoder 62 a detects the actual value of the rotation angle of the output shaft of the ejector motor 62 and outputs a signal indicating the actual value to the control device 70. The control device 70 may perform feedback control so that the deviation between the actual value of the rotation angle and the set value is zero.

In the ejection process, the ejection motor 62 is driven to eject the ejection lever 61 forward from the movable platen 13. The ejection member 35 ejects a molded product from the movable mold 33. Thereafter, the ejection motor 62 is driven to retract the ejection lever 61 to the original position.

In the ejection process, the control device 70 may calculate the set value of the operation amount of the driving part according to the deviation between the actual value of the control amount of the movable part and the set value. In the ejection process, the movable part may be the ejector lever 61, the control amount may be the clearance between the movable platen 13 and the ejector member 35 indicating the moving amount of the ejector lever 61, the drive part may be the ejector motor 62, and the operation amount Is the rotation angle of the ejection motor 62.

In the ejection process, the control device 70 may calculate the set value of the operation amount in the present injection according to the calculation result of the set value of the control amount in the past injection. The actual value of the gap between the movable platen 13 and the ejection member 35 can easily reach the set value in a short time.

In the ejection process of this embodiment, the control amount is the gap between the movable platen 13 and the ejection member 35, and the operation amount is the rotation angle of the ejection motor 62. However, the type of the control amount and the type of the operation amount are not particularly limited. . example For example, the control amount may be an ejection force, and the operation amount may be a current supplied to the ejection motor 62.

In addition, although the ejection device 60 of this embodiment is an electric type, it may be a hydraulic type or a hybrid type, and may replace the ejection motor 62 or include a hydraulic cylinder in addition to the ejection motor 62. In addition, the ejection device 60 may have a toggle mechanism that increases the pushing force generated by the ejection motor 62, and the structure of the ejection device 60 is not particularly limited.

The embodiments and the like of the injection molding machine have been described above, but the present invention is not limited to the above-mentioned embodiments and the like, and various modifications and improvements can be made within the scope of the technical idea of the present invention described in the scope of the patent application.

For example, in the nozzle contact process of pressing the nozzle 56 tightly against the mold device 30, the control device 70 may calculate the set value of the operation amount of the driving part according to the deviation between the actual value of the control amount of the movable part and the set value. In the nozzle contact process, the movable portion may be the nozzle 56, the control amount may be the contact pressure of the nozzle 56, the driving portion may be a motor that moves the nozzle 56, and the operation amount may be a rotation angle of the motor that moves the nozzle 56. Between the motor and the nozzle 56, a motion conversion unit that converts a rotary motion of the motor into a linear motion of the nozzle 56 may be provided. The driving unit may be a hydraulic cylinder. In the nozzle contact process, the control device 70 may calculate the set value of the operation amount in the current injection according to the calculation result of the set value of the control amount in the previous injection.

In addition, in the compression stroke for compressing the molding material in the cavity space 34 by moving the compression core provided in the mold device 30, the control device 70 may depend on the actual value and the set value of the control amount of the movable portion To calculate the set value of the operation amount of the drive unit. During the compression stroke, also The moving part may be a compression core, the control amount may be a moving amount of the compression core, the driving part may be a motor for moving the compression core, and the operation amount may be a rotation angle of the motor for moving the compression core. Between the motor and the compression core, a motion conversion unit that converts a rotary motion of the motor into a linear motion of the compression core may be provided. The driving unit may be a hydraulic cylinder. In the compression stroke, the control device 70 may calculate the set value of the operation amount in the current injection according to the calculation result of the set value of the control amount in the previous injection.

In addition, the control amount of each process is not limited to the above-mentioned embodiment, and may be any of a force and a position, for example. For example, the control amount of the mold clamping process is the mold clamping force in the above embodiment, but it may be the position of the movable platen. Similarly, the operation amount of each process is not limited to the above embodiment.

Claims (3)

An injection molding machine, comprising: a movable portion; a driving portion that drives the movable portion; and a control device that controls the driving portion. The control device is based on the actual amount of control of the movable portion in the past injection The set value of the operation amount of the driving unit calculated from the deviation between the value and the set value is set to the initial value of the operation amount of the driving unit currently being shot, and according to the actual value and the set value of the control amount of the movable unit To calculate the set value of the operation amount of the driving part in the current injection. The operation amount of the driving part in the current injection is the deviation of the actual value of the control amount of the movable part from the set value multiplied by the integral gain. The sum of the time integral value of the value and the set value of the operation amount calculated based on the deviation between the actual value of the control amount of the movable portion in the past injection and the set value. The injection molding machine according to item 1 of the scope of patent application, wherein the control device controls the driving unit so that an actual value of an operation amount of the driving unit becomes a set value. The injection molding machine according to item 1 or 2 of the scope of the patent application, wherein the control device stores the deviation between the set value and the actual value of the control amount of the movable part in the current injection, and calculates the following based on the deviation. The setting value of the operation amount of the driving part for the secondary injection.