WO2021066164A1 - Machine de moulage par injection et dispositif de commande - Google Patents

Machine de moulage par injection et dispositif de commande Download PDF

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Publication number
WO2021066164A1
WO2021066164A1 PCT/JP2020/037597 JP2020037597W WO2021066164A1 WO 2021066164 A1 WO2021066164 A1 WO 2021066164A1 JP 2020037597 W JP2020037597 W JP 2020037597W WO 2021066164 A1 WO2021066164 A1 WO 2021066164A1
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WIPO (PCT)
Prior art keywords
data
abnormality
output unit
predetermined
data output
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Application number
PCT/JP2020/037597
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English (en)
Japanese (ja)
Inventor
未来生 有田
浩 茂木
Original Assignee
住友重機械工業株式会社
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Priority to JP2021551497A priority Critical patent/JPWO2021066164A1/ja
Publication of WO2021066164A1 publication Critical patent/WO2021066164A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D17/00—Pressure die casting or injection die casting, i.e. casting in which the metal is forced into a mould under high pressure
    • B22D17/20—Accessories: Details
    • B22D17/32—Controlling equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating

Definitions

  • This disclosure relates to injection molding machines, etc.
  • the machine is controlled according to preset conditions.
  • a mold clamping device that molds the mold device and An injection device for filling the mold device molded by the mold clamping device with a molding material, and an injection device.
  • An ejector device for taking out a molded product from the mold device after the molding material filled by the injection device is cooled and solidified is provided. If no abnormality occurs, a predetermined operation corresponding to a relatively high performance is performed, and if an abnormality occurs, the predetermined operation corresponding to a relatively low performance within a range in which the predetermined operation does not break down is performed. Do, do An injection molding machine is provided.
  • the predetermined machine If no abnormality has occurred in the predetermined machine, the predetermined machine is made to perform a predetermined operation corresponding to relatively high performance, and if an abnormality has occurred, the predetermined operation is relatively within a range in which the predetermined operation does not break down. Have the predetermined machine perform the predetermined operation corresponding to the low performance.
  • a controller is provided.
  • Timing chart which shows an example of the operation of the controller and the data output part (encoder) which concerns on this embodiment in a normal time. It is a timing chart which shows an example of the operation of the controller and the data output part (encoder) which concerns on this embodiment when the data output part (encoder) is abnormal. It is a timing chart which shows an example of the operation of the controller and the data output part which concerns on the 1st comparative example at the time of abnormality. It is a timing chart which shows an example of the operation of the controller and the data output part which concerns on the 2nd comparative example in a normal time.
  • FIG. 1 is a diagram showing an example of an injection molding machine management system according to the present embodiment.
  • FIG. 1A is a side sectional view showing a state of the injection molding machine 1 at the time of mold opening
  • FIG. 1B is a side sectional view showing a state of the injection molding machine 1 at the time of mold clamping.
  • the X-axis, the Y-axis, and the Z-axis are perpendicular to each other, and the positive-negative direction of the X-axis (hereinafter, simply "X-direction") and the positive-negative direction of the Y-axis (hereinafter, simply "”.
  • the "Y direction”) represents the horizontal direction
  • the positive / negative direction of the Z axis hereinafter, simply "Z direction” represents the vertical direction.
  • the management system SYS includes a plurality of (three in this example) injection molding machines 1 and a management device 2.
  • the number of injection molding machines 1 included in the management system SYS may be one.
  • the injection molding machine 1 performs a series of operations for obtaining a molded product.
  • the injection molding machine 1 is communicably connected to the management device 2 through a predetermined communication line NW, and data regarding the operating state of the injection molding machine 1 is connected to the management device 2 (an example of a predetermined external device) (hereinafter, "" Operation status data ") is sent (uploaded).
  • the management device 2 (or its manager, worker, etc.) can grasp the operating state and manage the maintenance timing of the injection molding machine 1, the operation schedule of the injection molding machine 1, and the like.
  • the communication line NW may include, for example, a mobile communication network having a base station as an end.
  • the communication line NW may include, for example, a satellite communication network that uses a communication satellite.
  • the communication line NW may include, for example, an Internet network.
  • the communication line NW may include, for example, a LAN (Local Area Network) in the factory where the injection molding machine 1 is installed. Further, the communication line NW may be, for example, a short-range communication line corresponding to Bluetooth (registered trademark) communication, WiFi communication, or the like.
  • LAN Local Area Network
  • WiFi Wireless Fidelity
  • the injection molding machine 1 (an example of a predetermined machine) includes a mold clamping device 100, an ejector device 200, an injection device 300, a moving device 400, and a controller 700.
  • the mold clamping device 100 closes, molds, and opens the mold of the mold apparatus 10.
  • the mold clamping device 100 is, for example, a horizontal type, and the mold opening / closing direction is a horizontal direction.
  • the mold clamping device 100 includes a fixed platen 110, a movable platen 120, a toggle support 130, a tie bar 140, a toggle mechanism 150, a mold clamping motor 160, a motion conversion mechanism 170, and a mold thickness adjusting mechanism 180.
  • the moving direction of the movable platen 120 when the mold is closed (right direction in FIGS. 1A and 1B) is set to the front, and the moving direction of the movable platen 120 when the mold is opened (FIGS. 1A and 1B).
  • the middle left direction will be described as the rear.
  • the fixed platen 110 is fixed to the frame Fr.
  • the fixed mold 11 is attached to the surface of the fixed platen 110 facing the movable platen 120.
  • the movable platen 120 is movable in the mold opening / closing direction with respect to the frame Fr.
  • a guide 101 for guiding the movable platen 120 is laid on the frame Fr.
  • the movable mold 12 is attached to the surface of the movable platen 120 facing the fixed platen 110.
  • the mold device 10 includes a fixed mold 11 corresponding to the fixed platen 110 and a movable mold 12 corresponding to the movable platen 120.
  • the toggle support 130 is connected to the fixed platen 110 at a predetermined interval L, and is movably placed on the frame Fr in the mold opening / closing direction.
  • the toggle support 130 may be movable along a guide laid on the frame Fr, for example.
  • the guide of the toggle support 130 may be common to the guide 101 of the movable platen 120.
  • the fixed platen 110 is fixed to the frame Fr, and the toggle support 130 is movable in the mold opening / closing direction with respect to the frame Fr.
  • the toggle support 130 is fixed to the frame Fr, and the fixed platen 110 is fixed to the frame Fr.
  • it may be movable in the opening / closing direction.
  • the tie bar 140 connects the fixed platen 110 and the toggle support 130 with an interval L in the mold opening / closing direction.
  • a plurality of tie bars 140 may be used.
  • Each tie bar 140 is parallel to the mold opening / closing direction and extends according to the mold clamping force.
  • At least one tie bar 140 is provided with a tie bar distortion detector 141 that detects the distortion of the tie bar 140.
  • the tie bar strain detector 141 is, for example, a strain gauge.
  • the tie bar distortion detector 141 sends a signal indicating the detection result to the controller 700.
  • the detection result of the tie bar strain detector 141 is used, for example, for detecting the mold clamping force.
  • any mold clamping force detector that can be used to detect the mold clamping force may be used.
  • the mold clamping force detector is not limited to the strain gauge type, and may be a piezoelectric type, a capacitance type, a hydraulic type, an electromagnetic type, or the like, and the mounting position thereof is not limited to the tie bar 140.
  • the toggle mechanism 150 is arranged between the movable platen 120 and the toggle support 130, and moves the movable platen 120 with respect to the toggle support 130 in the mold opening / closing direction.
  • the toggle mechanism 150 is composed of a crosshead 151, a pair of links, and the like.
  • Each link group has a first link 152 and a second link 153 that are flexibly connected by a pin or the like.
  • the first link 152 is swingably attached to the movable platen 120 with a pin or the like
  • the second link 153 is swingably attached to the toggle support 130 with a pin or the like.
  • the second link 153 is attached to the crosshead 151 via the third link 154.
  • the configuration of the toggle mechanism 150 is not limited to the configuration shown in FIGS. 1A and 1B.
  • the number of nodes in each link group is 5, but it may be 4, and one end of the third link 154 becomes a node between the first link 152 and the second link 153. May be combined.
  • the mold clamping motor 160 is attached to the toggle support 130 and operates the toggle mechanism 150.
  • the mold clamping motor 160 bends and stretches the first link 152 and the second link 153 by advancing and retreating the crosshead 151 with respect to the toggle support 130, and advances and retreats the movable platen 120 with respect to the toggle support 130.
  • the mold clamping motor 160 is directly connected to the motion conversion mechanism 170, but may be connected to the motion conversion mechanism 170 via a belt, a pulley, or the like.
  • the motion conversion mechanism 170 converts the rotational motion of the mold clamping motor 160 into a linear motion of the crosshead 151.
  • the motion conversion mechanism 170 includes a screw shaft 171 and a screw nut 172 screwed onto the screw shaft 171.
  • a ball or roller may be interposed between the screw shaft 171 and the screw nut 172.
  • the mold clamping device 100 performs a mold closing process, a mold clamping process, a mold opening process, and the like under the control of the controller 700.
  • the movable platen 120 is advanced by driving the mold clamping motor 160 to advance the crosshead 151 to the mold closing completion position at a set speed, and the movable mold 12 is touched by the fixed mold 11.
  • the position and speed of the crosshead 151 are detected by using, for example, a mold clamping motor encoder 161 or the like.
  • the mold clamping motor encoder 161 detects the rotation of the mold clamping motor 160 and sends a signal indicating the detection result to the controller 700.
  • the crosshead position detector that detects the position of the crosshead 151 and the crosshead speed detector that detects the speed of the crosshead 151 are not limited to the mold clamping motor encoder 161 and general ones can be used. .. Further, the movable platen position detector that detects the position of the movable platen 120 and the movable platen speed detector that detects the speed of the movable platen 120 are not limited to the mold clamping motor encoder 161 and general ones can be used.
  • the mold clamping force 160 is further driven to further advance the crosshead 151 from the mold closing completion position to the mold clamping position to generate a mold clamping force.
  • a cavity space 14 is formed between the movable mold 12 and the fixed mold 11, and the injection device 300 fills the cavity space 14 with a liquid molding material.
  • a molded product is obtained by solidifying the filled molding material.
  • the number of cavity spaces 14 may be plural, in which case a plurality of molded articles can be obtained at the same time.
  • the movable platen 120 is retracted and the movable mold 12 is separated from the fixed mold 11 by driving the mold clamping motor 160 and retracting the crosshead 151 to the mold opening completion position at a set speed. After that, the ejector device 200 projects the molded product from the movable mold 12.
  • the setting conditions in the mold closing process and the mold clamping process are collectively set as a series of setting conditions.
  • the speed and position of the crosshead 151 including the mold closing start position, the speed switching position, the mold closing completion position, and the mold clamping force
  • the mold clamping force in the mold closing process and the mold clamping process are set as a series of setting conditions. Is set collectively as.
  • the mold closing start position, speed switching position, mold closing completion position, and mold closing position are arranged in this order from the rear side to the front side, and represent the start point and the end point of the section in which the speed is set.
  • the speed is set for each section.
  • the speed switching position may be one or a plurality.
  • the speed switching position does not have to be set. Only one of the mold clamping position and the mold clamping force may be set.
  • the setting conditions in the mold opening process are set in the same way.
  • the speed and position of the crosshead 151 in the mold opening step (including the mold opening start position, the speed switching position, and the mold opening completion position) are collectively set as a series of setting conditions.
  • the mold opening start position, the speed switching position, and the mold opening completion position are arranged in this order from the front side to the rear side, and represent the start point and the end point of the section in which the speed is set.
  • the speed is set for each section.
  • the speed switching position may be one or a plurality.
  • the speed switching position does not have to be set.
  • the mold opening start position and the mold clamping position may be the same position.
  • the mold opening completion position and the mold closing start position may be the same position.
  • the speed, position, etc. of the movable platen 120 may be set instead of the speed, position, etc. of the crosshead 151.
  • the mold clamping force may be set instead of the position of the crosshead (for example, the mold clamping position) or the position of the movable platen.
  • the toggle mechanism 150 amplifies the driving force of the mold clamping motor 160 and transmits it to the movable platen 120.
  • the amplification factor is also called the toggle magnification.
  • the toggle magnification changes according to the angle (hereinafter, “link angle”) ⁇ formed by the first link 152 and the second link 153.
  • the link angle ⁇ is obtained from the position of the crosshead 151. When the link angle ⁇ is 180 °, the toggle magnification is maximized.
  • the mold thickness is adjusted so that a predetermined mold clamping force can be obtained at the time of mold clamping.
  • the distance between the fixed platen 110 and the toggle support 130 is set so that the link angle ⁇ of the toggle mechanism 150 becomes a predetermined angle at the time of the mold touch when the movable mold 12 touches the fixed mold 11. Adjust L.
  • the mold clamping device 100 has a mold thickness adjusting mechanism 180 that adjusts the mold thickness by adjusting the distance L between the fixed platen 110 and the toggle support 130.
  • the mold thickness adjusting mechanism 180 rotates the screw shaft 181 formed at the rear end of the tie bar 140, the screw nut 182 rotatably held by the toggle support 130, and the screw nut 182 screwed to the screw shaft 181. It has a mold thickness adjusting motor 183.
  • the screw shaft 181 and the screw nut 182 are provided for each tie bar 140.
  • the rotation of the mold thickness adjusting motor 183 may be transmitted to the plurality of screw nuts 182 via the rotation transmission unit 185.
  • a plurality of screw nuts 182 can be rotated in synchronization.
  • the rotation transmission unit 185 is composed of, for example, gears and the like.
  • a passive gear is formed on the outer circumference of each screw nut 182
  • a drive gear is attached to the output shaft of the mold thickness adjusting motor 183
  • a plurality of passive gears and an intermediate gear that meshes with the drive gear are located at the center of the toggle support 130. It is held rotatably.
  • the rotation transmission unit 185 may be composed of a belt, a pulley, or the like instead of the gear.
  • the operation of the mold thickness adjusting mechanism 180 is controlled by the controller 700.
  • the controller 700 drives the mold thickness adjusting motor 183 to rotate the screw nut 182 to adjust the position of the toggle support 130 that holds the screw nut 182 rotatably with respect to the fixed platen 110, and the fixed platen 110 and the toggle. Adjust the distance L from the support 130.
  • the interval L is detected using the mold thickness adjustment motor encoder 184.
  • the mold thickness adjusting motor encoder 184 detects the rotation amount and the rotation direction of the mold thickness adjusting motor 183, and sends a signal indicating the detection result to the controller 700.
  • the detection result of the mold thickness adjustment motor encoder 184 is used for monitoring and controlling the position and interval L of the toggle support 130.
  • the toggle support position detector that detects the position of the toggle support 130 and the interval detector that detects the interval L are not limited to the mold thickness adjustment motor encoder 184, and general ones can be used.
  • the mold thickness adjusting mechanism 180 adjusts the interval L by rotating one of the screw shaft 181 and the screw nut 182 that are screwed together.
  • a plurality of mold thickness adjusting mechanisms 180 may be used, and a plurality of mold thickness adjusting motors 183 may be used.
  • the mold clamping device 100 of the present embodiment is a horizontal type in which the mold opening / closing direction is horizontal, but may be a vertical type in which the mold opening / closing direction is vertical.
  • the mold clamping device 100 of the present embodiment has a mold clamping motor 160 as a drive source, a hydraulic cylinder may be provided instead of the mold clamping motor 160. Further, the mold clamping device 100 may have a linear motor for opening and closing the mold and an electromagnet for mold clamping.
  • the ejector device 200 projects a molded product from the mold device 10.
  • the ejector device 200 includes an ejector motor 210, a motion conversion mechanism 220, an ejector rod 230, and the like.
  • the moving direction of the movable platen 120 when the mold is closed (right direction in FIGS. 1A and 1B) is set to the front, and the movable platen 120 when the mold is opened.
  • the moving direction of the above (the left direction in FIGS. 1A and 1B) will be described as the rear.
  • the ejector motor 210 is attached to the movable platen 120.
  • the ejector motor 210 is directly connected to the motion conversion mechanism 220, but may be connected to the motion conversion mechanism 220 via a belt, a pulley, or the like.
  • the motion conversion mechanism 220 converts the rotational motion of the ejector motor 210 into the linear motion of the ejector rod 230.
  • the motion conversion mechanism 220 includes a screw shaft and a screw nut screwed onto the screw shaft.
  • a ball or roller may be interposed between the screw shaft and the screw nut.
  • the ejector rod 230 can be moved forward and backward in the through hole of the movable platen 120.
  • the front end portion of the ejector rod 230 comes into contact with the movable member 15 which is movably arranged inside the movable mold 12.
  • the front end portion of the ejector rod 230 may or may not be connected to the movable member 15.
  • the ejector device 200 performs the ejection process under the control of the controller 700.
  • the ejector motor 210 is driven to advance the ejector rod 230 from the standby position to the ejection position at a set speed, thereby advancing the movable member 15 and projecting the molded product. After that, the ejector motor 210 is driven to retract the ejector rod 230 at a set speed, and the movable member 15 is retracted to the original standby position.
  • the position and speed of the ejector rod 230 are detected by using, for example, the ejector motor encoder 211.
  • the ejector motor encoder 211 detects the rotation of the ejector motor 210 and sends a signal indicating the detection result to the controller 700.
  • the ejector rod position detector that detects the position of the ejector rod 230 and the ejector rod speed detector that detects the speed of the ejector rod 230 are not limited to the ejector motor encoder 211, and general ones can be used.
  • the injection device 300 is installed on a slide base 301 that can move forward and backward with respect to the frame Fr, and is adjustable with respect to the mold device 10.
  • the injection device 300 touches the mold device 10 to fill the cavity space 14 in the mold device 10 with a molding material.
  • the injection device 300 includes, for example, a cylinder 310, a nozzle 320, a screw 330, a measuring motor 340, an injection motor 350, a pressure detector 360, and the like.
  • FIG. 1A and FIG. 1B (right direction in FIG. 1B) will be described as the rear.
  • the cylinder 310 heats the molding material supplied internally from the supply port 311.
  • the molding material includes, for example, a resin or the like.
  • the molding material is formed into, for example, pellets and is supplied to the supply port 311 in a solid state.
  • the supply port 311 is formed at the rear of the cylinder 310.
  • a cooler 312 such as a water-cooled cylinder is provided on the outer periphery of the rear portion of the cylinder 310.
  • a heater 313 such as a band heater and a temperature detector 314 are provided on the outer periphery of the cylinder 310 in front of the cooler 312.
  • the cylinder 310 is divided into a plurality of zones in the axial direction of the cylinder 310 (left-right direction in FIGS. 1A and 1B).
  • a heater 313 and a temperature detector 314 are provided in each zone.
  • the controller 700 controls the heater 313 so that the detection temperature of the temperature detector 314 becomes the set temperature.
  • the nozzle 320 is provided at the front end of the cylinder 310 and is pressed against the mold device 10.
  • a heater 313 and a temperature detector 314 are provided on the outer periphery of the nozzle 320.
  • the controller 700 controls the heater 313 so that the detected temperature of the nozzle 320 reaches the set temperature.
  • the screw 330 is arranged in the cylinder 310 so as to be rotatable and retractable.
  • the molding material is fed forward along the spiral groove of the screw 330.
  • the molding material is gradually melted by the heat from the cylinder 310 while being fed forward.
  • the screw 330 is retracted. After that, when the screw 330 is advanced, the liquid molding material accumulated in front of the screw 330 is ejected from the nozzle 320 and filled in the mold apparatus 10.
  • a backflow prevention ring 331 is freely attached to the front part of the screw 330 as a backflow prevention valve for preventing the backflow of the molding material from the front to the rear of the screw 330 when the screw 330 is pushed forward.
  • the backflow prevention ring 331 When the screw 330 is advanced, the backflow prevention ring 331 is pushed backward by the pressure of the molding material in front of the screw 330, and is relative to the screw 330 up to a closing position (see FIG. 1B) that blocks the flow path of the molding material. fall back. As a result, the molding material accumulated in the front of the screw 330 is prevented from flowing backward.
  • the backflow prevention ring 331 is pushed forward by the pressure of the molding material sent forward along the spiral groove of the screw 330, and the opening position opens the flow path of the molding material. (See FIG. 1A) advances relative to the screw 330. As a result, the molding material is sent to the front of the screw 330.
  • the backflow prevention ring 331 may be either a co-rotating type that rotates with the screw 330 or a non-co-rotating type that does not rotate with the screw 330.
  • the injection device 300 may have a drive source for moving the backflow prevention ring 331 forward and backward between the open position and the closed position with respect to the screw 330.
  • the weighing motor 340 rotates the screw 330.
  • the drive source for rotating the screw 330 is not limited to the metering motor 340, and may be, for example, a hydraulic pump or the like.
  • the injection motor 350 advances and retreats the screw 330.
  • a motion conversion mechanism or the like for converting the rotational motion of the injection motor 350 into the linear motion of the screw 330 is provided.
  • the motion conversion mechanism has, for example, a screw shaft and a screw nut screwed onto the screw shaft.
  • a ball, a roller, or the like may be provided between the screw shaft and the screw nut.
  • the drive source for advancing and retreating the screw 330 is not limited to the injection motor 350, and may be, for example, a hydraulic cylinder or the like.
  • the pressure detector 360 detects the pressure transmitted between the injection motor 350 and the screw 330.
  • the pressure detector 360 is provided in the force transmission path between the injection motor 350 and the screw 330 to detect the pressure acting on the pressure detector 360.
  • the pressure detector 360 sends a signal indicating the detection result to the controller 700.
  • the detection result of the pressure detector 360 is used for controlling and monitoring the pressure received by the screw 330 from the molding material, the back pressure on the screw 330, the pressure acting on the molding material from the screw 330, and the like.
  • the injection device 300 performs a weighing process, a filling process, a pressure holding process, and the like under the control of the controller 700.
  • the weighing motor 340 is driven to rotate the screw 330 at a set rotation speed, and the molding material is sent forward along the spiral groove of the screw 330. Along with this, the molding material is gradually melted. As the liquid molding material is fed forward of the screw 330 and accumulated in the front of the cylinder 310, the screw 330 is retracted.
  • the rotation speed of the screw 330 is detected by using, for example, a metering motor encoder 341.
  • the metering motor encoder 341 detects the rotation of the metering motor 340 and sends a signal indicating the detection result to the controller 700.
  • the screw rotation speed detector that detects the rotation speed of the screw 330 is not limited to the metering motor encoder 341, and a general screw can be used.
  • the injection motor 350 may be driven to apply a set back pressure to the screw 330 in order to limit the sudden retreat of the screw 330.
  • the back pressure on the screw 330 is detected using, for example, a pressure detector 360.
  • the pressure detector 360 sends a signal indicating the detection result to the controller 700.
  • the injection motor 350 is driven to advance the screw 330 at a set speed, and the liquid molding material accumulated in front of the screw 330 is filled in the cavity space 14 in the mold apparatus 10.
  • the position and speed of the screw 330 are detected using, for example, an injection motor encoder 351.
  • the injection motor encoder 351 detects the rotation of the injection motor 350 and sends a signal indicating the detection result to the controller 700.
  • V / P switching switching from the filling process to the pressure holding process
  • the position where V / P switching is performed is also referred to as a V / P switching position.
  • the set speed of the screw 330 may be changed according to the position and time of the screw 330.
  • the screw 330 may be temporarily stopped at the set position, and then V / P switching may be performed. Immediately before the V / P switching, instead of stopping the screw 330, the screw 330 may be moved forward or backward at a slow speed.
  • the screw position detector for detecting the position of the screw 330 and the screw speed detector for detecting the speed of the screw 330 are not limited to the injection motor encoder 351 and general ones can be used.
  • the injection motor 350 is driven to push the screw 330 forward, and the pressure of the molding material (hereinafter, also referred to as “holding pressure”) at the front end of the screw 330 is maintained at a set pressure in the cylinder 310.
  • the remaining molding material is pushed toward the mold device 10.
  • the shortage of molding material due to cooling shrinkage in the mold apparatus 10 can be replenished.
  • the holding pressure is detected using, for example, a pressure detector 360.
  • the pressure detector 360 sends a signal indicating the detection result to the controller 700.
  • the set value of the holding pressure may be changed according to the elapsed time from the start of the holding pressure step and the like.
  • the molding material in the cavity space 14 in the mold apparatus 10 is gradually cooled, and when the pressure holding process is completed, the inlet of the cavity space 14 is closed with the solidified molding material. This state is called a gate seal, and the backflow of the molding material from the cavity space 14 is prevented.
  • the cooling step is started. In the cooling step, the molding material in the cavity space 14 is solidified. A weighing step may be performed during the cooling step to reduce the molding cycle time.
  • the injection device 300 of the present embodiment is an in-line screw type, but may be a pre-plastic type or the like.
  • the pre-plastic injection device supplies the molded material melted in the plasticized cylinder to the injection cylinder, and injects the molding material from the injection cylinder into the mold device.
  • a screw is rotatably or rotatably arranged in the plasticized cylinder so as to be able to advance and retreat, and a plunger is rotatably arranged in the injection cylinder.
  • the injection device 300 of the present embodiment is a horizontal type in which the axial direction of the cylinder 310 is horizontal, but may be a vertical type in which the axial direction of the cylinder 310 is in the vertical direction.
  • the mold clamping device combined with the vertical injection device 300 may be vertical or horizontal.
  • the mold clamping device combined with the horizontal injection device 300 may be horizontal or vertical.
  • the moving device 400 advances and retreats the injection device 300 with respect to the mold device 10. Further, the moving device 400 presses the nozzle 320 against the mold device 10 to generate a nozzle touch pressure.
  • the moving device 400 includes a hydraulic pump 410, a motor 420 as a drive source, a hydraulic cylinder 430 as a hydraulic actuator, and the like.
  • the direction in which the injection device 300 approaches the mold device 10 is the front, and the injection device 300 is the gold.
  • the direction in which the mold device 10 is separated from the mold device 10 (the right direction in FIGS. 1A and 1B) will be described as the rear.
  • the moving device 400 is arranged on one side of the cylinder 310 of the injection device 300 in FIGS. 1A and 1B, the moving device 400 may be arranged on both sides of the cylinder 310 or may be arranged symmetrically with respect to the cylinder 310.
  • the hydraulic pump 410 has a first port 411 and a second port 412.
  • the hydraulic pump 410 is a pump that can rotate in both directions, and by switching the rotation direction of the motor 420, the hydraulic fluid (for example, oil) is sucked from one of the first port 411 and the second port 412, and the hydraulic fluid (for example, oil) is sucked from the other. Discharge to generate hydraulic pressure. Further, the hydraulic pump 410 can also suck the hydraulic fluid from the tank and discharge the hydraulic fluid from either the first port 411 or the second port 412.
  • the motor 420 operates the hydraulic pump 410.
  • the motor 420 drives the hydraulic pump 410 in the rotational direction and rotational torque according to the control signal from the controller 700.
  • the motor 420 may be an electric motor or an electric servomotor.
  • the hydraulic cylinder 430 has a cylinder body 431, a piston 432, and a piston rod 433.
  • the cylinder body 431 is fixed to the injection device 300.
  • the piston 432 divides the inside of the cylinder body 431 into a front chamber 435 as a first chamber and a rear chamber 436 as a second chamber.
  • the piston rod 433 is fixed to the fixed platen 110.
  • the front chamber 435 of the hydraulic cylinder 430 is connected to the first port 411 of the hydraulic pump 410 via the first flow path 401.
  • the hydraulic fluid discharged from the first port 411 is supplied to the anterior chamber 435 via the first flow path 401, so that the injection device 300 is pushed forward.
  • the injection device 300 is advanced and the nozzle 320 is pressed against the fixed mold 11.
  • the anterior chamber 435 functions as a pressure chamber that generates a nozzle touch pressure of the nozzle 320 by the pressure of the hydraulic fluid supplied from the hydraulic pump 410.
  • the rear chamber 436 of the hydraulic cylinder 430 is connected to the second port 412 of the hydraulic pump 410 via the second flow path 402.
  • the hydraulic fluid discharged from the second port 412 is supplied to the rear chamber 436 of the hydraulic cylinder 430 via the second flow path 402, so that the injection device 300 is pushed backward.
  • the injection device 300 is retracted and the nozzle 320 is separated from the fixed mold 11.
  • the mobile device 400 is not limited to the configuration including the hydraulic cylinder 430.
  • an electric motor and a motion conversion mechanism that converts the rotational motion of the electric motor into a linear motion of the injection device 300 may be used.
  • the controller 700 directly transmits a control signal to the mold clamping device 100, the ejector device 200, the injection device 300, the moving device 400, and the like to control the drive of the injection molding machine 1.
  • the controller 700 is mainly composed of a computer having, for example, a CPU (Central Processing Unit) 701, a memory device 702, an auxiliary storage device 703, and an input / output interface device 704.
  • the controller 700 performs various controls by causing the CPU 701 to execute a program installed in the auxiliary storage device 703. Further, the controller 700 receives an external signal or outputs a signal to the outside through the interface device 704.
  • the controller 700 is communicably connected to the management device 2 through the interface device 704. Further, the controller 700 may be communicably connected to another injection molding machine 1 (controller 700) through the interface device 704.
  • controller 700 may be shared by a plurality of controllers.
  • the controller 700 repeatedly manufactures a molded product by causing the injection molding machine 1 to repeatedly perform a mold closing step, a mold clamping step, a mold opening step, and the like. Further, the controller 700 causes the injection device 300 to perform a weighing step, a filling step, a pressure holding step, and the like during the mold clamping step.
  • a series of operations for obtaining a molded product for example, an operation from the start of the weighing process by the injection device 300 to the start of the weighing process by the next injection device 300 is also referred to as a "shot” or a “molding cycle”.
  • the time required for one shot is also referred to as “molding cycle time”.
  • One molding cycle is composed of, for example, a weighing process, a mold closing process, a mold clamping process, a filling process, a pressure holding process, a cooling process, a mold opening process, and a protrusion process in this order.
  • This order is the starting order of each step.
  • the filling step, the pressure holding step, and the cooling step are performed between the start of the mold clamping step and the end of the mold clamping step. Further, the end of the mold clamping process coincides with the start of the mold opening process.
  • the weighing step may be performed during the cooling step of the previous molding cycle, in which case the mold closing step may be performed at the beginning of the molding cycle.
  • the filling step may be started during the mold closing step.
  • the ejection step may be started during the mold opening step.
  • the mold opening step may be started during the weighing step. This is because even if the mold opening process is started during the weighing process, the molding material does not leak from the nozzle 320 if the on-off valve closes the flow path of the nozzle 320.
  • the controller 700 is connected to the operation device 750, the display device 760, and the like.
  • the operation device 750 receives an operation input related to the injection molding machine 1 by the user, and outputs a signal corresponding to the operation input to the controller 700.
  • the display device 760 displays various images under the control of the controller 700.
  • the display device 760 displays, for example, an operation screen related to the injection molding machine 1 in response to an operation input in the operation device 750.
  • the operation screen displayed on the display device 760 is used for setting related to the injection molding machine 1.
  • the setting relating to the injection molding machine 1 includes, for example, setting of molding conditions (specifically, inputting a set value) relating to the injection molding machine 1. Further, the setting includes, for example, a setting related to selection of a type of detection value of various sensors and the like related to the injection molding machine 1 recorded as logging data at the time of molding operation. Further, in the setting, for example, display specifications (for example, the type of actual value to be displayed and how to display it) on the display device 760 of the detected value (actual value) of various sensors related to the injection molding machine 1 during the molding operation. Etc.) settings are included.
  • a plurality of operation screens are prepared and may be displayed by switching to the display device 760 or may be displayed in an overlapping manner.
  • the user can make settings (including input of set values) related to the injection molding machine 1 by operating the operation device 750 while looking at the operation screen displayed on the display device 760.
  • the display device 760 displays, for example, an information screen that provides the user with various information according to the operation on the operation screen under the control of the controller 700.
  • a plurality of information screens are prepared and may be displayed by switching to the display device 760 or may be displayed in an overlapping manner.
  • the display device 760 displays the setting contents regarding the injection molding machine 1 (for example, the setting contents regarding the molding conditions of the injection molding machine 1).
  • the display device 760 displays management information (for example, information regarding the operation record of the injection molding machine 1).
  • the operation device 750 and the display device 760 may be configured as, for example, a touch panel type display and integrated.
  • operation device 750 and the display device 760 of the present embodiment are integrated, they may be provided independently. Further, a plurality of operating devices 750 may be provided.
  • the management device 2 is communicably connected to the injection molding machine 1 through the communication line NW.
  • the management device 2 is, for example, a computer (for example, a cloud server) installed in a remote location such as a management center outside the factory where the injection molding machine 1 is installed. Further, the management device 2 may be, for example, an edge server installed in a place relatively close to the factory where the injection molding machine 1 is installed (for example, a radio base station or a station building near the factory). .. Further, the management device 2 may be a computer terminal in the factory where the injection molding machine 1 is installed. Further, the management device 2 may be a mobile terminal (for example, a smartphone, a tablet terminal, a laptop computer terminal, etc.) that can be carried by the administrator of the injection molding machine 1.
  • a computer for example, a cloud server
  • the management device 2 may be, for example, an edge server installed in a place relatively close to the factory where the injection molding machine 1 is installed (for example, a radio base station or a station building near the factory). ..
  • the management device 2 may be a computer terminal in the factory where the injection
  • the management device 2 can grasp the operating state of the injection molding machine 1 and manage the operating state of the injection molding machine 1 based on the data uploaded from the injection molding machine 1, for example. Further, the management device 2 can perform various diagnoses such as an abnormality diagnosis of the injection molding machine 1 based on the grasped operating state of the injection molding machine 1.
  • the management device 2 can transmit control information (for example, information on various setting conditions) to the injection molding machine 1 through the communication line NW, for example.
  • control information for example, information on various setting conditions
  • the controller 700 controls the predetermined operation so as to perform the predetermined operation corresponding to the relatively high performance in the normal time (when no abnormality occurs).
  • the controller 700 controls the predetermined operation so as to perform the predetermined operation corresponding to the relatively low performance within the range in which the predetermined operation does not break down at the time of abnormality (when the abnormality occurs).
  • the predetermined operation includes, for example, a molding operation corresponding to the first example described later and an operation related to internal communication corresponding to the second example described later.
  • the abnormality includes, for example, an abnormality related to a predetermined operation. Further, the abnormality may include, for example, an abnormality other than a predetermined operation.
  • the controller 700 causes the injection molding machine 1 to perform an operation corresponding to the relatively high performance in the normal state, while the operation of the injection molding machine 1 has a relatively low performance within a range in which the operation of the injection molding machine 1 does not break down in the event of an abnormality. Can be done. Therefore, the injection molding machine 1 can effectively utilize its performance in a normal state while suppressing a situation in which its operation breaks down in an abnormal situation.
  • the torque (hereinafter referred to as “load torque”) applied to the driven portion (for example, screw 330 or the like) related to the molding operation and the operating speed of the driven portion are relatively large within an allowable range. It controls the actuator that drives the driven unit.
  • the set values of the load torque and the operating speed of the driven unit are set as the maximum values in the allowable range (hereinafter, “maximum allowable value”), and the actual values (measured values) of the load torque and the operating speed of the driven unit are set. ) Is monitored and feedback control is performed.
  • the controller 700 can control the load torque and the operating speed of the driven portion to be relatively large in a normal state, and can realize a relatively high performance regarding the molding operation of the injection molding machine 1. it can. Therefore, the controller 700 can effectively utilize the performance related to the molding operation of the injection molding machine 1 in the normal state.
  • the controller 700 controls the actuator that drives the driven unit so that the set values of the load torque and the operating speed of the driven unit are relatively low within a range in which the molding operation does not break down.
  • the controller 700 may determine that it is abnormal, for example, when there is a deviation exceeding a predetermined reference between the set values of the load torque and the operating speed of the driven unit and the actual value (measured value). .. Further, the controller 700 may determine that it is abnormal, for example, when the actual values of the load torque and the operating speed exceed the assumed upper limit values.
  • the controller 700 sets the set values of the load torque and the operating speed of the driven portion as the lower limit value at which the molding operation defined in advance can be continued, and the actual load torque and the operating speed of the driven portion are set. Feedback control is performed while monitoring the value (measured value).
  • the controller 700 controls the load torque and operating speed of the driven unit so as to be relatively small within a range in which the molding operation does not break down in the event of an abnormality. Therefore, the controller 700 can suppress a situation in which the molding operation of the injection molding machine 1 breaks down in the event of an abnormality.
  • the above control method is adopted for both the load torque and the operating speed of the driven unit, but the above control method may be adopted for only one of them.
  • FIG. 2 is a diagram showing an example of a configuration related to data collection of the injection molding machine 1.
  • the injection molding machine 1 includes a controller 700 and a data output unit 800 as a configuration related to data collection.
  • the controller 700 includes a CPU 701 and an FPGA (Field Programmable Gate Array) 710.
  • FPGA Field Programmable Gate Array
  • the CPU 701 realizes various processes by starting and executing various programs installed in the auxiliary storage device 703 of the controller 700.
  • the CPU 701 accesses the memory built in the FPGA 710 and acquires (reads) the data acquired (received) from the data output unit 800. Further, the CPU 701 uses the input device data acquired from the FPGA 710 to perform various control processes related to the injection molding machine 1.
  • the FPGA 710 includes a start trigger output unit 7101, a counter 7102, a request transmission unit 7103, and a data reception unit 7104.
  • the activation trigger output unit 7101 outputs an activation trigger of a process (program) for controlling the injection molding machine 1, that is, an interrupt request to the CPU 701 at each predetermined processing cycle (hereinafter, “control cycle”).
  • Counter 7102 performs counting (timekeeping) processing by hardware.
  • the request transmission unit 7103 (an example of the transmission unit) transmits a request signal (hereinafter, "data transmission request”) requesting data transmission to the data output unit 800.
  • the data receiving unit 7104 receives the data transmitted from the data output unit 800 in response to the data transmission request and stores it in the memory of the FPGA 710.
  • the data output unit 800 acquires various data related to the operating state of the injection molding machine 1. Signals are exchanged between the data output unit 800 and the FPGA 710 of the controller 700 by serial communication.
  • the controller 700 acquires the data of the data output unit 800 for each control cycle, and by using the acquired data, it is possible to appropriately control the injection molding machine 1. Therefore, if the data of the data output unit 800 fails to be acquired in a certain control cycle, the controller 700 cannot appropriately control the operation of the injection molding machine 1, and the operation of the injection molding machine 1 breaks down. There is a possibility that it will end up. Therefore, while the controller 700 (for example, FPGA 710) performs a process related to internal communication for acquiring data from the data output unit 800 (an example of a predetermined process), the controller 700 (for example, an example of a predetermined process) may disable other processes or may be more than other processes. Prioritize the processing related to the internal communication.
  • the controller 700 for example, FPGA 710
  • the data output unit 800 includes, for example, various encoders.
  • the encoder acquires, for example, digital data (hereinafter, “encoder data”) such as the rotation position (rotation angle) of the electric motor used in the driven portion of the injection molding machine 1 and outputs it.
  • the encoder may include, for example, at least one of a mold clamping motor encoder 161, a mold thickness adjusting motor encoder 184, an ejector motor encoder 211, a weighing motor encoder 341, an injection motor encoder 351 and the like.
  • the data output unit 800 includes, for example, a pressure sensor (pressure detector).
  • the pressure sensor may include, for example, a pressure detector 360.
  • the data output unit 800 includes, for example, a temperature sensor (temperature detector).
  • the temperature sensor may include, for example, a temperature detector 314.
  • the data output unit 800 includes, for example, a distortion detector.
  • the strain detector may include, for example, a tie bar strain detector 141.
  • the data output unit 800 includes, for example, a current sensor and a voltage sensor.
  • the data output unit 800 includes, for example, a torque sensor.
  • the data output unit 800 includes, for example, an AD (Analog-Digital) converter.
  • the AD converter acquires and outputs value data (hereinafter, “AD value data”) obtained by converting output signals (analog signals) of various sensors that output analog signals into digital signals.
  • the AD converter is, for example, an AD having a value obtained by converting an analog signal such as a predetermined voltage value or current value in an electric motor used for a driven portion of the injection molding machine 1 or a drive circuit for driving the electric motor into a digital signal. Value data may be acquired and output.
  • FIG. 3 is a diagram showing a specific example of a communication frame corresponding to the data output from the data output unit 800.
  • FIG. 3A is a diagram for explaining an example (communication frame 31) of a communication frame having a relatively short data length (hereinafter, simply “short communication frame”)
  • FIG. 3B is a diagram showing a communication frame having a relatively long data length. It is a figure explaining an example (communication frame 32) of (hereinafter, simply "long communication frame”).
  • the communication frame 31 output from the data output unit 800 includes the position data 31A and the abnormality notification data 31B.
  • the position data 31A represents the rotation position of the electric motor acquired by the encoder.
  • the position data 31A includes data representing a rotation position (rotation angle) during one rotation of the electric motor (hereinafter, “one rotation position data”). Further, the position data 31A may include data indicating how many rotations are made in which rotation direction with respect to the initial position of the electric motor (hereinafter, “multi-rotation position data”).
  • the abnormality notification data 31B is 1-bit data indicating the presence or absence of an abnormality in the encoder. For example, when the value of the abnormality notification data 31B is "0", it indicates that it is normal, and when the value is "1", it indicates that an abnormality has occurred.
  • the communication frame 32 includes the position data 32A, the abnormality notification data 32B, and the abnormality detailed data 32C.
  • the position data 32A and the abnormality notification data 32B represent the same contents as the position data 31A and the abnormality notification data 31B of the communication frame 31, respectively.
  • the abnormality detail data 32C represents the details of the abnormality occurring in the encoder.
  • the anomaly detailed data 32C represents, for example, which type of anomaly occurs among a plurality of types of anomalies, and when the 1-bit data corresponding to each type is "0", that type of anomaly occurs. If it is "1", it means that the kind of abnormality has occurred.
  • the data output unit 800 (encoder) is configured to be able to output two types of communication frames 31 and 32 having different data lengths from each other.
  • the data output unit 800 may be configured to be capable of outputting three or more types of communication frames having different data lengths from each other.
  • the data output unit 800 encoder
  • the communication frame 31 may be configured to be output.
  • FIG. 4 schematically shows an example of a process (hereinafter, “request timing setting process”) for setting a data transmission request transmission timing (hereinafter, “request timing”) by the controller 700 to the data output unit 800 (encoder). It is a flowchart which shows. This flowchart is executed, for example, at the time of initial processing of the controller 700. The initial processing of the controller 700 is performed, for example, when the power of the injection molding machine 1 is turned on and the controller 700 is started, or when the controller 700 is restarted for some reason.
  • step S102 the FPGA 710 transmits a data transmission request requesting a short communication frame, and measures the communication time from the transmission of the data transmission request to the completion of the reception of the data in the short communication frame. To do.
  • the FPGA 710 proceeds to step S104.
  • step S104 the FPGA 710 sets the request timing of the short communication frame within the control cycle from the output of the start trigger to the output of the next start trigger to the CPU 701 based on the communication time (measured value) of the short communication frame. Calculate. Specifically, the FPGA 710 calculates the request timing of the data transmission request so that the data of the short communication frame can be completely received within the control cycle. For example, the FPGA 710 calculates the waiting time (hereinafter, "request waiting time") Tw from the output of the activation trigger to the CPU 701 to the transmission of the data transmission request. Since the communication time of a short communication frame is relatively short, the request waiting time Tw is relatively long.
  • the FPGA 710 proceeds to step S106.
  • step S106 the FPGA 710 transmits a data transmission request requesting a long communication frame, and measures the communication time from the transmission of the data transmission request to the completion of receiving the data of the long communication frame.
  • the FPGA 710 proceeds to step S108.
  • step S108 the FPGA 710 determines the request timing of a long communication frame within the control cycle from the output of the start trigger to the output of the next start trigger to the CPU 701 based on the communication time (measured value) of the long communication frame. Calculate. Specifically, the FPGA 710 calculates the request timing (for example, request waiting time Tw) of the data transmission request so that the data of the long communication frame can be received within the control cycle. Since the communication time of a long communication frame is relatively long, the request waiting time Tw is relatively short. When the FPGA 710 completes the process of step S108, the FPGA 710 proceeds to step S110.
  • the request timing for example, request waiting time Tw
  • step S110 the FPGA 710 sets the request timing (request waiting time Tw) corresponding to both the short communication frame and the long communication frame in the internal memory.
  • request timing request waiting time Tw
  • FIG. 5 is a flowchart schematically showing an example of a process of acquiring data output from the data output unit 800 by the controller 700 (hereinafter, “data acquisition process”). This flowchart is repeatedly executed every control cycle, specifically, every time a start trigger is output to the CPU 701, after the initial processing of the controller 700 is completed.
  • step S202 the FPGA 710 reads out the setting contents of the type of data (communication frame) requested by the data transmission request from the memory.
  • the data type setting in the memory is performed by software processing executed by the CPU 701.
  • the CPU 701 acquires the data received from the data output unit 800 from the memory of the FPGA 710 in response to the activation trigger, and the abnormality notification data (abnormality notification data 31B or abnormality notification data 32B) included in the acquired data. ) Check the contents.
  • the abnormality notification data indicates that there is no abnormality in the data output unit 800 (encoder)
  • the CPU 701 sets the type of data requested in the data transmission request to a short communication frame. This is because the controller 700 does not need the abnormality detailed data 32C when there is no abnormality in the data output unit 800.
  • the CPU 701 sets the type of data requested in the data transmission request to a long communication frame. This is because when there is an abnormality in the data output unit 800, the controller 700 needs to grasp the details of the abnormality of the data output unit 800 by using the abnormality detail data 32C.
  • step S202 the FPGA 710 proceeds to step S204.
  • step S204 the FPGA 710 determines whether or not the type of data requested in the data transmission request is a short communication frame.
  • the FPGA 710 proceeds to step S206 when the type of data requested in the data transmission request is a short communication frame, and proceeds to step S208 when the data type is a long communication frame.
  • step S206 the FPGA 710 sets the request timing corresponding to the short communication frame (for example, the request waiting time Tw1 corresponding to the short communication frame).
  • the FPGA 710 proceeds to step S210.
  • step S208 the FPGA 710 sets the request timing corresponding to the long communication frame (for example, the request waiting time Tw2 corresponding to the long communication frame).
  • the FPGA 710 proceeds to step S210.
  • step S210 the FPGA 710 determines whether or not the request timing has arrived. For example, the FPGA 710 determines whether or not the request waiting time Tw (request waiting time Tw1 or request waiting time Tw2) has elapsed starting from the output of the activation trigger. At this time, the FPGA 710 uses the counter 7102 to determine the progress of the request waiting time Tw. When the request timing has arrived, the FPGA 710 proceeds to step S212, and when the request timing has not arrived, the FPGA 710 waits until the request timing arrives (the process of this step is repeated).
  • Tw request waiting time Tw1 or request waiting time Tw2
  • step S212 the FPGA 710 transmits a data transmission request to the data output unit 800 (encoder).
  • the FPGA 710 completes the process of step S212, the FPGA 710 proceeds to step S214.
  • step S214 the FPGA 710 receives the data transmitted from the data output unit 800 (encoder) in response to the data transmission request.
  • the FPGA 710 completes the process of step S214, the FPGA 710 ends the current process of this flowchart.
  • FIG. 6A is a timing chart showing an example of the operation of the controller 700 and the data output unit 800 in a normal state (specifically, a state in which the data output unit 800 has no abnormality).
  • FIG. 6A includes a timing chart 61 showing the operation of the CPU 701, a timing chart 62 showing the operation of the FPGA 710, and a timing chart 63 showing the operation of the data output unit 800 (encoder).
  • step S601 the FPGA 710 (startup trigger output unit 7101) outputs a start-up trigger to the CPU 701.
  • step S602 the CPU 701 accesses the memory of the FPGA 710 in response to the activation trigger from the FPGA 710, and acquires the latest data received from the data output unit 800 (encoder).
  • step S603 the CPU 701 sets the type of data requested in the data transmission request in the memory of the FPGA 710 according to the content of the abnormality notification data included in the latest acquired data.
  • a short communication frame is set as the type of data requested in the data transmission request.
  • the FPGA 710 (request transmission unit 7103) performs a process of transmitting a data transmission request to the data output unit 800 in step S604.
  • step S605 the data output unit 800 performs a process of acquiring data and transmitting the data to the FPGA 710 in response to the data transmission request received from the FPGA 710.
  • step S606 the FPGA 710 (data receiving unit 7104) performs a process of receiving data transmitted from the data output unit 800.
  • step S607 the FPGA 710 (startup trigger output unit 7101) outputs a start trigger corresponding to the next control cycle to the CPU 701.
  • step S608 the CPU 701 acquires the latest data of the data output unit 800 received in step S606 from the memory of the FPGA 710.
  • the request waiting time Tw is set to be relatively long in the normal time when there is no abnormality in the data output unit 800. That is, the time allotted to the communication process is set relatively short. As a result, within the control cycle, the time that can be devoted to the control process for realizing the molding operation of the injection molding machine 1 can be made relatively long. Therefore, the control performance of the injection molding machine 1 can be improved.
  • FIG. 6B is a timing chart showing an example of the operation of the controller 700 and the data output unit 800 when the data output unit 800 is abnormal.
  • FIG. 6B includes a timing chart 64 showing the operation of the CPU 701, a timing chart 65 showing the operation of the FPGA 710, and a timing chart 66 showing the operation of the data output unit 800 (encoder).
  • step S611 the FPGA 710 (startup trigger output unit 7101) outputs a start-up trigger to the CPU 701.
  • step S612 the CPU 701 accesses the memory of the FPGA 710 in response to the activation trigger from the FPGA 710, and acquires the latest data received from the data output unit 800 (encoder).
  • step S613 the CPU 701 sets the type of data requested in the data transmission request in the memory of the FPGA 710 according to the content of the abnormality notification data included in the latest acquired data.
  • a long communication frame is set as the type of data requested in the data transmission request.
  • the FPGA 710 (request transmission unit 7103) performs a process of transmitting a data transmission request to the data output unit 800 in step S614.
  • step S615 the data output unit 800 performs a process of acquiring data and transmitting the data to the FPGA 710 in response to the data transmission request received from the FPGA 710.
  • step S616 the FPGA 710 (data receiving unit 7104) performs a process of receiving data transmitted from the data output unit 800.
  • step S617 the FPGA 710 (startup trigger output unit 7101) outputs a start trigger corresponding to the next control cycle to the CPU 701.
  • step S618 the CPU 701 acquires the latest data of the data output unit 800 received in step S616 from the memory of the FPGA 710.
  • the request waiting time Tw is set to be relatively short. That is, the time allocated to the communication process is set to be relatively long (request waiting time Tw2).
  • the controller 700 completes the reception of data within the control cycle even in a situation where an abnormality occurs in the data output unit 800 and the amount of data to be acquired from the data output unit 800 increases. , The latest data can be used appropriately in the next control cycle.
  • FIG. 7A and 7B are timing charts showing the operations of the controller and the data output unit according to the comparative example.
  • FIG. 7A is a timing chart showing the operations of the controller (CPU, FPGA) and the data output unit according to the first comparative example when the data output unit is abnormal.
  • FIG. 7A includes a timing chart 71 showing the operation of the CPU, a timing chart 72 showing the operation of the FPGA, and a timing chart 73 showing the operation of the data output unit.
  • FIG. 8B is a timing chart showing the operations of the controller (CPU, FPGA) and the data output unit according to the second comparative example in the normal state (that is, in a state where there is no abnormality in the data output unit).
  • FIG. 7B includes a timing chart 74 showing the operation of the CPU, a timing chart 75 showing the operation of the FPGA, and a timing chart 76 showing the operation of the data output unit.
  • steps S701 to S708 in FIG. 7A are the same processes as steps S611 to S618 in FIG. 6B, respectively. Further, steps S711 to S718 in FIG. 7B are the same processes as steps S601 to S608 in FIG. 6A, respectively.
  • the request waiting time Tw is fixed to a relatively long value, that is, the request waiting time Tw1 corresponding to a short communication frame. Therefore, in the normal time when there is no abnormality in the data output unit, the data reception from the data output unit can be completed within the control cycle as in the case of FIG. 6A described above. Therefore, the CPU can access the memory of the FPGA and acquire the latest data of the data output unit in the next control cycle.
  • step S706 when the data output unit 800 is abnormal, the controller needs to acquire a long communication frame. Therefore, as shown in FIG. 7A, it takes a relatively long time for the FPGA to receive the data transmitted from the data output unit (step S706), and the FPGA outputs the activation trigger (step S707). Data reception cannot be completed by the timing. Therefore, in step S708, even if the CPU accesses the memory of the FPGA, it cannot acquire the latest data of the data output unit. As a result, the controller cannot properly control the injection molding machine, and the operation of the injection molding machine may be disrupted.
  • the request waiting time Tw is fixed to a relatively short value, that is, the request waiting time Tw2 corresponding to a long communication frame. Therefore, when the data output unit is abnormal, the controller completes the reception of data within the control cycle even in a situation where the amount of data increases relatively, as in the case of FIG. 6B described above, and the next control cycle. You can use the latest data properly at.
  • the controller may acquire a short communication frame. Therefore, as shown in FIG. 7B, the process of receiving the data transmitted from the data output unit is completed early within the control cycle, and then the time allotted to the communication process is largely left over ("" in FIG. 7B ". Extra time ").
  • data acquisition from the data output unit for each control cycle is indispensable. Therefore, in the time allocated to the communication processing, the communication processing is performed. It occupies time or takes precedence over other processes. Therefore, even if the communication process for data acquisition is completed early, the time cannot be used for other processes, and resources that can be used for control processes for realizing the molding operation of the injection molding machine 1 and the like. Will be wasted.
  • the latest data acquisition may fail when the data output unit is abnormal, or the time allotted for communication processing may be left over within the control cycle when the data output unit is normal. ..
  • the injection molding machine 1 (controller 700) relatively shortens the time allocated to the internal communication processing when no abnormality has occurred, and when an abnormality has occurred, the internal communication. Increase the time allotted to processing relatively.
  • the injection molding machine 1 can change the time allocated to the communication processing to be completed within the predetermined processing cycle according to the increase or decrease in the amount of data to be communicated depending on the presence or absence of the abnormality. Therefore, the injection molding machine 1 (controller 700) can improve the control performance of the injection molding machine 1 while suppressing the situation where the communication process cannot be completed within the control cycle.
  • the injection molding machine 1 (controller 700) performs internal communication processing so as to prioritize the response to the abnormality over the performance of the injection molding machine 1. Specifically, when an abnormality occurs, the controller 700 allocates time for other processing than usual so that the communication frame 32 including the abnormality detailed data 32C and having a relatively large amount of data can be acquired. Shorten and relatively increase the allocation time for communication processing.
  • the injection molding machine 1 can maximize its performance in the normal state, give priority to the response to the abnormality in the case of an abnormality, and appropriately respond to the abnormality.
  • the data output unit 800 (an example of a transmitting device) transmits data within the control cycle
  • the controller 700 (an example of a receiving device) receives the data within the control cycle.
  • the data output unit 800 transmits information for notifying the occurrence of the abnormality (for example, abnormality notification data set to "1") to the controller 700, and when the controller 700 receives this information, the controller 700 receives the information.
  • the time allocated to the communication process with the data output unit 800 within the control cycle is relatively long.
  • the controller 700 can grasp the presence or absence of an abnormality by using the information from the data output unit 800, and can change the time allocated to the communication process according to the increase or decrease in the amount of data to be communicated depending on the presence or absence of the abnormality. it can. Therefore, the injection molding machine 1 (controller 700) improves the control performance of the injection molding machine 1 while suppressing a situation in which the communication process between the controller 700 and the data output unit 800 cannot be completed within the control cycle. Can be made to.
  • the data amount of internal communication is changed according to a predetermined flag (for example, the value of abnormality notification data), and the internal communication is performed according to the change of the data amount.
  • a predetermined flag for example, the value of abnormality notification data
  • the time allotted for communication processing within the control cycle performed is variable.
  • the injection molding machine 1 can change the time allocated to the communication process within the control cycle according to the increase or decrease. Therefore, the injection molding machine 1 (controller 700) improves the control performance of the injection molding machine 1 while suppressing a situation in which the communication process between the controller 700 and the data output unit 800 cannot be completed within the control cycle. Can be made to.
  • the data that can be transmitted from the data output unit 800 includes a plurality of types of data having different amounts of data. Then, the request transmission unit 7103 changes the timing of transmitting the data transmission request within the control cycle according to the type of data requested by the data transmission request among the plurality of types of data.
  • the controller 700 when the amount of data requested by the data output unit 800 is relatively large, the controller 700 relatively advances the request timing within the control cycle, and the time for completing the reception of the data within the control cycle. Can be secured. Further, when the amount of data requested from the data output unit 800 is relatively small, the controller 700 can relatively delay the request timing within the control cycle and reduce the time allocated to the communication process. Therefore, the injection molding machine 1 (controller 700) improves the control performance of the injection molding machine 1 while suppressing a situation in which the communication process between the controller 700 and the data output unit 800 cannot be completed within the control cycle. Can be made to.
  • the counter 7102 (an example of the measurement unit) performs from the transmission of the data transmission request by the request transmission unit 7103 for each of a plurality of types of data to the completion of data reception by the data reception unit at the time of initial processing of the controller 700. You may measure the time required for. Then, the request transmission unit 7103 may determine the timing of transmitting the data transmission request based on the measurement result of the required time for each of a plurality of types of data.
  • the controller 700 can use the actual measured value required for the communication processing for each of a plurality of types of data having different amounts of data. Therefore, the controller 700 can set the request timing more appropriately.
  • the CPU 701 (an example of the determination unit) is a request signal within the current control cycle based on the content of the data (for example, abnormality notification data) received by the data reception unit 7104 within the previous control cycle.
  • the type of data requested may be determined by.
  • the controller 700 can switch the type of data to be transmitted from the data output unit, for example, by using the content of the data received from the data output unit 800 as a trigger.
  • each of the plurality of types of data that can be transmitted from the data output unit 800 may include information regarding the presence or absence of an abnormality in the data output unit 800 (for example, abnormality notification data).
  • some types of data among the plurality of types of data that can be transmitted from the data output unit 800 may include information regarding the details of the abnormality of the data output unit 800 (for example, abnormality detailed data). Then, the CPU 701 determines whether or not there is an abnormality in the data output unit 800 based on the information regarding the presence or absence of an abnormality in the data output unit 800 included in the data received by the data receiving unit 7104 within the previous control cycle, and outputs the data.
  • a data transmission request is requested for a data type that does not include information regarding the details of the abnormality in the data output unit 800. If there is an abnormality in the data output unit 800, the details of the abnormality in the data output unit 800 You may request a data transmission request for the type of data that contains information about.
  • the controller 700 can grasp the presence or absence of an abnormality in the data output unit 800, and can switch the type of data to be transmitted from the data output unit according to the presence or absence of an abnormality in the data output unit 800.
  • the data output unit 800 may be an encoder.
  • the controller 700 can improve the control performance of the injection molding machine 1 while suppressing the situation where the communication process with the encoder cannot be completed within the control cycle.
  • the FPGA 710 is configured to be able to communicate with the encoder and may include a request transmission unit 7103 and a data reception unit 7104.
  • the controller 700 can improve the control performance of the injection molding machine 1 while suppressing the situation where the communication process with the encoder cannot be completed within the control cycle by using the FPGA attached to the encoder, for example.
  • the function to improve can be realized.
  • the abnormality of the injection molding machine 1 may include a communication abnormality between the controller 700 (FPGA710) and the data output unit 800 in addition to the abnormality of the data output unit 800 described above. ..
  • the controller 700 monitors (monitors) the communication state with the data output unit 800, and when a communication abnormality occurs, the performance is relatively low as long as the molding operation of the injection molding machine 1 does not break down. It may be lowered to operate the injection molding machine 1. This is because there is a possibility that the controller 700 cannot acquire the data output from the data output unit 800.
  • the controller 700 may extrapolate the data in the current control cycle from the past data, and use the extrapolated data to control the driven portion of the injection molding machine 1.
  • the controller 700 may control the actuator that drives the driven portion so that, for example, the set values of the load torque and the operating speed of the driven portion are relatively low within a range in which the molding operation does not break down. That is, the controller 700 may make the performance related to the control using the data acquired from the data output unit 800 relatively lower than the normal time when the communication is abnormal.
  • the control method relating to the communication processing between the controller 700 and the data output unit 800 in the above-described embodiment or modification / modification is applied to the communication processing between the upper controller and the lower controller included in the controller 700.
  • the data may be periodically transmitted from one to the other, or the data may be exchanged periodically between the two.
  • the time allocated to the communication process related to data acquisition is usually set short, and when abnormal, it is relative. May be set longer.
  • the time allocated to the communication process related to data acquisition may be varied so as to increase as the amount of data to be acquired that is variable increases.
  • the communication status between the upper controller and the lower controller is monitored by the data acquisition side and a communication abnormality is detected, one of the data acquisition sides performs relative to the control using the data compared to the normal time. It may be lowered.
  • the control method relating to the communication process between the controller 700 and the data output unit 800 in the above-described embodiment or modification / modification may be applied to the communication process between the injection molding machine 1 and the management device 2. ..
  • the data may be periodically transmitted from one to the other, or the data may be exchanged periodically between the two.
  • the time allocated for communication processing related to data acquisition is normally set short, and in the event of an abnormality. , May be set relatively long.
  • the time allocated to the communication process related to data acquisition may be varied so as to increase as the amount of data to be acquired that is variable increases.
  • the communication status between the injection molding machine 1 and the management device 2 is monitored by the data acquisition side and a communication abnormality is detected, one of the data acquisition sides performs the performance related to the control using the data more than usual. It may be relatively low.
  • the controller 700 that controls the injection molding machine 1 has been described, but the same contents are described in other predetermined machines (for example, industrial machines, industrial robots, etc.). ) May be adopted in the controller that controls.
  • Injection molding machine predetermined machine
  • Mold clamping device 100
  • Ejector device 300
  • Injection device 400
  • Moving device 700
  • Controller 701
  • CPU (judgment unit) 710
  • FPGA Operation device
  • Display device 800
  • Data output unit 7101
  • Start trigger output unit 7102
  • Counter Request transmission unit (transmission unit)
  • Data receiver (receiver)

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)

Abstract

L'invention concerne une technique permettant d'utiliser efficacement les capacités d'une machine prédéterminée pendant un temps normal, tout en empêchant une situation dans laquelle il y a une défaillance dans le fonctionnement de la machine au moment d'une anomalie. Un dispositif de commande 700 selon un mode de réalisation de la présente invention comprend : une unité de transmission de requête 7103 qui transmet une requête de transmission de données pour qu'une unité de sortie de données 800 transmette des données dans une période de commande ; et une unité de réception de données 7104 qui reçoit, conformément à la demande de transmission de données, les données transmises à partir de l'unité de sortie de données 800. Les données qui peuvent être transmises à partir de l'unité de sortie de données 800 comprennent une pluralité de types de données ayant différentes quantités de données. L'unité de transmission de requête 7103 fait varier le déroulement dans le temps de transmission de la requête de transmission de données dans la période de commande en fonction du type de données parmi la pluralité de types de données qui est demandé par la demande de transmission de données.
PCT/JP2020/037597 2019-10-04 2020-10-02 Machine de moulage par injection et dispositif de commande WO2021066164A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003181900A (ja) * 2001-12-20 2003-07-02 Omron Corp コントローラ並びにモーション制御装置
JP2004330530A (ja) * 2003-05-02 2004-11-25 Nissei Plastics Ind Co 射出成形機の型締制御方法
JP2016083777A (ja) * 2014-10-22 2016-05-19 住友重機械工業株式会社 射出成形機
JP2017136791A (ja) * 2016-02-05 2017-08-10 住友重機械工業株式会社 射出成形機
WO2018159726A1 (fr) * 2017-02-28 2018-09-07 住友重機械工業株式会社 Dispositif de correction, système de moulage par injection et procédé de correction

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003181900A (ja) * 2001-12-20 2003-07-02 Omron Corp コントローラ並びにモーション制御装置
JP2004330530A (ja) * 2003-05-02 2004-11-25 Nissei Plastics Ind Co 射出成形機の型締制御方法
JP2016083777A (ja) * 2014-10-22 2016-05-19 住友重機械工業株式会社 射出成形機
JP2017136791A (ja) * 2016-02-05 2017-08-10 住友重機械工業株式会社 射出成形機
WO2018159726A1 (fr) * 2017-02-28 2018-09-07 住友重機械工業株式会社 Dispositif de correction, système de moulage par injection et procédé de correction

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