WO2023017579A1 - 演算装置および射出成形システム - Google Patents
演算装置および射出成形システム Download PDFInfo
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- WO2023017579A1 WO2023017579A1 PCT/JP2021/029623 JP2021029623W WO2023017579A1 WO 2023017579 A1 WO2023017579 A1 WO 2023017579A1 JP 2021029623 W JP2021029623 W JP 2021029623W WO 2023017579 A1 WO2023017579 A1 WO 2023017579A1
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- mold
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- load
- injection molding
- speed ratio
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- 238000001746 injection moulding Methods 0.000 title claims description 68
- 230000001360 synchronised effect Effects 0.000 claims abstract description 62
- 238000012986 modification Methods 0.000 description 24
- 230000004048 modification Effects 0.000 description 24
- 238000002347 injection Methods 0.000 description 19
- 239000007924 injection Substances 0.000 description 19
- 238000010586 diagram Methods 0.000 description 18
- 238000000605 extraction Methods 0.000 description 13
- 238000004891 communication Methods 0.000 description 9
- 230000010365 information processing Effects 0.000 description 5
- 239000012530 fluid Substances 0.000 description 4
- 239000012778 molding material Substances 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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Classifications
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- 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
-
- 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
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
-
- 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
- B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
Definitions
- the present invention relates to calculation of parameters used in injection molding machines.
- Japanese Patent Application Laid-Open No. 2001-150496 discloses a method of removing a molded product from a mold.
- the ejector pin accommodated inside the moving mold is moved forward in synchronism with the retraction speed of the moving mold.
- the molded product is taken out by a gripping device (conveyor) that grips the molded product in parallel with the retraction of the moving mold. be able to. As a result, it is possible to shorten the working time required for taking out the molded product.
- the modulus of elasticity (modulus of elasticity) of the molded product is relatively small, the relative position between the molded product and the tip of the ejector pin changes. In such a case, even if the ejector pins are advanced in synchronism with the retraction speed of the moving mold, the molded product will not remain in the same position on the base of the apparatus. Therefore, there is concern that an excessive load may be applied to the gripping device that grips the molded product.
- An object of the present invention is to solve the above-described problems.
- a first aspect of the present invention includes a mold-opening operation that opens the movable mold in the mold-opening direction of the movable mold, or a pulling operation that pulls a gripping device that grips a molded product in the mold-closing direction of the movable mold.
- an arithmetic unit for calculating parameters used in an injection molding machine that executes a synchronous operation for synchronizing an ejection operation for ejecting an ejector pin from the movable mold, wherein the load received by the gripping device from the molded product is obtained.
- a second aspect of the present invention is an injection molding system comprising the computing device described above, the injection molding machine, and a take-out device having the gripping device.
- FIG. 1 is a schematic diagram showing the configuration of an injection molding system.
- FIG. 2 is a schematic diagram showing the configuration of the projection device.
- FIG. 3 is a diagram showing how the ejector pin protrudes.
- FIG. 4 is a diagram showing how the molded product is projected.
- FIG. 5 is a block diagram showing the configuration of part of the injection molding machine.
- FIG. 6 is a conceptual diagram showing loads that act when the forward speed is higher than the reverse speed.
- FIG. 7 is a conceptual diagram showing loads that act when the reverse speed is higher than the forward speed.
- FIG. 8 is a flow chart showing the flow of arithmetic processing of the arithmetic device.
- FIG. 9 is a block diagram showing an arithmetic device of Modification 3. As shown in FIG. FIG. FIG.
- FIG. 10 is a block diagram showing the configuration of part of an injection molding machine of Modification 4.
- FIG. 11 is a block diagram showing an injection molding system of modification 5.
- FIG. 12 is a block diagram showing an injection molding system of Modification 6. As shown in FIG.
- FIG. 1 is a schematic diagram showing the configuration of an injection molding system 10. As shown in FIG. Injection molding system 10 includes an injection molding machine 12 and an ejection device 14 .
- the injection molding machine 12 is a device that molds molded products.
- the injection molding machine 12 may be a horizontal injection molding machine that can be installed on an installation surface extending in the horizontal direction, or a vertical injection molding machine that can be installed on an installation surface that intersects the horizontal direction. machine.
- FIG. 1 shows an example in which the injection molding machine 12 is a horizontal injection molding machine.
- the injection molding machine 12 repeatedly molds molded products in each cycle. In one cycle, the injection molding machine 12 performs a mold closing operation, an injection operation, a holding pressure operation, a metering operation, a mold opening operation and an ejecting operation.
- the mold closing operation is an operation to close the mold 16.
- the injection operation is an operation of injecting molding material into the cavity of the mold 16 .
- the holding pressure operation is an operation of applying pressure to the molding material injected into the cavity of the mold 16 .
- the metering action is the action of metering molding material in preparation for the next molding cycle.
- the mold opening operation is an operation for opening the mold 16 .
- the ejection operation is an operation of ejecting the molded product from the mold 16 .
- the take-out device 14 is a device that grips a molded product and takes out the gripped molded product.
- the take-out device 14 performs a gripping operation and a take-out operation.
- a gripping operation is an operation of gripping a molded product.
- the gripping operation is generally performed after the projecting operation of the injection molding machine 12, but is performed before the projecting operation of the injection molding machine 12 in this embodiment.
- the take-out operation is an operation of taking out the molded product from the mold 16 .
- the take-out operation is performed after the ejection operation of the injection molding machine 12 .
- the removal device 14 has a gripping device 18 that performs a gripping operation.
- Grasping device 18 is also referred to as an end effector.
- the gripping device 18 may be a device that chucks a molded product using fingers, nails, or the like, or may be a device that attracts a molded product using negative pressure, magnetic force, or the like.
- the injection molding machine 12 has a mold 16, a mold clamping device 20, an injection device 22, an ejection device 24, and a control device 26.
- the mold 16 is a mold for molding a molded product.
- the mold 16 has a fixed mold 28 and a movable mold 30 .
- a stationary mold 28 and a movable mold 30 are arranged between a stationary platen 32 and a movable platen 34 of the mold clamping device 20 .
- a stationary mold 28 is provided on the surface of the stationary platen 32 facing the movable platen 34 .
- a movable mold 30 is provided on the surface of a movable platen 34 facing a stationary platen 32 .
- the mold clamping device 20 is a device that executes a mold closing operation and a mold opening operation.
- the mold clamping device 20 has a stationary platen 32 , a movable platen 34 , a rear platen 36 and a plurality of tie bars 38 .
- the fixed platen 32 and the rear platen 36 are installed on the machine base 40 of the injection molding machine 12 with a gap therebetween.
- a plurality of tie bars 38 are arranged between the stationary platen 32 and the rear platen 36 .
- a plurality of tie bars 38 are arranged substantially parallel to each other at intervals.
- One end of each of the plurality of tie bars 38 is attached to the fixed platen 32 and the other end of each of the plurality of tie bars 38 is attached to the rear platen 36 .
- Each of the plurality of tie bars 38 extends through the movable platen 34 .
- the movable platen 34 is arranged between the fixed platen 32 and the rear platen 36 .
- the movable platen 34 is installed on a slide portion 44 that can slide on the guide rails 42 .
- the guide rails 42 are installed on the machine base 40 of the injection molding machine 12 so as to be substantially parallel to the tie bars 38 .
- the movable platen 34 can move in both the mold closing direction DA and the mold opening direction DB according to the sliding of the slide portion 44 .
- the second drive source may be a motor or a compressor.
- the compressor may be a hydraulic compressor or a pneumatic compressor. In this embodiment, a case where the second drive source is a motor will be described.
- the injection device 22 is a device that executes an injection operation, a holding pressure operation, and a metering operation.
- the injection device 22 may be an in-line screw type injection device or a plunger type injection device.
- FIG. 1 shows an example in which the injection device 22 is an in-line screw type injection device.
- the injection device 22 has a nozzle 46 , a cylinder 48 , a screw 50 and a hopper 52 .
- a nozzle 46 is attached to the end of the cylinder 48 facing the mold 16 .
- Nozzle 46 communicates with the interior of cylinder 48 .
- a screw 50 is inserted through the inside of the cylinder 48 .
- a hopper 52 is connected to the cylinder 48 .
- a molding material is supplied from the hopper 52 to the inside of the cylinder 48 .
- Screw 50 extend toward the mold 16.
- Screw 50 is rotatable.
- the screw 50 is also advanceable toward and retractable from the nozzle 46 .
- the injection device 22 performs an injection operation, the screw 50 advances in the cylinder 48 in a non-rotating manner.
- Back pressure is applied to the screw 50 when the injection unit 22 performs a pressure holding operation.
- screw 50 may be stationary.
- the screw 50 rotates back within the cylinder 48 . Note that the screw 50 may be retracted in a non-rotating state.
- the projecting device 24 is a device that executes a projecting operation.
- FIG. 2 is a schematic diagram showing the configuration of the projecting device 24.
- the ejection device 24 has an ejector rod 54 , an ejector plate 56 and an ejector pin 58 .
- the number of ejector rods 54 may be one, or two or more.
- the number of ejector pins 58 may be one, or two or more.
- FIG. 2 shows an example in which the number of ejector rods 54 is one and the number of ejector pins 58 is two. Since the two ejector pins 58 have the same configuration, only one ejector pin 58 will be described below.
- the ejector rod 54 and ejector plate 56 are arranged in a space formed inside the movable mold 30 .
- the ejector rod 54 and the ejector plate 56 are movable in both the mold closing direction DA and the mold opening direction DB.
- the ejector pin 58 extends from the surface of the ejector plate 56 facing the stationary mold 28 in the mold closing direction DA.
- the ejector pin 58 is inserted through a pin hole 60 formed along the mold closing direction DA of the movable mold 30 .
- the ejector pin 58 is fixed to the ejector plate 56 and is movable together with the ejector plate 56 in the mold closing direction DA or the mold opening direction DB (see FIGS. 2 and 3).
- the tip of the ejector pin 58 at the start of the ejection operation is positioned in the pin hole 60 of the movable mold 30 (see FIG. 2).
- the tip of the ejector pin 58 projects from the movable mold 30 when the ejection operation is completed.
- the tip of the ejector pin 58 protrudes from the cavity surface 61 of the movable mold 30 toward the fixed mold 28 from the start of the ejecting operation to the completion thereof (see FIG. 3).
- the cavity surface 61 of the movable mold 30 refers to the surface of the movable mold 30 that forms the cavity of the mold 16 .
- the first drive source may be a motor or a compressor.
- the compressor may be a hydraulic compressor or a pneumatic compressor. In this embodiment, a case where the first drive source is a motor will be described.
- the ejector rod 54 moves in the mold opening direction DB by the driving force transmitted from the first driving source.
- the ejector plate 56 moves in the mold opening direction DB due to the elastic force of a spring (not shown).
- the ejector pin 58 fixed to the ejector plate 56 is retracted into the pin hole 60 of the movable mold 30 .
- the control device 26 is a device that controls the injection molding machine 12 .
- the control device 26 controls the mold clamping device 20 to cause the mold clamping device 20 to perform a mold closing operation or a mold opening operation. Further, the control device 26 controls the injection device 22 to cause the injection device 22 to perform an injection operation, a pressure holding operation, or a metering operation. Further, the control device 26 controls the projection device 24 to cause the projection device 24 to perform the projection operation.
- the mold opening operation and the projecting operation are executed synchronously. That is, the control device 26 first causes the mold clamping device 20 to perform a primary mold opening operation to secure a space for arranging the gripping device 18 between the fixed mold 28 and the movable mold 30. do. After the primary mold opening operation is completed, a gripping operation is performed by the take-out device 14 and the molded product is gripped by the gripping device 18 . After that, the control device 26 causes the mold clamping device 20 and the ejection device 24 to perform synchronous operation. That is, the control device 26 causes the ejection device 24 to perform the ejection operation while causing the mold clamping device 20 to perform the secondary mold opening operation. The molded product is held by the holding device 18 while the projecting operation is being performed. In the synchronous operation, the completion timing of the secondary mold opening operation and the completion timing of the projecting operation may be the same or different.
- the molded product is gripped by the gripping device 18 while the projecting operation is being performed.
- the position of the gripping device 18 during this period may be in a stationary state or in a floating state.
- the immovable state is a state in which the position of the grasping device 18 is maintained without being changed even if an external force is applied.
- the floating state is a state in which the position of the gripping device 18 can change according to external force.
- FIG. 5 is a block diagram showing the configuration of part of the injection molding machine 12.
- the controller 26 has a motor controller 62 .
- the motor control section 62 controls a motor provided in the injection molding machine 12 .
- the motor control section 62 includes a first motor control section 64 and a second motor control section 66 .
- the first motor control unit 64 controls the pin driving motor 68 provided in the projecting device 24 to cause the projecting device 24 to perform the projecting operation.
- the pin drive motor 68 is a first drive source for driving the ejector rod 54 that pushes the ejector pin 58 in the mold closing direction DA.
- a motor driving force generated by driving the pin driving motor 68 is transmitted to the ejector rod 54 .
- the ejector rod 54 pushes the ejector plate 56 by the motor driving force transmitted to the ejector rod 54 .
- the ejector pin 58 fixed to the ejector plate 56 moves in the mold closing direction DA. That is, the first motor control unit 64 controls the pin driving motor 68 to drive the ejector rod 54 and move the ejector pin 58 in the mold closing direction DA via the ejector plate 56 .
- the second motor control unit 66 controls the mold drive motor 70 provided in the mold clamping device 20 to cause the mold clamping device 20 to perform a mold opening operation or a mold closing operation.
- the mold drive motor 70 is a second drive source for driving the movable platen 34 to which the movable mold 30 is attached.
- a motor driving force generated by driving the mold driving motor 70 is transmitted to the movable platen 34 .
- the motor driving force transmitted to the movable platen 34 causes the movable mold 30 provided on the movable platen 34 to move in the mold closing direction DA or the mold opening direction DB. That is, the second motor control unit 66 drives the movable platen 34 by controlling the mold driving motor 70, and moves the movable mold 30 attached to the movable platen 34 in the mold closing direction DA or the mold opening direction DB. move.
- a computing device 72 is further provided in the control device 26 of the present embodiment.
- the computing device 72 computes the parameters used for the projecting motion.
- the computing device 72 has an information processing section 74 and a storage section 76 .
- the information processing unit 74 is configured by, for example, a processor such as a CPU or GPU.
- the storage unit 76 includes volatile memory such as RAM, and nonvolatile memory such as ROM, flash memory, and hard disk. At least part of the storage unit 76 may be provided in the processor.
- the information processing section 74 has a load acquiring section 80 , an adjusting section 82 and a setting changing section 84 .
- the load acquisition unit 80 , the adjustment unit 82 and the setting change unit 84 may be implemented by the information processing unit 74 processing a program stored in the storage unit 76 .
- At least one of the load acquisition unit 80, the adjustment unit 82, and the setting change unit 84 may be realized by an integrated circuit such as ASIC, FPGA, or the like.
- at least one of the load acquisition unit 80, the adjustment unit 82, and the setting change unit 84 may be configured by an electronic circuit including a discrete device.
- the load acquisition unit 80 Based on the signal output from the load acquisition sensor 90, the load acquisition unit 80 acquires the load received from the molded product by the gripping device 18 that grips the molded product during the synchronous operation. The load acquisition unit 80 also stores load information indicating the acquired load in the storage unit 76 .
- a load acquisition sensor 90 is provided in the take-out device 14 . The load acquisition sensor 90 may be provided in the gripping device 18 of the take-out device 14 .
- the load acquisition sensor 90 may be a torque sensor that detects the torque of the extraction motor used to execute the extraction operation.
- the load acquisition unit 80 acquires the torque of the extraction motor during the synchronous operation based on the signal output from the torque sensor.
- the load acquisition sensor 90 may be a current sensor that detects the current (driving current) output to the extraction motor used to execute the extraction operation.
- the load acquisition unit 80 acquires the current of the extraction motor during the synchronous operation based on the signal output from the current sensor.
- the load acquisition unit 80 may compute and acquire the torque or voltage (driving voltage) of the extraction motor during the synchronous operation based on the signal output from the current sensor.
- the load acquisition sensor 90 may be a position sensor that detects the position of the extraction motor used to execute the extraction operation.
- the load acquiring section 80 acquires the position of the extraction motor during the synchronous operation based on the signal output from the position sensor.
- the load acquiring unit 80 easily recognizes the position of the extraction motor during the projecting operation as the load that the gripping device 18 receives from the molded product. .
- the load acquisition sensor 90 may be a force sensor that detects the take-out load generated during the take-out operation.
- the load acquisition section 80 acquires the extraction load during the synchronous operation based on the signal output from the force sensor.
- the load acquisition sensor 90 may be a strain sensor that detects the strain of the molded product.
- the load acquiring section 80 acquires the strain of the molded product during the synchronous operation based on the signal output from the strain sensor.
- the load acquisition sensor 90 may be a pressure sensor that detects fluid pressure, such as oil pressure or air pressure, that is applied to perform the extraction operation.
- the load acquiring section 80 acquires the fluid pressure during the synchronous operation based on the signal output from the pressure sensor.
- the load acquiring unit 80 acquires at least one of the above-described torque, current, voltage, phase, take-out load, distortion of the molded product, and fluid pressure when the gripping device 18 grips the molded product during synchronous operation. It can be obtained as the load received from the product.
- the load acquisition unit 80 uses physical quantities other than torque, current, voltage, phase, ejection load, distortion of the molded product, and fluid pressure as the load received from the molded product by the gripping device 18 that grips the molded product during the synchronous operation. can get.
- the load acquisition unit 80 can acquire one or more physical quantities as the load that the gripping device 18 that grips the molded product receives from the molded product during the synchronous operation.
- the load acquired by the load acquisition unit 80 changes according to the speed ratio of the synchronous operation.
- the speed ratio of the synchronous operation is the ratio between the first movement speed and the second movement speed.
- the first moving speed is the moving speed of the ejector rod 54 and the second moving speed is the moving speed of the movable platen 34 .
- the synchronous operation speed ratio is defined as the ratio of the second movement speed to the first movement speed. That is, the speed ratio of the synchronous operation in this embodiment is a ratio (second moving speed/first moving speed) in which the first moving speed is the denominator and the second moving speed is the numerator.
- the adjustment unit 82 adjusts the speed ratio of the second movement speed to the first movement speed so that the magnitude of the load acquired by the load acquisition unit 80 during the synchronous operation falls within a predetermined range.
- the upper limit of the predetermined range indicates the upper limit of the load in the direction corresponding to the mold opening direction DB.
- the direction corresponding to the mold opening direction DB is defined as the positive direction.
- the lower limit of the predetermined range indicates the lower limit of the load in the direction corresponding to the mold closing direction DA.
- the direction corresponding to the mold closing direction DA is defined as the negative direction.
- the adjusting unit 82 increases the speed ratio of the second moving speed to the first moving speed. As a result, the load acting in the direction (mold closing direction DA) pushing the molded product is suppressed.
- the adjusting unit 82 reduces the speed ratio of the second moving speed to the first moving speed. As a result, the load acting in the direction of pulling the molded product (mold opening direction DB) is suppressed.
- the setting changer 84 changes the setting of at least one of the first drive source and the second drive source so as to achieve the speed ratio adjusted by the adjuster 82 .
- the setting changing unit 84 changes the set speed set in the first motor control unit 64 that controls the pin driving motor 68 (first driving source). change.
- the setting change unit 84 changes the set speed set in the second motor control unit 66 that controls the mold drive motor 70 (second drive source). to change
- the setting change unit 84 calculates at least one of the first target speed and the second target speed and calculates the first target speed for obtaining the speed ratio adjusted by the adjustment unit 82
- the setting change unit 84 outputs a command to the first motor control section 64 to set the first target speed as the first movement speed.
- the setting change unit 84 outputs a command to set the second target speed as the second movement speed to the second motor control unit 66 .
- FIG. 8 is a flow chart showing the flow of arithmetic processing of the arithmetic unit 72. As shown in FIG. The arithmetic processing of the arithmetic device 72 may be executed for each cycle repeated in the injection molding machine 12, may be executed from the first cycle to a designated cycle, or may be executed for one or more designated cycles. May only be executed in cycles. The flowchart of FIG. 8 shows arithmetic processing executed in one cycle.
- Arithmetic processing of the arithmetic device 72 is started after the molded product adhering to the cavity surface 61 of the movable mold 30 is gripped by the gripping device 18 arranged between the fixed mold 28 and the movable mold 30. be.
- step S1 the setting changer 84 sets the first driving source and the second driving source such that the first moving speed of the ejector rod 54 and the second moving speed of the movable platen 34 are the same.
- the setting change unit 84 changes the set speed set in the first motor control unit 64 that controls the pin drive motor 68 (first drive source) and the mold drive motor 70 (second drive source).
- the set speed is set to the same speed as that set in the second motor control unit 66 that controls the power source).
- the arithmetic processing proceeds to step S2. Note that the first moving speed and the second moving speed may be set to different speeds.
- step S ⁇ b>2 the load acquisition unit 80 starts acquiring the load that the gripping device 18 receives from the molded product gripped by the gripping device 18 .
- load acquisition is started, the arithmetic processing proceeds to step S3.
- step S3 the adjustment unit 82 compares the load acquired in step S1 with the lower limit value within a predetermined range.
- the arithmetic processing proceeds to step S4.
- the arithmetic processing proceeds to step S5.
- step S4 the adjusting unit 82 increases the speed ratio of the second moving speed to the first moving speed.
- a setting changer 84 changes at least one of the first drive source and the second drive source so as to achieve the speed ratio adjusted by the adjuster 82 .
- the arithmetic processing proceeds to step S7.
- step S5 the adjustment unit 82 compares the load acquired in step S2 with the upper limit value within a predetermined range.
- the arithmetic processing proceeds to step S6.
- step S5: NO the magnitude of the load acquired by the load acquisition unit 80 during the synchronous operation is smaller than the upper limit value of the predetermined range.
- step S6 the adjusting unit 82 reduces the speed ratio of the second moving speed to the first moving speed.
- a setting changer 84 changes at least one of the first drive source and the second drive source so as to achieve the speed ratio adjusted by the adjuster 82 .
- the arithmetic processing proceeds to step S7.
- step S7 the computing device 72 determines whether or not the synchronous operation has been completed. Here, if the synchronous operation has not been completed, the arithmetic processing returns to step S3. On the other hand, if the synchronous operation has been completed, the arithmetic processing ends.
- the computing device 72 adjusts the speed ratio of the second moving speed to the first moving speed so that the magnitude of the load that the gripping device 18 receives from the molded product during the synchronous operation falls within a predetermined range. do.
- the computing device 72 adjusts the speed ratio of the second moving speed to the first moving speed so that the magnitude of the load that the gripping device 18 receives from the molded product during the synchronous operation falls within a predetermined range. do.
- the free running section of the ejector pin 58 until the ejector rod 54 contacts the ejector plate 56 can be reduced.
- the computing device 72 of this embodiment changes the setting of at least one of the first drive source and the second drive source so as to achieve the speed ratio adjusted by the adjuster 82 .
- the computing device 72 of this embodiment changes the setting of at least one of the first drive source and the second drive source so as to achieve the speed ratio adjusted by the adjuster 82 .
- a speed ratio of the synchronous motion may be defined as the ratio of the first movement speed to the second movement speed. That is, the speed ratio of the synchronous operation in this modified example is a ratio (first moving speed/second moving speed) in which the second moving speed is the denominator and the first moving speed is the numerator.
- the adjusting unit 82 adjusts the speed ratio of the first moving speed to the second moving speed. Make smaller. As a result, the load acting in the direction (mold closing direction DA) pushing the molded product is suppressed. Conversely, when the magnitude of the load acquired by the load acquisition unit 80 during the synchronous operation exceeds the upper limit value of the predetermined range, the adjustment unit 82 increases the speed ratio of the first movement speed to the second movement speed. . As a result, the load acting in the direction of pulling the molded product (mold opening direction DB) is suppressed.
- the adjuster 82 may vary the speed ratio of the synchronous operation per unit time. For example, the adjustment unit 82 reduces the speed ratio of the synchronous operation as the elapsed time from the start of the synchronous operation increases. As a specific example, the adjustment unit 82 decreases the speed ratio of the synchronous operation in order of "0.7", “0.5", and “0.3” as the cycle progresses. Alternatively, the adjustment unit 82 decreases the speed ratio of the synchronous operation in order of "0.7", “0.5", and "0.3” each time the unit time elapses in one cycle.
- the adjustment unit 82 varies the speed ratio of the synchronous operation per unit time. As a result, compared to the case where the speed ratio is constant, the speed ratio of the synchronous operation can be adjusted fluidly.
- FIG. 9 is a block diagram showing an arithmetic unit 72 of Modification 3. As shown in FIG. 9, the same reference numerals are assigned to the same configurations as those described in the embodiment. In addition, in this modified example, description overlapping with the embodiment will be omitted.
- the computing device 72 of this modified example further has a changing unit 92 .
- the changing unit 92 changes the upper limit value or the lower limit value of the predetermined range used by the adjusting unit 82 according to user's operation.
- An operation unit 94 is connected to the change unit 92 .
- the operation unit 94 outputs the value input according to the user's operation to the change unit 92 .
- the operation unit 94 include a mouse, keyboard, and the like.
- the operation unit 94 may be configured by a touch panel or the like arranged on the display screen.
- the changing unit 92 can change the upper limit value or the lower limit value of the predetermined range used by the adjusting unit 82 according to user's operation. This makes it possible to adjust the allowable load amount for the gripping device 18 according to the types of the injection molding machine 12, the mold 16, the take-out device 14, and the like.
- a pulling operation may be performed instead of the mold opening operation. That is, in this modified example, a synchronous operation for synchronizing the pulling operation and the projecting operation is performed.
- the pulling operation is an operation of pulling the molded article gripped by the gripping device 18 in the mold closing direction DA.
- the second moving speed is the moving speed of the gripping device 18 .
- FIG. 10 is a block diagram showing the configuration of part of the injection molding machine 12 of Modification 4. As shown in FIG. In FIG. 10, the same reference numerals are assigned to the same configurations as those described in the embodiment. In addition, in this modified example, description overlapping with the embodiment will be omitted.
- the control device 26 of this modified example has a third motor control section 67 instead of the second motor control section 66 .
- the third motor control unit 67 controls the grip driving motor 71 provided in the take-out device 14 to cause the take-out device 14 to perform a pulling operation.
- the gripping drive motor 71 is a third drive source for driving the gripping device 18 in the mold closing direction DA.
- the gripping device 18 moves in the mold closing direction DA by the motor drive force generated by driving the gripping driving motor 71 . That is, the third motor control unit 67 controls the gripping drive motor 71 to move the gripping device 18 in the mold closing direction DA.
- the third drive source is the motor (gripping drive motor 71) in FIG. 10, it may be a compressor.
- the compressor may be a hydraulic compressor or a pneumatic compressor.
- the setting changer 841 of this modified example changes the setting of at least one of the first drive source and the third drive source so as to achieve the speed ratio adjusted by the adjuster 82 .
- the setting change unit 841 changes the set speed set in the third motor control unit 67 that controls the grip drive motor 71 (first drive source). change.
- FIG. 11 is a block diagram showing an injection molding system 10 of Modification 5. As shown in FIG. In FIG. 11, the same reference numerals are assigned to the same configurations as those described in the embodiment. In addition, in this modified example, description overlapping with the embodiment will be omitted.
- the injection molding machine 12 and the take-out device 14 are connected to the communication line 96 .
- the communication line 96 may be wired or wireless.
- the control device 26 of the injection molding machine 12 and the control device 98 of the take-out device 14 exchange various information with each other via the communication line 96 .
- the arithmetic device 72 is provided in the control device 98 of the take-out device 14 instead of being provided in the control device 26 of the injection molding machine 12 .
- the load acquisition unit 80 (see FIG. 5) of the computing device 72 receives the signal output from the load acquisition sensor 90 via the communication line 96 . Based on this signal, the load acquisition unit 80 can acquire the load received from the molded product by the gripping device 18 that grips the molded product during the synchronous operation, as in the embodiment.
- the setting changer 84 (see FIG. 5) of the arithmetic device 72 calculates at least one of the first target speed and the second target speed so that the speed ratio adjusted by the adjuster 82 is obtained. After calculating the first target speed, the setting change unit 84 outputs a command to set the first target speed as the first movement speed to the first motor control unit 64 via the communication line 96 . When the second target speed is calculated, the setting change unit 84 outputs a command to set the second target speed as the second movement speed to the second motor control unit 66 via the communication line 96 . Accordingly, the setting change unit 84 sets the first moving speed set in the first motor control unit 64 and the speed set in the second motor control unit 66 so that the speed ratio adjusted by the adjustment unit 82 is achieved. at least one of a second movement speed and a second movement speed.
- FIG. 12 is a block diagram showing an injection molding system 10 of Modification 6. As shown in FIG. In FIG. 12, the same reference numerals are assigned to the same configurations as those described in Modification 5. In FIG. In addition, in this modified example, the description overlapping with that of the embodiment and modified example 5 will be omitted.
- the injection molding system 10 of this modified example further includes an external device 100 such as a personal computer that is different from the injection molding machine 12 and the take-out device 14 .
- External device 100 is connected to communication line 96 .
- the control device 102 of the external device 100 transmits and receives various information to and from the control device 26 of the injection molding machine 12 and the control device 98 of the take-out device 14 via the communication line 96 .
- the communication line 96 may be connected to other injection molding machines and other ejection devices in an injection molding system different from the injection molding system 10 .
- the number of other injection molding machines and other take-out devices may be one or more.
- controller 102 may manage the parameters used by injection molding machine 12 and one or more other injection molding machines.
- the arithmetic device 72 provided in the control device 102 may adjust the speed ratio of the synchronous operation in the injection molding machine 12 and the speed ratio of the synchronous operation in one or more other injection molding machines.
- the first invention is a mold opening operation that opens the movable mold in the mold opening direction (DB) of the movable mold (30), or moves the gripping device (18) that grips the molded product in the mold closing direction of the movable mold (
- a load acquisition unit (80) for acquiring the load received by the gripping device from the molded product; and an adjusting part (82) for adjusting the speed ratio between the first moving speed of the ejector rod (54) and the second moving speed of the movable platen (34) or the gripping device to which the movable mold is attached.
- the adjusting unit increases the speed ratio of the second moving speed to the first moving speed or increases the speed ratio of the first moving speed to the second moving speed when the magnitude of the load is below the lower limit value of the range. You can make it smaller. As a result, it is possible to suppress the load acting in the direction of pushing the molded product (mold closing direction).
- the adjustment unit reduces the speed ratio of the second movement speed to the first movement speed or reduces the speed ratio of the first movement speed to the second movement speed when the magnitude of the load exceeds the upper limit value of the range. You can make it bigger. As a result, the load acting in the direction of pulling the molded product (mold opening direction) can be suppressed.
- the adjustment unit may adjust the speed ratio for each cycle repeatedly executed by the injection molding machine. As a result, even if the relative position between the ejector pin and the molded product changes on a cycle-by-cycle basis, it is possible to prevent an excessive load from being applied to the gripping device that grips the molded product.
- the computing device has a first driving source for driving the ejector rod and a second driving source for driving the movable platen or a second driving source for driving the gripping device so as to achieve the speed ratio adjusted by the adjusting section.
- a setting changer (84) for changing at least one of the three drive sources may be provided.
- the computing device may include a changing unit (92) that changes at least one of the upper limit value and the lower limit value of the range according to user's operation. This makes it possible to adjust the amount of load that can be tolerated on the gripping device.
- the adjustment unit may vary the speed ratio per unit time. As a result, compared to the case where the speed ratio is constant, the speed ratio of the synchronous operation can be adjusted fluidly.
- the computing device may be provided in the control device (26) of the injection molding machine.
- the computing device may be provided in the control device (98) of the removal device (14) having the gripping device.
- the computing device may be provided in the control device (102) of the external device (100) connected to the injection molding machine and the take-out device having the gripping device.
- a second aspect of the invention is an injection molding system (10) comprising the arithmetic device, the injection molding machine, and a take-out device having a gripping device. Since the above arithmetic unit is provided, even if the relative position between the ejector pin and the molded product changes during synchronous operation, it is possible to suppress excessive load from being applied to the gripping device that grips the molded product.
- Injection molding system 12 Injection molding machine 14: Take-out device 16: Mold 18: Gripping device 20: Mold clamping device 22: Injection device 24: Ejection device 26, 98, 102: Control device 28: Fixed mold 30: Movable mold 32: Fixed platen 34: Movable platen 36: Rear platen 38: Tie bar 54: Ejector rod 56: Ejector plate 58: Ejector pin 62: Motor control unit 64: First motor control unit 66: Second motor control unit 72: Arithmetic device 74: information processing unit 76: storage unit 80: load acquisition unit 82: adjustment unit 84: setting change unit 100: external device
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- Moulds For Moulding Plastics Or The Like (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
Description
図1は、射出成形システム10の構成を示す模式図である。射出成形システム10は、射出成形機12と、取出装置14とを備える。
上記の実施形態は、下記のように変形してもよい。
同期動作の速度比は、第2移動速度に対する、第1移動速度の比率と定義されてもよい。つまり、本変形例における同期動作の速度比は、第2移動速度を分母、第1移動速度を分子とする比率(第1移動速度/第2移動速度)である。
調整部82は、単位時間あたりの同期動作の速度比を可変してもよい。例えば、調整部82は、同期動作の開始からの経過時間が長くなるほど、同期動作の速度比を小さくする。具体例として、調整部82は、サイクルが進むにつれて、同期動作の速度比を、「0.7」、「0.5」、「0.3」の順に小さくしていく。或いは、調整部82は、1サイクルのなかで単位時間が経過するたびに同期動作の速度比を、「0.7」、「0.5」、「0.3」の順に小さくしていく。
図9は、変形例3の演算装置72を示すブロック図である。図9では、実施形態において説明した構成と同等の構成には同一の符号が付されている。なお、本変形例では、実施形態と重複する説明は省略する。
型開き動作に代えて、引き動作が実行されてもよい。つまり、本変形例では、引き動作と突出動作とを同期させる同期動作が実行される。引き動作は、把持装置18に把持される成形品を型閉じ方向DAに引く動作である。本変形例の場合、第2移動速度は、把持装置18の移動速度である。
図11は、変形例5の射出成形システム10を示すブロック図である。図11では、実施形態において説明した構成と同等の構成には同一の符号が付されている。なお、本変形例では、実施形態と重複する説明は省略する。
図12は、変形例6の射出成形システム10を示すブロック図である。図12では、変形例5において説明した構成と同等の構成には同一の符号が付されている。なお、本変形例では、実施形態および変形例5と重複する説明は省略する。
上記の実施形態および変形例は、矛盾の生じない範囲で任意に組み合わされてもよい。
上記の実施形態および変形例から把握しうる発明として、以下、第1の発明および第2の発明を記載する。
第1の発明は、可動金型(30)の型開き方向(DB)に可動金型を開く型開き動作、または、成形品を把持した把持装置(18)を可動金型の型閉じ方向(DA)に引く引き動作と、エジェクタピン(58)を可動金型から突出する突出動作とを同期させる同期動作を実行する射出成形機(12)に用いられるパラメータを演算する演算装置(72)であって、把持装置が成形品から受ける負荷を取得する負荷取得部(80)と、同期動作中に取得される負荷の大きさが所定の範囲に収まるように、エジェクタピンを型閉じ方向に駆動するエジェクタロッド(54)の第1移動速度と、可動金型が取り付けられる可動プラテン(34)または把持装置の第2移動速度との速度比を調整する調整部(82)と、を備える。
これにより、同期動作中にエジェクタピンと成形品との相対位置が変化しても、成形品を把持する把持装置に過大な負荷が加わることを抑制することができる。
第2の発明は、射出成形システム(10)であって、上記の演算装置と、射出成形機と、把持装置を有する取出装置と、を備える。上記の演算装置を備えているため、同期動作中にエジェクタピンと成形品との相対位置が変化しても、成形品を把持する把持装置に過大な負荷が加わることを抑制することができる。
14:取出装置 16:金型
18:把持装置 20:型締装置
22:射出装置 24:突出装置
26、98、102:制御装置 28:固定金型
30:可動金型 32:固定プラテン
34:可動プラテン 36:リアプラテン
38:タイバー 54:エジェクタロッド
56:エジェクタプレート 58:エジェクタピン
62:モータ制御部 64:第1モータ制御部
66:第2モータ制御部 72:演算装置
74:情報処理部 76:記憶部
80:負荷取得部 82:調整部
84:設定変更部 100:外部装置
Claims (11)
- 可動金型(30)の型開き方向(DB)に前記可動金型を開く型開き動作、または、成形品を把持した把持装置(18)を前記可動金型の型閉じ方向(DA)に引く引き動作と、エジェクタピン(58)を前記可動金型から突出する突出動作とを同期させる同期動作を実行する射出成形機(12)に用いられるパラメータを演算する演算装置(72)であって、
前記把持装置が前記成形品から受ける負荷を取得する負荷取得部(80)と、
前記同期動作中に取得される前記負荷の大きさが所定の範囲に収まるように、前記エジェクタピンを前記型閉じ方向に駆動するエジェクタロッド(54)の第1移動速度と、前記可動金型が取り付けられる可動プラテン(34)または前記把持装置の第2移動速度との速度比を調整する調整部(82)と、
を備える演算装置。 - 請求項1に記載の演算装置であって、
前記調整部は、前記負荷の大きさが前記範囲の下限値を下回る場合には、前記第1移動速度に対する前記第2移動速度の前記速度比を大きく、または、前記第2移動速度に対する前記第1移動速度の前記速度比を小さくする、演算装置。 - 請求項1または2に記載の演算装置であって、
前記調整部は、前記負荷の大きさが前記範囲の上限値を上回る場合には、前記第1移動速度に対する前記第2移動速度の前記速度比を小さく、または、前記第2移動速度に対する前記第1移動速度の前記速度比を大きくする、演算装置。 - 請求項1~3のいずれか1項に記載の演算装置であって、
前記調整部は、前記射出成形機で繰り返し実行されるサイクルごとに、前記速度比を調整する、演算装置。 - 請求項1~4のいずれか1項に記載の演算装置であって、
前記調整部で調整された前記速度比になるように、前記エジェクタロッドを駆動するための第1駆動源と、前記可動プラテンを駆動するための第2駆動源または前記把持装置を駆動するための第3駆動源とのうちの少なくとも1つを変更する設定変更部(84)
を備える、演算装置。 - 請求項1~5のいずれか1項に記載の演算装置であって、
ユーザ操作に応じて、前記範囲の上限値または下限値の少なくとも1つを変更する変更部(92)
を備える、演算装置。 - 請求項1~6のいずれか1項に記載の演算装置であって、
前記調整部は、単位時間あたりの前記速度比を可変する、演算装置。 - 請求項1~7のいずれか1項に記載の演算装置であって、
前記演算装置は、前記射出成形機の制御装置(26)に備えられる、演算装置。 - 請求項1~7のいずれか1項に記載の演算装置であって、
前記演算装置は、前記把持装置を有する取出装置(14)の制御装置(98)に備えられる、演算装置。 - 請求項1~7のいずれか1項に記載の演算装置であって、
前記演算装置は、前記射出成形機および前記把持装置を有する取出装置に接続された外部機器(100)の制御装置(102)に備えられる、演算装置。 - 請求項1~10のいずれか1項に記載の演算装置と、前記射出成形機と、前記把持装置を有する取出装置と、を備える射出成形システム(10)。
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JP2009061786A (ja) * | 2008-11-17 | 2009-03-26 | Sumitomo Heavy Ind Ltd | 金型監視装置、方法及びプログラム |
JP2018171826A (ja) * | 2017-03-31 | 2018-11-08 | 住友重機械工業株式会社 | 射出成形機 |
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JP2001150496A (ja) * | 1999-11-25 | 2001-06-05 | Toshiba Mach Co Ltd | 金型からの製品取り出し方法 |
JP2009061786A (ja) * | 2008-11-17 | 2009-03-26 | Sumitomo Heavy Ind Ltd | 金型監視装置、方法及びプログラム |
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