Ultrasonic plasticizing injection molding apparatus and control method thereof

Abstract

The application belongs to the technical field of ultrasonic injection molding, and particularly relates to an ultrasonic plasticizing injection molding equipment and a control method thereof. The ultrasonic plasticizing injection molding equipment is designed with a split mechanical locking device to match the ultrasonic plasticizing unit, so that the locking force is reasonably distributed, the equipment height is reduced, and the structure is compact. The movement of the lifting seat in the lifting device, the action of the elbow locking device, and the action of the ultrasonic tool head in the ultrasonic plasticizing unit are all electrically controlled, the equipment quality is reduced, there is no liquid leakage phenomenon, and the precise molding of high-end medical device products and micro-nano structure products can be realized. The control method of the ultrasonic plasticizing injection molding equipment can provide two different locking force modes, and can recommend a suitable locking mode according to the size of the required locking force of the product, realize a larger range of different order locking force output, and increase the service life of the equipment.

Description

Technical Field

[0001] This application relates to the field of ultrasonic injection molding technology, and in particular to an ultrasonic plasticizing injection molding equipment and its control method. Background Technology

[0002] Injection molding is a molding method that combines injection and molding. Its advantages include high production speed and efficiency, automated operation, a wide variety of colors and shapes (from simple to complex), and sizes ranging from large to small. It also produces dimensionally accurate products, facilitates product updates, and can create complex parts, making it widely applicable. Micro-injection molding, with its low cost and convenient processing, has become a focus of research. However, it also faces challenges such as filling difficulties and material waste. To address these issues, ultrasonic plasticizing technology has emerged. Ultrasonic plasticizing technology has two production modes: one is "ultrasonic tool head plasticizing and injection," and the other is "ultrasonic tool head plasticizing and plunger injection." Regardless of the mode, the ultrasonic plasticizing unit must be used in conjunction with a mold clamping device during the injection molding process.

[0003] Existing injection molding equipment generally uses hydraulic devices for mold closing, which results in heavy equipment, easy leakage, and inconvenience in use. For the molding of parts in some special application scenarios, the use of hydraulic equipment is not allowed. Summary of the Invention

[0004] This application provides an ultrasonic plasticizing injection molding equipment and its control method, which solves the technical problems of existing injection molding equipment, which generally uses hydraulic devices for mold closing, resulting in heavy equipment, easy leakage, and limited application scenarios.

[0005] Therefore, according to one aspect of this application, an ultrasonic plasticizing injection molding apparatus is provided, comprising:

[0006] Workbench;

[0007] A support frame is mounted on the workbench;

[0008] A lifting device includes a lifting seat and an electric lifting mechanism. The electric lifting mechanism is mounted on the support, and the lifting seat is mounted on the electric lifting mechanism and is capable of moving in the height direction of the support under the action of the electric lifting mechanism.

[0009] The toggle locking device includes a movable template, a toggle linkage mechanism, and an electric drive mechanism. The movable template is located below the lifting seat. Two pairs of toggle linkage mechanisms are respectively disposed between the opposite ends of the lifting seat and the movable template. The electric drive mechanism is disposed on the lifting seat and is connected to the two pairs of toggle linkage mechanisms. The electric drive mechanism is used to drive the two pairs of toggle linkage mechanisms to move, thereby moving the movable template in the height direction of the support.

[0010] The mold unit includes an upper mold core, a lower mold core, and a first pressure sensor. The upper mold core is provided with an upper through hole, and the moving template is provided with a central hole that penetrates the middle of the moving template from top to bottom. The upper mold core is installed on the lower surface of the moving template, and the upper through hole communicates with the central hole. The first pressure sensor is disposed between the upper mold core and the moving template, and the lower mold core is installed on the worktable.

[0011] An ultrasonic plasticizing unit includes a vibrator mounting plate, an ultrasonic tool head, a guide post, a transmission screw, and a servo motor. The lower end of the guide post is fixed to the upper surface of the moving template, and the lower end of the transmission screw is rotatably connected to the upper surface of the moving template. Both the guide post and the transmission screw extend upwards along the height direction of the support. The vibrator mounting plate is slidably disposed on the guide post and threadedly connected to the transmission screw. The ultrasonic tool head is mounted on the vibrator mounting plate and coaxial with the central hole. The servo motor is driven by the transmission screw and drives the transmission screw to rotate, thereby driving the ultrasonic tool head to insert into or pull out of the upper mold core through the central hole.

[0012] The control system is electrically connected to the electric lifting mechanism, the electric drive mechanism, the first pressure sensor, the ultrasonic tool head, and the servo motor, respectively.

[0013] According to another aspect of this application, a control method for an ultrasonic plasticizing injection molding apparatus is provided, using the ultrasonic plasticizing injection molding apparatus as described above, the control method comprising the following steps:

[0014] S1. Start the device and check the information of the installed ultrasonic tool head in the control system. Simultaneously, determine if the ultrasonic tool head needs to be replaced. If no replacement is needed, the control system, based on the ultrasonic tool head information, controls the servo motor to drive the transmission screw to rotate, moving the ultrasonic tool head to the preset initial position L1. If replacement is needed, the control system controls the servo motor to move the ultrasonic tool head to the preset zero position L1. OAfter the installed ultrasonic tool head is removed, the information of the ultrasonic tool head to be replaced is entered into the control system. The control system updates the information of the installed ultrasonic tool head and controls the servo motor to move the ultrasonic tool head to the preset zero position L. O After the ultrasonic tool head to be replaced is installed on the vibrator mounting plate, the control system controls the servo motor to move the ultrasonic tool head to the preset initial position L1.

[0015] S2. The control system issues a command to the electric drive mechanism, which drives the moving template to the initial position M0 through the toggle linkage mechanism. At the initial position M0, the mold unit is in the mold-opening state.

[0016] S3. Input the height H1 of the upper mold core and the height H2 of the lower mold core into the control system, as well as the projected surface area of ​​the product, the presence and size of microstructures, and calculate the clamping force R required to mold this type of product. 预设 The control system makes a judgment based on the stored general clamping force range R1-R2 and ultra-large clamping force range R3-R4, where R1 < R2 < R3 < R4. If R1 < R 预设 If R2 < R3, then the control system recommends a general clamping force method; if R3 < R4, then the control system recommends a general clamping force method. 预设 If R4 < R4, then the control system recommends an ultra-high clamping force method;

[0017] S4. If the general clamping force method is selected, the control system will adjust the clamping force R according to the clamping force R. 预设 The information from the electric drive mechanism and the toggle linkage mechanism is used to calculate the mold closing stage stroke M1 of the moving template and the contact pressure threshold P of the first pressure sensor. 接触 And the lifting stroke K of the lifting seat 设1 During the mold closing stage stroke M1, the toggle linkage mechanism cannot achieve self-locking; if the ultra-large clamping force method is selected, the control system will adjust the clamping force R according to the clamping force R. 预设 The lifting stroke K of the lifting seat is calculated based on the information from the electric drive mechanism and the toggle linkage mechanism. 设2 And the mold closing stage stroke M2 of the moving template, under the mold closing stage stroke M2, the toggle linkage mechanism forms a self-locking mechanism.

[0018] The beneficial effects of the ultrasonic plasticizing injection molding equipment and its control method provided in this application are as follows: Compared with the prior art, the ultrasonic plasticizing injection molding equipment of this application adopts a split mechanical clamping device design to match the ultrasonic plasticizing unit, so as to achieve a reasonable distribution of clamping force, while reducing the height of the equipment and making the structure compact; the elbow clamping device is designed at the upper end of the equipment, realizing low-position operation of the ultrasonic plasticizing micro-injection molding equipment, which is convenient for operators to pick up and insert parts; the movement of the lifting seat in the lifting device, the action of the elbow clamping device, and the action of the ultrasonic tool head in the ultrasonic plasticizing unit are all electrically controlled, which reduces the weight of the equipment and eliminates leakage, enabling precise molding of high-end medical device products and micro-nano structure products.

[0019] The control method of this ultrasonic plasticizing injection molding equipment can provide two different clamping force modes. It can recommend the appropriate clamping mode according to the required clamping force of the product, realize a wider range of clamping force outputs of different orders of magnitude, and increase the service life of the equipment. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] in:

[0022] Figure 1 This is a schematic diagram of the overall structure of an ultrasonic plasticizing injection molding device according to an embodiment of this application;

[0023] Figure 2 This is a schematic diagram of the connection structure between the support and the lifting device in an ultrasonic plasticizing injection molding equipment according to an embodiment of this application;

[0024] Figure 3 This is a schematic diagram of the connection structure between the lifting seat of the lifting device and the toggle clamping device in an ultrasonic plasticizing injection molding equipment according to an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the connection structure between the moving template of the toggle clamping device and the ultrasonic plasticizing unit in an ultrasonic plasticizing injection molding equipment according to an embodiment of this application;

[0026] Figure 5 This is a partial structural schematic diagram of an ultrasonic plasticizing injection molding device according to an embodiment of this application;

[0027] Figure 6This is a cross-sectional structural schematic diagram of the ultrasonic plasticizing unit, mold unit, and plunger rising mechanism in an ultrasonic plasticizing injection molding equipment according to an embodiment of this application.

[0028] Explanation of key component symbols:

[0029] 100. Workbench; 110. Turntable;

[0030] 200. Bracket; 210. C-shaped plate;

[0031] 300. Lifting device; 310. Lifting seat; 320. Electric lifting mechanism; 321. Lifting drive motor; 322. First synchronous belt transmission mechanism; 323. Transmission rod;

[0032] 400. Torn locking device; 410. Moving template; 411. Center hole; 420. Torn linkage mechanism; 421. Upper connecting rod; 422. Lower connecting rod; 423. Small connecting rod; 424. Push seat; 430. Electric drive mechanism; 431. Opening and closing drive motor; 432. Second synchronous belt transmission mechanism; 433. Lead screw and nut transmission pair;

[0033] 500, Mold unit; 510, Upper mold core; 511, Upper through hole; 520, Lower mold core; 521, Material hopper; 530, First pressure sensor;

[0034] 600, Ultrasonic plasticizing unit; 610, Vibrator mounting plate; 620, Ultrasonic tool head; 630, Guide post; 640, Drive screw; 650, Servo motor;

[0035] 700. Control system;

[0036] 800, Piston rising mechanism; 810, Piston rising module; 811, Piston; 820, Ejection mechanism. Detailed Implementation

[0037] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many other different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of this application.

[0038] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0039] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0042] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or part. For the same part in the embodiments of this application, the reference numerals may only be used to mark one part or component as an example. It should be understood that the reference numerals are also applicable to other identical parts or components.

[0043] According to one aspect of this application, embodiments of this application provide an ultrasonic plasticizing injection molding apparatus, such as... Figure 1 As shown, the ultrasonic plasticizing injection molding equipment includes a worktable 100, a support 200, a lifting device 300, a toggle clamping device 400, a mold unit 500, an ultrasonic plasticizing unit 600, and a control system 700. The support 200 is mounted on the worktable 100.

[0044] See Figure 2 The lifting device 300 includes a lifting seat 310 and an electric lifting mechanism 320. The electric lifting mechanism 320 is mounted on the support 200, and the lifting seat 310 is mounted on the electric lifting mechanism 320 and can move in the height direction of the support 200 under the action of the electric lifting mechanism 320.

[0045] See Figure 3The toggle locking device 400 includes a movable template 410, a toggle linkage mechanism 420, and an electric drive mechanism 430. The movable template 410 is located below the lifting seat 310. Two pairs of toggle linkage mechanisms 420 are respectively disposed between the opposite ends of the lifting seat 310 and the movable template 410. The electric drive mechanism 430 is disposed on the lifting seat 310 and is connected to the two pairs of toggle linkage mechanisms 420. The electric drive mechanism 430 is used to drive the two pairs of toggle linkage mechanisms 420 to move, thereby causing the movable template 410 to move in the height direction of the support 200.

[0046] See Figure 4 and Figure 6 The mold unit 500 includes an upper mold core 510, a lower mold core 520, and a first pressure sensor 530. The upper mold core 510 is provided with an upper through hole 511, and the moving template 410 is provided with a central hole 411 that penetrates the middle of the moving template 410 from top to bottom. The upper mold core 510 is installed on the lower surface of the moving template 410, and the upper through hole 511 communicates with the central hole 411. The first pressure sensor 530 is disposed between the upper mold core 510 and the moving template 410, and the lower mold core 520 is installed on the worktable 100.

[0047] See Figure 4 and Figure 6 The ultrasonic plasticizing unit 600 includes a vibrator mounting plate 610, an ultrasonic tool head 620, a guide post 630, a transmission screw 640, and a servo motor 650. The lower end of the guide post 630 is fixed to the upper surface of the moving template 410, and the lower end of the transmission screw 640 is rotatably connected to the upper surface of the moving template 410. Both the guide post 630 and the transmission screw 640 extend upward along the height direction of the bracket 200. The vibrator mounting plate 610 is slidably disposed on the guide post 630 and threadedly connected to the transmission screw 640. The ultrasonic tool head 620 is mounted on the vibrator mounting plate 610 and coaxial with the center hole 411. The servo motor 650 is drivenly connected to the transmission screw 640 and is used to drive the transmission screw 640 to rotate, thereby driving the ultrasonic tool head 620 to be inserted into or pulled out of the upper mold core 510 through the center hole 411.

[0048] The control system 700 is electrically connected to the electric lifting mechanism 320, the electric drive mechanism 430, the first pressure sensor 530, the ultrasonic tool head 620, and the servo motor 650.

[0049] In this embodiment, the ultrasonic plasticizing injection molding equipment adopts a split mechanical clamping device design to match the ultrasonic plasticizing unit 600, thereby achieving a reasonable distribution of clamping force and reducing the equipment height for a compact structure. The elbow clamping device 400 is designed at the upper end of the equipment, enabling low-position operation of the ultrasonic plasticizing micro-injection molding equipment, which facilitates the operator's handling of parts and inserts. The movement of the lifting seat 310 in the lifting device 300, the action of the elbow clamping device 400, and the action of the ultrasonic tool head 620 in the ultrasonic plasticizing unit 600 are all electrically controlled, reducing the equipment weight and eliminating leakage, thus enabling precise molding of high-end medical device products and micro-nano structure products.

[0050] In one embodiment, such as Figures 1-2 As shown, the bracket 200 includes two C-shaped plates 210 with column reinforcement structures, which are placed symmetrically on the left and right.

[0051] Furthermore, to improve the structural strength of the bracket 200, the upper front parts of the two C-shaped plates 210 are connected by a front reinforcing plate, the tops of the two C-shaped plates 210 are connected by an upper reinforcing plate, the upper rear parts of the two C-shaped plates 210 are connected by a rear reinforcing plate, the lower rear parts of the two C-shaped plates 210 are connected by a lower connecting plate, and multiple partitions are installed on the upper surface of the lower connecting plate.

[0052] In one embodiment, such as Figure 2 As shown, the electric lifting mechanism 320 includes a lifting drive motor 321, a first synchronous belt transmission mechanism 322, and two transmission rods 323. Both transmission rods 323 are rotatably mounted on the top of the support 200, and their axial directions are parallel to the height direction of the support 200. The lower ends of the two transmission rods 323 are threadedly connected to opposite ends of the lifting seat 310. The lifting drive motor 321 is mounted on the support 200 and drives the two transmission rods 323 to rotate simultaneously in the same direction via the first synchronous belt transmission mechanism 322, thereby driving the lifting seat 310 to move in the height direction of the support 200. It can be understood that the two transmission rods 323 in the electric lifting mechanism 320 act on opposite ends of the lifting seat 310, ensuring smooth and reliable lifting of the lifting seat 310 and the toggle clamping device 400 and ultrasonic plasticizing unit 600, which are directly or indirectly mounted on the lifting seat 310.

[0053] like Figure 3As shown, the electric drive mechanism 430 includes an opening and closing drive motor 431, a second synchronous belt transmission mechanism 432, and two sets of lead screw and nut transmission pairs 433. The two sets of lead screw and nut transmission pairs 433 are respectively arranged at opposite ends of the lifting seat 310, and the lead screw of each set of lead screw and nut transmission pairs 433 is rotatably connected to the lifting seat 310. The nut of each set of lead screw and nut transmission pairs 433 is connected to the corresponding toggle linkage mechanism 420. The opening and closing drive motor 431 is arranged on the lifting seat 310. The opening and closing drive motor 431 drives the lead screws of the two sets of lead screw and nut transmission pairs 433 to rotate simultaneously in the same direction of rotation through the second synchronous belt transmission mechanism 432, so as to drive the two pairs of toggle linkage mechanisms 420 to move, thereby driving the moving template 410 to move in the height direction of the support 200. It is understood that the two sets of lead screw and nut transmission pairs 433 in the electric drive mechanism 430 act on the two pairs of toggle linkage mechanisms 420 respectively, so that when the mold is locked, the moving template 410 and the upper mold core 510 installed on the moving template 410 are subjected to uniform force.

[0054] Each pair of toggle linkage mechanisms 420 includes two upper linkages 421, two lower linkages 422, two small linkages 423, and a pusher 424. The upper ends of the two upper linkages 421 are respectively hinged to the lower end face of the lifting seat 310 through upper hinge seats. The lower ends of the two lower linkages 422 are respectively hinged to the upper end face of the moving template 410 through lower hinge seats. A deformation block is provided between each lower hinge seat and the upper end face of the moving template 410. The lower ends of the two upper linkages 421 and the upper ends of the two lower linkages 422 are respectively hinged one-to-one. The two small linkages 423 are respectively hinged between the pusher 424 and the two upper linkages 421. The pusher 424 is fixed to the nut of the lead screw nut transmission pair 433.

[0055] It should be noted that, in the embodiments of this application, the ultrasonic plasticizing injection molding equipment can adopt a "ultrasonic tool head 620 plasticizing and injection" mode, or a "ultrasonic tool head 620 plasticizing, plunger injection" mode. When adopting the "ultrasonic tool head 620 plasticizing, plunger injection" mode, the ultrasonic plasticizing injection molding equipment further includes a plunger lifting mechanism 800, such as... Figures 5-6 As shown, the plunger lifting mechanism 800 includes a plunger lifting module 810, an ejection mechanism 820, and a second pressure sensor (not shown). The plunger lifting module 810 is installed on the worktable 100 directly below the lower mold core 520. A material bin 521 is provided inside the lower mold core 520. A through hole coaxial with the plunger 811 of the plunger lifting module 810 is provided on the lower mold core 520 and the worktable 100. The through hole connects to the material bin 521. The ejection mechanism 820 is installed on the plunger lifting module 810. The second pressure sensor is installed below the plunger 811 of the plunger lifting module 810.

[0056] In some embodiments, such as Figure 1 and Figure 4 As shown, a turntable 110 is provided on the workbench 100, and multiple workstations are provided on the turntable 110, with a lower mold core 520 installed on each workstation. This design allows the lower mold core 520 at each workstation to undergo a plasticizing process sequentially by rotating the turntable 110, thereby improving production efficiency.

[0057] According to another aspect of this application, embodiments of this application also provide a control method for an ultrasonic plasticizing injection molding apparatus, using the ultrasonic plasticizing injection molding apparatus (such as...) in any of the above embodiments. Figures 1-6 As shown), the control method includes the following steps:

[0058] S1. Start the equipment and check the information of the installed ultrasonic tool head 620 in the control system 700. At the same time, determine whether the ultrasonic tool head 620 needs to be replaced. If it does not need to be replaced, the control system 700 controls the servo motor 650 to drive the transmission screw 640 to rotate according to the information of the ultrasonic tool head 620, moving the ultrasonic tool head 620 to the preset initial position L1 (preset initial position L1: the distance between the lower end face of the ultrasonic tool head 620 and the upper plane of the moving template 410 is 5-10mm). If it needs to be replaced, the control system 700 controls the servo motor 650 to move the ultrasonic tool head 620 to the preset zero position L1. O (Preset zero position L) O The system calculates a convenient disassembly and installation position based on the size information of the ultrasonic tool head 620. After the installed ultrasonic tool head 620 is disassembled, the information of the ultrasonic tool head 620 to be replaced is input into the control system 700. The control system 700 updates the information of the installed ultrasonic tool head 620 and controls the servo motor 650 to move the ultrasonic tool head 620 to the preset zero position L. O After the ultrasonic tool head 620 to be replaced is installed on the vibrator mounting plate 610, the control system 700 controls the servo motor 650 to move the ultrasonic tool head 620 to the preset initial position L1. In this step, based on the principle of different disassembly and assembly positions of ultrasonic tool heads 620 of different frequencies, the ultrasonic tool head 620 position integrated control method is adopted. By setting different preset zero positions and preset initial positions of ultrasonic tool heads 620, the disassembly, assembly and reset of ultrasonic tool heads 620 of different frequencies can be realized.

[0059] S2. The control system 700 issues a command to the electric drive mechanism 430, which drives the moving template 410 to move to the initial position M0 through the toggle linkage mechanism 420. At the initial position M0, the mold unit 500 is in the mold open state.

[0060] S3. Input the height H1 of the upper mold core 510 and the height H2 of the lower mold core 520 into the control system 700, as well as the projected surface area of ​​the product, the presence and size of microstructures, and calculate the clamping force R required to mold this type of product. 预设 The control system 700 makes a judgment based on the stored general clamping force range R1-R2 and ultra-large clamping force range R3-R4, where R1 < R2 < R3 < R4. If R1 < R 预设 If R2 < R3, then the control system 700 recommends the general clamping force method; if R3 < R4 < R5 < R6 < R7 ...6 < R7 < R6 < R6 < R6 < R6 < R6 < R6 < R6 < R6 < R6 < R6 < R6 < R6 < 预设 If R4 < R4, then the control system 700 recommends the ultra-high clamping force mode.

[0061] S4. If the general clamping force method is selected, the control system 700 will adjust the clamping force R according to the clamping force R. 预设 The information from the electric drive mechanism 430 and the toggle linkage mechanism 420 is used to calculate the mold closing stage stroke M1 of the moving template 410 and the contact pressure threshold P of the first pressure sensor 530. 接触 And the lifting stroke K of the lifting seat 310 设1 During the mold closing stage with a stroke M1, the toggle linkage mechanism 420 cannot achieve self-locking; if an ultra-large clamping force method is selected, the control system 700 will adjust the clamping force R according to the clamping force R. 预设 The lifting stroke K of the lifting seat 310 is calculated from the information of the electric drive mechanism 430 and the toggle linkage mechanism 420. 设2 And the mold closing stage stroke M2 of the moving template 410, under the mold closing stage stroke M2, the toggle linkage mechanism 420 forms a self-locking mechanism.

[0062] In the embodiments of this application, the control method can provide two different clamping force modes. It can recommend a suitable clamping mode according to the required clamping force of the product, realize a wider range of clamping force outputs of different orders of magnitude, and increase the service life of the equipment.

[0063] In step S4, if the general clamping force method is selected, the following steps are performed:

[0064] S411. Control System 700 determines lifting stroke K 设1 Whether it is within the movable travel range K0-K1 of the lifting seat 310 of the lifting device 300, if K 设1 If K0-K1 is outside of K0-K1, the control system 700 will issue an alarm; if K 设1 Within K0-K1, the control system 700 issues a command to the electric lifting mechanism 320 to drive the lifting seat 310 to move to the initial lifting position B0, which corresponds to the highest position that the lifting seat 310 can rise to.

[0065] S412. After confirming the settings on the control system 700, the control system 700 controls the toggle mold clamping device 400 to enter the idle stroke stage, and the moving mold plate 410 descends until the idle stroke descent distance M is completed. 空 Or the pressure value P displayed by the first pressure sensor 530 实际 When P > 0, the toggle clamping device 400 stops operating; at this time, if P 实际 =0, then proceed to the next step; if P 实际 If the value is greater than 0, the control system 700 will report an error, indicating that the height of the mold unit 500 exceeds the allowable range.

[0066] S413. The control system 700 issues a command to the electric lifting mechanism 320, driving the lifting seat 310 to move downwards until the pressure value P displayed by the first pressure sensor 530 is reached. 实际 The contact pressure threshold P set in the control system 700 接触 When the error is within 2%, or when the travel distance of the lifting seat 310 is greater than K1, the electric lifting mechanism 320 stops working. At this time, the control system 700 measures the actual displacement K of the lifting seat 310 through the laser displacement sensor. 实际 and with K 设1 Compare K0 and K1:

[0067] If K 实际 If K0 < K0, the lifting seat 310 is controlled to return to the initial position B0, and the control system 700 reports an error, indicating that the height of the mold unit 500 is greater than the specified height range.

[0068] If K0 < K 实际 <K1 and K 设1 ≠K 实际 If the lifting seat 310 returns to the initial position B0, the control system 700 will report an error, prompting the user to re-enter the correct H1 and H2.

[0069] If K 实际 =K 设1 If the electric lifting mechanism 320 is locked, the next instruction will be executed.

[0070] If P 实际 =0, and K 实际 If K1 is reached, the lifting seat 310 will return to its initial position B0, and the control system 700 will report an error, indicating that the height of the mold unit 500 is less than the specified height range.

[0071] After receiving an instruction to proceed to the next step, the S414. control system 700 issues an instruction to the electric drive mechanism 430 to drive the moving platen 410 to continue descending. The descent distance is the mold closing stage stroke M1. The torque is maintained, and then the clamping force is corrected.

[0072] In step S414, the clamping force is corrected as follows:

[0073] The control system 700 reads the strain values ​​of the strain gauges on each link of the toggle linkage mechanism 420 and converts them into mold clamping force values. If the values ​​of the mold clamping forces are not equal, the control system 700 controls the moving mold plate 410 to return to the initial position M0; if the values ​​of the mold clamping forces are equal, the control system continues to work with R... 预设 Comparison:

[0074] If R 预设 =The sum of the clamping forces is considered to meet the clamping force requirement, the electric drive mechanism 430 locks, and the clamping force correction is completed;

[0075] If R 预设 The sum of all clamping force values ​​indicates that the actual clamping force is less than R. 预设 Then, control the electric drive mechanism 430 to increase the torque until the sum of the clamping forces equals R. 预设 The electric drive mechanism 430 is locked, and the clamping force correction is completed;

[0076] If R 预设 The sum of all clamping force values ​​indicates the actual clamping force > R. 预设 Then control the electric drive mechanism 430 to reduce the torque until the sum of the clamping forces equals R. 预设 The electric drive mechanism 430 is locked, and the clamping force correction is completed.

[0077] In step S4, if the ultra-high clamping force method is selected, the following steps are performed:

[0078] S421. Control system 700 determines lifting stroke K 设2 Whether it is within the movable travel range K0-K1 of the lifting seat 310 of the lifting device 300, if K 设2 If K0-K1 is outside of K0-K1, the control system 700 will issue an alarm; if K 设2 Within K0-K1, the control system 700 issues a command to the electric lifting mechanism 320 to drive the lifting seat 310 to move to the initial lifting position B0, which corresponds to the highest position that the lifting seat 310 can rise to.

[0079] S422. After confirming the settings on the control system 700, the control system 700 controls the toggle mold clamping device 400 to enter the idle stroke stage, and the moving mold plate 410 descends until the idle stroke descent distance M is completed. 空 Or the pressure value P displayed by the first pressure sensor 530 实际 When P > 0, the toggle clamping device 400 stops operating; at this time, if P 实际 =0, then the system proceeds to the next step; if P = 0, then the system proceeds to the next step; 实际If the value is greater than 0, the control system 700 will report an error, indicating that the height of the mold unit 500 exceeds the allowable range.

[0080] S423. The control system 700 issues a command to the electric lifting mechanism 320, driving the lifting platform 310 to move downwards until the descent distance K is completed. 设2 Or, when the travel distance of the lifting seat 310 is greater than K1, the electric lifting mechanism 320 stops working. At this time, the actual displacement K of the lifting seat 310 is measured. 实际 and with K 设2 Compare K0 and K1:

[0081] If K 实际 If K0 < K0, the lifting seat 310 is controlled to return to the initial position B0, and the control system 700 reports an error, indicating that the height of the mold unit 500 is greater than the specified height range.

[0082] If K0 < K 实际 <K1 and K 设2 ≠K 实际 If the lifting seat 310 returns to the initial position B0, the control system 700 will report an error, prompting the user to re-enter the correct H1 and H2.

[0083] If K 实际 =K 设2 If so, the electric lifting mechanism 320 is locked, and the next instruction is executed.

[0084] If P 实际 =0, and K 实际 If K1 is reached, the lifting seat 310 will return to its initial position B0, and the control system 700 will report an error, indicating that the height of the mold unit 500 is less than the specified height range.

[0085] After receiving the instruction to proceed to the next step, the S424. control system 700 issues an instruction to the electric drive mechanism 430, which drives the moving template 410 to continue descending. The descent distance is the mold closing stage stroke M2. The torque is maintained, the toggle linkage mechanism 420 completes self-locking, and then the mold clamping force is corrected.

[0086] In step S424, the clamping force is corrected as follows:

[0087] The control system 700 reads the strain values ​​of the strain gauges on each link of the toggle linkage mechanism 420 and converts them into mold clamping force values. If the values ​​of the mold clamping forces are not equal, the control system 700 controls the moving mold plate 410 to return to the initial position M0; if the values ​​of the mold clamping forces are equal, the control system continues to work with R. 预设 Comparison:

[0088] If R 预设=The sum of the clamping forces is considered to meet the clamping force requirement, the electric drive mechanism 430 locks, and the clamping force correction is completed;

[0089] If R 预设 The sum of all clamping force values ​​indicates that the actual clamping force is less than R. 预设 Then, the control panel 410 moves to the initial position M0, and at the same time, the stroke K of the lifting mechanism is increased. 设2 Then return to step S421 to continue execution, recalibrate the clamping force until the clamping force calibration is completed;

[0090] If R 预设 The sum of all clamping force values ​​indicates the actual clamping force > R. 预设 Then, the control panel 410 moves to the initial position M0, and at the same time, the stroke K of the lifting mechanism is reduced. 设2 Return to step S421 to continue execution, recalibrate the clamping force until the clamping force calibration is completed.

[0091] S5. After completing the clamping force correction, input the product quality, material parameters, particle size and other information into the control system 700. The control system 700 calculates the material mass required for each molded product according to a 1.2 times quality safety factor, and calculates the height of the material in the hopper 521 based on the material mass, leaving a safety margin. It then calculates the loading position of the plunger 811 in the hopper 521. Finally, the control system 700 controls the plunger rising module 810 to move the plunger 811 to the loading position in the hopper 521.

[0092] S6. Input the ultrasonic plasticizing parameters such as pressure holding parameters, mold temperature, plunger 811 rising speed, ultrasonic amplitude, pressure holding time, and cooling time into the control system 700. Then, add material to the hopper 521, click "mold closing" in the control system 700, and then the control system 700 controls the toggle mold locking device 400 to lock the mold. Then, the control system 700 moves the ultrasonic tool head 620 to the corresponding preset plasticizing position L2 according to the information from the ultrasonic tool head 620 (the lower end face of the ultrasonic tool head 620 is above the lower end face of the upper mold core 510, and 0.5-1mm away from the lower end face of the upper mold core 510).

[0093] S7. Click Run: Control system 700 controls plunger 811 to rise. Material is compressed after contacting ultrasonic tool head 620. When the second pressure sensor below plunger 811 reads N... 实际 Greater than or equal to the system preset value N 预设1 At that time, the ultrasonic tool head 620 is opened, and the molten material fills and forms the shape. When the filling is complete, the pressure of the plunger 811 increases sharply. When the reading of the second pressure sensor N... 实际 Greater than or equal to the system preset value N 预设2At this time, the system controls the ultrasonic tool head 620 to close, and performs pressure holding and cooling. Subsequently, the control system 700 controls the toggle mold locking device 400 to open the mold. Then, the control system 700 controls the ejection mechanism 820 to eject the product.

[0094] S8. After the ejection action is completed, the ejector pin of the ejection mechanism 820 descends below the lower surface of the worktable 100; then, the control system 700 controls the plunger 811 to descend below the lower surface of the worktable 100; at this point, the injection molding process ends. Subsequently, the turntable 110 rotates 90 degrees to proceed to the next plasticizing process.

[0095] Furthermore, an infrared protector can be installed to detect abnormal intrusions. During equipment operation, if the infrared protector is triggered, the control system 700 will stop the equipment and issue an alarm to improve equipment security.

[0096] In summary, implementing the ultrasonic plasticizing injection molding equipment and its control method provided in this embodiment has at least the following beneficial technical effects:

[0097] The ultrasonic plasticizing injection molding equipment adopts a split mechanical clamping device design to match the ultrasonic plasticizing unit, so as to make the clamping force reasonably distributed, while reducing the height of the equipment and making the structure compact.

[0098] There are two different clamping methods. The system can recommend the appropriate clamping method according to the clamping force required by the product, so as to achieve a wider range of clamping force output and increase the service life of the equipment.

[0099] By placing the toggle clamping device at the upper part of the equipment, low-position operation of the ultrasonic plasticizing micro-injection molding equipment is realized.

[0100] In order to achieve precise molding of high-end medical device products and micro-nano structure products, a fully electric low-table ultrasonic plasticizing micro-injection molding equipment was designed and completed.

[0101] Based on the principle of different disassembly and assembly positions of ultrasonic tool heads of different frequencies, an integrated control method for ultrasonic tool head positions is adopted. By setting the preset zero position and preset initial position of different ultrasonic tool heads, the disassembly, assembly and reset of ultrasonic tool heads of different frequencies can be realized.

[0102] Multi-stage comprehensive assessment of mold height is used to minimize equipment damage caused by human error.

[0103] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method for an ultrasonic plasticizing injection molding equipment, characterized in that: An ultrasonic plasticizing injection molding equipment is used, the ultrasonic plasticizing injection molding equipment includes: Workbench; A support is mounted on the workbench; A lifting device includes a lifting seat and an electric lifting mechanism. The electric lifting mechanism is mounted on the support, and the lifting seat is mounted on the electric lifting mechanism and is capable of moving in the height direction of the support under the action of the electric lifting mechanism. The toggle locking device includes a movable template, a toggle linkage mechanism, and an electric drive mechanism. The movable template is located below the lifting seat. Two pairs of toggle linkage mechanisms are respectively disposed between the opposite ends of the lifting seat and the movable template. The electric drive mechanism is disposed on the lifting seat and is connected to the two pairs of toggle linkage mechanisms. The electric drive mechanism is used to drive the two pairs of toggle linkage mechanisms to move, thereby moving the movable template in the height direction of the support. The mold unit includes an upper mold core, a lower mold core, and a first pressure sensor. The upper mold core is provided with an upper through hole, and the moving template is provided with a central hole that penetrates the middle of the moving template from top to bottom. The upper mold core is installed on the lower surface of the moving template, and the upper through hole communicates with the central hole. The first pressure sensor is disposed between the upper mold core and the moving template, and the lower mold core is installed on the worktable. An ultrasonic plasticizing unit includes a vibrator mounting plate, an ultrasonic tool head, a guide post, a transmission screw, and a servo motor. The lower end of the guide post is fixed to the upper surface of the moving template, and the lower end of the transmission screw is rotatably connected to the upper surface of the moving template. Both the guide post and the transmission screw extend upwards along the height direction of the support. The vibrator mounting plate is slidably disposed on the guide post and threadedly connected to the transmission screw. The ultrasonic tool head is mounted on the vibrator mounting plate and coaxial with the central hole. The servo motor is driven by the transmission screw and drives the transmission screw to rotate, thereby driving the ultrasonic tool head to insert into or pull out of the upper mold core through the central hole. The control system is electrically connected to the electric lifting mechanism, the electric drive mechanism, the first pressure sensor, the ultrasonic tool head, and the servo motor, respectively. The control method includes the following steps: S1. Start the device and check the information of the installed ultrasonic tool head in the control system. Simultaneously, determine if the ultrasonic tool head needs to be replaced. If no replacement is needed, the control system, based on the ultrasonic tool head information, controls the servo motor to drive the transmission screw to rotate, moving the ultrasonic tool head to the preset initial position L1. If replacement is needed, the control system controls the servo motor to move the ultrasonic tool head to the preset zero position L1. O After the installed ultrasonic tool head is removed, the information of the ultrasonic tool head to be replaced is entered into the control system. The control system updates the information of the installed ultrasonic tool head and controls the servo motor to move the ultrasonic tool head to the preset zero position L. O After the ultrasonic tool head to be replaced is installed on the vibrator mounting plate, the control system controls the servo motor to move the ultrasonic tool head to the preset initial position L1. S2. The control system issues a command to the electric drive mechanism, which drives the moving template to the initial position M0 through the toggle linkage mechanism. At the initial position M0, the mold unit is in the mold-opening state. S3. Input the height H1 of the upper mold core and the height H2 of the lower mold core into the control system, as well as the projected surface area of ​​the product, the presence and size of microstructures, and calculate the clamping force R required to mold this type of product. 预设 The control system makes a judgment based on the stored general clamping force range R1-R2 and ultra-large clamping force range R3-R4, where R1 < R2 < R3 < R4. If R1 < R 预设 If R2 < R3, then the control system selects the general clamping force method; if R3 < R4, then the control system selects the general clamping force method. 预设 If R4 < R4, then the control system selects the ultra-high clamping force mode; S4. If the general clamping force method is selected, the control system will adjust the clamping force R according to the clamping force R. 预设 The information from the electric drive mechanism and the toggle linkage mechanism is used to calculate the mold closing stage stroke M1 of the moving template and the contact pressure threshold P of the first pressure sensor. 接触 And the lifting stroke K of the lifting seat 设1 During the mold closing stage stroke M1, the toggle linkage mechanism cannot achieve self-locking; if the ultra-large clamping force method is selected, the control system will adjust the clamping force R according to the clamping force R. 预设 The lifting stroke K of the lifting seat is calculated based on the information from the electric drive mechanism and the toggle linkage mechanism. 设2 And the mold closing stage stroke M2 of the moving template, under the mold closing stage stroke M2, the toggle linkage mechanism forms a self-locking mechanism.

2. The control method according to claim 1, characterized in that, The electric lifting mechanism includes a lifting drive motor, a first synchronous belt transmission mechanism, and two transmission rods. Both transmission rods are rotatably mounted on the top of the bracket, and the axial direction of the two transmission rods is parallel to the height direction of the bracket. The lower ends of the two transmission rods are respectively threaded to the opposite ends of the lifting seat. The lifting drive motor is mounted on the bracket, and the lifting drive motor drives the two transmission rods to rotate simultaneously in the same direction of rotation through the first synchronous belt transmission mechanism, thereby driving the lifting seat to move in the height direction of the bracket. The electric drive mechanism includes an opening and closing drive motor, a second synchronous belt transmission mechanism, and two sets of lead screw and nut transmission pairs. The two sets of lead screw and nut transmission pairs are respectively disposed at opposite ends of the lifting seat, and the lead screw of each set of lead screw and nut transmission pairs is rotatably connected to the lifting seat. The nut of each set of lead screw and nut transmission pairs is connected to the corresponding toggle linkage mechanism. The opening and closing drive motor is disposed on the lifting seat. The opening and closing drive motor drives the lead screws of the two sets of lead screw and nut transmission pairs to rotate simultaneously in the same direction of rotation through the second synchronous belt transmission mechanism, so as to drive the two pairs of toggle linkage mechanisms to move, thereby driving the moving template to move in the height direction of the support.

3. The control method according to claim 2, characterized in that, Each pair of the toggle linkage mechanisms includes two upper linkages, two lower linkages, two small linkages, and a pusher. The upper ends of the two upper linkages are hinged to the lower end face of the lifting seat, and the lower ends of the two lower linkages are hinged to the upper end face of the moving template. The lower ends of the two upper linkages are respectively hinged to the upper ends of the two lower linkages. The two small linkages are respectively hinged between the pusher and the two upper linkages. The pusher is fixed to the nut of the lead screw and nut transmission pair.

4. The control method according to any one of claims 1-3, characterized in that, The ultrasonic plasticizing injection molding equipment further includes a plunger lifting mechanism, which includes a plunger lifting module, an ejection mechanism, and a second pressure sensor. The plunger lifting module is installed on the worktable directly below the lower mold core. A material hopper is provided inside the lower mold core. A through hole coaxial with the plunger of the plunger lifting module is provided on the lower mold core and the worktable. The through hole communicates with the material hopper. The ejection mechanism is installed on the plunger lifting module, and the second pressure sensor is installed below the plunger of the plunger lifting module.

5. The control method according to any one of claims 1-3, characterized in that, The workbench is equipped with a turntable, and the turntable has multiple workstations, each of which is equipped with a lower mold core.

6. The control method according to claim 1, characterized in that, In step S4, if the general clamping force method is selected, the following steps are performed: S411. The control system determines the lifting stroke K. 设1 Whether the moving stroke range K0-K1 of the lifting seat of the lifting device is within the range of K0-K1, if K 设1 If K0-K1 is outside of K0-K1, the control system issues an alarm; if K 设1 Within K0-K1, the control system issues a command to the electric lifting mechanism to drive the lifting seat to move to the initial lifting position B0, which corresponds to the highest position that the lifting seat can rise to. S412. After confirming the settings on the control system, the control system controls the toggle mold clamping device to enter the idle stroke stage, and the moving mold plate descends until the idle stroke descent distance M is completed. 空 Or the pressure value P displayed by the first pressure sensor 实际 When P > 0, the toggle locking device stops operating; at this time, if P 实际 =0, then proceed to the next step; if P = 0, then proceed to the next step. 实际 If the value is greater than 0, the control system will report an error, indicating that the height of the mold unit exceeds the allowable range; S413. The control system issues a command to the electric lifting mechanism to drive the lifting seat to move downwards until the pressure value P displayed by the first pressure sensor is reached. 实际 The contact pressure threshold P set in the control system 接触 When the error is within 2%, or when the travel distance of the lifting seat is greater than K1, the electric lifting mechanism stops working. At this time, the actual displacement K of the lifting seat is measured. 实际 and with K 设1 Compare K0 and K1: If K 实际 If K0 < K0, the lifting seat is controlled to return to the initial position B0, and the control system reports an error, indicating that the height of the mold unit is greater than the specified height range; If K0 < K 实际 <K1 and K 设1 ≠K 实际 If the system fails to return the lifting seat to the initial position B0, the control system will report an error and prompt the user to re-enter the correct H1 and H2. If K 实际 =K 设1 If the electric lifting mechanism is locked, the next instruction will be executed. If P 实际 =0, and K 实际 If K1 is reached, the lifting seat is controlled to return to the initial position B0. At the same time, the control system reports an error, indicating that the height of the mold unit is less than the specified height range. S414. After receiving the instruction to execute the next step, the control system issues an instruction to the electric drive mechanism to drive the moving template to continue to descend, the descent distance being the mold closing stage stroke M1, maintaining torque, and then correcting the clamping force.

7. The control method according to claim 2, characterized in that, In step S414, the clamping force is corrected as follows: The control system reads the strain values ​​of the strain gauges on each link of the toggle linkage mechanism, which are converted into mold-closing force values. If the values ​​of the mold-closing forces are not equal, the control system controls the moving mold plate to return to the initial position M0; if the values ​​of the mold-closing forces are equal, the control system continues to work with R. 预设 Comparison: If R 预设 =The sum of all clamping force values ​​is considered to meet the clamping force requirement, the electric drive mechanism is locked, and the clamping force correction is completed; If R 预设 The sum of all clamping force values ​​indicates that the actual clamping force is less than R. 预设 Then, control the electric drive mechanism to increase the torque until the sum of the clamping forces equals R. 预设 The electric drive mechanism is locked, and the clamping force correction is completed; If R 预设 The sum of all clamping force values ​​indicates the actual clamping force > R. 预设 Then, control the electric drive mechanism to reduce the torque until the sum of the clamping forces equals R. 预设 The electric drive mechanism is locked, and the clamping force correction is completed.

8. The control method according to claim 1, characterized in that, In step S4, if the ultra-large clamping force method is selected, the following steps are performed: S421. The control system determines the lifting stroke K. 设2 Whether the moving stroke range K0-K1 of the lifting seat of the lifting device is within the range of K0-K1, if K 设2 If K0-K1 is outside of K0-K1, the control system issues an alarm; if K 设2 Within K0-K1, the control system issues a command to the electric lifting mechanism to drive the lifting seat to move to the initial lifting position B0, which corresponds to the highest position that the lifting seat can rise to. S422. After confirming the settings on the control system, the control system controls the toggle mold clamping device to enter the idle stroke stage, and the moving platen descends until the idle stroke descent distance M is completed. 空 Or the pressure value P displayed by the first pressure sensor 实际 When P > 0, the toggle locking device stops operating; at this time, if P 实际 =0, then the system proceeds to the next step; if P = 0, then the system proceeds to the next step; 实际 If the value is greater than 0, the control system will report an error, indicating that the height of the mold unit exceeds the allowable range; S423. The control system issues a command to the electric lifting mechanism to drive the lifting platform to move downwards until the descent distance K is completed. 设2 Or, when the travel distance of the lifting seat is greater than K1, the electric lifting mechanism stops working. At this time, the actual displacement K of the lifting seat is measured. 实际 and with K 设2 Compare K0 and K1: If K 实际 If K0 < K0, the lifting seat is controlled to return to the initial position B0, and the control system reports an error, indicating that the height of the mold unit is greater than the specified height range; If K0 < K 实际 <K1 and K 设2 ≠K 实际 If the system fails to return the lifting seat to the initial position B0, the control system will report an error and prompt the user to re-enter the correct H1 and H2. If K 实际 =K 设2 If so, the electric lifting mechanism is locked, and the next instruction is executed. If P 实际 =0, and K 实际 If K1 is reached, the lifting seat is controlled to return to the initial position B0. At the same time, the control system reports an error, indicating that the height of the mold unit is less than the specified height range. S424. After receiving the instruction to execute the next step, the control system issues an instruction to the electric drive mechanism to drive the moving template to continue to descend. The descent distance is the mold closing stage stroke M2. The torque is maintained, the toggle linkage mechanism completes self-locking, and then the mold clamping force is corrected.

9. The control method according to claim 8, characterized in that, In step S424, the clamping force is corrected as follows: The control system reads the strain values ​​of the strain gauges on each link of the toggle linkage mechanism, which are converted into mold-closing force values. If the values ​​of the mold-closing forces are not equal, the control system controls the moving mold plate to return to the initial position M0; if the values ​​of the mold-closing forces are equal, the control system continues to work with R. 预设 Comparison: If R 预设 =The sum of all clamping force values ​​is considered to meet the clamping force requirement, the electric drive mechanism is locked, and the clamping force correction is completed; If R 预设 The sum of all clamping force values ​​indicates that the actual clamping force is less than R. 预设 Then, control the moving template to move to the initial position M0, and at the same time, increase the stroke K of the lifting mechanism. 设2 Then return to step S421 to continue execution, recalibrate the clamping force until the clamping force calibration is completed; If R 预设 The sum of all clamping force values ​​indicates the actual clamping force > R. 预设 Then, control the moving template to move to the initial position M0, and at the same time, reduce the stroke K of the lifting mechanism. 设2 Return to step S421 to continue execution, recalibrate the clamping force until the clamping force calibration is completed.

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