Single-drive-controlled multi-axis driving apparatus and control method thereof

Abstract

The invention provides single-drive-controlled multi-axis driving equipment and a control method thereof. The single-drive-controlled multi-axis driving equipment comprises a control unit, an encoder and a plurality of driving motors. The control unit is electrically connected to the plurality of driving motors to control the plurality of driving motors to act, the encoder is provided with a plurality of data interfaces, and each data interface in the plurality of data interfaces is electrically connected to a corresponding driving motor in the plurality of driving motors to collect current operation information of each driving motor; the output end of the encoder is electrically connected to the control unit so that the collected current operation information can be fed back to the control unit, and the control unit can control operation of the multiple driving motors according to the current operation information. The problems that in the prior art, the injection molding production cost is high, and the production efficiency is low are solved.

Description

Technical Field

[0001] The invention relates to electronic control equipment for injection molding production, in particular to a multi-axis drive equipment with single drive control and a control method thereof. Background Art

[0002] The servo system of the injection molding machine transforms the drive system of the injection molding machine into a servo system through electronic control technology, and controls the mechanical movement through the servo motor to achieve precise control of the injection molding process. The servo motor consists of two main components: the drive and the motor. Among them, the drive is a key component that converts electrical signals into power signals and controls the motor. The motor is a device that converts electrical energy into mechanical energy. The magnetic field is generated in the conductor through electric current, which enables the motor to thread the rope torque and realize rotation.

[0003] Injection molding machines in the prior art usually use one drive to drive one motor, that is, each motor is configured with a corresponding drive. However, in the actual production process, due to the production process of the injection molding process, not all motors need to operate at the same time, which will cause configuration redundancy of the drive (or can be understood as the driver), high configuration cost and high power consumption.

[0004] It can be seen that the existing technology has the problems of high injection molding production cost and low production efficiency. Summary of the invention

[0005] The present invention provides a single-drive-controlled multi-axis drive device and a control method thereof, which solves the problems of high injection molding production cost and low production efficiency in the prior art.

[0006] The present invention provides a multi-axis driving device with single drive control, comprising a control unit, an encoder and a plurality of driving motors;

[0007] The control unit is electrically connected to multiple drive motors to control the actions of the multiple drive motors. The encoder has multiple data interfaces, and each of the multiple data interfaces is electrically connected to a corresponding one of the multiple drive motors to collect current operating information of each drive motor. The output end of the encoder is electrically connected to the control unit to feed back the collected current operating information to the control unit, so that the control unit controls the operation of the multiple drive motors according to the current operating information.

[0008] The present invention sets multiple data interfaces on the encoder, and each data interface is correspondingly connected to multiple drive motors. The operating information of multiple drive motors can be transmitted to the control unit through a single encoder, thereby reducing the number of control units and encoders set, and reducing production costs and production power consumption.

[0009] Optionally, the encoder further includes an encoding control unit, a transcoding unit, and a storage unit;

[0010] The encoding control unit is electrically connected to multiple data interfaces to receive the current operating information of each drive motor. The storage unit is electrically connected to the transcoding unit to receive and store the current operating information processed by the transcoding unit. The storage unit is also electrically connected to the encoding control unit to receive and store the current operating information.

[0011] Optionally, the output end of the transcoding unit is connected to the control unit to control the operation of multiple drive motors according to the processed current operation information.

[0012] Optionally, the encoder further includes a power supply, which is connected to the encoding control unit, the transcoding unit and the storage unit for power supply.

[0013] Optionally, the multi-axis drive device with single drive control also includes a host computer, which is electrically connected to the control unit.

[0014] Optionally, several data interfaces are M12 straight male cable connectors.

[0015] Optionally, the multiple drive motors are respectively connected to multiple output shafts of the injection molding machine, and the multiple output shafts include a plasticizing output shaft, a mold closing output shaft, an injection output shaft and an ejection output shaft.

[0016] The present invention further provides a single-drive multi-axis control method, using the multi-axis drive device controlled by a single drive involved in the above embodiments and possible implementations, the control method includes:

[0017] receiving target operation information of the plurality of drive motors, wherein the target operation information includes target speed information and target torque information of at least some of the plurality of drive motors;

[0018] Receive current operation information of multiple drive motors collected by encoders; wherein the current operation information includes current speed information and current torque information of each drive motor;

[0019] The operation of multiple drive motors is controlled according to the target operation information and the current operation information.

[0020] Optionally, target operation information of the plurality of drive motors is pre-calibrated according to a control sequence of the injection molding machine.

[0021] Optionally, controlling the operation of multiple drive motors according to the target operation information and the current operation information includes:

[0022] Determine whether the current operation information of each drive motor is consistent with the target operation information;

[0023] If the judgment result is no, then: the corresponding driving motor is controlled to change the operating state until the current operating information of the driving motor is consistent with the target operating information.

[0024] The single-drive multi-axis control method of the present invention can send the operating information of each drive motor to the control unit in real time through a single encoder, so that the control unit can call the specified drive motor to act with specified parameters according to the current working conditions. This not only avoids the redundancy of the encoder and the control unit and reduces the equipment configuration cost, but also can adjust the output of the drive motor in real time according to the actual working conditions to achieve maximum efficiency and optimal process parameters, thereby significantly improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the structure of a multi-axis drive device controlled by a single drive according to an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the structure of an encoder in a multi-axis drive device controlled by a single drive according to an embodiment of the present invention;

[0027] Figure 3 The flow structure diagram of the single-drive multi-axis control method according to the embodiment of the present invention is as follows: Figure 1 ;

[0028] Figure 4 The flow structure diagram of the single-drive multi-axis control method according to the embodiment of the present invention is as follows: Figure 2 .

[0029] Description of reference numerals:

[0030] 1: Multi-axis drive equipment controlled by a single drive;

[0031] 11: control unit; 111: data processing unit; 112: drive unit;

[0032] 12: encoder; 121: data interface; 122: encoding control unit; 123: transcoding unit; 124: storage unit; 125: power supply;

[0033] 13: Host computer;

[0034] 14: Current transformer;

[0035] M1: drive motor; M2: drive motor; M3: drive motor; M4: drive motor; M5: drive motor. DETAILED DESCRIPTION

[0036] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0037] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0038] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0039] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0040] In the description of this embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0041] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0042] The present invention provides a multi-axis drive device 1 with single drive control, see Figure 1 , including a control unit 11, an encoder 12 and a plurality of drive motors (eg Figure 1 The drive store M1 ~ drive motor M5 shown).

[0043] The control unit 11 is electrically connected to a plurality of drive motors (eg Figure 1 The encoder 12 includes a plurality of drive motors M1 to M5, to control the movement of the plurality of drive motors. The encoder 12 includes a plurality of data interfaces 121, each of the plurality of data interfaces 121 is electrically connected to a corresponding one of the plurality of drive motors, to collect current operation information of each drive motor. The output end of the encoder 12 is electrically connected to the control unit 11, to feed back the collected current operation information to the control unit 11, so that the control unit 11 controls the plurality of drive motors (for example, Figure 1 The operation of the drive store M1 ~ drive motor M5) shown.

[0044] The current operation information includes, for example, the speed, torque, voltage, current, power consumption, temperature, etc. of the drive motor.

[0045] The number of the multiple data interfaces 121 is not limited and can be set according to actual production needs. In one implementation, Figure 1 As shown, the number of data interfaces 121 is 6.

[0046] The present invention sets multiple data interfaces 121 on the encoder 12, and each data interface 121 is correspondingly connected to multiple drive motors. The operating information of multiple drive motors can be transmitted to the control unit 11 through a single encoder, thereby reducing the number of control units 11 and encoders 12. Compared with the traditional solution in which each drive motor is configured with a separate control unit and a separate encoder, the present invention reduces production costs and production power consumption.

[0047] In one embodiment, multiple drive motors are respectively connected to multiple output shafts of the injection molding machine, and the multiple output shafts include a plasticizing output shaft, a mold clamping output shaft, an injection output shaft, and an ejection output shaft. Furthermore, the actions of each shaft can be reasonably allocated according to the injection molding process to achieve the timed output of the four shafts of the injection molding machine or the simultaneous output of different shafts with maximum efficiency.

[0048] In one embodiment, if Figure 1 As shown, the control unit 11 includes a data processing unit 111 and a driving unit 112. The data processing unit 111 is electrically connected to the output end of the encoder 12 and the input end of the driving unit 112. The data processing unit 111 is used to receive the current operation information collected by the encoder 12, and process the current operation information to form an operation plan and send it to the driving unit 112. The driving unit 112 is connected to multiple driving motors and is used to receive the operation plan sent by the data processing unit 111 to control the actions of the multiple driving motors.

[0049] In a further embodiment, the drive unit 112 includes capacitors, inductors, insulated-gate bipolar transistors (IGBT), thyristors, etc., which are used to output the voltage, current, frequency, etc. required to control the drive motor. In one embodiment, the operating current of the drive motor can be collected by setting a current transformer 14, and the energy consumption of each process can be output in combination with the process parameters and process data.

[0050] In one embodiment, the multi-axis drive device 1 controlled by a single drive further includes a host computer 13, which is electrically connected to the control unit 11. The host computer 13 can be connected to the control unit 11 via a communication interface, and supports communication methods such as EterCAT, Modbus, and RS485 / 232.

[0051] In one embodiment, the plurality of data interfaces are M12 pin straight cable connectors. The data interface is circular and has good anti-interference capability. In other alternative embodiments, other models may also be used.

[0052] In one embodiment, if Figure 2 As shown, the encoder 12 further includes an encoding control unit 122 , a transcoding unit 123 , and a storage unit 124 .

[0053] The encoding control unit 122 is electrically connected to the plurality of data interfaces 121 to receive the data of each drive motor (eg Figure 1 The storage unit 124 is electrically connected to the transcoding unit 123 to receive and store the current operating information processed by the transcoding unit 123, and the storage unit is also electrically connected to the encoding control unit 122 to receive and store the current operating information, such as the real-time data and historical data of the driving motor operation.

[0054] In one embodiment, if Figure 2 As shown, the output end of the transcoding unit 123 is connected to the control unit 11 to control multiple drive motors (eg Figure 1 The driving motor M1 to the driving motor M5 are shown to operate. In an exemplary embodiment, the output end of the transcoding unit 123 is connected to the data processing unit 111 of the control unit, and the collected data is transmitted to the data processing unit 111 for analysis and processing.

[0055] Those skilled in the art will appreciate that the transcoding unit 123 can convert encoder identifications of different models and manufacturers into a format readable by the control unit 11 .

[0056] In one embodiment, the control unit 11 identifies the correspondence between the encoder 12 and the drive motor through the hardware interface of the encoder 12, and stores the correspondence in the storage unit 124. Such a design avoids the problem of multiple data being unsupported or unable to be identified after being connected. In a further embodiment, a detection circuit is set inside the control unit 11 to detect the loop resistance of the drive motor and then determine whether the drive motor is connected, so as to avoid data processing errors and failures due to the failure to connect the encoder data.

[0057] In one embodiment, if Figure 2 As shown, the encoder 12 also includes a power supply 125, which is connected to the encoding control unit 122, the transcoding unit 123 and the storage unit 124 for power supply. In one example, the power supply 125 is a button battery, and in other examples, the power supply 125 can also be an AC power supply to directly power each unit.

[0058] The present invention also provides a single-drive multi-axis control method, using the multi-axis drive device 1 involved in the above-mentioned embodiments and possible implementation methods, see Figure 3 and Figure 4 , control methods include:

[0059] Step S1: receiving target operation information of a plurality of drive motors, wherein the target operation information includes target speed information and target torque information of at least some of the drive motors;

[0060] Step S2: receiving current operation information of multiple drive motors collected by encoders; wherein the current operation information includes current speed information and current torque information of each drive motor;

[0061] Step S3: Controlling the operation of multiple drive motors according to the target operation information and the current operation information.

[0062] The single-drive multi-axis control method of the present invention can send the operating information of each drive motor to the control unit in real time through a single encoder, so that the control unit can call the specified drive motor to act with specified parameters according to the current working conditions. This not only avoids the redundancy of the encoder and the control unit and reduces the equipment configuration cost, but also can adjust the output of the drive motor in real time according to the actual working conditions to achieve maximum efficiency and optimal process parameters, thereby significantly improving production efficiency.

[0063] Furthermore, step S3 specifically includes:

[0064] Step S31: determining whether the current operation information of each drive motor is consistent with the target operation information;

[0065] If the judgment result is no, that is, the current operation information of each drive motor is inconsistent with the target operation information, step S32 is executed: the corresponding drive motor is controlled to change the operation state until the current operation information of the drive motor is consistent with the target operation information. If the judgment result is yes, the next process operation can be executed.

[0066] The target operation information of the multiple drive motors is pre-calibrated according to the control timing of the injection molding machine. In an exemplary embodiment, the target operation information may also include the timing information of the plasticizing process, the mold closing process, the injection molding process, and the ejection process, and may further include the specific power consumption information, speed information, and torque information of the drive motors required in each process.

[0067] It can be seen that the embodiment of the present invention can not only accept the control timing of the injection molding machine by communicating with the host computer, but also self-learn during operation, that is, adjust the process parameters according to the real-time data of each drive motor, and adjust the output in real time to achieve maximum efficiency and optimal process parameters.

[0068] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A multi-axis drive device controlled by a single drive, characterized in that: It includes a control unit, an encoder and a plurality of drive motors; The control unit is electrically connected to the multiple drive motors to control the actions of the multiple drive motors. The encoder has multiple data interfaces, and each of the multiple data interfaces is electrically connected to a corresponding one of the multiple drive motors to collect current operating information of each drive motor. The output end of the encoder is electrically connected to the control unit to feed back the collected current operating information to the control unit, so that the control unit controls the operation of the multiple drive motors according to the current operating information.

2. The multi-axis drive device controlled by a single drive according to claim 1, characterized in that: The encoder also includes an encoding control unit, a transcoding unit, and a storage unit; The encoding control unit is electrically connected to the multiple data interfaces to receive the current operating information of each drive motor, the storage unit is electrically connected to the transcoding unit to receive and store the current operating information processed by the transcoding unit, and the storage unit is also electrically connected to the encoding control unit to receive and store the current operating information.

3. The multi-axis drive device controlled by a single drive according to claim 2, characterized in that: The output end of the transcoding unit is connected to the control unit to control the operation of the multiple driving motors according to the processed current operation information.

4. The multi-axis drive device controlled by a single drive according to claim 3, characterized in that: The encoder further includes a power supply, which is connected to the encoding control unit, the transcoding unit and the storage unit to supply power.

5. The multi-axis drive device controlled by a single drive according to claim 2, characterized in that: It also includes a host computer, which is electrically connected to the control unit.

6. The multi-axis drive device controlled by a single drive according to claim 1, characterized in that: The multiple data interfaces are M12 pin-type straight cable connectors.

7. The multi-axis drive device controlled by a single drive according to claim 1, characterized in that: The plurality of driving motors are respectively connected to a plurality of output shafts of the injection molding machine, and the plurality of output shafts include a plasticizing output shaft, a mold clamping output shaft, an injection output shaft and an ejection output shaft.

8. A single-drive multi-axis control method, applied to an injection molding machine, characterized in that: The multi-axis drive device with single drive control according to any one of claims 1 to 7 is adopted, and the control method comprises: receiving target operation information of a plurality of drive motors, wherein the target operation information includes target speed information and target torque information of at least some of the drive motors; Receiving current operation information of the plurality of drive motors collected by the encoder; wherein the current operation information includes current speed information and current torque information of each drive motor; The plurality of driving motors are controlled to operate according to the target operation information and the current operation information.

9. The single-drive multi-axis control method according to claim 8, characterized in that: The target operation information of the plurality of driving motors is pre-calibrated according to the control sequence of the injection molding machine.

10. The single-drive multi-axis control method according to claim 8, characterized in that: Controlling the operation of the plurality of drive motors according to the target operation information and the current operation information includes: Determining whether the current operation information of each drive motor is consistent with the target operation information; If the judgment result is no, then: the corresponding driving motor is controlled to change the operating state until the current operating information of the driving motor is consistent with the target operating information.

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