INJECTION MOLDING MACHINE AND CONTROL SYSTEM

Abstract

Injection molding machine (1), comprising: a mold closing / clamping unit (100) that closes / clamps a mold unit (10); an injection unit (300) that fills the mold unit (10) closed / clamped by the mold closing / clamping unit (100) with a molding material; an ejector unit (200) which ejects a molded product from the molding unit (10) after the molding material filled from the injection unit (300) is cooled and solidified; and a control device (700) which issues an interrupt request at each predetermined cycle and executes the control processing relating to an operation of the injection molding machine (1) in response to the interrupt request, wherein the control device (700) issues the interrupt request before generation of a trigger serving as a reference for starting the control processing, and starts the control processing after generation of the trigger.

Description

Technical field

[0001] The present disclosure relates to an injection molding machine and the like. State of the art

[0002] For example, in an industrial machine such as an injection molding machine, various types of data, such as data output from various sensors, are used to perform control processing related to an operation at every predetermined control cycle (see JP 2006 - 73027 A). EP 3 895 830 A1 discloses an injection molding machine, an injection molding system, and a control device. JP 2010-000 717 A discloses an injection molding machine management device and an injection molding machine management method. JP H11-105 092 A discloses a method for switching a multi-stage controller. US 5 493 503 A discloses a clamping control for an injection molding machine. Summary of the inventionTechnical problem

[0003] In a control device (controller) of the industrial machine, an interrupt request is issued every predetermined control cycle, and control processing related to the operation of the industrial machine is executed in response to the interrupt request.

[0004] However, there is a possibility that the time required for interrupt processing may vary depending on the overhead of interrupt processing, the status of a cache hit during interrupt processing, or the like. For example, if the required time is relatively long, the start timing of control processing based on the completion of preparation of the data necessary for control processing may be relatively delayed, and this may affect the real-time property of control processing.

[0005] Therefore, in view of the above problems, an object is to provide a technique capable of more appropriately realizing a real-time characteristic of control processing with respect to an operation of an industrial machine such as an injection molding machine. Solution to the problem

[0006] According to an embodiment of the present disclosure, in order to achieve the above-described object, there is provided an injection molding machine comprising: a mold closing / clamping unit that closes / clamps a mold unit; an injection unit that fills the mold unit closed / clamped by the mold closing / clamping unit with a molding material; an ejector unit that ejects a molded product from the molding unit after the molding material filled from the injection unit is cooled and solidified; and a control device that issues an interrupt request at every predetermined cycle and executes control processing related to an operation of the injection molding machine in response to the interrupt request, wherein the control device issues the interrupt request before generation of a trigger serving as a reference for starting the control processing, and starts the control processing after generation of the trigger.

[0007] There is further provided, according to another embodiment of the present disclosure, a controller comprising: an interrupt request issuing unit that issues an interrupt request every predetermined cycle; and a control processing unit that executes control processing related to an operation of an industrial machine in response to the interrupt request, wherein the interrupt request issuing unit issues the interrupt request before generating a trigger which is a reference for starting the control processing, and the control processing unit starts the control processing after the trigger is generated. Advantageous effects of the invention

[0008] According to the embodiments described above, in an industrial machine such as an injection molding machine, a real-time characteristic of control processing with respect to an operation thereof can be more appropriately realized. Brief description of the drawings Fig. 1 is a diagram showing an example of a configuration of an injection molding machine management system including an injection molding machine. Fig. 2 is a diagram showing an example of the configuration of the injection molding machine management system including the injection molding machine. Fig. 3 is a diagram showing an example of a hardware configuration of a control system of the injection molding machine. Fig. 4 is a block diagram showing an example of a functional configuration of a controller. Fig. 5 is a timing chart showing an example of operation of the controller. Fig. 6 is a flowchart schematically showing an example of setting processing related to an interrupt request. Fig. 7 is a diagram showing an example of a setting screen displayed on a display device. Fig. 8 is a timing chart showing an operation of a controller of an injection molding machine according to a comparative example. Description of embodiments

[0009] Embodiments will be described below with reference to the drawings. [Overview of Injection Molding Machine Management System]

[0010] First, an overview of an injection molding machine management system SYS according to the present embodiment will be described with reference to Fig. 1 and Fig. 2 described.

[0011] Fig. 1 and Fig. 2 are views showing an example of the injection molding machine management system according to the present embodiment. Fig. 1 is a side sectional view showing a state in which mold opening is completed in an injection molding machine 1, and Fig. 2 is a side sectional view showing a state in which mold closing / clamping is performed in the injection molding machine 1. Below, as shown in Fig. 1 and Fig. 2, an X-axis, a Y-axis, and a Z-axis are perpendicular to each other, and a positive and a negative direction of the X-axis (hereinafter simply "X-direction") and a positive and a negative direction of the Y-axis (hereinafter simply "Y-direction") represent a horizontal direction, and a positive and a negative direction of the Z-axis (hereinafter simply "Z-direction") represent a vertical direction.

[0012] The injection molding machine management system SYS contains several (in this example three) injection molding machines 1 and a management device 2.

[0013] In addition, the number of injection molding machines 1 included in the injection molding machine management system SYS can be one. <Spritzgießmaschine>

[0014] The injection molding machine 1 (an example of an industrial machine) performs a series of operations to obtain a molded product.

[0015] Furthermore, the injection molding machine 1 is communicatively connected to the management device 2 via a predetermined communication line NW. Furthermore, the injection molding machine 1 can be communicatively connected to another injection molding machine 1 via the communication line NW.

[0016] The communication line NW may, for example, be a one-to-one communication line. Furthermore, the communication line NW may include a local area network (LAN) of a facility (factory) in which the injection molding machine 1 is installed. The local area network may be wired, wireless, or a combination of both. Furthermore, the communication line NW may include a wide area network (WAN) outside the facility (factory) in which the injection molding machine 1 is installed. The wide area network may, for example, include a mobile communication network having a base station as a terminal. For example, the mobile communication network may be fourth-generation (4G) technology including Long Term Evolution (LTE) or fifth-generation (5G) technology.The wide area network may include, for example, a satellite communications network using a communications satellite. The wide area network may include, for example, an Internet network. The communication line NW may include, for example, a short-range communication line conforming to a wireless communication standard, such as Bluetooth (registered trademark) communication or Wi-Fi communication.

[0017] For example, the injection molding machine 1 transmits (uploads) data related to an operating state (hereinafter, "operating state data") or data related to a production status (hereinafter, "production status data") of the injection molding machine 1 to the management device 2 via the communication line NW. For example, the data related to the operating state may include measurement data or control data related to an operating state (e.g., position, speed, angular velocity, and acceleration) of a driven unit of the injection molding machine 1. For example, the data related to the operating state may include measurement data or control data related to an operating state (e.g., current and voltage) of an electric drive unit of the injection molding machine 1.For example, the data related to the operating state may include measurement data or control data related to an operating state (e.g., a pressure of hydraulic oil) of a hydraulic drive unit. For example, the data related to the operating state may include data related to a temperature state of a predetermined portion of the injection molding machine 1. Accordingly, the management device 2 can automatically or manually identify the operating state according to an input from a manager or a worker, and manage a maintenance timing of the injection molding machine 1, an operation schedule of the injection molding machine 1, and the like. For example, the data related to the production status includes data related to the number of produced molded products (number of shots) from a predetermined time point.Accordingly, the management device 2 can identify the production status of the molded products by means of the injection molding machine 1.

[0018] For example, the injection molding machine 1 serving as a master machine may monitor or control an operation of another injection molding machine 1 serving as a slave machine via the communication line NW. Specifically, the injection molding machine 1 (slave machine) may transmit the operation state data to the injection molding machine 1 (master machine) via the communication line NW. Accordingly, the injection molding machine 1 (master machine) may monitor the operation of the other injection molding machine 1 (slave machine). Alternatively, the injection molding machine 1 (master machine) may transmit a control command related to an operation to the other injection molding machine 1 (slave machine) via the communication line NW while identifying the operation state of the other injection molding machine 1 (slave machine) based on the operation state data.Accordingly, the injection molding machine 1 (main machine) can control the operation of the other injection molding machine 1 (sub-machine). <verwaltungsvorrichtung>

[0019] The management device 2 is communicatively connected to the injection molding machine 1 via the communication line NW and manages an operating state, a management state, or the like of the injection molding machine 1. For example, the management device 2 can automatically manage the operating state, the management state, and the like of the injection molding machine 1 according to a predetermined rule or autonomously. For example, the management device 2 can manage the operating state, the management state, and the like of the injection molding machine 1 in response to various inputs received from a user of the injection molding machine 1, such as a manager or a worker. That is, the management device 2 can support the management of the operating state, the management state, and the like of the injection molding machine 1 by means of the user of the injection molding machine 1, such as a manager or a worker.

[0020] A function of the management device 2 is realized by any hardware or any combination of hardware and software. For example, the management device 2 is an information processing device including a central processing unit (CPU), a storage device such as random-access memory (RAM), a non-volatile auxiliary storage device such as read-only memory (ROM), an input / output interface device for connecting to the outside, and the like. Furthermore, the management device 2 can realize various functions by loading a program installed in the auxiliary storage device into the storage device and executing the program on the CPU.For example, the management device 2 can acquire a program installed in the auxiliary storage device from a predetermined recording medium via the interface device. Examples of the predetermined recording medium include a floppy disk, a compact disc (CD), a digital versatile disc (DVD), a Blu-ray (registered trademark) disc (BD), an SD memory card, and a universal serial bus (USB) memory. For example, the management device 2 can acquire (download) a program installed in the auxiliary storage device from an external computer via the interface device.

[0021] For example, the management device 2 is a cloud server or a local server installed at a remote location, such as a management center outside the factory site where the injection molding machine 1 is installed. For example, the management device 2 may be an edge server installed within the factory site where the injection molding machine 1 is installed or at a location relatively close to the factory site (for example, a radio base station or a station building near the factory site). Alternatively, the management device 2 may be a terminal device (user terminal) used by the user of the injection molding machine 1, such as a manager or a worker.The user terminal may be a terminal for management in the factory where the injection molding machine 1 is installed, or a terminal (user terminal) used by the user of the injection molding machine 1. For example, the terminal for management or the user terminal may be a stationary terminal, such as a desktop personal computer (PC). For example, the terminal for management or the user terminal may be a portable terminal that can be carried by the user of the injection molding machine 1, such as an administrator or a worker. Examples of the portable terminal may include a smartphone, a tablet terminal, and a laptop PC.

[0022] For example, the management device 2 can identify the operating state of the injection molding machine 1 and manage the operating state of the injection molding machine 1 based on the operating state data transmitted (uploaded) from the injection molding machine 1. Furthermore, the management device 2 can perform various diagnoses, such as abnormality diagnosis of the injection molding machine 1, based on the operating state of the injection molding machine 1 identified based on the operating state data.

[0023] For example, the management device 2 can manage the production status of the injection molding machine 1 based on the production status data transmitted (uploaded) from the injection molding machine 1.

[0024] For example, the management device 2 may transmit a control signal containing control information (e.g., information related to various setting conditions) about the injection molding machine 1 via the communication line NW. Accordingly, the management device 2 may control the operation of the injection molding machine 1. [Injection molding machine configuration]

[0025] Next, a configuration of the injection molding machine will be described with reference to Fig. 1 and Fig. 2 described.

[0026] As in Fig. 1 and Fig. 2, the injection molding machine 1 includes a mold closing / clamping unit 100, an ejector unit 200, an injection unit 300, a moving unit 400, and a controller 700. <<Formschließ- / klemmeinheit> >

[0027] The mold closing / clamping unit 100 performs mold closing, mold closing / clamping, and mold opening of the mold unit 10. For example, the mold closing / clamping unit 100 is of a horizontal type, and a mold opening and closing direction is a horizontal direction. The mold closing / clamping unit 100 includes a stationary platen 110, a movable platen 120, a toggle support 130, a column 140, a toggle mechanism 150, a mold closing / clamping motor 160, a motion conversion mechanism 170, and a mold space adjustment mechanism 180.

[0028] Hereinafter, when describing the mold closing / clamping unit 100, a moving direction of the movable platen 120 during mold closing (a rightward direction in Fig. 1 and Fig. 2) is defined as forward, and a direction of movement of the movable plate 120 during mold opening (a direction to the left in Fig. 1 and Fig. 2) is defined as backward.

[0029] The stationary platen 110 is fixed to a frame Fr. A stationary mold 11 is attached to a surface of the stationary platen 110 facing the movable platen 120.

[0030] The movable platen 120 is movable in the mold opening and closing direction with respect to the frame Fr. A guide 101 that guides the movable platen 120 is placed on the frame Fr. A movable mold 12 is attached to a surface of the movable platen 120 facing the stationary platen 110.

[0031] The movable platen 120 is caused to move back and forth with respect to the stationary platen 110 so that mold closing, mold closing / clamping, and mold opening are performed.

[0032] The molding unit 10 is configured to include the stationary mold 11 corresponding to the stationary platen 110 and the movable mold 12 corresponding to the movable platen 120.

[0033] The toggle bracket 130 is connected to the stationary platen 110 at a predetermined distance L and is placed on the frame Fr so as to be movable in the mold opening and closing direction. For example, the toggle bracket 130 may be movable along a guide laid on the frame Fr. In this case, a guide of the toggle bracket 130 may be common to the guide 101 of the movable platen 120.

[0034] The stationary platen 110 is fixed to the frame Fr, and the toggle bracket 130 is movable in the mold opening and closing direction relative to the frame Fr. However, the toggle bracket 130 may be fixed to the frame Fr, and the stationary platen 110 may be movable in the mold opening and closing direction relative to the frame Fr.

[0035] The column 140 connects the stationary platen 110 and the toggle beam 130 at a distance L in the mold opening and closing direction. A plurality of (for example, four) columns 140 may be used. The plurality of columns 140 are parallel to each other in the mold opening and closing direction and stretch in accordance with a mold closing / clamping force. At least one of the columns 140 is provided with a column strain detector 141 that measures a strain of the column 140. The column strain detector 141 is, for example, a strain gauge. The column strain detector 141 transmits a signal indicative of a measurement result thereof to the controller 700. For example, the measurement result of the column strain detector 141 is used in measuring the mold closing / clamping force.

[0036] Instead of or in addition to the column strain detector 141, any mold closing / clamping force detector that can be used to measure the mold closing / clamping force can be used. For example, the mold closing / clamping force detector is not limited to one type of strain gauge and may be a piezoelectric type, a capacitive type, a hydraulic type, or an electromagnetic type. Its mounting position is not limited to the column 140.

[0037] The toggle mechanism 150 is arranged between the movable platen 120 and the toggle beam 130 and moves the movable platen 120 with respect to the toggle beam 130 in the mold opening and closing direction. The toggle mechanism 150 is configured to include a crosshead 151 and a pair of link groups. Each of the link groups includes a first link 152 and a second link 153 connected so as to be freely flexed and extended by a pin or the like. The first link 152 is oscillatingly attached to the movable platen 120 by a pin or the like, and the second link 153 is oscillatingly attached to the toggle beam 130 by a pin or the like. The second link 153 is attached to the crosshead 151 via a third link 154.When the crosshead 151 is caused to move forward and backward with respect to the toggle bracket 130, the first link 152 and the second link 153 are flexed and extended, and the movable plate 120 moves forward and backward with respect to the toggle bracket 130.

[0038] The configuration of the toggle mechanism 150 is not limited to Fig. 1 and Fig. 2 shown configurations. In Fig. 1 and Fig. 2, the number of nodes in each link group is, for example, five, but may be four. An end portion of the third link 154 may be connected to the node between the first link 152 and the second link 153.

[0039] The mold closing / clamping motor 160 is mounted on the toggle beam 130 and actuates the toggle mechanism 150. The mold closing / clamping motor 160 causes the crosshead 151 to move back and forth with respect to the toggle beam 130, so that the first link 152 and the second link 153 flex and extend, and the movable platen 120 moves back and forth with respect to the toggle beam 130. The mold closing / clamping motor 160 is directly connected to the motion conversion mechanism 170, but may be connected to the motion conversion mechanism 170 via a belt, pulley, or the like.

[0040] The motion conversion mechanism 170 converts a rotary motion of the mold closing / clamping motor 160 into a linear motion of the crosshead 151. The motion conversion mechanism 170 includes a screw shaft 171 and a screw nut 172 screwed to the screw shaft 171. A ball or a roller may be interposed between the screw shaft 171 and the screw nut 172.

[0041] The mold closing / clamping unit 100 performs a mold closing process, a mold closing / clamping process, a mold opening process, and the like under the control of the controller 700.

[0042] In the mold clamping process, the mold clamping / clamping motor 160 is driven to cause the crosshead 151 to move forward at a set speed to a mold clamping completion position, thereby causing the movable platen 120 to move forward so that the movable mold 12 contacts the stationary mold 11. For example, a position or a speed of the crosshead 151 is measured using a mold clamping / clamping motor encoder 161. The mold clamping / clamping motor encoder 161 measures rotation of the mold clamping / clamping motor 160 and transmits a signal indicating a measurement result thereof to the controller 700.

[0043] A crosshead position detector for measuring the position of the crosshead 151 and a crosshead speed detector for measuring the speed of the crosshead 151 are not limited to the mold clamping / clamping motor encoder 161, and a general detector may be used. Furthermore, a movable platen position detector for measuring a position of the movable platen 120 and a movable platen speed detector for measuring a speed of the movable platen 120 are not limited to the mold clamping / clamping motor encoder 161, and a general detector may be used.

[0044] In the mold closing / clamping process, the mold closing / clamping motor 160 is further driven to cause the crosshead 151 to further advance from the mold closing completion position to a mold closing / clamping position, thereby generating a mold closing / clamping force. During mold closing / clamping, a cavity 14 is formed between the movable mold 12 and the stationary mold 11, and the injection unit 300 fills the cavity 14 with a liquid molding material. By solidifying the molding material filled therein, a molded product is obtained. The number of cavity 14 may be two or more. In this case, a plurality of the molded products can be obtained simultaneously.

[0045] In the mold opening process, the mold closing / clamping motor 160 is driven to cause the crosshead 151 to move backward at a set speed to a mold opening completion position, so that the movable platen 120 moves backward and the movable mold 12 is separated from the stationary mold 11. Thereafter, the ejector unit 200 ejects the molded product from the movable mold 12.

[0046] Setting conditions in the mold clamping process and the mold clamping / clamping process are collectively set as a series of setting conditions. For example, the speed or positions of the crosshead 151 (including a mold clamping start position, a speed switching position, the mold clamping completion position, and the mold clamping / clamping position) and the mold clamping / clamping force in the mold clamping process and the mold clamping / clamping process are collectively set as a series of setting conditions. The mold clamping start position, the speed switching position, the mold clamping completion position, and the mold clamping / clamping position are arranged in this order from a back side to a front side and constitute a start point and an end point of a section in which the speed is set. The speed is set for each section.The number of speed switching positions can be one or more. The speed switching position may not be set. Only one of the mold closing / clamping position and the mold closing / clamping force may be set.

[0047] In addition, setting conditions in the mold opening process are set in the same way. For example, the speed or position (including a mold opening start position, a speed switching position, and a mold opening completion position) of the crosshead 151 in the mold opening process are collectively set as a series of setting conditions. The mold opening start position, the speed switching position, and the mold opening completion position are arranged in this order from the front to the back and represent the start point and end point of the section in which the speed is set. The speed is set for each section. The number of speed switching positions may be one or more. The speed switching position may not be set. The mold opening start position and the mold closing / clamping position may be the same position.In addition, the mold opening completion position and the mold closing start position can be the same position.

[0048] Instead of the speed, positions, and the like of the crosshead 151, the speed, positions, and the like of the movable platen 120 may be set. Furthermore, instead of the position (for example, the mold closing / clamping position) of the crosshead or the position of the movable platen, the mold closing / clamping force may be set.

[0049] The toggle mechanism 150 amplifies a driving force of the mold closing / clamping motor 160 and transmits the driving force to the movable platen 120. One amplification magnification is referred to as a toggle magnification. The toggle magnification is changed according to an angle θ (hereinafter, "link angle θ") formed between the first link 152 and the second link 153. The link angle θ is obtained from the position of the crosshead 151. When the link angle θ is 180°, the toggle magnification is maximized.

[0050] In a case where a mold space of the mold unit 10 is changed due to replacement of the mold unit 10, a temperature change in the mold unit 10, or the like, mold space adjustment is performed so that a predetermined mold closing / clamping force is obtained during mold closing / clamping. For example, in the mold space adjustment, the distance L between the stationary platen 110 and the toggle bracket 130 is adjusted so that the link angle θ of the toggle mechanism 150 becomes a predetermined angle at a mold contact time at which the movable mold 12 contacts the stationary mold 11.

[0051] The mold closing / clamping unit 100 includes the mold space adjustment mechanism 180, which performs mold space adjustment by adjusting the distance L between the stationary platen 110 and the toggle bracket 130. The mold space adjustment mechanism 180 includes a screw shaft 181 formed in a rear end portion of the column 140, a screw nut 182 rotatably supported by the toggle bracket 130, and a mold space adjustment motor 183 that rotates the screw nut 182 screwed to the screw shaft 181.

[0052] The spindle shaft 181 and the spindle nut 182 are provided for each of the columns 140. Rotation of the mold space adjustment motor 183 can be transmitted to a plurality of the spindle nuts 182 via a rotation transmission unit 185. The plurality of spindle nuts 182 can be rotated synchronously with each other.

[0053] The plurality of spindle nuts 182 can be individually rotated by changing a transmission channel of the rotation transmission unit 185.

[0054] For example, the rotation transmission unit 185 is configured to include a gear. In this case, a driven gear is formed on an outer periphery of each spindle nut 182, a driving gear is attached to an output shaft of the mold space adjustment motor 183, and a plurality of intermediate gears meshing with the driven gear and the driving gear are rotatably supported in a central portion of the toggle bracket 130.

[0055] The rotation transmission unit 185 may be configured to include a belt, a pulley, or the like instead of the gear.

[0056] An operation of the mold space adjusting mechanism 180 is controlled by the controller 700. The controller 700 drives the mold space adjusting motor 183 to rotate the spindle nut 182, so that a position of the toggle bracket 130 that rotatably supports the spindle nut 182 with respect to the stationary platen 110 is adjusted and the distance L between the stationary platen 110 and the toggle bracket 130 is adjusted.

[0057] The distance L is measured using a mold space adjustment motor encoder 184. The mold space adjustment motor encoder 184 measures a rotation amount or rotation direction of the mold space adjustment motor 183 and transmits a signal indicating a measurement result thereof to the controller 700. The measurement result of the mold space adjustment motor encoder 184 is used in monitoring or controlling the position or distance L of the toggle bracket 130.

[0058] A toggle beam position detector for measuring the position of the toggle beam 130 and a distance detector for measuring the distance L are not limited to the mold space adjustment motor encoder 184, and a general detector may be used.

[0059] The mold space adjustment mechanism 180 adjusts the distance L by rotating one of the screw shaft 181 and the screw nut 182, which are screwed together. A plurality of the mold space adjustment mechanisms 180 may be used, or a plurality of the mold space adjustment motors 183 may be used.

[0060] The mold closing / clamping unit 100 of the present embodiment is of the horizontal type in which the mold opening and closing direction is the horizontal direction, but may be of a vertical type in which the mold opening and closing direction is an up-down direction.

[0061] The mold closing / clamping unit 100 of the present embodiment includes the mold closing / clamping motor 160 as a drive source. However, a hydraulic cylinder may be provided instead of the mold closing / clamping motor 160. Furthermore, the mold closing / clamping unit 100 may include a linear motor for mold opening and closing, and an electromagnet for mold closing / clamping. < <auswerfereinheit>>

[0062] The ejector unit 200 ejects a molded product from the molding unit 10 after the molding material injected into the molding unit 10 by the injection unit 300 has been cooled and solidified. The ejector unit 200 includes an ejector motor 210, a motion conversion mechanism 220, and an ejector rod 230.

[0063] Hereinafter, when describing the ejector unit 200, similarly to the description of the mold closing / clamping unit 100, a moving direction of the movable platen 120 during mold closing (the rightward direction in Fig. 1 and Fig. 2) is defined as forward, and a direction of movement of the movable plate 120 during mold opening (the direction to the left in Fig. 1 and Fig. 2) is defined as backward.

[0064] The ejector motor 210 is mounted on the movable platen 120. The ejector motor 210 is directly connected to the motion conversion mechanism 220, but may be connected to the motion conversion mechanism 220 via a belt, pulley, or the like.

[0065] The motion conversion mechanism 220 converts a rotary motion of the ejector motor 210 into a linear motion of the ejector rod 230. The motion conversion mechanism 220 includes a spindle shaft and a spindle nut screwed to the spindle shaft. A ball or roller may be inserted between the spindle shaft and the spindle nut.

[0066] The ejector rod 230 can move back and forth within a through hole of the movable platen 120. A front end portion of the ejector rod 230 contacts a movable member 15 arranged to move back and forth within the movable mold 12. The front end portion of the ejector rod 230 may or may not be connected to the movable member 15.

[0067] The ejector unit 200 performs an ejection process under the control of the controller 700.

[0068] In the ejection process, the ejector motor 210 is driven to cause the ejector rod 230 to move forward at a set speed from a standby position to an ejection position, so that the movable member 15 moves forward to eject the molded product. After that, the ejector motor 210 is driven to cause the ejector rod 230 to move backward at a set speed, so that the movable member 15 moves backward to an original standby position. For example, a position or a speed of the ejector rod 230 is measured using an ejector motor encoder 211. The ejector motor encoder 211 measures the rotation of the ejector motor 210 and transmits a signal indicating a measurement result thereof to the controller 700.

[0069] An ejector rod position detector for measuring the position of the ejector rod 230 and an ejector rod speed detector for measuring the speed of the ejector rod 230 are not limited to the ejector motor encoder 211, and a general detector may be used. < <einspritzeinheit>>

[0070] The injection unit 300 is mounted on a slide base 301 capable of moving forward and backward relative to the frame Fr, and thus capable of moving forward and backward relative to the molding unit 10. The injection unit 300 contacts the molding unit 10 and fills the cavity 14 in the molding unit 10 with the molding material. The injection unit 300 includes, for example, a cylinder 310, a nozzle 320, a screw 330, a plasticizing motor 340, an injection motor 350, and a pressure detector 360.

[0071] Hereinafter, when describing the injection unit 300, a direction in which the injection unit 300 is brought closer to the molding unit 10 (the leftward direction in Fig. 1 and Fig. 2), is defined as forward, and a direction in which the injection unit 300 is separated from the molding unit 10 (the rightward direction in Fig. 1 and Fig. 2), is defined as backward.

[0072] The cylinder 310 heats the molding material supplied from a supply port 311 into the cylinder 310. The molding material contains, for example, a resin. The molding material is formed, for example, in a pellet shape and is supplied to the supply port 311 in a solid state. The supply port 311 is formed in a rear portion of the cylinder 310. A cooler 312, such as a water-cooled cylinder, is provided on an outer periphery of the rear portion of the cylinder 310. A heating unit 313, such as a band heater, and a temperature measuring device 314 are provided in front of the cooler 312 on an outer periphery of the cylinder 310.

[0073] The cylinder 310 is in an axial direction (a left-right direction in Fig. 1 and Fig. 2) The cylinder 310 is divided into several zones. The heating unit 313 and the temperature measuring device 314 are provided in each of the zones. The controller 700 controls the heating unit 313 so that a measurement temperature of the temperature measuring device 314 reaches a set temperature in each of the zones.

[0074] The nozzle 320 is provided in a front end portion of the cylinder 310 and is pressed against the molding unit 10. The heating unit 313 and the temperature measuring device 314 are provided on an outer periphery of the nozzle 320. The controller 700 controls the heating unit 313 so that a measuring temperature of the nozzle 320 reaches a set temperature.

[0075] The screw 330 is arranged to rotate and move back and forth inside the cylinder 310. As the screw 330 rotates, the molding material is conveyed forward along a spiral groove of the screw 330. The molding material is gradually melted by heat from the cylinder 310 as it is conveyed forward. When the liquid molding material is conveyed to the front of the screw 330 and accumulated in a front portion of the cylinder 310, the screw 330 moves backward. Thereafter, when the screw 330 is caused to move forward, the liquid molding material accumulated in front of the screw 330 is injected from the nozzle 320 and fills an interior space of the molding unit 10.

[0076] As a backflow prevention valve for preventing backflow of the molding material fed backward from the front of the screw 330 when the screw 330 is pushed forward, a backflow prevention ring 331 is attached to a front portion of the screw 330 so as to be able to move forward and backward.

[0077] When the screw 330 is caused to move forward, the backflow prevention ring 331 is pushed backward by a pressure of the molding material in front of the screw 330 and moves backward relative to the screw 330 to a closing position (see Fig. 2), where a flow path of the molding material is closed. Accordingly, the molding material accumulated in front of the screw 330 is prevented from flowing backward.

[0078] On the other hand, when the screw 330 is rotated, the backflow prevention ring 331 is pushed forward by the pressure of the molding material fed forward along the spiral groove of the screw 330 and moves forward relative to the screw 330 to an opening position (see Fig. 1), where the flow path of the molding material is open. Accordingly, the molding material is conveyed to the front of the screw 330.

[0079] The backflow prevention ring 331 may be either a co-rotating type that rotates together with the screw 330 or a non-co-rotating type that does not rotate together with the screw 330.

[0080] The injection unit 300 may include a drive source that causes the backflow prevention ring 331 to move back and forth with respect to the screw 330 between the open position and the close position.

[0081] The plasticizing motor 340 rotates the screw 330. A drive source that rotates the screw 330 is not limited to the plasticizing motor 340 and may be, for example, a hydraulic pump.

[0082] The injection motor 350 causes the screw 330 to move back and forth. A motion conversion mechanism that converts a rotational motion of the injection motor 350 into a linear motion of the screw 330 or the like is provided between the injection motor 350 and the screw 330. The motion conversion mechanism includes, for example, a screw shaft and a screw nut screwed to the screw shaft. A ball or a roller may be provided between the screw shaft and the screw nut. The drive source that causes the screw 330 to move back and forth is not limited to the injection motor 350 and may be, for example, a hydraulic cylinder.

[0083] The pressure detector 360 measures a pressure transmitted between the injection motor 350 and the screw 330. The pressure detector 360 is provided in a power transmission channel between the injection motor 350 and the screw 330 and measures the pressure acting on the pressure detector 360.

[0084] The pressure detector 360 transmits a signal indicative of a measurement result thereof to the controller 700. The measurement result of the pressure detector 360 is used in controlling or monitoring the pressure received by the screw 330 from the molding material, a back pressure against the screw 330, the pressure acting from the screw 330 on the molding material, or the like.

[0085] The injection unit 300 performs a plasticizing process, a filling process, and a pressure holding process under the control of the controller 700.

[0086] During the plasticizing process, the plasticizing motor 340 is driven to rotate the screw 330 at a set speed, so that the molding material is conveyed forward along the spiral groove of the screw 330. As a result, the molding material is gradually melted. As the liquid molding material is conveyed to the front of the screw 330 and accumulated in a front portion of the cylinder 310, the screw 330 moves backward. The rotational speed of the screw 330 is measured, for example, using a plasticizing motor encoder 341. The plasticizing motor encoder 341 measures the rotation of the plasticizing motor 340 and transmits a signal indicating a measurement result thereof to the controller 700.

[0087] A screw speed detector for measuring the speed of the screw 330 is not limited to the plasticizing motor encoder 341, and a general detector can be used.

[0088] During the plasticizing process, the injection motor 350 can be driven to apply a set back pressure to the screw 330 to limit sudden backward movement of the screw 330. The back pressure applied to the screw 330 is measured, for example, using the pressure detector 360. The pressure detector 360 transmits a signal indicating a measurement result thereof to the controller 700. When the screw 330 moves backward to a plasticizing completion position and a predetermined amount of molding material is accumulated in front of the screw 330, the plasticizing process is completed.

[0089] In the filling process, the injection motor 350 is driven to cause the screw 330 to advance at a set speed, and the cavity space 14 within the molding unit 10 is filled with the liquid molding material accumulated in front of the screw 330. The position or speed of the screw 330 is measured, for example, by using an injection motor encoder 351. The injection motor encoder 351 measures the rotation of the injection motor 350 and transmits a signal indicating a measurement result thereof to the controller 700. When the position of the screw 330 reaches a set position, the filling process is switched to the pressure-holding process (so-called V / P switching). The position at which the V / P switching is performed is referred to as a V / P switching position.The set speed of the screw 330 can be changed depending on the position, a time or the like of the screw 330.

[0090] After the position of the screw 330 reaches the set position in the filling process, the screw 330 may be temporarily stopped at the set position, and then the V / P switching may be performed. Immediately before the V / P switching, instead of stopping the screw 330, the screw 330 may be caused to move forward at a low speed, or it may be caused to move backward at a low speed. Furthermore, a screw position detector for measuring the position of the screw 330 and a screw speed detector for measuring the speed of the screw 330 are not limited to the injection motor encoder 351, and a general detector may be used.

[0091] In the pressure holding process, the injection motor 350 is driven to push the screw 330 forward. A pressure (hereinafter also referred to as a "holding pressure") of the molding material in a front end portion of the screw 330 is maintained at a set pressure, and the molding material remaining within the cylinder 310 is pushed toward the molding unit 10. An insufficient amount of the molding material due to cooling shrinkage inside the molding unit 10 can be replenished. The holding pressure is measured, for example, by using the pressure detector 360. The pressure detector 360 transmits a signal indicating a measurement result thereof to the controller 700. A set value of the holding pressure can be changed depending on an elapsed time since the start of the pressure holding process, or the like.

[0092] During the pressure-holding process, the molding material in the cavity 14 within the molding unit 10 is gradually cooled. When the pressure-holding process is completed, an inlet of the cavity 14 is closed by the solidified molding material. This state is called gate sealing and prevents the backflow of the molding material from the cavity 14. After the pressure-holding process, a cooling process begins. During the cooling process, the molding material within the cavity 14 is solidified. To shorten a molding cycle time, the plasticizing process can be performed during the cooling process.

[0093] The injection unit 300 of the present embodiment is of an inline screw type, but may be of a pre-plasticizing type. The pre-plasticizing type injection unit supplies the molding material molten within a plasticizing cylinder to an injection cylinder, and the molding material is injected from the injection cylinder into the molding unit. Within the plasticizing cylinder, the screw is arranged to be rotatable or to be rotatable and capable of moving back and forth. A plunger is arranged to be capable of moving back and forth inside the injection cylinder.

[0094] Furthermore, the injection unit 300 of the present embodiment is of a horizontal type in which the axial direction of the cylinder 310 is a horizontal direction, but may be of a vertical type in which the axial direction of the cylinder 310 is an up-down direction. The mold closing / clamping unit combined with a vertical-type injection unit 300 may be of the vertical type or the horizontal type. Similarly, the mold closing / clamping unit combined with a horizontal-type injection unit 300 may be of the horizontal type or the vertical type. < <bewegungseinheit>>

[0095] The moving unit 400 causes the injection unit 300 to move back and forth with respect to the molding unit 10. The moving unit 400 presses the nozzle 320 against the molding unit 10, thereby generating a nozzle contact pressure. The moving unit 400 includes a hydraulic pump 410, a motor 420 serving as a drive source, a hydraulic cylinder 430 serving as a hydraulic actuator, and the like.

[0096] Hereinafter, when describing the moving unit 400, similarly to the description of the injection unit 300, a direction in which the injection unit 300 is brought closer to the molding unit 10 (the leftward direction in Fig. 1 and Fig. 2), is defined as forward, and a direction in which the injection unit 300 is separated from the molding unit 10 (the rightward direction in Fig. 1 and Fig. 2), is defined as backward.

[0097] Although the movement unit 400 in Fig. 1 and Fig. 2 is arranged on one side of the cylinder 310 of the injection unit 300, the moving unit 400 may be arranged on both sides of the cylinder 310 or may be arranged symmetrically with respect to the cylinder 310.

[0098] The hydraulic pump 410 has a first port 411 and a second port 412. The hydraulic pump 410 is a bidirectional pump that switches the rotational directions of the motor 420, so that a hydraulic fluid (e.g., oil) is sucked from the first port 411 or the second port 412 and discharged from the other to generate hydraulic pressure. Furthermore, the hydraulic pump 410 can suck the hydraulic fluid from a tank and discharge the hydraulic fluid from the first port 411 or the second port 412.

[0099] The motor 420 operates the hydraulic pump 410. The motor 420 drives the hydraulic pump 410 in a rotational direction and with a torque in accordance with a control signal transmitted from the controller 700. The motor 420 may be an electric motor or may be an electric servomotor.

[0100] The hydraulic cylinder 430 includes a cylinder body 431, a piston 432, and a piston rod 433. The cylinder body 431 is attached to the injection unit 300. The piston 432 divides an inside of the cylinder body 431 into a front chamber 435 serving as a first chamber and a rear chamber 436 serving as a second chamber. The piston rod 433 is attached to the stationary plate 110.

[0101] The front chamber 435 of the hydraulic cylinder 430 is connected to the first port 411 of the hydraulic pump 410 via a first flow path 401. The hydraulic fluid discharged from the first port 411 is supplied to the front chamber 435 via the first flow path 401, thereby pushing the injection unit 300 forward. The injection unit 300 moves forward, and the nozzle 320 is pressed against the stationary mold 11. The front chamber 435 functions as a pressure chamber that generates the nozzle contact pressure of the nozzle 320 using the pressure of the hydraulic fluid supplied from the hydraulic pump 410.

[0102] On the other hand, the rear chamber 436 of the hydraulic cylinder 430 is connected to the second port 412 of the hydraulic pump 410 via a second flow path 402. The hydraulic fluid discharged from the second port 412 is supplied to the rear chamber 436 of the hydraulic cylinder 430 via the second flow path 402, thereby pushing the injection unit 300 backward. The injection unit 300 moves backward, and the nozzle 320 is separated from the stationary mold 11.

[0103] The motion unit 400 is not limited to the configuration including the hydraulic cylinder 430. For example, instead of the hydraulic cylinder 430, an electric motor and a motion conversion mechanism that converts a rotational motion of the electric motor into a linear motion of the injection unit 300 may be used. < <steuerung>>

[0104] The controller 700 (an example of a control device) directly transmits a control signal to the mold closing / clamping unit 100, the ejector unit 200, the injection unit 300, the moving unit 400, and the like, and performs various types of control with respect to the injection molding machine 1.

[0105] The controller 700 can be implemented by any hardware or any combination of hardware and software. For example, the controller 700 is mainly configured as a computer including a CPU 701, a storage device 702, an auxiliary storage device 703, and an input / output interface device 704 for connecting to the outside. The controller 700 performs various types of control by loading a program installed in the auxiliary storage device 703 into the storage device 702 and causing the CPU 701 to execute the program. In addition, the controller 700 receives a signal from the outside or outputs a signal to the outside through the interface device 704. For example, the controller 700 is communicatively connected to the management device 2 via the communication line NW based on the interface device 704.Furthermore, the controller 700 can be communicatively connected to the other injection molding machine 1 (controller 700) via the communication line NW based on the interface device 704. Furthermore, the controller 700 can acquire a program to be installed therein (auxiliary storage device 703) from a predetermined recording medium via the interface device 704. Examples of the predetermined recording medium include a floppy disk, a compact disc (CD), a digital versatile disc (DVD), a Blu-ray (registered trademark) disc (BD), an SD memory card, and a universal serial bus (USB) memory. Furthermore, the controller 700 can acquire (download) a program from an external computer (for example, the management device 2) via the interface device 704.

[0106] A function of the controller 700 may be realized by only one controller 700 or may be shared by multiple controllers (for example, a host controller 700A and a subordinate controller 700B), as described later (see Fig. 2).

[0107] The controller 700 repeatedly produces a molded product by causing the injection molding machine 1 to repeatedly perform the mold closing process, the mold closing / clamping process, the mold opening process, and the like. Furthermore, the controller 700 causes the injection unit 300 to perform the plasticizing process, the filling process, the pressure holding process, and the like during the mold closing / clamping process.

[0108] A series of operations for obtaining the molded products, for example, an operation from the start of the plasticizing process performed by the injection unit 300 to the start of the subsequent plasticizing process performed by the injection unit 300, is referred to as a "shot" or a "molding cycle." Moreover, a time required for one shot is referred to as a "molding cycle time."

[0109] For example, a molding cycle is configured to include the plasticizing process, the mold closing process, the mold closing / clamping process, the filling process, the pressure holding process, the cooling process, the mold opening process, and the ejection process in this order. This order is the order of the start times of the respective processes. In addition, the filling process, the pressure holding process, and the cooling process are performed after the mold closing / clamping process begins until the mold closing / clamping process is completed. In addition, the end of the mold closing / clamping process coincides with the start of the mold opening process.

[0110] Multiple processes can be performed simultaneously to shorten the molding cycle time. For example, the plasticizing process can be performed during the cooling process of the previous molding cycle. In this case, the mold closing process can be performed at an initial stage of the molding cycle. Furthermore, the filling process can start during the mold closing process. Furthermore, the ejection process can start during the mold opening process. Furthermore, in a case where an on-off valve is provided for opening and closing a flow path of the nozzle 320 of the injection unit 300, the mold opening process can be started during the plasticizing process. The reason is as follows. Even in a case where the mold opening process starts during the plasticizing process, the molding material will not leak from the nozzle 320 if the on-off valve closes the flow path of the nozzle 320.

[0111] The controller 700 is connected to an operating device 750, a display device 760, and the like.

[0112] The operation device 750 (an example of an input device) receives an input regarding the injection molding machine 1 from a user and outputs a signal corresponding to the input to the controller 700. Accordingly, the user can perform an operation regarding the injection molding machine 1.

[0113] The injection molding machine 1 (controller 700) may be configured to receive input from the user via an external device. Accordingly, the user may, for example, remotely operate the injection molding machine 1. In this case, image data from an imaging device capable of imaging the operating state of the injection molding machine 1 may be transmitted to the external device. Accordingly, operation may be performed on the external device while checking the operating state of the remote injection molding machine 1.

[0114] For example, the controller 700 may be capable of receiving contents of the user input received from the management device 2 or the other injection molding machine 1 via the communication line NW. Furthermore, the controller 700 may be capable of receiving user input received from the terminal device via the communication line NW. The terminal device may be, for example, a stationary terminal device such as a desktop PC, or a portable terminal device such as a smartphone, a tablet terminal device, and a laptop-type PC.

[0115] The display device 760 displays various images under the control of the controller 700.

[0116] For example, the display device 760 displays an operation screen related to the injection molding machine 1 in response to an operation input to the operation device 750.

[0117] The operation screen displayed on the display device 760 is used for settings related to the injection molding machine 1 and the like. Examples of the settings related to the injection molding machine 1 include setting molding conditions (specifically, input of a setting value) related to the injection molding machine 1. Furthermore, examples of the settings include settings related to selecting a type of a measured value of various sensors related to the injection molding machine 1 to be recorded as logging data during the injection molding process. Furthermore, examples of the settings include setting specifications (for example, a type of actual value to be displayed or a display method) in which the measured value (actual value) of various sensors related to the injection molding machine 1 is displayed on the display device 760 during the injection molding process.A plurality of operation screens are prepared and can be displayed in a switchable manner or in an overlapping manner on the display device 760. The user can configure the settings (including input of the setting value) related to the injection molding machine 1 by operating the operation device 750 while viewing the operation screen displayed on the display device 760.

[0118] For example, the display device 760 displays an information screen that provides the user with various types of information according to the operation on the operation screen under the control of the controller 700. A plurality of information screens are prepared and can be displayed in a switchable manner or in an overlapping manner on the display device 760. For example, the display device 760 displays setting contents related to the injection molding machine 1 (for example, setting contents related to the molding conditions of the injection molding machine 1). In addition, the display device 760 displays, for example, management information (for example, information related to an actual result of the operations of the injection molding machine 1).

[0119] For example, the operation device 750 and the display device 760 may be configured to function as a touch panel type display and may be integrated with each other.

[0120] Although the operation device 750 and the display device 760 of the present embodiment are integrated with each other, they may be provided independently of each other. Furthermore, a plurality of the operation devices 750 may be provided. [Hardware configuration of injection molding machine control system]

[0121] Next, a hardware configuration of a control system of the injection molding machine 1 will be described with reference to Fig. 3 described.

[0122] Fig. 3 is a diagram showing an example of the hardware configuration of the control system of the injection molding machine 1.

[0123] As in Fig. 3, the control system of the injection molding machine 1 includes the controller 700, a driver 710, and a sensor 720.

[0124] The controller 700 includes the CPU 701 and a field-programmable gate array (FPGA) 705.

[0125] For example, the CPU 701 (an example of a control processing unit) executes control processing (hereinafter, "motion control processing") regarding an operation of the injection molding machine 1 based on data acquired from the driver 710 and the sensor 720 via the FPGA 705. The motion control processing includes servo control processing of the electric motor. Specifically, the CPU 701 activates a control function (a function of a control unit 7001, which will be described later) regarding an operation of the injection molding machine 1 in response to a predetermined interrupt request (hereinafter, simply "interrupt request") periodically outputted from the FPGA 705, and executes the control processing regarding the operation of the injection molding machine 1. Then, the CPU 701 outputs data corresponding to a control command to the driver 710 or the like via the FPGA 705.

[0126] The interrupt request handled in this example is a so-called hardware interrupt request issued by hardware (FPGA 705 in this example) external to CPU 701. For example, CPU 701 executes relatively high-priority processing (hereinafter, "high-priority processing"), such as motion control processing of an actuator and servo control processing, which are performed as motion control processing, and executes relatively low-priority processing (hereinafter, "low-priority processing") as a background. When an interrupt request for high-priority processing is input from FPGA 705 while CPU 701 is executing low-priority processing, CPU 701 calls interrupt processing corresponding to the interrupt request.Then, the CPU 701 enables the high-priority processing corresponding to the interrupt request through the interrupt processing. Accordingly, the CPU 701 can appropriately execute periodic high-priority processing for each predetermined control cycle (an example of a predetermined cycle) while executing the low-priority processing.

[0127] The FPGA 705 (an example of a request output unit) functions as an input / output interface for connecting to the outside of the controller 700. That is, the interface device 704 includes the FPGA 705.

[0128] The FPGA 705 receives data related to controlling an actuator (hereinafter "control data") from the driver 710 or transmits data corresponding to a control command to the driver 710 in response to a request from the CPU 701.

[0129] In addition, the FPGA 705 receives measurement data relating to a state of the injection molding machine 1 from the sensor 720 or transmits data corresponding to a control command relating to a measurement operation of the sensor 720 in response to a request from the CPU 701.

[0130] Furthermore, the FPGA 705 periodically outputs the interrupt request to the CPU 701 for activating the control function related to the operation of the injection molding machine 1. Specifically, the FPGA 705 may repeatedly set a timer to end at every predetermined control cycle and output the interrupt request when the timer ends.

[0131] The driver 710 drives the actuator in response to the control command from the controller 30. For example, the actuator is an electric motor, and the driver 710 outputs a drive current to the electric motor in response to the control command from the controller 30. Accordingly, the controller 700 (CPU 701) can control the electric motor via the driver 710 to realize a desired operation of the injection molding machine 1. Examples of the electric motor include the mold closing / clamping motor 160, the mold space adjustment motor 183, the ejector motor 210, the plasticizing motor 340, the injection motor 350, and the motor 420.

[0132] The sensor 720 outputs measurement data related to a state of the injection molding machine 1. For example, the sensor 720 includes an encoder capable of measuring a rotational position of the electric motor. Examples of the encoder include the mold closing / clamping motor encoder 161, the mold space adjustment motor encoder 184, the ejector motor encoder 211, the plasticizing motor encoder 341, and the injection motor encoder 351. Furthermore, the sensor 720 includes a current sensor and a voltage sensor that measure a voltage and a current of a power system including a current and a voltage of the electric motor. In addition, the sensor 720 includes various sensors capable of measuring a force, a temperature, a pressure, or the like acting on a predetermined portion of the injection molding machine 1 (for example, the column strain detector 141, the temperature measuring device 314, and the pressure detector 360). [Functional configuration of control]

[0133] Next, a functional configuration of the controller 700 will be described with reference to Fig. 4 described.

[0134] Fig. 4 is a block diagram showing an example of the functional configuration of the controller 700.

[0135] As in Fig. 4, the controller 700 includes the control unit 7001, a display processing unit 7002, a storage unit 7003, a setting unit 7004, and a storage unit 7005. For example, functions of the control unit 7001, the display processing unit 7002, the setting unit 7004, and the like are realized by loading a program installed in the auxiliary storage device 703 into the storage device 702 and executing the program on the CPU 701. Furthermore, for example, functions of the storage units 7003 and 7005 and the like are realized by a storage area defined in the auxiliary storage device 703 of the controller 700.

[0136] The control unit 7001 performs control of the operation of the injection molding machine 1 based on the data input from the driver 710 and the sensor 720. As described above, the function of the control unit 7001 is activated and executed by the interrupt request periodically issued from the FPGA 705.

[0137] The display processing unit 7002 causes the display device 760 to display the information screen in response to the input from the user received via the operation device 750. Specifically, the display processing unit 7002 causes a screen (hereinafter, "setting screen") to be displayed to allow the user to configure settings related to the above-described interrupt request by using the operation device 750.

[0138] The settings related to the interrupt request include settings related to an output timing of the interrupt request from the FPGA 705 (for example, setting a correction time T1, which will be described later). Furthermore, the settings related to the interrupt request include settings related to a start timing of the motion control processing in response to the interrupt request (for example, setting a waiting time T2, which will be described later).

[0139] The storage unit 7003 stores (registers) setting contents (for example, setting values ​​of the correction time T1 and the waiting time T2, which will be described later) with respect to the interrupt request described above.

[0140] The setting unit 7004 configures settings related to the interrupt request described above. For example, the setting unit 7004 automatically configures settings related to the interrupt request by using a predetermined input received from the user via the operation device 750 or the like, or satisfaction of a condition other than the predetermined input as a trigger. Examples of the condition other than the predetermined input (hereinafter, "automatic setting start condition") include first activation (power-on) in an inspection process of the injection molding machine 1 before shipment from the factory, and first activation after initialization of the controller 700 of the injection molding machine 1.Furthermore, the automatic setting start condition may include first activation after changing (updating) predetermined hardware, such as an actuator of the injection molding machine 1, or predetermined software, such as a program related to motion control processing. Furthermore, the setting unit 7004 may, for example, configure the settings related to the interrupt request according to a user input received via the operation device 750 or the like, that is, an input corresponding to setting contents desired by the user. That is, the settings related to the interrupt request may be manually configured.

[0141] Furthermore, the setting unit 7004 can limit a function of automatically or manually configuring the settings related to the interrupt request in response to an input from the user. Accordingly, it is possible to suppress a situation in which the contents of the settings related to the interrupt request are unnecessarily changed and the operation of the injection molding machine 1 is adversely affected.

[0142] For example, the setting unit 7004 identifies a user operating the injection molding machine 1 and determines whether to approve or disapprove the function of configuring the settings related to the interrupt request in response to the input from the operation device 750 depending on the user. Accordingly, for example, it is possible to suppress a situation in which a user who lacks knowledge of the interrupt request mistakenly changes the settings related to the interrupt request.Specifically, a registration information database may be constructed in which identification information (e.g., an identifier (ID) for each user or image data for facial authentication) defined for each user (hereinafter, "user identification information") is associated with approval or rejection of the settings related to the interruption request. Accordingly, the setting unit 7004 can identify the user using the operation device 750 based on the ID input from the operation device 750 and the image data acquired at the time of facial authentication.

[0143] Furthermore, the setting unit 7004 may, for example, limit the function of configuring the settings related to the interrupt request in a case where an input is received from the user via external devices outside the injection molding machine 1. Specifically, the function of configuring the settings related to the interrupt request may be prohibited according to the input from some or all of the external devices.For example, in a case where the settings related to the interrupt request are changed in response to an input from a user using an external device and in a situation where it is relatively difficult to identify the operating state of the injection molding machine 1, if an influence of the change in the settings adversely affects the operation of the injection molding machine 1, there is a possibility that a response will be delayed. Furthermore, for example, in a case where the settings related to the interrupt request can be changed according to the input via the external device, there is a possibility that a problem will occur from the point of view of safety.

[0144] Various types of data used by the setting unit 7004 are stored in the storage unit 7005. For example, the registration information database described above may be constructed in the storage unit 7005. [Specific example of control operation]

[0145] Next, a specific example of an operation of the controller 700 will be described with reference to Fig. 5 described.

[0146] Fig. 5 is a timing chart showing an example of the operation of the controller 700. Fig. 5 is a timing chart showing respective states of "data output", "data preparation", "interrupt timer", "interrupt processing", and "motion control processing" in the controller.

[0147] "Data output" represents an output state of data (for example, control data for the driver 710) as a result of the motion control processing by the controller 700 (control unit 7001).

[0148] "Data preparation" represents a preparation state of data (for example, data received from the driver 710 and the sensor 720, or output data obtained by the motion control processing in the previous control cycle) used for the motion control processing by the controller 700 (control unit 7001). The data used for the motion control processing is stored in an internal memory of the FPGA 705, and the CPU 701 can use this data and execute the motion control processing by accessing the internal memory of the FPGA 705.

[0149] "Interrupt Timer" represents an operating state of a timer set for the FPGA 705 to issue the interrupt request. In the figure, a rising edge of the operating state of the timer represents the start of the timer, and a falling edge of the timer represents the end of the timer. Then, the interrupt request is issued with the end of the timer as a trigger.

[0150] "Interrupt processing" represents an execution state (presence or absence of execution) of preprocessing (interrupt processing) for interrupting the low-priority processing to execute the motion control processing in response to the interrupt request issued from the FPGA 705.

[0151] "Motion control processing" represents an execution state (presence or absence of execution) of the motion control processing executed by the CPU 701.

[0152] In this example, as the setting related to the interrupt request, the timing of issuing the interrupt request is changed from an initial state, that is, a predetermined reference state. The reference state means a state in which the timing of the interrupt request is adjusted to a reference time that triggers the start of motion control processing. In the present example, the reference state means a state in which the timing of the interrupt request is adjusted to a time at which the preparation of the data used for motion control processing is assumed to be completed.

[0153] Specifically, assuming that an interrupt request issue cycle, that is, a control cycle of the motion control processing, is not changed, the interrupt request timing is advanced by a correction time T1 from the reference state. Further specifically, an end timing of the interrupt request timer of the FPGA 705 is advanced by the correction time T1 from the reference state.

[0154] Therefore, as in Fig. 5, the timer at a time before the completion of the preparation of data, and the FPGA 705 issues the interrupt request to the CPU 701 (time t11).

[0155] When the FPGA 705 issues the interrupt request, the FPGA 705 starts the next timer (at time t12).

[0156] The CPU 701 starts the interrupt processing in response to the issuance of the interrupt request from the FPGA 705 (time t12).

[0157] In this example, as the setting related to the interrupt request, the start timing of motion control processing is changed from the initial state in response to the interrupt request. For example, the initial state is a state in which the start timing of motion control is aligned with the completion of interrupt processing. That is, in the initial state, motion control processing is started as soon as interrupt processing is completed.

[0158] Specifically, the start timing of the motion control processing is changed to the later of the timing at which the interrupt processing is completed and the timing at which the waiting time T2 has elapsed since the start of the interrupt processing.

[0159] The current interrupt processing requires a relatively long time, and the time at which the waiting time T2 elapses and the time at which the interrupt processing ends are essentially the same time (time t13). Therefore, the CPU 701 starts the motion control processing at this time.

[0160] Furthermore, in this example, the waiting time T2 is set so that the start timing of the motion control processing is substantially the same as (for example, immediately after) the time at which the preparation of data used for motion control processing is assumed to be completed at the FPGA 705. Therefore, the motion control processing is started immediately after the preparation of data is completed. Accordingly, the CPU 701 can start the motion control processing after the preparation of the latest data is completed. Therefore, the CPU 701 can appropriately control the operation of the injection molding machine 1. Furthermore, since the motion control is started immediately after the preparation of the data used for motion control processing is completed, the controller 700 can easily ensure a real-time property with respect to the motion control processing.

[0161] The waiting time T2 can be set as desired as long as the motion control processing is started after the time at which the preparation of the data used for the motion control processing is assumed to be completed.

[0162] When the motion control processing in the current control cycle is completed, the CPU 701 then outputs data related to an execution result of the motion control processing in the current control cycle (time t14). For example, the output data is stored (written) in the internal memory of the FPGA 705.

[0163] After the data output by the CPU 701 is completed, when the timer started after the previous interrupt request was issued ends, the FPGA 705 issues the interrupt request to the CPU 701 (time t15).

[0164] The CPU 701 starts the interrupt processing in response to the issuance of the interrupt request from the FPGA 705 (time t16).

[0165] The current interrupt processing ends in a relatively short time (time t17). Therefore, after the interrupt processing is completed, the CPU 701 waits until the waiting time T2 has elapsed since the interrupt processing started, and then starts the motion control processing (time t18). Accordingly, even in a case where the interrupt processing ends relatively early, with the waiting time T2 appropriately set, the CPU 701 can start the motion control processing after the preparation of the data used for the motion control processing is completed.

[0166] When the motion control processing at the current control cycle is completed, the CPU 701 then outputs data relating to an execution result of the motion control processing at the current control cycle (time t19).

[0167] Motion control processing is started in both the previous control cycle and the current control cycle when the waiting time T2 elapses since the start of interrupt processing. Therefore, the controller 700 can adjust output timings (required time T0 for data output) of data related to the execution results of motion control processing to be substantially the same based on the completion of preparation of data used for motion control processing. Therefore, the controller 700 can more appropriately ensure the real-time property related to motion control processing.

[0168] Instead of setting the waiting time T2, the FPGA 705 may output a notification of the completion of the preparation of the data used for motion control processing to the CPU 701. In this case, the start time of the motion control processing is changed to the later of the time at which the interrupt processing is completed and the time at which the data preparation is completed. Accordingly, the controller 700 may start the motion control processing when the data preparation is completed. [Setting processing related to interrupt request]

[0169] Next, setting processing with respect to the interrupt request is executed by the controller 700 with reference to Fig. 6 described.

[0170] Fig. 6 is a flowchart schematically showing an example of the setting processing related to the interrupt request by the controller 700. This flowchart can be executed, for example, in a case where a predetermined input is received from the user via the operation device 750 or the like. Furthermore, this flowchart can be executed, for example, when the above-described automatic setting start condition is met.

[0171] As in Fig. 6, the setting unit 7004 determines at step S102 whether a function for automatically configuring the settings related to the interruption request (hereinafter "automatic setting function") is valid or not.

[0172] For example, the automatic adjustment function may be in a form that can be selected by the user via the operation device 750. Furthermore, when the above-described automatic adjustment start condition is satisfied, the automatic adjustment start condition may be set as a valid state as an initial state, or it may be set as a valid state or an invalid state as an initial state, depending on specifications of each delivery target of the injection molding machine 1.

[0173] The setting unit 7004 proceeds to step S104 in a case where the automatic setting function is valid, and terminates the current flowchart in a case where the automatic setting function is not valid.

[0174] At step S104, the setting unit 7004 causes the function of the control unit 7001 to actually operate, and measures a required time from the issuance (generation) of the interrupt request to the start of the motion control processing in initial states of the correction time T1 and the waiting time T2. That is, the setting unit 7004 measures the required time from the issuance of the interrupt request to the completion of the interrupt processing.

[0175] When the process of step S104 is completed, the controller 700 proceeds to step S106.

[0176] At step S106, the setting unit 7004 determines whether or not the number of times of measurement of the required time from the issuance (generation) of the interrupt request to the start of the motion control processing is equal to or greater than a set number of times Nth (an integer of 1 or more). In a case where the number of times of measurement is not equal to or greater than the set number of times Nth, the setting unit 7004 returns to step S104 and repeats the processing of steps S104 and S106 in the next control cycle of the motion control processing. On the other hand, in a case where the number of times of measurement is equal to or greater than the set number of times Nth, the setting unit 7004 actually stops the operation of the function of the control unit 7001 and proceeds to step S108.

[0177] Furthermore, during normal operation of the injection molding machine 1, the time required from the issuance of the interrupt request to the completion of the interrupt processing may be appropriately measured as background processing, and a measurement result thereof may be used. In this case, the processing of steps S104 and S106 is omitted.

[0178] At step S108, the setting unit 7004 sets the correction time T1 and the waiting time T2 based on the measurement result of the set number of times Nth.

[0179] For example, the setting unit 7004 may set the correction time T1 based on a maximum value among the measurement results of the set number of times Nth. Specifically, the setting unit 7004 may set a value equal to or greater than the maximum value among the measurement results of the set number of times Nth as the correction time T1. Accordingly, the interruption processing may be terminated before the time at which the preparation of the data used for the motion control processing is assumed to be completed. Therefore, the controller 700 may start the motion control processing in accordance with the completion of the data preparation by appropriately setting the waiting time T2.Specifically, the setting unit 7004 may set the waiting time T2 to a value equal to or greater than a value obtained by subtracting an assumed required time from the issuance of the interrupt request to the start of the interrupt processing from the determined correction time T1.

[0180] In addition, the setting unit 7004 may set, for example, the correction time T1 or the waiting time T2 based on an average value or the like of the measurement results of the set number of times Nth.

[0181] When the processing at step S108 is completed, the controller 700 ends the processing of the current flowchart.

[0182] As described above, in this example, the controller 700 may set the correction time T1 and the waiting time T2 based on the actual required time from the issuance of the interrupt request to the completion of the interrupt processing. [Specific example of setting screen]

[0183] Next, a setting screen for the settings related to the interrupt request is displayed with reference to Fig. 7 described.

[0184] Fig. 7 is a diagram showing an example (setting screen 70) of a setting screen displayed on the display device 760.

[0185] Furthermore, the same setting screen can be displayed on the management device 2 communicatively connected to the injection molding machine 1 via the communication line NW or on the terminal device described above. Accordingly, the user of the injection molding machine 1, such as a manager or a worker, can check the setting contents related to the interrupt request or configure the settings related to the interrupt request via the management device 2 or the terminal device described above.

[0186] As in Fig. 7, the setting screen 70 includes a processing content display unit 71, a correction time display unit 72, a waiting time display unit 73, and icons 74 to 77.

[0187] The processing content display unit 71 draws a processing flow from the issuance of the interrupt request to the start of the motion control processing as a time chart, and displays time intervals corresponding to the correction time T1 and the waiting time T2. Accordingly, the user can specifically check the time intervals corresponding to the correction time T1 and the waiting time T2 in the flow while identifying the processing flow from the issuance of the interrupt request to the start of the motion control processing.

[0188] The correction time display unit 72 displays the current setting value of the correction time T1.

[0189] The waiting time display unit 73 displays the current setting value of the waiting time T2.

[0190] Symbol 74 indicates whether the automatic adjustment function is valid or invalid, that is, whether the settings related to the interrupt request can be configured automatically or the settings related to the interrupt request can be configured manually. This example indicates a state in which the automatic correction function is valid.

[0191] The icon 75 is an operation target for starting the setting of the correction time T1 and the waiting time T2 via the automatic setting function. By operating the icon 75 via the operation device 750 or the like, the user can cause the controller 700 to set the correction time T1 and the waiting time T2 based on the above-described flowchart of Fig. 6 automatically.

[0192] Icon 76 is an operation target for switching to a control state in which the settings related to the interrupt request can be manually configured. When icon 76 is operated via the operation device 750 or the like, values ​​can be entered into the input fields of the correction time T1 and the waiting time T2 on the correction time display unit 72 and the waiting time display unit 73.

[0193] Furthermore, as described above, in a case where the settings related to the interruption request corresponding to the user input received by the operation device 750 or the like are limited (prohibited), the icons 75 and 76 may be displayed in an inoperable state (for example, in a grayed-out state). Furthermore, of course, the values ​​that can be input for the correction time T1 and the waiting time T2 may be limited in advance within a range in which the motion control processing is not adversely affected.

[0194] Icon 77 is an operation target for returning to a predetermined screen (for example, a home screen).

[0195] In this way, the user can check the contents of the settings related to the interrupt request (setting values ​​of the correction time T1 and the waiting time T2) through the setting screen 70. Furthermore, the user can cause the controller 700 to configure the settings (changes) related to the interrupt request through the setting screen 70 by using the automatic setting function or manually. [Operation]

[0196] Next, the operation of the injection molding machine 1 (controller 700) according to the present embodiment will be described with reference to Fig. 8 described.

[0197] Fig. 8 is a timing chart showing an operation of a controller of an injection molding machine according to a comparative example. A configuration similar to that of the controller 700 in the comparative example will be described below using the same names without reference numerals.

[0198] In this example, a timer is set to end in accordance with a time at which preparation of data used for motion control processing in an FPGA is assumed to be completed.

[0199] As in Fig. As shown in Figure 8, the FPGA issues an interrupt request at the end of the timer (time t21).

[0200] When the FPGA issues the interrupt request, the FPGA starts the next timer (at time t22).

[0201] A CPU starts interrupt processing in response to the interrupt request being issued from the FPGA (time t22).

[0202] When the interrupt request ends, the CPU starts motion control processing (time t23). In the current control cycle, interrupt processing is completed in a relatively short time.

[0203] The CPU outputs data related to the execution result of the motion control processing at the current control cycle (time t24). For example, the output data is stored (written) in an internal memory of the FPGA.

[0204] After the data output by the CPU is completed, when the timer started after the issuance of the previous interrupt request ends, the FPGA issues the interrupt request to the CPU in accordance with the completion of the preparation of the data used for motion control processing, as in the previous cycle (time t25).

[0205] The CPU 701 starts the interrupt processing in response to the issuance of the interrupt request from the FPGA (time t26).

[0206] When the interrupt processing is completed, the CPU 701 starts the motion control processing (time t27). In the current control cycle, a longer time is required for interrupt processing than in the previous control cycle (dashed line in the figure). This is because there are cases where a time required for interrupt processing varies depending on an overhead of interrupt processing, a status of a cache hit in interrupt processing, or the like.

[0207] When the motion control processing at the current control cycle is completed, the CPU 701 then outputs data relating to an execution result of the motion control processing at the current control cycle (time t28).

[0208] In the comparative example, as described above, the interrupt request is issued in accordance with the completion of the preparation of the data used for motion control processing. Therefore, the output timing (required time T0c for data output) of the data with respect to the execution result of the motion control processing, which is based on the completion of the preparation of the data used for motion control processing, depends on the length of a time required for interrupt processing. That is, if the time required for interrupt processing is relatively long, a start timing of the motion control processing, which is based on the completion of the preparation of the data necessary for motion control processing, will be relatively delayed, and there is a possibility that this will have an effect on a real-time characteristic of the motion control processing.

[0209] However, in the present embodiment, the controller 700 issues the interrupt request before the generation of the trigger (hereinafter "start trigger"), which is a reference for starting the motion control processing, and starts the control processing after the generation of the trigger. Specifically, the start trigger may be the completion of the preparation of the data necessary for the motion control processing.

[0210] Accordingly, the controller 700 can execute the interrupt processing before the start trigger. Therefore, it is possible to suppress the influence of a variation in the time required for the interrupt processing on the start timing of the motion control processing. Moreover, even in a case where the interrupt processing ends at a relatively early timing, the motion control processing is not executed before the start trigger because the motion control processing is started after the start trigger. Therefore, in the injection molding machine 1, the controller 700 can more appropriately realize the real-time characteristic of the control processing with respect to the operation of the injection molding machine 1.

[0211] Furthermore, in the injection molding machine 1, except for the motion control processing, the same technique can be used for control processing. In this case, the issuance timing of the interrupt request (correction time T1) and a start timing of the other control processing (waiting time T2) can be appropriately set in accordance with a trigger that is a reference for starting the other control processing.

[0212] Moreover, in the present embodiment, in a case where the preparation for starting the motion control processing is completed after the interrupt request is issued and before the generation of the start trigger, the controller 700 may wait for the generation of the trigger and start the motion control processing.

[0213] Accordingly, the controller 700 can start the motion control processing in accordance with the generation of the start trigger. Therefore, the controller 700 can more appropriately realize the real-time characteristic with respect to the operation of the injection molding machine 1.

[0214] Moreover, in the present embodiment, the controller 700 may start the motion control processing after a predetermined time (waiting time T2) has elapsed since the start of the interrupt processing based on the interrupt request.

[0215] Accordingly, the controller 700 can start the motion control processing after the start trigger is generated by appropriately setting the waiting time T2.

[0216] Moreover, in the present embodiment, the controller 700 may measure the time required from the issuance of the interrupt request to the completion of the interrupt processing a plurality of times, and may set the issuance timing (correction time T1) of the interrupt request and the waiting time T2 based on a measurement result thereof.

[0217] Accordingly, the controller 700 can more appropriately set the issuance timing (correction time T1) of the interrupt request and the waiting time T2 in consideration of an actual variation in the time required from the issuance of the interrupt request to the completion of the interrupt processing.

[0218] Furthermore, only the former of the output timing (correction time T1) and the waiting time T2 of the interrupt request may be set. This is because, as described above, in the case where the notification of completion of data preparation is output from the FPGA 705 to the CPU 701, the motion control processing can be started in accordance with the completion of data preparation. This is also because, in a case where the notification of completion of data preparation is not output, the correction time T1 is set to a relatively small value, so that the timing of completion of interrupt processing is always after the start trigger (completion of data preparation).

[0219] Moreover, in the present embodiment, the display device 760 may also display the setting contents, including the issuance timing of the interrupt request, regarding the start of the motion control processing based on the issuance of the interrupt request in a case where a predetermined input is received from the operation device 750.

[0220] Accordingly, the injection molding machine 1 allows the user to check the setting contents (for example, the setting contents of the correction time T1 and the waiting time T2) with respect to the start of the motion control processing based on the issuance of the interruption request. [Modifications and changes]

[0221] Although embodiments of the injection molding machine management system SYS and the like have been described above, the present disclosure is not limited to the above-described embodiments and the like, and various modifications and changes can be made within the scope of the concept described in the claims.

[0222] For example, the contents regarding the issue timing of the interrupt request of the above-described embodiment and the start timing of the control processing based on the interrupt request can be used for control related to an operation of another control machine. Examples of the other machine include industrial machines and industrial robots used in manufacturing plants.

[0223] Finally, the present application claims priority based on Japanese Patent Application No. 2021-060659 filed on March 31, 2021, and the entire contents of the Japanese Patent Application are incorporated herein by reference. List of reference symbols 1 injection molding machine (industrial machine) 2 Management device 100 mold closing / clamping unit 200 ejector unit 300 injection unit 400 movement units 700 Control (control device) 701 CPU (control processing unit) 702 storage device 703 Auxiliary storage device 704 Interface device 705 FPGA (Request Output Unit) 710 drivers 720 Sensor 750 Operating device (input device) 760 display device 7001 control unit 7002 Display processing unit 7003 storage unit 7004 setting unit 7005 storage unit SYS injection molding machine management system< / steuerung> < / bewegungseinheit> < / einspritzeinheit> < / auswerfereinheit> < / verwaltungsvorrichtung>

Claims

[1] Injection molding machine (1), comprising: a mold closing / clamping unit (100) that closes / clamps a mold unit (10); an injection unit (300) that fills the mold unit (10) closed / clamped by the mold closing / clamping unit (100) with a molding material; an ejector unit (200) which ejects a molded product from the molding unit (10) after the molding material filled from the injection unit (300) is cooled and solidified; and a control device (700) which issues an interrupt request at each predetermined cycle and executes the control processing relating to an operation of the injection molding machine (1) in response to the interrupt request, wherein the control device (700) issues the interrupt request before generation of a trigger serving as a reference for starting the control processing, and starts the control processing after generation of the trigger. [2] Injection molding machine (1) according to claim 1, wherein the trigger is completion of preparation of data necessary for the control processing. [3] The injection molding machine (1) according to claim 1 or 2, wherein in a case where preparation for starting the control processing is completed after the interruption request is issued and before the trigger is generated, the control device (700) waits for the trigger to be generated and starts the control processing. [4] The injection molding machine (1) according to any one of claims 1 to 3, wherein the control device (700) starts the control processing based on the interruption request after a predetermined time has elapsed from the start of interruption processing. [5] The injection molding machine (1) according to any one of claims 1 to 3, wherein the control device (700) measures a time required from the issuance of the interrupt request to the completion of interrupt processing based on the interrupt request a plurality of times and sets an issuance timing of the interrupt request based on a measurement result. [6] The injection molding machine (1) according to claim 4, wherein the control device (700) measures a time required from the issuance of the interrupt request to the completion of the interrupt processing based on the interrupt request a plurality of times and sets an issuance timing of the interrupt request and the predetermined time based on a measurement result. [7] Injection molding machine (1) according to one of claims 1 to 6, further comprising: an input device (750) that receives input from a user; and a display device that, in a case where a predetermined input is received from the input device (750), displays setting contents, including an issuance timing of the interrupt request, with respect to the start of the control processing based on the issuance of the interrupt request. [8] Control, comprising: an interrupt request issuing unit (705) that issues an interrupt request every predetermined cycle; and a control processing unit (701) that executes control processing related to an operation of an industrial machine in response to the interrupt request, wherein the interrupt request output unit (705) outputs the interrupt request before generating a trigger which is a reference for starting the control processing, and the control processing unit (701) starts the control processing after the trigger is generated.

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