INJECTION MOLDING MACHINE AND CONTROL SYSTEM

Abstract

A technique is provided that is capable of more suitablely realizing a real-time feature of control processing with respect to the operation of an industrial machine, such as an injection molding machine. An injection molding machine 1 according to an embodiment of the present disclosure comprises a mold clamping unit 100, an injection unit 300, an ejector unit 200, and a control unit 700. In particular, the mold clamping unit 100 closes / clamps a mold unit 10. The injection unit 300 fills the mold unit 10, which has been subjected to mold clamping by the mold clamping unit 100, with a molding material. The ejector unit 200 ejects a molded product from the mold unit 10 after the molding material injected by the injection unit 300 has cooled and solidified.The controller 700 issues a stop request at each predetermined control cycle and executes control processing related to the operation of injection molding machine 1 in response to the stop request. The controller 700 then issues the stop request before completing the preparation of the data necessary for the control processing and starts the control processing after the necessary data preparation is complete.

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, different types of data, such as data output by various sensors, are used to perform control processing in relation to an operation at each predetermined control cycle (see PTL 1). List of citations from patent literature

[0003] [PTL 1] Japanese Unexamined Patent Publication No. 2006-73027 Summary of the invention: Technical problem

[0004] In a control device (controller) of the industrial machine, an interrupt request is issued at each predetermined control cycle, and the control processing relating to the operation of the industrial machine is executed in response to the interrupt request.

[0005] However, the time required for interrupt processing can vary depending on factors such as the overhead of the interrupt processing, the status of a cache hit during interrupt processing, or similar considerations. For example, if the required time is relatively long, the start time of tax processing, which relies on the completion of preparing the necessary data, will be relatively delayed, and this could potentially affect the real-time capability of the tax processing.

[0006] Therefore, in view of the problems mentioned above, one task is to provide a technique that is capable of more appropriately realizing a real-time property of control processing with respect to the operation of an industrial machine, such as an injection molding machine. Solution to the problem

[0007] In accordance with one embodiment of the present disclosure, in order to fulfill the above-described task, an injection molding machine is provided which comprises: a form-closing / clamping unit that closes / clamps a mold unit; an injection unit that fills the mold unit, which is 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 injected by the injection unit has cooled and solidified; and a control device that issues a stop request at each predetermined cycle and performs the control processing with respect to an operation of the injection molding machine in response to the stop request, wherein the control device issues the interrupt request before generating a trigger which serves as a reference for starting the control processing, and starts the control processing after the trigger has been generated.

[0008] Furthermore, according to another embodiment of the present disclosure, a control system is provided which includes: a break request output unit that issues a break request at each predetermined cycle; and a control processing unit that performs control processing in relation to the operation of an industrial machine in response to the interruption request, wherein the interrupt request output unit outputs the interrupt request before generating a trigger that is a reference for starting control processing, and The control processing unit starts the control processing after the trigger has been generated. Advantageous effects of the invention

[0009] According to the embodiments described above, a real-time feature of control processing can be implemented in an industrial machine, such as an injection molding machine, with regard to its operation. Brief description of the drawings Fig. Figure 1 is a diagram showing an example of a configuration of an injection molding machine management system that includes an injection molding machine. Fig. Figure 2 is a diagram showing an example of the configuration of the injection molding machine management system that includes the injection molding machine. Fig. Figure 3 is a diagram showing an example of a hardware configuration of a control system for the injection molding machine. Fig. Figure 4 is a block diagram showing an example of a functional configuration of a controller. Fig. Figure 5 is a time diagram showing an example of the operation of the control system. Fig. Figure 6 is a flowchart that schematically shows an example of setup processing in relation to a break request. Fig. Figure 7 is a representation showing an example of a settings screen displayed on a display device. Fig. Figure 8 is a time diagram showing the operation of a control system for an injection molding machine according to a comparative example. Description of embodiments

[0010] The following descriptions of embodiments are provided with reference to the drawings. [Overview of injection molding machine management system]

[0011] First, an overview of an injection molding machine management system SYS according to the present embodiment is given with reference to Fig. 1 and Fig. 2 described.

[0012] Fig. 1 and Fig. Figure 2 shows an example of the injection molding machine management system according to the present embodiment. Fig. Figure 1 is in particular a side section view showing a state in which mold opening on an injection molding machine 1 is completed, and Fig. Figure 2 is a side-section view showing a state in which mold closing / clamping is performed on injection molding machine 1. Below are, as in Fig. 1 and Fig. Figure 2 shows an X-axis, a Y-axis and a Z-axis perpendicular to each other, and a positive and a negative direction of the X-axis (hereinafter simply referred to as the "X-direction") and a positive and a negative direction of the Y-axis (hereinafter simply referred to as the "Y-direction") represent a horizontal direction, and a positive and a negative direction of the Z-axis (hereinafter simply referred to as the "Z-direction") represent a vertical direction.

[0013] The injection molding machine management system SYS contains several (in this example three) injection molding machines 1 and a management device 2.

[0014] Furthermore, the number of injection molding machines included in the injection molding machine management system SYS can be one. <Spritzgießmaschine>

[0015] The injection molding machine 1 (an example of an industrial machine) performs a series of operations to obtain a molded product.

[0016] Furthermore, injection molding machine 1 is communicatively connected to the control device 2 via a predetermined communication line NW. Additionally, injection molding machine 1 can be communicatively connected to another injection molding machine 1 via communication line NW.

[0017] The communication line NW can, for example, be a one-to-one communication line. Furthermore, the communication line NW can include a local area network (LAN) of a facility (factory) where injection molding machine 1 is installed. The local area network can be wired, wireless, or a hybrid of both. Additionally, the communication line NW can include a wide area network (WAN) outside the facility (factory) where injection molding machine 1 is installed. The WAN can, for example, include a mobile communication network with a base station as a terminal. For example, the mobile communication network can use fourth-generation (4G) technology, including Long Term Evolution (LTE), or fifth-generation (5G) technology.The wide area network (WAN) can, for example, include a satellite communications network that uses a communications satellite. The WAN can, for example, include an internet network. The NW communications line can, for example, include a short-range communications line that conforms to a wireless communications standard, such as Bluetooth (registered trademark) or Wi-Fi.

[0018] For example, injection molding machine 1 transmits (uploads) data relating to an operating state (hereinafter "operating state data") or data relating to a production state (hereinafter "production status data") of injection molding machine 1 to the management device 2 via the communication line NW (high). For example, the operating state data may include measurement data or control data relating to an operating state (for example, position, speed, angular velocity, and acceleration) of a driven unit of injection molding machine 1. For example, the operating state data may include measurement data or control data relating to an operating state (for example, current and voltage) of an electrical drive unit of injection molding machine 1.For example, the data relating to the operating status can include measurement data or control data relating to an operating condition (for example, the pressure of hydraulic oil) of a hydraulic drive unit. For example, the data relating to the operating status can include data relating to the temperature of a predetermined section of injection molding machine 1. Accordingly, the management device 2 can automatically or manually identify the operating status according to an input from an administrator or operator and manage a maintenance schedule for injection molding machine 1, an operating plan for injection molding machine 1, and the like. For example, the data relating to the production status includes data relating to the number of molded products produced (number of shots) from a predetermined time.Accordingly, the management device 2 can identify the production status of the molded products using the injection molding machine 1.

[0019] For example, injection molding machine 1, acting as a main machine, can monitor or control the operation of another injection molding machine 1, acting as an auxiliary machine, via the communication line NW. Specifically, injection molding machine 1 (auxiliary machine) can transmit operating status data to injection molding machine 1 (main machine) via the communication line NW. Accordingly, injection molding machine 1 (main machine) can monitor the operation of the other injection molding machine 1 (auxiliary machine). Alternatively, injection molding machine 1 (main machine) can transmit a control command regarding its operation to the other injection molding machine 1 (auxiliary machine) via the communication line NW, while identifying the operating status of the other injection molding machine 1 (auxiliary machine) based on the operating status data.Accordingly, injection molding machine 1 (main machine) can control the operation of the other injection molding machine 1 (auxiliary machine). <verwaltungsvorrichtung>

[0020] The control 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 control device 2 can manage the operating state, the management state, and the like of the injection molding machine 1 according to a predetermined rule or autonomously and automatically. For example, the control 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 an administrator or a worker. That is, the control 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 an administrator or a worker.

[0021] A function of the management device 2 is implemented by any hardware or any combination of hardware and software. For example, the management device 2 is an information processing device that includes 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 implement 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 capture a program installed in the auxiliary storage device from a predetermined recording medium via the interface device. Examples of predetermined recording media include a floppy disk, a compact disk (CD), a digital versatile disk (DVD), a Blu-ray disc (BD), an SD memory card, and a universal serial bus (USB) storage device. For example, the management device 2 can capture (download) a program installed in the auxiliary storage device from an external computer via the interface device.

[0022] For example, the management device 2 is a cloud server or a local server installed at a remote location, such as an administrative center outside the factory where the injection molding machine 1 is installed. Alternatively, the management device 2 can be an edge server installed within the factory where the injection molding machine 1 is installed, or at a location relatively close to the factory (for example, a radio base station or station building near the factory). Finally, the management device 2 can be an end-user device (user terminal) used by the user of the injection molding machine 1, such as an administrator or a worker.The user terminal can be an administrative device located in the factory where injection molding machine 1 is installed, or a device (user terminal) used by the operator of injection molding machine 1. For example, the administrative device or user terminal can be a stationary device, such as a desktop personal computer (PC). Alternatively, the administrative device or user terminal can be a portable device that can be carried by the operator of injection molding machine 1, such as an administrator or a worker. Examples of portable devices include a smartphone, a tablet, and a laptop.

[0023] For example, the management device 2 can identify the operating state of injection molding machine 1 and manage its operating state based on the operating state data transmitted (uploaded) by injection molding machine 1. Furthermore, the management device 2 can perform various diagnostics, such as abnormality diagnostics of injection molding machine 1, based on the operating state identified from the operating state data.

[0024] 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) by the injection molding machine 1.

[0025] For example, the control device 2 can transmit a control signal containing control information (for example, information relating to various setting conditions) about the injection molding machine 1 via the communication line NW. Accordingly, the control device 2 can control the operation of the injection molding machine 1. [Configuration of injection molding machine]

[0026] Next, a configuration of the injection molding machine will be described with reference to Fig. 1 and Fig. 2 described.

[0027] As in Fig. 1 and Fig. As shown in Figure 2, the injection molding machine 1 contains a mold clamping unit 100, an ejector unit 200, an injection unit 300, a motion unit 400 and a control unit 700. <<Formschließ- / klemmeinheit> >

[0028] 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 one mold opening and closing direction is horizontal. The mold closing / clamping unit 100 includes a stationary plate 110, a moving plate 120, a toggle lever support 130, a column 140, a toggle lever mechanism 150, a mold closing / clamping motor 160, a motion conversion mechanism 170, and a mold space adjustment mechanism 180.

[0029] In the following description of the mold closing / clamping unit 100, a direction of movement of the movable plate 120 during mold closing (a direction to the right) is given. Fig. 1 and Fig. 2) 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 backwards.

[0030] The stationary plate 110 is attached to a frame Fr. A stationary form 11 is attached to one of the surfaces of the stationary plate 110 facing the movable plate 120.

[0031] The movable plate 120 is movable in the mold opening and closing direction relative to the frame Fr. A guide 101, which guides the movable plate 120, is placed on the frame Fr. A movable mold 12 is attached to a surface of the movable plate 120 facing the stationary plate 110.

[0032] The movable plate 120 is caused to move back and forth relative to the stationary plate 110, so that mold closing, mold closing / clamping and mold opening are performed.

[0033] The mold unit 10 is configured to contain the stationary mold 11, which corresponds to the stationary plate 110, and the movable mold 12, which corresponds to the movable plate 120.

[0034] The toggle lever carrier 130 is connected to the stationary plate 110 at a predetermined distance L and is positioned on the frame Fr such that it is movable in the mold opening and closing direction. For example, the toggle lever carrier 130 can be movable along a guide placed on the frame Fr. In this case, a guide for the toggle lever carrier 130 can be shared with the guide 101 of the movable plate 120.

[0035] The stationary plate 110 is attached to the frame Fr, and the toggle lever support 130 is movable in the mold opening and closing direction relative to the frame Fr. However, the toggle lever support 130 can be attached to the frame Fr, and the stationary plate 110 can be movable in the mold opening and closing direction relative to the frame Fr.

[0036] The column 140 connects the stationary plate 110 and the toggle lever support 130 at a distance L in the mold opening and closing direction. Several columns 140 (for example, four) can be used. The multiple columns 140 are parallel to each other in the mold opening and closing direction and extend in accordance with a mold closing / clamping force. At least one of the columns 140 is equipped with a column strain detector 141, which measures the strain of the column 140. The column strain detector 141 is, for example, a strain gauge. The column strain detector 141 transmits a signal indicating a measurement result to the controller 700. For example, the measurement result of the column strain detector 141 is used when measuring the mold closing / clamping force.

[0037] Instead of or in addition to the column strain detector 141, any form-closing / clamping force detector capable of measuring form-closing / clamping force can be used. For example, the form-closing / clamping force detector is not limited to a specific type of strain gauge and can be of a piezoelectric, capacitive, hydraulic, or electromagnetic type. Its mounting position is not limited to the column 140.

[0038] The toggle mechanism 150 is arranged between the movable plate 120 and the toggle support 130 and moves the movable plate 120 relative to the toggle support 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 link group has a first link 152 and a second link 153, which are connected so that they can be freely bent and straightened by a pin or the like. The first link 152 is oscillatingly attached to the movable plate 120 by a pin or the like, and the second link 153 is oscillatingly attached to the toggle support 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 support 130, the first connecting link 152 and the second connecting link 153 are flexed and extended, and the movable plate 120 moves forward and backward with respect to the toggle support 130.

[0039] The configuration of the toggle lever mechanism 150 is not shown in Fig. 1 and Fig. The configurations shown are limited to two. Fig. 1 and Fig. 2 is the number of nodes in each link group, for example five, but it can be four. An end section of the third link 154 can be connected to the node between the first link 152 and the second link 153.

[0040] The form-locking / clamping motor 160 is attached to the toggle lever carrier 130 and actuates the toggle lever mechanism 150. The form-locking / clamping motor 160 causes the crosshead 151 to move back and forth relative to the toggle lever carrier 130, so that the first connecting link 152 and the second connecting link 153 are flexed and extended, and the movable plate 120 moves back and forth relative to the toggle lever carrier 130. The form-locking / clamping motor 160 is directly connected to the motion conversion mechanism 170, but can also be connected to the motion conversion mechanism 170 via a belt, pulley, or the like.

[0041] The motion conversion mechanism 170 converts a rotary motion of the form-closing / clamping motor 160 into a linear motion of the crosshead 151. The motion conversion mechanism 170 includes a spindle shaft 171 and a spindle nut 172, which is screwed onto the spindle shaft 171. A ball or a roller can be inserted between the spindle shaft 171 and the spindle nut 172.

[0042] 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 control unit 700.

[0043] In the mold clamping process, the mold clamping motor 160 is driven to cause the crosshead 151 to move forward at a set speed into a mold clamping closing position, which in turn causes the moving platen 120 to move forward so that the moving mold 12 contacts the stationary mold 11. For example, the position or speed of the crosshead 151 is measured using a mold clamping motor encoder 161. The mold clamping motor encoder 161 measures the rotation of the mold clamping motor 160 and transmits a signal indicating a measurement result to the controller 700.

[0044] A crosshead position detector for measuring the position of the crosshead 151 and a crosshead velocity detector for measuring the velocity of the crosshead 151 are not limited to the form-closing / clamping motor encoder 161, and a general-purpose detector can be used. Furthermore, a moving-plate position detector for measuring the position of the moving plate 120 and a moving-plate velocity detector for measuring the velocity of the moving plate 120 are not limited to the form-closing / clamping motor encoder 161, and a general-purpose detector can be used.

[0045] During the mold closing / clamping process, the mold closing / clamping motor 160 is driven further to cause the crosshead 151 to move forward from the mold closing end position into a mold closing / clamping position, thereby generating a mold closing / clamping force. During mold closing / clamping, a cavity 14 is formed between the moving mold 12 and the stationary mold 11, and the injection unit 300 fills the cavity 14 with a liquid molding material. A molded product is obtained by the solidification of the molding material. The number of cavity 14 can be two or more. In this case, several molded products can be obtained simultaneously.

[0046] During the mold opening process, the mold closing / clamping motor 160 is driven to cause the crosshead 151 to move backward at a set speed into a mold opening closing position, so that the moving platen 120 moves backward and the moving mold 12 is separated from the stationary mold 11. The ejector unit 200 then ejects the molded product from the moving mold 12.

[0047] Setting conditions for the mold closing process and the mold closing / clamping process are set collectively as a set of setting conditions. For example, the speed or positions of the crosshead 151 (including a mold closing start position, a speed switching position, the mold closing end position, and the mold closing / clamping position) and the mold closing / clamping force are set collectively as a set of setting conditions for the mold closing process and the mold closing / clamping process. The mold closing start position, the speed switching position, the mold closing end position, and the mold closing / clamping position are arranged in that order from a back side to a front side and represent a start and 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. It is possible that the speed switching position is not set. It is possible that only one of the mold closing / clamping position and mold closing / clamping force is set.

[0048] Furthermore, setting conditions for the mold opening process are configured in the same way. For example, the speed or position (including a mold opening start position, speed change position, and mold opening end position) of the crosshead 151 are collectively set as a set of setting conditions during the mold opening process. The mold opening start position, speed change position, and mold opening end position are arranged in that order from front to back and represent the start and end points of the section where the speed is set. The speed is set for each section. The number of speed change positions can be one or more. The speed change position may not be set. The mold opening start position and the mold closing / clamping position can be the same position.Furthermore, the mold opening end position and the mold closing start position can be the same position.

[0049] Instead of the speed, positions, and the like of the crosshead 151, the speed, positions, and the like of the moving plate 120 can be set. Furthermore, instead of the position (for example, the mold closing / clamping position) of the crosshead or the position of the moving plate, the mold closing / clamping force can be set.

[0050] The toggle mechanism 150 amplifies a drive force from the form-closing / clamping motor 160 and transmits the drive force to the movable plate 120. Each increase in amplification is referred to as a toggle lever increase. The toggle lever increase is modified according to an angle θ (hereinafter referred to as the "link angle θ") formed between the first link 152 and the second link 153. The link angle θ is determined by the position of the crosshead 151. When the link angle θ is 180°, the toggle lever increase is maximized.

[0051] In a case where the 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 maintained during mold closing / clamping. For example, during mold space adjustment, the distance L between the stationary plate 110 and the toggle lever carrier 130 is adjusted so that the link angle θ of the toggle lever mechanism 150 becomes a predetermined angle at the mold contact point when the movable mold 12 contacts the stationary mold 11.

[0052] The mold clamping unit 100 includes the mold space adjustment mechanism 180, which performs the mold space adjustment by adjusting the distance L between the stationary plate 110 and the toggle lever carrier 130. The mold space adjustment mechanism 180 comprises a spindle shaft 181 formed in a rear end section of the column 140, a spindle nut 182 rotatably held by the toggle lever carrier 130, and a mold space adjustment motor 183 that rotates the spindle nut 182 screwed onto the spindle shaft 181.

[0053] 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 several of the spindle nuts 182 via a rotary transmission unit 185. The multiple spindle nuts 182 can be rotated synchronously with each other.

[0054] The multiple spindle nuts 182 can be individually rotated by changing a transmission channel of the rotary transmission unit 185.

[0055] For example, the rotary transmission unit 185 is configured to include a gear. In this case, a driven gear is formed on an outer circumference of each spindle nut 182, a driving gear is mounted on an output shaft of the mold space adjustment motor 183, and several intermediate gears engaging with the driven gear and the driving gear are rotatably held in a central section of the toggle lever carrier 130.

[0056] The rotary transmission unit 185 can be configured to include a belt, pulley or the like instead of the gear.

[0057] The operation of the mold space adjustment mechanism 180 is controlled by the controller 700. The controller 700 drives the mold space adjustment motor 183 to rotate the spindle nut 182, thus adjusting the position of the toggle lever carrier 130, which allows the spindle nut 182 to rotate relative to the stationary plate 110, and adjusting the distance L between the stationary plate 110 and the toggle lever carrier 130.

[0058] The distance L is measured using a mold space adjustment motor encoder 184. The mold space adjustment motor encoder 184 measures the rotational magnitude or direction of the mold space adjustment motor 183 and transmits a signal indicating the measurement result to the controller 700. The measurement result of the mold space adjustment motor encoder 184 is used to monitor or control the position or distance L of the toggle lever carrier 130.

[0059] A toggle-lever carrier position detector for measuring the position of the toggle-lever carrier 130 and a distance detector for measuring the distance L are not limited to the mold space adaptation motor encoder 184, and a general detector can be used.

[0060] The mold space adjustment mechanism 180 adjusts the distance L by rotating one of the spindle shaft 181 and the spindle nut 182, which are screwed together. Several mold space adjustment mechanisms 180 can be used, or several mold space adjustment motors 183 can be used.

[0061] The form-closing / clamping unit 100 of the present embodiment is of the horizontal type, in which the form opening and closing direction is the horizontal direction, but can be of a vertical type, in which the form opening and closing direction is an up-down direction.

[0062] The mold closing / clamping unit 100 of the present embodiment has the mold closing / clamping motor 160 as a drive source. However, a hydraulic cylinder can be provided instead of the mold closing / clamping motor 160. In addition, the mold closing / clamping unit 100 can have a linear motor for opening and closing the mold, and it can have an electromagnet for closing / clamping the mold. "Ejector unit"

[0063] 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 cooled and solidified. The ejector unit 200 comprises an ejector motor 210, a motion conversion mechanism 220, and an ejector rod 230.

[0064] In the following description of the ejector unit 200, similar to the description of the mold closing / clamping unit 100, a direction of movement of the movable plate 120 during mold closing (the direction to the right) is described. Fig. 1 and Fig. 2) 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 backwards.

[0065] The ejector motor 210 is attached to the movable plate 120. The ejector motor 210 is directly connected to the motion conversion mechanism 220, but can also be connected to the motion conversion mechanism 220 via a belt, pulley, or the like.

[0066] 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 onto the spindle shaft. A ball or roller can be inserted between the spindle shaft and the spindle nut.

[0067] The ejector rod 230 can move back and forth in a through-hole of the movable plate 120. A front end section of the ejector rod 230 comes into contact with a movable element 15, which is arranged to move back and forth within the movable mold 12. The front end section of the ejector rod 230 may be connected to the movable element 15, or it may not be connected to it.

[0068] The ejector unit 200 performs an ejection process under the control of the control unit 700.

[0069] During the ejection process, the ejector motor 210 is driven to cause the ejector rod 230 to move forward from a ready position to an ejection position at a set speed, so that the moving element 15 moves forward to eject the molded product. Afterward, the ejector motor 210 is driven to cause the ejector rod 230 to move backward at a set speed, so that the moving element 15 moves backward to its original ready position. For example, the position or 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 to the controller 700.

[0070] An ejector rod position detector for measuring the position of the ejector rod 230 and an ejector rod velocity detector for measuring the velocity of the ejector rod 230 are not limited to the ejector motor encoder 211, and a general detector can be used. < <einspritzeinheit>>

[0071] The injection unit 300 is installed on a sliding base 301, which is capable of moving back and forth relative to the frame Fr, and thus also 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.

[0072] In the following description of the injection unit 300, a direction is given in which the injection unit 300 is brought closer to the molding unit 10 (the direction to the left in Fig. 1 and Fig. 2), defined as forward, and a direction in which the injection unit 300 is separated from the molding unit 10 (the direction to the right in Fig. 1 and Fig. 2) is defined as backwards.

[0073] The cylinder 310 heats the molding material, which is fed into the cylinder 310 from a feed port 311. The molding material contains, for example, a resin. The molding material is formed, for example, in a pellet mold and is fed to the feed port 311 in a solid state. The feed port 311 is located in a rear section of the cylinder 310. A cooler 312, such as a water-cooling cylinder, is provided on an outer circumference of the rear section of the cylinder 310. Upstream of the cooler 312, a heating unit 313, such as a belt heater, and a temperature measuring device 314 are provided on an outer circumference of the cylinder 310.

[0074] Cylinder 310 is oriented 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 set temperature is reached in each of the zones at the measured temperature of the temperature measuring device 314.

[0075] The nozzle 320 is located in a front end section of the cylinder 310 and is pressed against the molding unit 10. The heating unit 313 and the temperature measuring device 314 are located on the outer circumference of the nozzle 320. The control unit 700 controls the heating unit 313 so that a measured temperature of the nozzle 320 reaches a set temperature.

[0076] The screw 330 is arranged so that it can rotate and move forward and backward inside the cylinder 310. As the screw 330 rotates, the molding material is conveyed forward along a helical groove in 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 accumulates in a forward section of the cylinder 310, the screw 330 moves backward. Subsequently, when the screw 330 is caused to move forward, the liquid molding material that has accumulated in front of the screw 330 is injected from the nozzle 320 and fills an interior space of the molding unit 10.

[0077] As a non-return valve to prevent backflow of the molding material conveyed backwards from the front of the screw 330 when the screw 330 is pushed forwards, a non-return ring 331 is attached to a front section of the screw 330 to allow it to move forwards and backwards.

[0078] When the screw 330 is caused to move forward, the non-return ring 331 is pushed backward by pressure from the mold material in front of the screw 330 and moves backward relative to the screw 330 into a closed 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 backwards.

[0079] On the other hand, when the screw 330 is rotated, the non-return ring 331 is pushed forward by the pressure of the molding material conveyed along the spiral groove of the screw 330 and moves forward relative to the screw 330 into an open 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.

[0080] The backflow prevention ring 331 can be either a rotating type that rotates together with the screw 330, or a non-rotating type that does not rotate together with the screw 330.

[0081] The injection unit 300 can have a drive source that causes the non-return ring 331 to move back and forth between the open position and the closed position with respect to the screw 330.

[0082] 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 can, for example, be a hydraulic pump.

[0083] The injection motor 350 causes the screw 330 to move forwards and backwards. A motion conversion mechanism, which converts a rotary 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 spindle shaft and a spindle nut screwed onto the spindle shaft. A ball or roller may be provided between the spindle shaft and the spindle nut. The drive source that causes the screw 330 to move forwards and backwards is not limited to the injection motor 350 and may, for example, be a hydraulic cylinder.

[0084] The pressure detector 360 measures the pressure transmitted between the injection motor 350 and the screw 330. The pressure detector 360 is located in a power transmission channel between the injection motor 350 and the screw 330 and measures the pressure acting on the pressure detector 360.

[0085] The pressure detector 360 transmits a signal indicating a measurement result to the controller 700. The measurement result of the pressure detector 360 is used for controlling or monitoring the pressure received by the screw 330 from the molding material, a back pressure against the screw 330, the pressure exerted by the screw 330 on the molding material, or the like.

[0086] The injection unit 300 performs a plasticizing process, a filling process and a pressure holding process under the control of the control unit 700.

[0087] In 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 helical groove of the screw 330. As a result, the molding material is gradually melted. When the liquid molding material is conveyed to the front of the screw 330 and accumulates in a front section of the cylinder 310, the screw 330 moves backward. The rotational speed of the screw 330 is measured, for example, by 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 to the controller 700.

[0088] A screw speed detector for measuring the rotational speed of the screw 330 is not limited to the plasticizing motor encoder 341, and a general detector can be used.

[0089] During the plasticizing process, the injection motor 350 can be driven to exert a set back pressure on the screw 330 to limit a sudden reverse movement of the screw 330. The back pressure exerted on the screw 330 is measured, for example, using the pressure detector 360. The pressure detector 360 transmits a signal indicating a measurement result to the controller 700. When the screw 330 moves backward into a plasticizing completion position and a predetermined amount of molding material has accumulated in front of the screw 330, the plasticizing process is complete.

[0090] During the filling process, the injection motor 350 is driven to cause the screw 330 to move forward at a set speed, and the cavity 14 within the molding unit 10 is filled with the liquid molding material that accumulates 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 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, time or the like of the screw 330.

[0091] Once the screw 330 reaches the set position during the filling process, it can be temporarily stopped at that position, after which the V / P switching can be performed. Immediately before the V / P switching, instead of stopping the screw 330, it can be made to move forward at a low speed, or it can be made 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-purpose detector can be used.

[0092] During 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 section of the screw 330 is maintained at a set pressure, and the molding material remaining within the cylinder 310 is forced toward the molding unit 10. An insufficient amount of molding material due to cooling shrinkage inside the molding unit 10 can be replenished. The holding pressure is measured, for example, using the pressure detector 360. The pressure detector 360 transmits a signal indicating a measurement result to the controller 700. A set value of the holding pressure can be changed depending on the time elapsed since the start of the pressure-holding process or similar factors.

[0093] During the pressure holding process, the molding material in the cavity 14 within the mold unit 10 is gradually cooled. Once the pressure holding process is complete, the solidified molding material closes an inlet of the cavity 14. This condition is called a gate seal and prevents the backflow of 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 solidifies. To shorten the mold cycle time, the plasticizing process can be carried out during the cooling process.

[0094] The injection unit 300 of the present embodiment is of an inline screw type, but can also be of a pre-plasticizing type. The pre-plasticizing injection unit feeds 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 so that it is rotatable or so that it is rotatable and can move forwards and backwards. A plunger piston is arranged so that it can move forwards and backwards inside the injection cylinder.

[0095] Furthermore, the injection unit 300 of the present embodiment is of a horizontal type, in which the axial direction of the cylinder 310 is horizontal, but can also be of a vertical type, in which the axial direction of the cylinder 310 is up-down. The mold clamping unit combined with a vertical-type injection unit 300 can be of either the vertical or the horizontal type. Similarly, the mold clamping unit combined with a horizontal-type injection unit 300 can be of either the horizontal or the vertical type. < <bewegungseinheit>>

[0096] The motion unit 400 causes the injection unit 300 to move back and forth relative to the molding unit 10. The motion unit 400 presses the nozzle 320 against the molding unit 10, thereby generating a nozzle contact pressure. The motion unit 400 includes a hydraulic pump 410, a motor 420 which serves as a drive source, a hydraulic cylinder 430 which serves as a hydraulic actuator, and the like.

[0097] In the following description of the motion unit 400, similar to the description of the injection unit 300, a direction is given in which the injection unit 300 is brought closer to the molding unit 10 (the direction to the left in Fig. 1 and Fig. 2), defined as forward, and a direction in which the injection unit 300 is separated from the molding unit 10 (the direction to the right in Fig. 1 and Fig. 2) is defined as backwards.

[0098] 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 motion unit 400 can be arranged on both sides of the cylinder 310 or can be arranged symmetrically with respect to the cylinder 310.

[0099] The hydraulic pump 410 has a first port 411 and a second port 412. The hydraulic pump 410 is a bidirectional pump that reverses the direction of rotation of the motor 420, so that hydraulic fluid (for example, oil) is drawn in 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 draw hydraulic fluid from a tank and discharge it from either the first port 411 or the second port 412.

[0100] Motor 420 operates hydraulic pump 410. Motor 420 drives hydraulic pump 410 in one direction of rotation and with a torque in accordance with a control signal transmitted by controller 700. Motor 420 can be an electric motor or an electric servo motor.

[0101] The hydraulic cylinder 430 comprises 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 the interior of the cylinder body 431 into a front chamber 435, which serves as a first chamber, and a rear chamber 436, which serves as a second chamber. The piston rod 433 is attached to the stationary plate 110.

[0102] 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 acts as a pressure chamber, generating the nozzle contact pressure of the nozzle 320 by means of the pressure of the hydraulic fluid supplied by the hydraulic pump 410.

[0103] 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 form 11.

[0104] The motion unit 400 is not limited to the configuration containing the hydraulic cylinder 430. For example, instead of the hydraulic cylinder 430, an electric motor and a motion conversion mechanism that converts a rotary motion of the electric motor into a linear motion of the injection unit 300 can be used. < <steuerung>>

[0105] The control unit 700 (an example of a control device) directly transmits a control signal to the mold clamping / squeezing unit 100, the ejector unit 200, the injection unit 300, the motion unit 400 and the like, and performs various types of control with respect to the injection molding machine 1.

[0106] The controller 700 can be implemented using any hardware or any combination of hardware and software. For example, the controller 700 is primarily configured as a computer containing a CPU 701, a storage device 702, an auxiliary storage device 703, and an input / output interface device 704 for external connection. 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 instructing the CPU 701 to execute the program. Furthermore, the controller 700 receives a signal from the outside or outputs a signal externally 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. Additionally, the controller 700 can acquire a program to be installed on it (auxiliary storage device 703) from a predetermined recording medium via the interface device 704. Examples of predetermined recording media include a floppy disk, a compact disk (CD), a digital versatile disk (DVD), a Blu-ray (registered trademark) disk (BD), an SD memory card, and a universal serial bus (USB) storage device. Furthermore, the controller 700 can acquire (download) a program from an external computer (for example, the management device 2) via the interface device 704.

[0107] It is possible that a function of the controller 700 is implemented by only one controller 700 or is shared by several controllers (for example, a host controller 700A and a subordinate controller 700B), as described later (see Fig. 2).

[0108] The controller 700 repeatedly produces a molded product by instructing the injection molding machine 1 to repeatedly perform the mold closing process, the mold clamping / closing process, the mold opening process, and the like. Furthermore, the controller 700 instructs the injection unit 300 to perform the plasticizing process, the filling process, the pressure holding process, and the like during the mold clamping / closing process.

[0109] A series of operations to obtain the molded products, for example, the operation from the start of the plasticizing process, carried out by injection unit 300, to the start of the subsequent plasticizing process, also carried out by injection unit 300, is referred to as a "shot" or a "molding cycle." Furthermore, the time required for a shot is referred to as a "molding cycle time."

[0110] For example, a mold cycle is configured to include the plasticizing process, the mold closing process, the mold clamping process, the filling process, the pressure holding process, the cooling process, the mold opening process, and the ejection process in that order. This order is the sequence of the start times of the respective processes. Furthermore, the filling process, the pressure holding process, and the cooling process are performed after the mold clamping process begins and continue until the mold clamping process is complete. Additionally, the end of the mold clamping process coincides with the start of the mold opening process.

[0111] Several processes can be performed simultaneously to shorten the mold cycle time. For example, the plasticizing process can be carried out during the cooling process of the preceding mold cycle. In this case, the mold closing process can be performed in an initial stage of the mold cycle. Furthermore, the filling process can begin during the mold closing process. Additionally, the ejection process can begin during the mold opening process. Moreover, if an on / off valve is provided to open and close 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 if the mold opening process begins during the plasticizing process, the mold material will not exit the nozzle 320 when the on / off valve closes the flow path of the nozzle 320.

[0112] The control unit 700 is connected to an operating device 750, a display device 760, and the like.

[0113] The operating device 750 (an example of an input device) receives an input from a user regarding the injection molding machine 1 and outputs a corresponding signal to the controller 700. Accordingly, the user can perform an operation on the injection molding machine 1.

[0114] The injection molding machine 1 (control unit 700) can be configured to receive user input via an external device. Accordingly, the user can, for example, operate the injection molding machine 1 remotely. In this case, image data from an imaging device capable of displaying the operating status of the injection molding machine 1 can be transmitted to the external device. Therefore, operation can be performed at the external device while the operating status of the remote injection molding machine 1 is being monitored.

[0115] For example, the controller 700 can receive user input received by the management device 2 or another injection molding machine 1 via the communication line NW. Furthermore, the controller 700 can receive user input received by the terminal device via the communication line NW. The terminal device can be, for example, a stationary device such as a desktop PC, or a portable device (portable terminal) such as a smartphone, tablet, or laptop.

[0116] The display device 760 displays different images under the control of the control unit 700.

[0117] For example, the display device 760 shows an operating screen in relation to the injection molding machine 1 in response to an operator input at the operating device 750.

[0118] The operating screen displayed on the display device 760 is used for settings relating to the injection molding machine 1 and the like. Examples of settings relating to the injection molding machine 1 include setting molding conditions (in particular, entering a setpoint value) related to the injection molding machine 1. Furthermore, examples of settings include selecting the type of measured value from various sensors related to the injection molding machine 1, which is recorded as logging data during the injection molding process. Additionally, examples of settings include setting specifications (for example, the type of actual value to be displayed or a display method) where the measured value (actual value) from various sensors related to the injection molding machine 1 is displayed on the display device 760 during the injection molding process.Several operating screens are prepared and can be displayed on the display device 760 in a switchable or overlapping manner. The user can configure the settings (including entering the setting value) for the injection molding machine 1 by operating the control device 750 while viewing the operating screen displayed on the display device 760.

[0119] For example, the display device 760 shows an information screen that provides the user with various types of information, corresponding to the operation on the control screen under the control of the controller 700. Several information screens are prepared and can be displayed on the display device 760 in a switchable or overlapping manner. For example, the display device 760 shows settings related to injection molding machine 1 (for example, settings related to the molding conditions of injection molding machine 1). In addition, the display device 760 shows, for example, management information (for example, information related to the actual results of the operations of injection molding machine 1).

[0120] For example, the operating device 750 and the display device 760 can be configured to function as a touch panel type display and can be integrated together.

[0121] Although the operating device 750 and the display device 760 are integrated in the present embodiment, they can be provided independently of each other. Furthermore, several operating devices 750 can be provided. [Hardware configuration of control system of injection molding machine]

[0122] Next, a hardware configuration of a control system for injection molding machine 1 will be described with reference to Fig. 3 described.

[0123] Fig. Figure 3 is a diagram showing an example of the hardware configuration of the control system of injection molding machine 1.

[0124] As in Fig. As shown in Figure 3, the control system of the injection molding machine 1 includes the control unit 700, a driver 710 and a sensor 720.

[0125] The controller 700 contains the CPU 701 and a Field-Programmable Gate Array (FPGA) 705.

[0126] For example, the CPU 701 (an example of a control processing unit) performs control processing (hereinafter referred to as "motion control processing") with respect to the operation of injection molding machine 1 based on data acquired by 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) with respect to the operation of injection molding machine 1 in response to a predetermined interrupt request (hereinafter simply referred to as "interrupt request") periodically issued by the FPGA 705, and performs the control processing with respect to the operation of injection molding machine 1. The CPU 701 then outputs data corresponding to a control command via the FPGA 705 to the driver 710 or the like.

[0127] The interrupt request discussed in this example is a so-called hardware interrupt request, issued by hardware (in this example, FPGA 705) outside of CPU 701. For example, CPU 701 performs relatively high-priority processing (hereinafter referred to as "high-priority processing"), such as actuator motion control processing and servo control processing, which are performed as motion control processing, and performs relatively low-priority processing (hereinafter referred to as "low-priority processing") in the background. If an interrupt request for high-priority processing is input from FPGA 705 while CPU 701 is performing low-priority processing, CPU 701 calls the corresponding interrupt processing in response to the interrupt request.The CPU 701 then activates the high-priority processing that corresponds to the interrupt request through interrupt processing. Accordingly, the CPU 701 can appropriately perform periodic high-priority processing for each predetermined control cycle (an example of a predetermined cycle) while simultaneously executing low-priority processing.

[0128] The FPGA 705 (an example of a request output unit) acts as an input / output interface for connecting to the outside of the controller 700. That is, the interface device 704 contains the FPGA 705.

[0129] The FPGA 705 receives data relating to the control of an actuator (hereinafter referred to as "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.

[0130] 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 process of the sensor 720 in response to a request from the CPU 701.

[0131] Furthermore, the FPGA 705 periodically sends the interrupt request to the CPU 701 to activate the control function with respect to the operation of injection molding machine 1. In particular, the FPGA 705 can repeatedly set a timer to end at each predetermined control cycle and issue the interrupt request when the timer ends.

[0132] 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 achieve a desired operation of the injection molding machine 1. Examples of electric motors include the mold 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.

[0133] The sensor 720 outputs measurement data relating to a state of the injection molding machine 1. For example, the sensor 720 includes an encoder capable of measuring the rotational position of the electric motor. Examples of encoders 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 the voltage and current of a power system, which includes the current and voltage of the electric motor. In addition, the sensor contains 720 different sensors that are able to measure a force, a temperature, a pressure or the like acting on a predetermined section 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 controller]

[0134] Next, a functional configuration of the 700 controller will be described with reference to Fig. 4 described.

[0135] Fig. Figure 4 is a block diagram showing an example of the functional configuration of the 700 controller.

[0136] As in Fig. As shown in Figure 4, the controller 700 comprises the control unit 7001, a display processing unit 7002, a memory unit 7003, a setting unit 7004, and a memory unit 7005. For example, functions of the control unit 7001, the display processing unit 7002, the setting unit 7004, and the like are implemented by loading a program installed in the auxiliary memory device 703 into the memory device 702 and executing the program on the CPU 701. Furthermore, functions of the memory units 7003 and 7005, and the like, are implemented by a memory area defined in the auxiliary memory device 703 of the controller 700.

[0137] The control unit 7001 controls the operation of injection molding machine 1 based on 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 by the FPGA 705.

[0138] The display processing unit 7002 causes the display device 760 to display the information screen in response to user input received via the control device 750. Specifically, the display processing unit 7002 causes a screen (hereinafter referred to as the "settings screen") to be displayed to allow the user to configure settings related to the interrupt request described above by using the control device 750.

[0139] The interrupt request settings include settings related to the output time of the interrupt request from the FPGA 705 (for example, setting a correction time T1, which is described later). Furthermore, the interrupt request settings include settings related to the start time of the motion control processing in response to the interrupt request (for example, setting a wait time T2, which is described later).

[0140] The 7003 storage unit stores (registers) setting contents (for example, setting values ​​of the correction time T1 and the waiting time T2, which are described later) in relation to the interrupt request described above.

[0141] The setting unit 7004 configures settings in response to the interrupt request described above. For example, the setting unit 7004 automatically configures settings in response to the interrupt request by using a predetermined input received from the user via the operating device 750 or the like, or by fulfilling a condition other than the predetermined input, as a trigger. Examples of conditions other than the predetermined input (hereinafter referred to as the "automatic setting start condition") include the initial activation (power-on) during an inspection process of injection molding machine 1 before shipment from the factory, and the initial activation after initialization of the control unit 700 of injection molding machine 1.Furthermore, the start condition for automatic setting can include initial activation after changing (updating) predetermined hardware, such as an actuator of injection molding machine 1, or predetermined software, such as a program related to motion control processing. Additionally, the setting unit 7004 can, for example, configure the settings related to the interrupt request according to user input received via the operating device 750 or similar, that is, input corresponding to the user-desired settings. In other words, the interrupt request settings can be configured manually.

[0142] Furthermore, the 7004 setting unit can limit the automatic or manual configuration of settings related to interrupt requests in response to user input. This makes it possible to prevent situations where the settings related to interrupt requests are unnecessarily changed and the operation of injection molding machine 1 is adversely affected.

[0143] For example, the setting unit 7004 identifies a user operating the injection molding machine 1 and determines whether to allow or reject the function of configuring the settings related to the interrupt request in response to input from the operating device 750, depending on the user. Accordingly, it is possible, for example, to prevent a situation in which a user lacking knowledge of the interrupt request mistakenly changes the interrupt request settings.In particular, a registration information database can be established in which identification information (for example, an identifier (ID) for each user or image data for facial authentication) defined for each user (hereinafter "user identification information") is linked to the approval or rejection of the settings related to the interrupt request. Accordingly, the setting unit 7004 can identify the user operating the control device 750 based on the ID input from the control device 750 and the image data captured at the time of facial authentication.

[0144] Furthermore, the setting unit 7004 can, for example, limit the function of configuring the settings with respect to the interrupt request in a case where input is received from the user via external devices outside of the injection molding machine 1. In particular, the function of configuring the settings with respect to the interrupt request can be prohibited according to input from some or all of the external devices.For example, in a case where the interrupt request settings are changed in response to input from a user employing an external device, and the operating state of injection molding machine 1 is relatively difficult to identify, if the change in settings adversely affects the operation of injection molding machine 1, there is a possibility that a response will be delayed. Furthermore, for example, in a case where the interrupt request settings can be changed according to input via the external device, there is a possibility that a safety issue may arise.

[0145] Various types of data used by the 7004 setting unit are stored in the 7005 storage unit. For example, the registration information database described above can be stored in the 7005 storage unit. [Specific example of control operation]

[0146] Next, a specific example of an operation of the 700 control system will be given with reference to Fig. 5 described.

[0147] Fig. Figure 5 is a time diagram showing an example of the operation of the 700 controller. Fig. Figure 5 is in particular a time diagram showing the respective states of “data output”, “data preparation”, “interruption timer”, “interruption processing” and “motion control processing” during the control process.

[0148] “Data output” represents an output state of data (for example, control data for the driver 710) as a result of motion control processing by the controller 700 (control unit 7001).

[0149] "Data preparation" represents a preparation state of data (for example, data received from the driver 710 and the sensor 720, or output data obtained through motion control processing in the previous control cycle) that is used for motion control processing by the controller 700 (control unit 7001). The data used for motion control processing is stored in internal memory of the FPGA 705, and the CPU 701 can use this data and perform the motion control processing by accessing the internal memory of the FPGA 705.

[0150] "Break Timer" represents an operating state of a timer configured for the FPGA 705 to issue the break request. In the figure, a rising edge of the timer's operating state represents the start of the timer, and a falling edge represents the end of the timer. The break request is then issued, with the timer's end as the trigger.

[0151] "Interrupt processing" represents an execution state (presence or absence of execution) of preprocessing (interrupt processing) to interrupt low-priority processing in order to execute motion control processing in response to the interrupt request issued by the FPGA 705.

[0152] “Motion control processing” represents an execution state (presence or absence of execution) of the motion control processing performed by the CPU 701.

[0153] In this example, the interrupt request setting is modified by changing the output time of the interrupt request from an initial state, that is, a predetermined reference state. The reference state is a state in which the interrupt request time is adjusted to a reference time that triggers the start of motion control processing. In this example, the reference state is a state in which the interrupt request time is adjusted to a time at which the preparation of the data used for motion control processing is assumed to be complete.

[0154] In particular, assuming that an output cycle of the interrupt request, i.e., a control cycle of the motion control processing, is not changed, the time of the interrupt request is advanced by a correction time T1 from the reference state. Furthermore, and more specifically, the end time of the timer for the interrupt request of the FPGA 705 is advanced by the correction time T1 from the reference state.

[0155] Therefore, as in Fig. Figure 5 shows the timer at a point before the completion of data preparation, and the FPGA 705 issues the interrupt request to the CPU 701 (time t11).

[0156] When the FPGA 705 issues the interrupt request, the FPGA 705 starts the next timer (at time t12).

[0157] The CPU 701 starts interrupt processing in response to the interrupt request output from the FPGA 705 (time t12).

[0158] In this example, the setting related to the interrupt request changes the start time of the motion control processing from the initial state in response to the interrupt request. The initial state is, for example, a state in which the start time of the motion control is aligned with the completion of the interrupt processing. That is, in the initial state, the motion control processing starts as soon as the interrupt processing is complete.

[0159] In particular, the start time of the motion control processing is changed to a later time than the time at which the interrupt processing is completed and the time at which the waiting time T2 has elapsed since the start of the interrupt processing.

[0160] The current interrupt processing takes a relatively long time, and the point in time at which the wait time T2 elapses and the point in time at which the interrupt processing ends are essentially the same point in time (time t13). Therefore, CPU 701 starts the motion control processing at this point in time.

[0161] Furthermore, in this example, the waiting time T2 is set such that the start time of the motion control processing is essentially the same as the time (for example, immediately after) at which the preparation of the data used for motion control processing by the FPGA 705 is assumed to be complete. Therefore, the motion control processing starts immediately after the data preparation is complete. Accordingly, the CPU 701 can start the motion control processing after the preparation of the latest data is complete. Therefore, the CPU 701 can appropriately control the operation of injection molding machine 1. Since the motion control is started immediately after the preparation of the data used for motion control processing is complete, the controller 700 can also easily ensure real-time performance with respect to the motion control processing.

[0162] 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 complete.

[0163] When the motion control processing is complete in the current control cycle, the CPU 701 then outputs data relating 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.

[0164] After the data output by CPU 701 is complete, FPGA 705, when the timer started after the output of the previous interrupt request ends, outputs the interrupt request to CPU 701 (time t15).

[0165] The CPU 701 starts interrupt processing in response to the interrupt request output from the FPGA 705 (time t16).

[0166] The current interrupt processing will end in a relatively short time (time t17). Therefore, after the interrupt processing is complete, CPU 701 waits until the waiting time T2 has elapsed since the start of the interrupt processing, and then starts the motion control processing (time t18). Accordingly, even if the interrupt processing ends relatively early, CPU 701 can start the motion control processing with a suitably set waiting time T2 after the preparation of the data used for the motion control processing is complete.

[0167] When the motion control processing is completed in the current control cycle, the CPU 701 then outputs data relating to an execution result of the motion control processing in the current control cycle (time t19).

[0168] Motion control processing is initiated in both the previous and current control cycles once the waiting time T2 has elapsed since the interrupt processing began. Therefore, the controller 700 can adjust the output times (required time T0 for data output) of data related to the execution results of the motion control processing based on the completion of the preparation of the data used for motion control processing, ensuring they are essentially the same. Consequently, the controller 700 can more appropriately ensure the real-time capability with respect to motion control processing.

[0169] Instead of setting the wait time T2, the FPGA 705 can send a notification to the CPU 701 that the preparation of the data used for motion control processing is complete. In this case, the start time of the motion control processing is changed to a later time than the time at which the interrupt processing is complete and the time at which the data preparation is complete. Accordingly, the controller 700 can start the motion control processing when the data preparation is complete. [Setup processing in relation to interruption request]

[0170] Next, the processing of the interrupt request by the controller 700 will be carried out with reference to Fig. 6 described.

[0171] Fig. Figure 6 is a flowchart that schematically illustrates an example of the setting process in response to an interrupt request from the controller 700. This flowchart can be executed, for example, when a predetermined input is received from the user via the operating device 750 or the like. Furthermore, this flowchart can be executed, for example, when the automatic setting start condition described above is met.

[0172] As in Fig. As shown in Figure 6, the setting unit 7004 determines at step S102 whether a function for automatically configuring the settings with respect to the interrupt request (hereinafter referred to as the “automatic setting function”) is valid or not.

[0173] For example, the automatic adjustment function can be in a form that can be selected by the user via the operating device 750. Furthermore, if the start condition for automatic adjustment described above is met, the start condition for automatic adjustment can be set as a valid initial state, or it can be set as either a valid or invalid initial state, depending on the specifications of each delivery target of the injection molding machine 1.

[0174] The setting unit 7004 proceeds to step S104 if the automatic setting function is valid and terminates the current flowchart if the automatic setting function is not valid.

[0175] In step S104, the setting unit 7004 causes the function of the control unit 7001 to actually operate and, in the initial states of the correction time T1 and the waiting time T2, measures the time required from the output (generation) of the interrupt request until the start of the motion control processing. That is, the setting unit 7004 measures the time required from the output of the interrupt request until the completion of the interrupt processing.

[0176] When the process of step S104 is completed, the controller 700 moves on to step S106.

[0177] In step S106, the setting unit 7004 determines whether the number of measurements required from the output (generation) of the interrupt request until the start of motion control processing is equal to or greater than a set number of times Nth (an integer of 1 or more). If the number of measurements is not equal to or greater than the set number of times Nth, the setting unit 7004 returns to step S104 and repeats steps S104 and S106 in the next control cycle of motion control processing. Conversely, if the number of measurements 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.

[0178] Furthermore, during normal operation of injection molding machine 1, the time required from the issuance of the interruption request to the completion of the interruption processing can be measured as background processing, and a measurement result from this can be used. In this case, the processing of steps S104 and S106 is omitted.

[0179] In 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.

[0180] For example, the setting unit 7004 can 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 can 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 interrupt processing can be terminated before the point at which the preparation of the data used for motion control processing is assumed to be complete. Therefore, the controller 700 can start the motion control processing in accordance with the completion of the data preparation by appropriately setting the waiting time T2.In particular, the setting unit 7004 can set the waiting time T2 to a value equal to or greater than a value obtained by subtracting an assumed required time from the output of the interrupt request until the start of interrupt processing from the specified correction time T1.

[0181] Furthermore, the setting unit 7004 can, for example, set the correction time T1 or the waiting time T2 based on a mean value or the like of the measurement results of the set number of times Nth.

[0182] When processing at step S108 is complete, controller 700 terminates processing of the current flowchart.

[0183] As described above, in this example, the controller 700 can set the correction time T1 and the waiting time T2 based on the actual time required from the issue of the interrupt request until the completion of the interrupt processing. [Specific example of settings screen]

[0184] Next, a settings screen will appear for the settings related to the interrupt request, with reference to Fig. 7 described.

[0185] Fig. Figure 7 is a representation showing an example (setting screen 70) of a setting screen displayed on the display device 760.

[0186] Furthermore, the same settings screen can be displayed on the management device 2, which is communicatively connected via the NW communication line, located outside the injection molding machine 1, or on the terminal device described above. Accordingly, the user of the injection molding machine 1, such as an administrator or a worker, can check the settings related to the interruption request or configure the interruption request settings via the management device 2 or the terminal device described above.

[0187] As in Fig. As shown in Figure 7, the settings screen 70 contains a processing content display unit 71, a correction time display unit 72, a waiting time display unit 73 and symbols 74 to 77.

[0188] The processing content display unit 71 plots a processing sequence from the output of the interrupt request to the start of the motion control processing as a time graph 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 during the process while identifying the processing sequence from the output of the interrupt request to the start of the motion control processing.

[0189] The correction time display unit 72 shows the current setting value of the correction time T1.

[0190] The waiting time display unit 73 shows the current setting value of the waiting time T2.

[0191] Symbol 74 indicates whether the automatic setting function is valid or invalid, that is, whether the settings relating to the interrupt request can be configured automatically or manually. This example shows a state in which the automatic correction function is valid.

[0192] Symbol 75 is an operating target for starting the setting of the correction time T1 and the waiting time T2 via the automatic setting function. By operating symbol 75 via the operating 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 flowchart described above. Fig. 6 to be set automatically.

[0193] Symbol 76 is an operating target for switching to a control state in which the settings relating to the interrupt request can be configured manually. When symbol 76 is operated via the operating device 750 or the like, values ​​can be entered into input fields for correction time T1 and waiting time T2 on the correction time display unit 72 and the waiting time display unit 73.

[0194] Furthermore, as described above, if the settings relating to the interrupt request corresponding to the user input received by the operating device 750 or the like are restricted (prohibited), symbols 75 and 76 may be displayed in a non-operable state (for example, in a grayed-out state). In addition, the values ​​that can be entered for the correction time T1 and the waiting time T2 can, of course, be limited in advance within a range that does not adversely affect the motion control processing.

[0195] The symbol 77 is a control point for returning to a predetermined screen (for example, a start screen).

[0196] In this way, the user can check the settings related to the interrupt request (setting values ​​for correction time T1 and waiting time T2) via setting screen 70. Furthermore, the user can instruct the controller 700 to configure the settings (changes) related to the interrupt request via setting screen 70 using the automatic setting function or manually. [Operation]

[0197] Next, the operation of the injection molding machine 1 (control 700) according to the present embodiment will be described with reference to Fig. 8 described.

[0198] Fig. Figure 8 is a timing diagram showing the operation of a control system for an injection molding machine according to a comparative example. A configuration similar to that of control system 700 in the comparative example is described below, using the same names but without reference symbols.

[0199] In this example, a timer is set to end in accordance with a time at which the preparation of data used for motion control processing in an FPGA is assumed to be complete.

[0200] As in Fig. As shown in Figure 8, the FPGA issues a break request at the end of the timer (time t21).

[0201] When the FPGA issues the interrupt request, the FPGA starts the next timer (at time t22).

[0202] A CPU starts interrupt processing in response to the interrupt request output from the FPGA (time t22).

[0203] When the interrupt request ends, the CPU starts the motion control processing (time t23). During a current control cycle, the interrupt processing is completed in a relatively short time.

[0204] The CPU outputs data relating 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 the FPGA's internal memory.

[0205] After the data output by the CPU is complete, when the timer that was started after the output 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).

[0206] The CPU 701 starts interrupt processing in response to the interrupt request output from the FPGA (time t26).

[0207] Once interrupt processing is complete, CPU 701 starts motion control processing (time t27). In the current control cycle, interrupt processing takes longer than in the previous control cycle (dashed line in the figure). This is because the time required for interrupt processing varies depending on factors such as the overhead of the interrupt processing, the status of a cache hit during interrupt processing, or similar considerations.

[0208] When the motion control processing is completed in the current control cycle, the CPU 701 then outputs data relating to an execution result of the motion control processing in the current control cycle (time t28).

[0209] 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 time (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 the time required for interrupt processing. That is, if the time required for interrupt processing is relatively long, the start time 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 affect a real-time property of the motion control processing.

[0210] In the present embodiment, however, the controller 700 issues the interrupt request before the generation of the trigger (hereinafter referred to as the "start trigger"), which is a reference for starting the motion control processing, and starts the control processing after the trigger has been generated. In particular, the start trigger can be the completion of the preparation of the data necessary for the motion control processing.

[0211] Accordingly, the 700 controller can execute the interrupt processing before the start trigger. Therefore, it is possible to suppress the influence of variations in the time required for interrupt processing on the start time of the motion control processing. Furthermore, even if the interrupt processing ends relatively early, the motion control processing will not be executed before the start trigger, as it is initiated after the start trigger. Therefore, the 700 controller can more effectively implement the real-time control processing characteristic in injection molding machine 1 with respect to the machine's operation.

[0212] Furthermore, the same technique can be used for control processing on injection molding machine 1, in addition to motion control processing. In this case, the output time of the interruption request (correction time T1) and a start time of the other control processing (wait time T2) can be appropriately set in accordance with a trigger that serves as a reference for starting the other control processing.

[0213] Furthermore, in the present embodiment, in a case where the preparation to start the motion control processing is complete, after the interrupt request has been issued and before the start trigger has been generated, the controller 700 can wait for the trigger to be generated and start the motion control processing.

[0214] Accordingly, the 700 controller can initiate the motion control processing in accordance with the generation of the start trigger. Therefore, the 700 controller can more effectively implement the real-time capability with regard to the operation of injection molding machine 1.

[0215] Furthermore, in the present embodiment, the controller 700 can start the motion control processing after a predetermined time (wait time T2) has elapsed since the start of the interrupt processing based on the interrupt request.

[0216] Accordingly, the controller 700 can start the motion control processing after the start trigger has been generated by appropriately setting the waiting time T2.

[0217] Furthermore, in the present embodiment, the controller 700 can measure the time required from the output of the interrupt request to the completion of the interrupt processing several times and can set the output time (correction time T1) of the interrupt request and the waiting time T2 based on a measurement result thereof.

[0218] Accordingly, the controller 700 can adjust the output time (correction time T1) of the interrupt request and the waiting time T2 more appropriately, taking into account any actual variation in the time required from the output of the interrupt request until the completion of the interrupt processing.

[0219] Furthermore, it is possible that only the former is determined by the output time (correction time T1) and the waiting time T2 of the interrupt request. This is because, as described above, if the notification of completion of data preparation is output from FPGA 705 to CPU 701, the motion control processing can be started in accordance with the completion of data preparation. This is also because, if the notification of completion of data preparation is not output, the correction time T1 is set to a relatively small value, so that the completion time of interrupt processing is always after the start trigger (completion of data preparation).

[0220] Furthermore, in the present embodiment, the display device 760 can also display the setting contents, including the output time of the interrupt request, with respect to the start of the motion control processing based on the output of the interrupt request in a case where a predetermined input is received from the operating device 750.

[0221] 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 regard to the start of the motion control processing based on the output of the interrupt request. [Modifications and changes]

[0222] 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 embodiments and the like described above, and various modifications and changes may be made within the scope of protection of the concept described in the claims.

[0223] For example, the content relating to the output time of the interrupt request of the embodiment described above and the start time of the control processing based on the interrupt request can be used for control in relation to the operation of another control machine. Examples of the other machine include industrial machines and industrial robots used in manufacturing facilities.

[0224] Finally, the present application claims priority on the basis of Japanese patent application No. 2021-060659, which was filed on March 31, 2021, and the entire contents of the Japanese patent application are incorporated herein by reference. Reference symbol list 1 injection molding machine (industrial machine) 2. Administrative device 100 Form-fit / clamping units 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 QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 200673027

[0003] JP 2021060659

[0224] < / steuerung> < / bewegungseinheit> < / einspritzeinheit> < / verwaltungsvorrichtung>

Claims

[1] 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. [2] The injection molding machine according to claim 1, wherein the trigger is completion of preparation of data necessary for control processing. [3] The injection molding machine 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 waits for the trigger to be generated and starts the control processing. [4] The injection molding machine according to any one of claims 1 to 3, wherein the control device 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 according to any one of claims 1 to 3, wherein the control device 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 according to claim 4, wherein the control device 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 according to one of claims 1 to 6, further comprising: an input device that receives input from a user; and a display device that, in a case where a predetermined input is received from the input device, 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, including: 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.