CN105538621A - Injection forming machine - Google Patents
Injection forming machine Download PDFInfo
- Publication number
- CN105538621A CN105538621A CN201510639507.6A CN201510639507A CN105538621A CN 105538621 A CN105538621 A CN 105538621A CN 201510639507 A CN201510639507 A CN 201510639507A CN 105538621 A CN105538621 A CN 105538621A
- Authority
- CN
- China
- Prior art keywords
- compression
- injection
- compression member
- lding
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/64—Mould opening, closing or clamping devices
- B29C45/66—Mould opening, closing or clamping devices mechanical
- B29C45/661—Mould opening, closing or clamping devices mechanical using a toggle mechanism for mould clamping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/4005—Ejector constructions; Ejector operating mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/64—Mould opening, closing or clamping devices
- B29C45/66—Mould opening, closing or clamping devices mechanical
- B29C45/661—Mould opening, closing or clamping devices mechanical using a toggle mechanism for mould clamping
- B29C2045/662—Mould opening, closing or clamping devices mechanical using a toggle mechanism for mould clamping using toggles directly connected or linked to the fixed platen and indirectly to the movable platen
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
- B29C2945/76—Measuring, controlling or regulating
- B29C2945/76494—Controlled parameter
- B29C2945/76498—Pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
- B29C2945/76—Measuring, controlling or regulating
- B29C2945/76655—Location of control
- B29C2945/76702—Closure or clamping device
- B29C2945/76709—Closure or clamping device clamping or closing drive means
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
The invention provides an injection forming machine enabling molding products to have stable quality. The injection forming machine comprises a driving device compressing a component and a controller controlling the driving device, wherein the compression component can compress molding material in a die device; and the controller can control the driving device to switch between a position control and a pressure control during compression stroke for the molding material in the die device.
Description
Technical field
The application advocates the priority of No. 2014-215728th, the Japanese patent application based on application on October 22nd, 2014.The full content of this Japanese publication is by reference to being applied in this description.
The present invention relates to a kind of injection (mo(u)lding) machine.
Background technology
As everyone knows, a kind of injection (mo(u)lding) machine (such as referenced patent document 1) of drive unit of compression member of the moulding material had in compression mould device is had.By the products formed making compression member compression forming material can obtain thin-walled.
Patent document 1: Japanese Unexamined Patent Publication 2012-187769 publication
In the past, larger by the quality deviation of the products formed of compression forming material.
Summary of the invention
The present invention completes in view of above-mentioned problem, and its main purpose is to provide a kind of injection (mo(u)lding) machine that can make the stay in grade of products formed.
In order to solve above-mentioned problem, according to an embodiment of the present invention, provide following injection (mo(u)lding) machine, it has: the drive unit of compression member, the moulding material in this compression member compression mould device; And controller, control described drive unit, the compression travel midway of the moulding material of described controller in the described die device of compression, switches the control of described drive unit between position control and Stress control.
Invention effect
According to an embodiment of the present invention, a kind of injection (mo(u)lding) machine that can make the stay in grade of products formed is provided.
Accompanying drawing explanation
Fig. 1 is the figure of state when representing that the compression travel of injection (mo(u)lding) machine of one embodiment of the present invention starts.
Fig. 2 is the figure of the state at the end of the compression travel of the injection (mo(u)lding) machine representing one embodiment of the present invention.
Fig. 3 is the flow chart of the compression travel of the injection (mo(u)lding) machine representing one embodiment of the present invention.
In figure: 30-die device, 32-cover half, 33-dynamic model, 34-cavity space, 36-compression member, 40-injection device, 42-moulding material, 50-middle device, 51-block, 60-liftout attachment, 61-ejects motor, 61a-encoder, 62-movement conversion mechanism, 63-knock-pin, 64-liftout plate, 65-position sensor, 66-pressure sensor, 70-controller.
Detailed description of the invention
Below, be described for implementing mode of the present invention with reference to accompanying drawing, in the drawings and in which to the identical or corresponding symbol of identical or corresponding structure mark, to omit the description.
Fig. 1 is the figure of state when representing that the compression travel of injection (mo(u)lding) machine of one embodiment of the present invention starts.Fig. 2 is the figure of the state at the end of the compression travel of the injection (mo(u)lding) machine representing one embodiment of the present invention.As shown in Figures 1 and 2, injection (mo(u)lding) machine has framework Fr, mold closing mechanism 10, injection device 40, middle device 50, liftout attachment 60 and controller 70 etc.
Mold closing mechanism 10 carries out the mold closing of die device 30, matched moulds and die sinking.Die device 30 is made up of cover half 32 and dynamic model 33.Mold closing mechanism 10 has fixation clip 12, movable pressure plate 13, rear fender 15, connecting rod 16, toggle mechanism 20, matched moulds motor 21 and movement conversion mechanism 25.In below illustrating, using the moving direction (being right direction in Fig. 1 and Fig. 2) of the movable pressure plate 13 during mold closing as front, the moving direction (being left direction in Fig. 1 and Fig. 2) of the movable pressure plate 13 during die sinking is described as rear.
Fixation clip 12 is fixed on framework Fr.Face opposed with movable pressure plate 13 in fixation clip 12 is provided with cover half 32.
Movable pressure plate 13 moves freely along the guiding piece be layed on framework Fr (such as guide rail) 17, and free to advance or retreat relative to fixation clip 12.Face opposed with fixation clip 12 in movable pressure plate 13 is provided with dynamic model 33 via middle device 50.
To retreat relative to fixation clip 12 by making movable pressure plate 13 and carry out the mold closing of die device 30, matched moulds and die sinking.
Rear fender 15 links across interval and fixation clip 12, and is movably placed on framework Fr on mould opening and closing direction.In addition, rear fender 15 can also move freely along the guiding piece be layed on framework Fr.The guiding piece of rear fender 15 can also be general with the guiding piece 17 of movable pressure plate 13.
In addition, in present embodiment, fixation clip 12 is fixed on framework Fr, and rear fender 15 moves freely relative to framework Fr along mould opening and closing direction, but also can be that rear fender 15 is fixed on framework Fr, fixation clip 12 moves freely along mould opening and closing direction relative to framework Fr.
Connecting rod 16 links fixation clip 12 and rear fender 15 across interval.Many connecting rods 16 can be used.Each connecting rod 16 is parallel with mould opening and closing direction, and extends according to mold clamping force.Mold clamping force detector 18 is provided with at least 1 connecting rod 16.Mold clamping force detector 18 can be strain gage type, detects mold clamping force by the distortion detecting connecting rod 16.
In addition, mold clamping force detector 18 is not limited to strain gage type, can be also piezoelectric type, condenser type, fluid pressure type, electromagnetic type etc., and its installation site is also not limited to connecting rod 16.
Toggle mechanism 20 is configured between movable pressure plate 13 and rear fender 15.Toggle mechanism 20 is made up of crosshead 20a, multiple connecting rod 20b, 20c etc.One of them connecting rod 20b is rotatably installed on movable pressure plate 13, and another connecting rod 20c is rotatably installed on rear fender 15.These connecting rods 20b, 20c are joined into capable of expansion and contraction by pin etc.By making crosshead 20a retreat, multiple connecting rod 20b, 20c stretch, and make movable pressure plate 13 retreat relative to rear fender 15 thus.
Matched moulds motor 21 is installed on rear fender 15, and retreating by making crosshead 20a makes movable pressure plate 13 retreat.Be provided with between matched moulds motor 21 and crosshead 20a by the rotary motion of matched moulds motor 21 being converted to rectilinear motion to be delivered to the movement conversion mechanism 25 of crosshead 20a.Movement conversion mechanism 25 is such as made up of ball screw framework.
The action of mold closing mechanism 10 is controlled by controller 70.Controller 70 controls mold closing operation, matched moulds operation and die sinking operation etc.
In mold closing operation, by driving matched moulds motor 21 to make movable pressure plate 13 advance, dynamic model 33 is made to contact with cover half 32 thus.Be equipped with compression member 36 in dynamic model 33 side, between compression member 36 and cover half 32, be formed with cavity space 34.Compression member 36 is free to advance or retreat in die device 30.
In matched moulds operation, produce mold clamping force by driving matched moulds motor 21 further.During matched moulds, injection device 40 is to the moulding material 42 of cavity space 34 filling liquid.Start in the midway of carrying out filling to make compression member 36 mobile in die device 30, carry out the compression of moulding material 42 thus.After filling work procedure, carry out pressurize operation and refrigerating work procedure.In pressurize operation, apply pressure to the moulding material 42 in cavity space 34.In refrigerating work procedure, the moulding material 42 in cavity space 34 becomes products formed through solidification.
In die sinking operation, by driving matched moulds motor 21 to make movable pressure plate 13 retreat, dynamic model 33 is made to be separated with cover half 32 thus.After die sinking operation terminates, liftout attachment 60 ejects products formed from die device 30.
Middle device 50 is disposed between dynamic model 33 and movable pressure plate 13.Middle device 50 such as has block 51.The rearward end of compression member 36 is inserted in the inner space 51a of block 51.
Liftout attachment 60 ejects products formed from die device 30 after die sinking.Liftout attachment 60 such as has and ejects motor 61, movement conversion mechanism 62, knock-pin 63.
Eject the rear surface that motor 61 is installed on movable pressure plate 13.Eject motor 61 and there is encoder 61a.Encoder 61a detects the anglec of rotation that this ejects the output shaft of motor 61, and will represent that the signal of this anglec of rotation outputs to controller 70.
Movement conversion mechanism 62 converts the rotary motion ejecting motor 61 rectilinear motion of knock-pin 63 to.Movement conversion mechanism 62 is such as made up of ball screw framework etc.
Knock-pin 63 is free to advance or retreat in the through hole of movable pressure plate 13.The leading section of knock-pin 63 contacts with the rear end face of liftout plate 64.
Liftout plate 64 is free to advance or retreat at the inner space 51a of block 51.The front end face of liftout plate 64 contacts with the rearward end of compression member 36.
Ejecting motor 61 by driving makes knock-pin 63 advance, and makes compression member 36 advance thus.Further, eject motor 61 by driving and knock-pin 63 is retreated, make compression member 36 retreat thus.
Liftout attachment 60 plays the function of the drive unit of compression member 36.Compression member 36 both for the moulding material in (1) compression mould device 30, also ejected products formed for (2) from die device 30.
Controller 70 has the storage mediums 72 such as CPU (CentralProcessingUnit) 71 and memory.Controller 70 makes CPU71 perform the program be stored in storage medium 72, controls mold closing mechanism 10, injection device 40 and liftout attachment 60 etc. thus.
The control of liftout attachment 60 switches by the compression travel midway of the moulding material 42 of controller 70 in compression-type cavity space 34 between position control and Stress control.Both can carry out from position control to pressure controlled switching, also can carry out the switching from Stress control to position control.
In the position control of liftout attachment 60, eject motor 61 and be controlled so as to make compression member 36 or the position of the parts of movement becomes desired location together with compression member 36.This control can be any one in FEEDBACK CONTROL or feedforward control.Also can change desired location continuously or intermittently along with the process of time.Parts as movement together with compression member 36 such as can enumerate knock-pin 63, liftout plate 64.
Compression member 36 or together with compression member 36 position of the parts of movement detected by position sensor 65.Position sensor 65 is installed on the parts (being the block 51 of middle device 50 in such as Fig. 1 and Fig. 2) of fixation side, but also can be installed on the parts of drawer at movable side.In addition, the encoder 61a ejecting motor 61 also can be used as position sensor 65.
On the other hand, in the Stress control of liftout attachment 60, control ejecting motor 61 as making the pressure of the moulding material 42 in cavity space 34 become setting pressure.This control can be any one in FEEDBACK CONTROL or feedforward control.Also can change setting pressure continuously or intermittently along with the process of time.
The pressure of the moulding material 42 in cavity space 34 is detected by pressure sensor 66.Pressure sensor 66 is installed on the parts (being compression member 36 in such as Fig. 1 and Fig. 2) of drawer at movable side, but also can be installed on the parts (such as cover half 32) of fixation side.Further, pressure sensor 66 also can detect the pressure of the moulding material 42 in cavity space 34 by the detection distortion of component parts of liftout attachment 60 or the distortion of the component parts of middle device 50.
According to the present embodiment, position control and pressure controlled switching is carried out in compression travel midway.Therefore, it is possible to implement the control corresponding to the filling situation of the moulding material 42 in cavity space 34, and the stay in grade of products formed can be made.Compression travel is divided into multiple operation by position control and pressure controlled switching.
Such as, position control is carried out in the initial operation of controller 70 in multiple operation and at least one operation in last operation.
By carrying out position control in initial operation, compression member 36 can be made reliably to advance to desired location, and make the front surface extruded material 42 of compression member 36.In addition, when starting compression travel, the pressure transient of the moulding material 42 in cavity space 34.By carrying out the stay in grade that position control makes products formed in initial operation.
By carrying out Stress control in the operation of midway, make moulding material 42 fully by the wall being pressed in cavity space 34, to improve replicability.Further, due to the pressure stability of moulding material 42, therefore moulding material 42 is density stabilized.
By carrying out position control in last operation, the final size and shape of cavity space 34 becomes stable, and the size and shape of products formed becomes stable.By making compression member 36 advance in last operation, making to be full of moulding material 42 in cavity space 34, terminating the filling of moulding material 42.Pressurize operation and refrigerating work procedure is carried out after filling work procedure.
After compression travel terminates, position control can also be proceeded in pressurize operation and refrigerating work procedure, change to prevent the size of cavity space 34.In this position control, forbid that compression member 36 moves.This position control also can proceed to die sinking operation and start.
As shown in Figure 3, controller 70 carries out position control in initial operation and these two operations of last operation, also can carry out Stress control in the operation between these operations.In addition, in Fig. 3, in compression travel, carry out position control S11, Stress control S12 and position control S13 successively, but switching times and order are not particularly limited.Such as, Stress control S12 can not also be switched to position control S13 and terminate with Stress control S12 by controller 70.Namely also position control S11 and Stress control S12 can only be carried out successively.Further, controller 70 also can not carry out position control S11 and from Stress control S12.Namely also Stress control S12 and position control S13 can only be carried out successively.As long as compression travel is made up of the operation of more than 2, such as, also can be made up of the operation of more than 4.
Above, the embodiment etc. of injection (mo(u)lding) machine is illustrated, but the present invention is not limited to above-mentioned embodiment etc., in the scope of the aim of the present invention described in claim, can various distortion and improvement in addition.
Such as, in above-mentioned embodiment, compression member 36 both for the moulding material in (1) compression mould device 30, also ejected products formed for (2) from die device 30, but also only for (1) compression, and (2) can be not used in eject.Now, eject and be disposed in independently in die device 30 by parts and compression member 36.
Eject when independently arranging by parts and compression member 36, liftout attachment 60 both can play the function that drive ejects the drive unit by parts and compression member 36, also can play the function only driving the drive unit ejected with parts.In the later case, the drive unit driving compression member 36 is separately established.Hydraulic cylinder such as middle device 50 is used as the drive unit driving compression member 36.
The compression member 36 of above-mentioned embodiment is disposed in dynamic model 33 side, but also can be disposed in cover half 32 side.Now, middle device 50 can be disposed between cover half 32 and fixation clip 12.In addition, compression member 36 also can be disposed in dynamic model 33 and these both sides of cover half 32 respectively.
The start time of the compression travel of above-mentioned embodiment is the midway of filling molding material 42, but is not particularly limited, such as both can start fill before carry out, also can with start to fill while carry out.
Finish time of the compression travel of above-mentioned embodiment is roughly identical with the moment of the filling terminating moulding material 42, but is not particularly limited, such as both can after end-of-fill, also can before end-of-fill.
The mold closing mechanism 10 of above-mentioned embodiment has matched moulds motor 21 as drive source, but also can have hydraulic cylinder, replaces matched moulds motor 21.Further, mold closing mechanism 10 can also have linear motor for mould opening and closing, has electromagnet for matched moulds.
Claims (5)
1. an injection (mo(u)lding) machine, it has:
The drive unit of compression member, the moulding material in this compression member compression mould device; And
Controller, controls described drive unit,
The compression travel midway of the moulding material of described controller in the described die device of compression, switches the control of described drive unit between position control and Stress control.
2. injection (mo(u)lding) machine according to claim 1, wherein,
Described compression travel is split into multiple operation by the switching between described position control and described Stress control,
Described position control is carried out in the initial operation of described controller in described multiple operation and at least one operation in last operation.
3. injection (mo(u)lding) machine according to claim 2, wherein,
Described controller carries out described position control in described initial operation and these two operations of described last operation, in the operation between described two operations, carry out described Stress control.
4. injection (mo(u)lding) machine according to any one of claim 1 to 3, wherein,
Described drive unit is the liftout attachment for ejecting products formed from described die device.
5. injection (mo(u)lding) machine according to any one of claim 1 to 4, wherein,
Described compression member is used for ejecting products formed from described die device.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014-215728 | 2014-10-22 | ||
JP2014215728A JP6367079B2 (en) | 2014-10-22 | 2014-10-22 | Injection molding machine |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105538621A true CN105538621A (en) | 2016-05-04 |
CN105538621B CN105538621B (en) | 2018-09-07 |
Family
ID=55818394
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510639507.6A Active CN105538621B (en) | 2014-10-22 | 2015-09-30 | Injection (mo(u)lding) machine |
Country Status (3)
Country | Link |
---|---|
JP (1) | JP6367079B2 (en) |
CN (1) | CN105538621B (en) |
TW (1) | TWI654067B (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108568956A (en) * | 2017-03-07 | 2018-09-25 | 住友重机械工业株式会社 | Injection (mo(u)lding) machine |
CN110315708A (en) * | 2018-03-30 | 2019-10-11 | 住友重机械工业株式会社 | Injection (mo(u)lding) machine |
CN110696315A (en) * | 2019-09-24 | 2020-01-17 | 青岛海尔电冰箱有限公司 | Method and device for generating injection molding ejection time |
CN112873752A (en) * | 2019-11-29 | 2021-06-01 | 住友重机械工业株式会社 | Injection molding machine |
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JPS62255111A (en) * | 1986-04-28 | 1987-11-06 | Mitsubishi Heavy Ind Ltd | Injection and compression molding |
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CN103372944A (en) * | 2012-04-13 | 2013-10-30 | 株式会社名机制作所 | Compression molding apparatus and compression molding method for fiber-containing resin molded article |
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JPH0383618A (en) * | 1989-08-29 | 1991-04-09 | Sumitomo Heavy Ind Ltd | Ejector of injection molder |
JPH058267A (en) * | 1991-07-05 | 1993-01-19 | Fanuc Ltd | Injection compressive molding method |
JPH11268089A (en) * | 1998-03-18 | 1999-10-05 | Toyo Mach & Metal Co Ltd | Method and apparatus for manufacturing housing for portable telephone |
JP4550874B2 (en) * | 2007-09-13 | 2010-09-22 | 株式会社名機製作所 | Injection compression molding method or injection press molding method |
CA2778292C (en) * | 2009-10-20 | 2017-02-14 | Teijin Chemicals Ltd. | Process of manufacturing a curved member having a high-grade design surface and member manufactured by the process |
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- 2014-10-22 JP JP2014215728A patent/JP6367079B2/en active Active
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JPS62255111A (en) * | 1986-04-28 | 1987-11-06 | Mitsubishi Heavy Ind Ltd | Injection and compression molding |
JPH01272431A (en) * | 1988-04-26 | 1989-10-31 | Fanuc Ltd | Compression control system of electrically-operated injection compression molding machine |
JP2001030321A (en) * | 1999-07-23 | 2001-02-06 | Meiki Co Ltd | Injection molding method |
CN1394162A (en) * | 2000-10-31 | 2003-01-29 | 三菱重工业株式会社 | Electric injection molding machine and method of controlling injection speed and injection pressure thereof |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108568956A (en) * | 2017-03-07 | 2018-09-25 | 住友重机械工业株式会社 | Injection (mo(u)lding) machine |
CN108568956B (en) * | 2017-03-07 | 2021-04-09 | 住友重机械工业株式会社 | Injection molding machine |
CN110315708A (en) * | 2018-03-30 | 2019-10-11 | 住友重机械工业株式会社 | Injection (mo(u)lding) machine |
CN110315708B (en) * | 2018-03-30 | 2022-03-18 | 住友重机械工业株式会社 | Injection molding machine |
CN110696315A (en) * | 2019-09-24 | 2020-01-17 | 青岛海尔电冰箱有限公司 | Method and device for generating injection molding ejection time |
CN112873752A (en) * | 2019-11-29 | 2021-06-01 | 住友重机械工业株式会社 | Injection molding machine |
Also Published As
Publication number | Publication date |
---|---|
CN105538621B (en) | 2018-09-07 |
JP2016083776A (en) | 2016-05-19 |
TW201615380A (en) | 2016-05-01 |
JP6367079B2 (en) | 2018-08-01 |
TWI654067B (en) | 2019-03-21 |
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