JP6130444B2 - Method for controlling mold clamping device and mold clamping device - Google Patents
Method for controlling mold clamping device and mold clamping device Download PDFInfo
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- JP6130444B2 JP6130444B2 JP2015146731A JP2015146731A JP6130444B2 JP 6130444 B2 JP6130444 B2 JP 6130444B2 JP 2015146731 A JP2015146731 A JP 2015146731A JP 2015146731 A JP2015146731 A JP 2015146731A JP 6130444 B2 JP6130444 B2 JP 6130444B2
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- 230000007246 mechanism Effects 0.000 claims description 38
- 230000008569 process Effects 0.000 claims description 33
- 230000009467 reduction Effects 0.000 claims description 11
- 239000003921 oil Substances 0.000 description 15
- 238000002347 injection Methods 0.000 description 13
- 239000007924 injection Substances 0.000 description 13
- 238000001746 injection moulding Methods 0.000 description 13
- 238000000465 moulding Methods 0.000 description 10
- 239000010720 hydraulic oil Substances 0.000 description 8
- 239000011347 resin Substances 0.000 description 6
- 229920005989 resin Polymers 0.000 description 6
- 238000001816 cooling Methods 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
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- 238000003780 insertion Methods 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000000748 compression moulding Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010097 foam moulding Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000004570 mortar (masonry) Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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- Injection Moulding Of Plastics Or The Like (AREA)
Description
本発明は、型締装置の制御方法および型締装置に関するものである。 The present invention relates to a mold clamping device control method and a mold clamping device.
従来、サーボ機構を用いて金型取付盤の移動を行う型開閉手段と型締を行う型締手段を備えた型締装置としては特許文献１に記載されたものが知られている。特許文献１では固定盤と可動盤に取付けられた金型を開閉手段により型合わせしサーボモータで位置決めした後、型締に移行する工程等で、サーボモータにより位置決めされている可動盤が外力により変位させられたとき、可動盤の位置決め目標位置を可動盤が外力により変位させられた変位量に応じて移動させるものである。 Conventionally, as a mold clamping device including a mold opening / closing means for moving a mold mounting plate using a servo mechanism and a mold clamping means for performing mold clamping, the one described in Patent Document 1 is known. In Patent Document 1, after the molds attached to the fixed platen and the movable platen are aligned by the opening / closing means and positioned by the servomotor, the movable platen positioned by the servomotor is moved by external force in the process of shifting to mold clamping. When it is displaced, the positioning target position of the movable plate is moved in accordance with the amount of displacement by which the movable plate is displaced by an external force.
しかし特許文献１のように可動盤が外力により変位させられた変位量に応じてサーボモータのトルクを低下させて目標位置を移動させる制御は、制御が複雑になるという問題があった。また一般的に型合せ後の外力による可動盤の変位量は極めて小さいため、外力を検出するための変位量を最適な値に設定することが難しいという問題があった。 However, as in Patent Document 1, the control of moving the target position by lowering the torque of the servo motor in accordance with the amount of displacement of the movable plate due to the external force has a problem that the control becomes complicated. In general, the amount of displacement of the movable platen due to the external force after mold matching is extremely small, and there is a problem that it is difficult to set the displacement amount for detecting the external force to an optimum value.
そこで本発明では上記の問題を鑑みて、サーボ機構を用いて金型取付盤の移動を行う型開閉手段と型締を行う型締手段を備えた型締装置において、型開閉手段と型締手段による一連の作動の制御を容易にするとともに作動を良好に行うことができる型締装置の制御方法および型締装置を提供することを目的とする。 Accordingly, in the present invention, in view of the above problems, a mold opening / closing means and a mold clamping means are provided in a mold opening / closing means for moving a mold mounting plate using a servo mechanism and a mold clamping means for performing mold clamping. It is an object of the present invention to provide a mold clamping device control method and a mold clamping device capable of facilitating the control of a series of operations by the above and capable of performing the operation satisfactorily.
本発明の請求項１に記載の型締装置の制御方法は、サーボ機構を用いて金型取付盤の移動を行う型開閉手段と油圧により型締を行う型締シリンダを備えた型締装置の制御方法において、型閉時に型開方向に反発力が発生する金型を金型取付盤に取付けて前記金型の型閉完了後に前記サーボ機構により金型取付盤の位置保持制御を行い、型締シリンダの型締昇圧開始後に油圧センサまたはタイバーセンサもしくはロードセルを用いて型締力を検出し予め設定された型締力に到達したら前記サーボ機構の位置保持制御を解除することを特徴とする。 According to a first aspect of the present invention, there is provided a mold clamping device control method comprising: a mold opening / closing means that moves a mold mounting plate using a servo mechanism; and a mold clamping device that includes a mold clamping cylinder that performs hydraulic clamping. the control method, a die repulsion die opening direction in the mold closing is generated performs position holding control of the mold mounting platen by said servo mechanism attached to the mold mounting platens after mold closing completion of the mold, the mold After the mold clamping pressure increase of the clamping cylinder is started, the mold clamping force is detected using a hydraulic sensor, a tie bar sensor, or a load cell, and the position holding control of the servo mechanism is canceled when a preset mold clamping force is reached .
本発明の請求項２に記載の型締装置の制御方法は、サーボ機構を用いて金型取付盤の移動を行う型開閉機構と油圧により型締を行う型締シリンダを備えた型締装置の制御方法において、型閉時に型開方向に反発力が発生する金型を金型取付盤に取付けて型締工程を行い型締シリンダの降圧開始後に油圧センサまたはタイバーセンサもしくはロードセルを用いて型締力を検出し予め設定された型締力に到達したら前記サーボ機構の位置保持制御を開始することを特徴とする。 According to a second aspect of the present invention, there is provided a mold clamping device control method comprising: a mold opening / closing mechanism that moves a mold mounting plate using a servo mechanism; and a mold clamping device that includes a mold clamping cylinder that performs hydraulic clamping. In the control method, a mold that generates a repulsive force in the mold opening direction when the mold is closed is attached to the mold mounting plate, the mold clamping process is performed, and after the pressure reduction of the clamping cylinder is started, the mold clamping is performed using a hydraulic sensor, tie bar sensor, or load cell. The position holding control of the servo mechanism is started when a force is detected and a predetermined mold clamping force is reached .
本発明の請求項３に記載の型締装置は、サーボ機構を用いて金型取付盤の移動を行う型開閉手段と油圧により型締を行う型締シリンダを備えた型締装置において、型閉時に型開方向に反発力が発生する金型を金型取付盤に取付けて前記金型の型閉完了後に前記サーボ機構により金型取付盤の位置保持制御を行いつつ型締シリンダの型締昇圧開始後に油圧またはタイバーセンサもしくはロードセルを用いて型締力を検出し予め設定された型締力に到達したら前記サーボ機構の位置保持制御を解除するか、または型締シリンダの降圧開始後に油圧またはタイバーセンサやロードセルを用いて型締力を検出し予め設定された型締力に到達したら前記サーボ機構の位置保持制御を開始することを特徴とする。 Mold clamping apparatus according to claim 3 of the present invention, in the mold clamping device having a clamping cylinder for performing mold clamping by the mold opening and closing means and the hydraulic pressure for moving the mold mounting platen with the servo mechanism, mold closing A mold that generates a repulsive force in the mold opening direction is attached to the mold mounting board. After the mold is closed, the servo mechanism controls the position of the mold mounting board and the mold clamping pressure of the clamping cylinder is increased. Upon reaching the mold clamping force preset by detecting the mold clamping force using a hydraulic or tie bar sensor or load cell after the start or to cancel the position holding control of the servo mechanism, or hydraulic, or after the step-down start of the mold clamping cylinder The mold clamping force is detected using a tie bar sensor or a load cell, and the position holding control of the servo mechanism is started when a preset mold clamping force is reached .
本発明の請求項４に記載の型締装置は、請求項３において、前記サーボ機構はサーボモータを用いたものであり前記型締機構は型締シリンダを用いたものであって、昇圧開始後の型締シリンダの油圧を検出して予め設定されたサーボロック解除設定圧に到達したら前記サーボモータによる位置保持制御を解除するかまたは降圧開始後の型締シリンダの油圧を検出して予め設定されたサーボロック解除設定圧に到達したら前記サーボモータによる位置保持制御を開始することを特徴とする。 Mold clamping apparatus according to claim 4 of the present invention, in claim 3, wherein the servo mechanism is the mold clamping mechanism are those using a servo motor is a one using a mold clamping cylinder, the booster after the start by detecting of mold clamping cylinder hydraulic preset by detecting the preset servo lock When unset reached pressure above or buck after start of the mold clamping cylinder to release the position retaining control by the servo motor hydraulic When the servo lock release set pressure is reached, position holding control by the servo motor is started.
本発明の型締装置の制御方法は、サーボ機構を用いて金型取付盤の移動を行う型開閉手段と油圧により型締を行う型締シリンダを備えた型締装置の制御方法において、型閉時に型開方向に反発力が発生する金型を金型取付盤に取付けて前記金型の型閉完了後に前記サーボ機構により金型取付盤の位置保持制御を行い、型締シリンダの型締昇圧開始後に油圧センサまたはタイバーセンサもしくはロードセルを用いて型締力を検出し予め設定された型締力に到達したら前記サーボ機構の位置保持制御を解除するので、型閉時に型開方向に反発力が発生する金型を金型取付盤に取付けて行う型開閉手段と型締手段による一連の作動の制御を容易にするとともに作動を良好に行うことができる。また本発明の型締装置も同様に型閉時に型開方向に反発力が発生する金型を金型取付盤に取付けて行う型開閉手段と型締手段による一連の作動を良好に行うことができる。
The method of mold clamping apparatus of the present invention is a control method for the mold clamping device having a clamping cylinder for performing mold clamping by the mold opening and closing means and the hydraulic pressure for moving the mold mounting platen with the servo mechanism, mold closing A mold that generates a repulsive force in the mold opening direction is attached to the mold mounting board, and after the mold has been closed, the position of the mold mounting board is controlled by the servo mechanism, and the clamping pressure of the clamping cylinder is increased. After the start, the clamping force is detected using a hydraulic sensor, tie bar sensor or load cell, and when the preset clamping force is reached , the position holding control of the servo mechanism is released, so that the repulsive force is applied in the mold opening direction when the mold is closed. A series of operations by the mold opening / closing means and the mold clamping means performed by attaching the generated mold to the mold mounting board can be easily controlled and the operation can be performed satisfactorily. Similarly, the mold clamping device of the present invention can perform a series of operations by the mold opening and closing means and the mold clamping means which are performed by attaching a mold that generates a repulsive force in the mold opening direction when the mold is closed to the mold mounting plate. it can.
本発明の実施形態の射出成形機１１について、図１を参照して説明する。横型の射出成形機１１は、型締装置１３と射出装置１４とから構成されている。型締装置１３は、固定金型１５が取付けられる固定盤１６がベッド１２上に固定的に配置されている。また固定盤１６に対して可動金型１７が取付けられる金型取付盤である可動盤１８がベッド上面のガイド１９の上を型開閉方向に移動可能に設けられている。本実施形態において使用される成形金型は、バネ金型である。バネ金型は固定金型１５と可動金型１７の少なくとも一方にバネ２０が設けられ、型閉時に型開方向Ｏに向けて反発力ｆ１を発生させ、他のアクチュエータを用いずに成形後の離型を可能にする等の効果を有する。 An injection molding machine 11 according to an embodiment of the present invention will be described with reference to FIG. The horizontal injection molding machine 11 includes a mold clamping device 13 and an injection device 14. In the mold clamping device 13, a stationary plate 16 to which a stationary mold 15 is attached is fixedly disposed on the bed 12. Further, a movable plate 18 which is a mold mounting plate to which the movable die 17 is attached to the fixed plate 16 is provided on the guide 19 on the bed upper surface so as to be movable in the mold opening / closing direction. The molding die used in the present embodiment is a spring die. The spring mold is provided with a spring 20 on at least one of the fixed mold 15 and the movable mold 17, and generates a repulsive force f1 in the mold opening direction O when the mold is closed, and after molding without using another actuator. It has effects such as enabling mold release.
固定盤１６の四隅近傍には型締手段である型締シリンダ２１がそれぞれ設けられ、型締シリンダ２１のロッドがタイバ２２を構成しており可動盤１８の四隅近傍のガイド穴に挿通されている。型締シリンダ２１は油圧により作動され、タンク２３に接続して設けられたポンプ２４から切換弁２５を介して型締シリンダ２１の型締側油室２６または型開側油室２７に作動油が供給されるようになっている。また型締シリンダ２１の少なくとも型締側油室２６への管路２８には油圧センサ２９が設けられ、油圧センサ２９は制御装置３０に接続されている。なお図１における油圧回路は発明に関する要部のみを記載したものであり、これに限定されるものではない。また型締手段についても図１の型締シリンダ２１に限定されない。 Clamping cylinders 21 serving as mold clamping means are provided in the vicinity of the four corners of the stationary platen 16, and the rods of the mold clamping cylinder 21 constitute tie bars 22 that are inserted into guide holes near the four corners of the movable platen 18. . The mold clamping cylinder 21 is operated by hydraulic pressure, and hydraulic oil is supplied from a pump 24 connected to the tank 23 to the mold clamping side oil chamber 26 or the mold opening side oil chamber 27 of the mold clamping cylinder 21 via the switching valve 25. It comes to be supplied. Further, a hydraulic pressure sensor 29 is provided at least in a pipe line 28 to the mold clamping side oil chamber 26 of the mold clamping cylinder 21, and the hydraulic pressure sensor 29 is connected to the control device 30. Note that the hydraulic circuit in FIG. 1 describes only the main part relating to the invention, and is not limited to this. Further, the mold clamping means is not limited to the mold clamping cylinder 21 of FIG.
また固定盤１６の側面のブラケットには型開閉手段のサーボモータ３１が固定され、サーボモータ３１の駆動軸にボールねじ３２が連結されている。サーボモータ３１の駆動軸とボールねじ３２の連結方式は、図１のように直接連結固定されたもの以外に、ベルトを介して連結されたものでもよい。また可動盤１８の側面のブラケットには前記ボールねじ３２が挿通されるボールねじナット３３が固定されている。そして前記サーボモータ３１が駆動することによりボールねじ３２が回転され、可動盤１８が型開閉方向に移動可能となっている。なお型開閉手段は、サーボ機構であるサーボモータを用いたものであれば、サーボモータがベッド上に設けられボールねじナットが可動盤に設けられたものや、サーボモータが可動盤に設けられボールねじナットが固定盤またはベッドに設けられたものでもよい。また型締装置の型開閉手段の数は一般的には１〜４基が設けられるが、前記に限定されない。 A servo motor 31 serving as a mold opening / closing means is fixed to a bracket on the side surface of the fixed plate 16, and a ball screw 32 is connected to a drive shaft of the servo motor 31. The connecting method of the drive shaft of the servo motor 31 and the ball screw 32 may be connected via a belt in addition to the method of directly connecting and fixing as shown in FIG. A ball screw nut 33 through which the ball screw 32 is inserted is fixed to a bracket on the side surface of the movable platen 18. When the servo motor 31 is driven, the ball screw 32 is rotated, and the movable platen 18 is movable in the mold opening / closing direction. If the mold opening / closing means uses a servo motor which is a servo mechanism, the servo motor is provided on the bed and the ball screw nut is provided on the movable plate, or the servo motor is provided on the movable plate and the ball. A screw nut may be provided on the fixed platen or the bed. The number of mold opening / closing means of the mold clamping device is generally 1 to 4 but is not limited thereto.
本実施形態のサーボモータ３１は電磁ブレーキ３４を備えたサーボモータ３１であって、サーボアンプ３５に接続され、サーボアンプ３５からの指令値により駆動可能となっている。またサーボアンプ３５の指令により電気的に駆動軸の回転をサーボロックすることが可能となっている。またサーボモータ３１にはロータリエンコーダ３６が取付けられ、駆動軸の回転角度は、前記ロータリエンコーダ３６によりサーボアンプ３５に送信される。更にサーボアンプ３５は制御装置３０と接続されている。 The servo motor 31 of the present embodiment is a servo motor 31 provided with an electromagnetic brake 34, is connected to a servo amplifier 35, and can be driven by a command value from the servo amplifier 35. In addition, the rotation of the drive shaft can be electrically servo-locked by a command from the servo amplifier 35. A rotary encoder 36 is attached to the servo motor 31, and the rotation angle of the drive shaft is transmitted to the servo amplifier 35 by the rotary encoder 36. Further, the servo amplifier 35 is connected to the control device 30.
固定盤１６の外側（固定金型１５の取付面とは反対側）には、射出装置１４の加熱筒３７およびノズル３８が挿入可能な、凹部（すり鉢部）が形成されている。またタイバ２２の外周には複数の溝からなる係止部３９が設けられている。一方可動盤１８の外側（可動金型１７の取付面とは反対側）の壁面のタイバ２２が挿通される部分の周囲には結合手段であるハーフナット４０が設けられている。ハーフナット４０は複数の係止歯を有しており、図示しない駆動手段により進退移動されて、タイバ２２の係止部３９に前記係止歯が係止されるようになっている。結合手段は型開閉手段により型閉を行った後にタイバ等と可動盤等を結合するものであって、固定盤１６に設けられたものでもよく、ブロック挿入または摩擦力を利用して両者を結合するものでもよい。 On the outer side of the fixed platen 16 (on the side opposite to the mounting surface of the fixed mold 15), a concave portion (mortar portion) into which the heating cylinder 37 and the nozzle 38 of the injection device 14 can be inserted is formed. Further, a locking portion 39 made of a plurality of grooves is provided on the outer periphery of the tie bar 22. On the other hand, a half nut 40 as a coupling means is provided around a portion where the tie bar 22 of the wall surface outside the movable platen 18 (opposite to the mounting surface of the movable mold 17) is inserted. The half nut 40 has a plurality of locking teeth, and is moved forward and backward by a driving means (not shown) so that the locking teeth are locked to the locking portion 39 of the tie bar 22. The coupling means couples the tie bar and the movable platen after the mold is closed by the mold opening / closing means, and may be provided on the fixed platen 16, and couples them using block insertion or frictional force. You may do it.
次に本実施形態の射出成形機１１の制御方法、とりわけ型締装置１３の制御方法について説明する。最初に型開完了位置Ａにおいて可動金型１７から前回の成形品が取出されると次に、制御装置３０からサーボアンプ３５を介して型開閉手段のサーボモータ３１に信号が送られて型閉開始する（ｓ１）。型閉工程の開始とともに可動盤１８等は、型閉完了位置Ｂに向けてサーボモータ３１による位置制御により移動され（ｓ２）、型閉完了位置Ｂに到達すると停止される（ｓ３）。そして型閉完了後にサーボモータ３１は、電気的にサーボロック状態とされ（ｓ４）、可動盤１８および可動金型１７は型閉完了位置Ｂにて位置保持制御される。この際に成形金型がバネ金型である場合は、図４の模式図に示されるように型閉完了位置Ｂの手前から固定金型１５の一部と可動金型１７の一部が当接され、可動金型１７の型閉方向Ｃへの前進に対してバネ２０による型開方向Ｏへの反発力ｆ１が働き始める。しかしながら型閉完了位置Ｂまで可動盤１８および可動金型１７を移動させる際のサーボモータ３１による前進方向への駆動力Ｆ２とサーボロック状態の保持力Ｆ３は、それぞれの可動金型１８の位置におけるバネ２０による型開方向Ｏへの反発力ｆ１よりも大きく設定されている。 Next, a control method of the injection molding machine 11 of this embodiment, particularly a control method of the mold clamping device 13 will be described. First, when the previous molded product is taken out from the movable mold 17 at the mold opening completion position A, a signal is sent from the control device 30 to the servo motor 31 of the mold opening / closing means via the servo amplifier 35 to close the mold. Start (s1). With the start of the mold closing process, the movable platen 18 and the like are moved by the position control by the servo motor 31 toward the mold closing completion position B (s2) and stopped when reaching the mold closing completion position B (s3). After the mold closing is completed, the servo motor 31 is electrically in a servo-locked state (s4), and the movable platen 18 and the movable mold 17 are controlled to be held at the mold closing completion position B. In this case, when the molding die is a spring die, as shown in the schematic diagram of FIG. 4, a part of the fixed die 15 and a part of the movable die 17 are applied from before the mold closing completion position B. The repulsive force f <b> 1 in the mold opening direction O by the spring 20 starts to work as the movable mold 17 advances in the mold closing direction C. However, when the movable platen 18 and the movable mold 17 are moved to the mold closing completion position B, the driving force F2 in the forward direction by the servo motor 31 and the holding force F3 in the servo lock state are at the position of each movable mold 18. The repulsive force f1 in the mold opening direction O by the spring 20 is set larger.
次に型締工程を開始するに際して型閉完了位置Ｂ（結合位置）においてハーフナット４０の係止歯がタイバ２２の係止部３９に係止される（ｓ５）。型締工程のうちの昇圧工程では制御装置３０からの信号（ソレノイドを作動させるものの他、パイロット圧を用いたものを含む）により切換弁２５の切換えが行われ、型締シリンダ２１の型締側油室２６に作動油が送られ型締昇圧を開始する（ｓ６）。型締シリンダ２１のロッドであるタイバ２２が図１において右方向に移動し、最初の段階ではハーフナット４０の係止歯とタイバ２２の係止部３９が係止された際に存在していた隙間を無くす。そして前記隙間が無くなると型締シリンダ２１の型締力Ｆ１が直接可動盤１８を介して可動金型１７に伝達される。また同時に図４に示されるように型締シリンダ２１の型締側油室２６の作動油の油圧（型締手段の型締力Ｆ１）も顕著に上昇し始める。型締側油室２６の作動油の油圧は油圧センサ２９により検出されている。 Next, when starting the mold clamping process, the locking teeth of the half nut 40 are locked to the locking portion 39 of the tie bar 22 at the mold closing completion position B (joining position) (s5). In the pressurizing process of the mold clamping process, the switching valve 25 is switched by a signal from the control device 30 (including a solenoid pressure and a pilot pressure), and the mold clamping side of the mold clamping cylinder 21 is clamped. The hydraulic oil is sent to the oil chamber 26 and the mold clamping pressure is started (s6). The tie bar 22 which is a rod of the mold clamping cylinder 21 moves to the right in FIG. 1, and was present when the locking teeth of the half nut 40 and the locking portion 39 of the tie bar 22 were locked in the first stage. Remove gaps. When the gap is eliminated, the mold clamping force F1 of the mold clamping cylinder 21 is directly transmitted to the movable mold 17 via the movable platen 18. At the same time, as shown in FIG. 4, the hydraulic pressure of the hydraulic oil in the mold clamping side oil chamber 26 of the mold clamping cylinder 21 (the mold clamping force F1 of the mold clamping means) starts to rise significantly. The hydraulic pressure of the hydraulic oil in the mold clamping side oil chamber 26 is detected by a hydraulic pressure sensor 29.
次に前記油圧センサ２９の油圧がサーボロック解除設定圧Ｐ１まで上昇したことが検出されたら（ｓ７）、サーボモータ３１のサーボロックを解除する（ｓ８）そして型締シリンダ２１の型締力Ｆ１のみにより、バネ金型のバネ２０の型開方向Ｏへの反発力ｆ１に対抗する。従って本実施形態では、サーボモータ３１による可動盤１８の位置保持の解除を型締力Ｆ１（油圧値×型締シリンダ２１の受圧面積×型締シリンダ２１の数）を検出して最適の型締力Ｆ１になった際に行うことができる。この際にサーボロック解除設定圧Ｐ１の設定値が高すぎると、可動盤１８等が型閉方向Ｃに移動されてしまいサーボモータ３１が保持位置へ戻そうと制御されることにより過負荷状態が発生する。また設定された油圧値が低すぎるとサーボモータ３１の位置保持制御を解除した際に、バネ金型のバネ２０の反発力ｆ１が勝って型開してしまうので、両者を勘案して前記サーボロック解除設定圧Ｐ１の設定・調整がなされる。そして型締力Ｆ１のみの検出によりサーボロックを解除するので設定および制御が容易である。また金型の熱膨張により検出位置がずれたとしても型締力Ｆ１のみによって制御を行うので演算補正等の必要がない。そして更に型締シリンダ２１は型締設定圧Ｐ２まで昇圧され（ｓ９）、型締設定圧Ｐ２が検出されると型締昇圧完了となる（ｓ１０）。 Next, when it is detected that the hydraulic pressure of the hydraulic sensor 29 has increased to the servo lock release setting pressure P1 (s7), the servo lock of the servo motor 31 is released (s8) and only the mold clamping force F1 of the mold clamping cylinder 21 is released. This counteracts the repulsive force f1 of the spring mold spring 20 in the mold opening direction O. Therefore, in the present embodiment, the release of the position holding of the movable platen 18 by the servo motor 31 is detected by detecting the mold clamping force F1 (hydraulic value × pressure receiving area of the mold clamping cylinder 21 × number of mold clamping cylinders 21). This can be done when the force F1 is reached. At this time, if the set value of the servo lock release setting pressure P1 is too high, the movable platen 18 or the like is moved in the mold closing direction C, and the servo motor 31 is controlled to return to the holding position, thereby causing an overload state. Occur. If the set hydraulic pressure is too low, the repulsive force f1 of the spring 20 of the spring mold wins and the mold opens when the position holding control of the servo motor 31 is released. The unlocking set pressure P1 is set and adjusted. Since the servo lock is released only by detecting the mold clamping force F1, setting and control are easy. Even if the detection position shifts due to thermal expansion of the mold, control is performed only by the mold clamping force F1, so that there is no need for calculation correction or the like. The mold clamping cylinder 21 is further increased to the mold clamping set pressure P2 (s9), and when the mold clamping set pressure P2 is detected, the mold clamping pressure is completed (s10).
なお上記においてサーボモータ３１による位置保持制御の開始は、可動盤１８が型閉完了位置Ｂに到達した後、サーボモータ３１による位置保持制御を先に行ってからハーフナット４０の係止を行うことが望ましいが、ハーフナット４０の係止を先に行ってからでもよい。更に型閉完了位置Ｂの手前で一旦可動盤１８を停止してハーフナット４０を係止し、型締シリンダ２１による型締作動とサーボモータ３１による型閉制御（位置制御）を並行して継続するものでもよい。その場合サーボモータ３１が型閉完了位置Ｂに到達して型閉完了後にサーボロックを行い、更に型締シリンダ２１による昇圧を行い、型締シリンダ２１の型締側油室２６の油圧がサーボロック解除設定圧Ｐ１まで昇圧されたらサーボロックを解除しサーボフリーとする。また更に型開閉手段のサーボモータ３１による可動盤１８の移動中にハーフナット４０の係止を行うものなどでもよい。また型閉完了位置Ｂは、金型同士の一部が当接してバネ２０による反発力ｆ１が発生している位置であれば、パーティング面同士が当接している位置とは限らない。 In the above, the position holding control by the servo motor 31 is started after the movable platen 18 reaches the mold closing completion position B, and after the position holding control by the servo motor 31 is performed first, the half nut 40 is locked. However, the half nut 40 may be locked first. Further, before the mold closing completion position B, the movable platen 18 is temporarily stopped and the half nut 40 is locked, and the mold clamping operation by the mold clamping cylinder 21 and the mold closing control (position control) by the servo motor 31 are continued in parallel. You may do it. In that case, the servo motor 31 reaches the mold closing completion position B and servo lock is performed after the mold closing is completed. Further, the pressure is increased by the mold clamping cylinder 21, and the hydraulic pressure in the mold clamping side oil chamber 26 of the mold clamping cylinder 21 is servo-locked. When the pressure is raised to the release set pressure P1, the servo lock is released and the servo is free. Furthermore, the half nut 40 may be locked while the movable platen 18 is moved by the servo motor 31 of the mold opening / closing means. Further, the mold closing completion position B is not necessarily a position where the parting surfaces are in contact with each other as long as a part of the molds are in contact with each other and a repulsive force f1 by the spring 20 is generated.
型締工程のうちの増圧工程では、射出装置１４から成形金型のキャビティ４１に対して溶融樹脂が射出され、その後の型締工程のうちの冷却工程ではキャビティ４１内の溶融樹脂は冷却固化される。また冷却工程では射出装置１４の側では並行して次の射出のための溶融樹脂の計量が行われる。冷却工程が完了すると、型締装置１３の側では、制御装置３０から指令を送り型締工程のうちの圧抜工程（降圧工程）を開始する（ｓ１１）。型締手段の圧抜（降圧）は、切換弁２５を切換えて型締シリンダ２１の型締側油室２６内の作動油をドレン（タンク２３）に落とすことにより行う。または型締側油室２６内の作動油の圧力をコントロールしながら圧力を低下させる。そのことによりやがてバネ２０の反発力ｆ１が型締力Ｆ１を上回り固定金型１５から可動金型１７の離型が行われる。従って本実施形態では離型時に型締シリンダ２１の型開側油室２７に作動油を供給して離型を行う強力型開工程は実施していない。 In the pressure increasing step of the mold clamping process, the molten resin is injected from the injection device 14 into the cavity 41 of the molding die, and in the cooling process of the subsequent mold clamping process, the molten resin in the cavity 41 is cooled and solidified. Is done. In the cooling process, the molten resin for the next injection is measured in parallel on the injection device 14 side. When the cooling process is completed, the mold clamping device 13 sends a command from the control device 30 to start a pressure releasing process (step-down process) in the mold clamping process (s11). Pressure release (pressure reduction) of the mold clamping means is performed by switching the switching valve 25 to drop the hydraulic oil in the mold clamping side oil chamber 26 of the mold clamping cylinder 21 into the drain (tank 23). Alternatively, the pressure is lowered while controlling the pressure of the hydraulic oil in the mold clamping side oil chamber 26. As a result, the repulsive force f1 of the spring 20 eventually exceeds the mold clamping force F1, and the movable mold 17 is released from the fixed mold 15. Therefore, in this embodiment, the strong mold opening process which supplies hydraulic oil to the mold opening side oil chamber 27 of the mold clamping cylinder 21 at the time of mold release and performs mold release is not performed.
そして圧抜開始後（降圧開始後）の型締力Ｆ１（型締シリンダ２１の型締側油室２６の作動油の圧力）を検出して予め設定されたサーボロック開始設定圧力Ｐ３となったら（ｓ１２）、フリーとなっていたサーボモータ３１による位置保持制御を再び開始する。具体的にはサーボモータ３１を電気的にサーボロックして固定盤１６に対する可動盤１８の位置保持制御を行う（ｓ１３）。このように型締シリンダ２１の圧力が低下（型締力Ｆ１が低下）し始めてから、バネ金型のバネ２０の反発力ｆ１が型締力Ｆ１に勝る前に型開閉手段のサーボモータ３１により位置保持制御を行うことにより、バネ２０の反発力ｆ１により可動盤１８がハーフナット４０の離脱位置を超えて型開方向Ｏに更に移動してしまうことが防止できる。 Then, when the mold clamping force F1 (pressure of hydraulic oil in the mold clamping side oil chamber 26 of the mold clamping cylinder 21) after the start of pressure release (after the start of pressure reduction) is detected and the preset servo lock start pressure P3 is reached. (S12) The position holding control by the servo motor 31 that has become free is started again. Specifically, the servo motor 31 is electrically servo-locked to control the position of the movable platen 18 with respect to the fixed platen 16 (s13). Thus, after the pressure of the mold clamping cylinder 21 starts to decrease (the mold clamping force F1 decreases), before the repulsive force f1 of the spring 20 of the spring mold exceeds the mold clamping force F1, the servo motor 31 of the mold opening / closing means is used. By performing the position holding control, it is possible to prevent the movable platen 18 from further moving in the mold opening direction O beyond the separation position of the half nut 40 due to the repulsive force f1 of the spring 20.
そして次に型締側油室２６の油圧が常圧となったことが検出され、型締シリンダ２１による圧抜工程が完了したら（ｓ１４）、ハーフナット４０の駆動手段を作動させ、タイバ２２の係止部３９に係止されたハーフナット４０の係止歯を離脱させる（ｓ１５）。 Next, when it is detected that the hydraulic pressure in the mold clamping side oil chamber 26 has become a normal pressure and the depressurization step by the mold clamping cylinder 21 is completed (s14), the driving means of the half nut 40 is operated, and the tie bar 22 is operated. The locking teeth of the half nut 40 locked to the locking part 39 are released (s15).
そして型開閉手段のサーボモータ３１のサーボロックを解除するとともに型開を開始する（ｓ１６）。型開工程では可動盤１８および可動金型１７は、型開完了位置Ａに向けてサーボモータによる位置制御により移動され（ｓ１７）、型開完了位置Ａに到達すると停止される（ｓ１８）。そして上記したように型開完了位置Ａにおいて、可動金型１７の図示しないエジェクタが作動されて成形品の取出しが行われる。 Then, the servo lock of the servo motor 31 of the mold opening / closing means is released and the mold opening is started (s16). In the mold opening process, the movable platen 18 and the movable mold 17 are moved toward the mold opening completion position A by position control by a servo motor (s17), and are stopped when reaching the mold opening completion position A (s18). As described above, at the mold opening completion position A, the ejector (not shown) of the movable mold 17 is operated to take out the molded product.
上記の実施形態では、型閉工程および型締工程における型締昇圧開始後に型締力を検出して前記サーボ機構の位置保持制御を解除、または離型工程における型締手段の降圧開始後の型締力を検出して前記サーボ機構の位置保持制御を開始の両方を行うが、本発明では型閉工程および型締工程における型締昇圧開始後に型締力を検出して前記サーボ機構の位置保持制御を解除、または離型工程における型締手段の降圧開始後の型締力を検出して前記サーボ機構の位置保持制御の少なくとも一方を行うものでもよい。 In the above-described embodiment, the mold clamping force is detected after the mold closing process is started in the mold closing process and the mold clamping process, and the position holding control of the servo mechanism is released, or the mold after the mold clamping unit is started to be depressurized in the mold releasing process. Both the servo mechanism position holding control is started by detecting the clamping force. In the present invention, the mold clamping force is detected after the mold closing process and the mold clamping process are started, and the servo mechanism position is maintained. The servo mechanism position holding control may be performed by canceling the control or detecting the mold clamping force after the pressure reduction of the mold clamping means in the mold release process.
そして本発明は、型閉時に型開方向Ｏに反発力ｆ１が発生する金型の場合に特に有効である。上記の実施形態では、反発力ｆ１を離型に用いるバネ金型の例について記載したが、３枚プレート金型であってスプルを抜くために固定金型または中央プレートに設けたバネの反発力が用いられるものでもよい。更には型閉時にエジェクタピンおよびエジェクタプレートがバネの反発力を上回って後退し型開時にはバネの反発力によりエジェクタピンが前進するものでもよい。更に成形金型は、油圧シリンダにより型閉時に型開方向Ｏに反発力ｆ１が発生する金型であってもよく、ゴムや別の部材により型閉時に型開方向Ｏに反発力ｆ１が発生する金型であってもよい。またアンギュラピン等を用いて駒を移動させるものであって、型閉時に駒の自重や摩擦により型開方向Ｏに反発力ｆ１が発生するものでもよい。 The present invention is particularly effective in the case of a mold that generates a repulsive force f1 in the mold opening direction O when the mold is closed. In the above embodiment, the example of the spring mold using the repulsive force f1 for the mold release has been described, but the repulsive force of the spring provided in the fixed mold or the central plate for removing the sprue is a three-plate mold. May be used. Further, the ejector pin and the ejector plate may be retracted by exceeding the repulsive force of the spring when the mold is closed, and the ejector pin may be advanced by the repulsive force of the spring when the mold is opened. Further, the mold may be a mold that generates a repulsive force f1 in the mold opening direction O when the mold is closed by a hydraulic cylinder, and a repulsive force f1 is generated in the mold opening direction O when the mold is closed by rubber or another member. It may be a mold. Alternatively, the piece may be moved using an angular pin or the like, and a repulsive force f1 may be generated in the mold opening direction O due to the weight or friction of the piece when the mold is closed.
また本発明の型締装置は、図５に示されるような複合成形品の射出成形機５１の場合にも有効である。複合成形品の射出成形機５１の型締装置５２は、固定金型５３が取付けられる固定盤５４の四隅近傍には型締手段の型締シリンダ５５が設けられ、型締シリンダ５５のロッドがタイバ５６となっている。そしてタイバ５６は、固定盤５４に対して型開閉方向に移動可能に設けられる金型取付盤である可動盤５７と、固定盤５４と可動盤５７の間にあって型開閉方向に移動可能に設けられた金型取付盤である中間盤５８にも挿通されている。また可動盤５７には可動金型５９が取付けられ、可動盤５７の外側面のタイバ５６の挿通部分の近傍にはハーフナット６０が設けられている。中間盤５８には回転盤６１が回転可能に取付けられ、回転盤６１の両面にはそれぞれ中間金型６２，６２が取付けられる。 The mold clamping apparatus of the present invention is also effective in the case of a composite molded product injection molding machine 51 as shown in FIG. The mold clamping device 52 of the composite molded product injection molding machine 51 is provided with mold clamping cylinders 55 serving as mold clamping means in the vicinity of the four corners of a stationary platen 54 to which a stationary mold 53 is mounted, and the rod of the mold clamping cylinder 55 is a tie bar. 56. The tie bar 56 is provided between the fixed platen 54 and the movable platen 57 so as to be movable in the mold opening / closing direction. It is also inserted through an intermediate board 58 which is a mold mounting board. A movable mold 59 is attached to the movable plate 57, and a half nut 60 is provided in the vicinity of the insertion portion of the tie bar 56 on the outer surface of the movable plate 57. A rotating plate 61 is rotatably attached to the intermediate plate 58, and intermediate molds 62, 62 are attached to both surfaces of the rotating plate 61, respectively.
また射出成形機５１は可動盤５７を型開閉方向に移動させる型開閉手段６３と、中間盤５８（回転盤６１を含む）を型開閉方向に移動させる型開閉手段６４が設けられている。可動盤の型開閉手段６３は、ベッド６５上に固定されたサーボモータ６６の駆動軸とベッド６５上に軸支されたボールねじ軸６７とがベルト６８等を介して連結されている。また可動盤５７の側方にはボールねじナット６９が固定され、ボールねじナット６９にボールねじ軸６７が挿入されている。図５では１組の可動盤の型開閉手段６３しか図示されていないが、一般的には２組〜４組の可動盤の型開閉手段６３が設けられる。中間盤の型開閉手段６４については、可動盤５７の側面にサーボモータ７０が固定され、中間盤５８にボールねじナット７１が固定され、前記ボールねじナット７１に挿通されるボールねじ７２が、サーボモータ７０の駆動軸と連結されている。図５では１組の中間盤の型開閉手段６４しか図示されていないが、一般的には２組〜４組の中間盤の型開閉手段６４が設けられる。なお可動盤の型開閉手段６３と中間盤の型開閉手段６４の取付けられる盤、サーボモータ６６，７０の駆動軸とボールねじ６７，７２の連結方法などもこれに限定されない。 The injection molding machine 51 is provided with a mold opening / closing means 63 for moving the movable platen 57 in the mold opening / closing direction, and a mold opening / closing means 64 for moving the intermediate plate 58 (including the rotating plate 61) in the mold opening / closing direction. The mold opening / closing means 63 of the movable plate is connected to a drive shaft of a servo motor 66 fixed on the bed 65 and a ball screw shaft 67 supported on the bed 65 via a belt 68 or the like. A ball screw nut 69 is fixed to the side of the movable platen 57, and a ball screw shaft 67 is inserted into the ball screw nut 69. Although only one set of movable plate mold opening / closing means 63 is shown in FIG. 5, two to four sets of movable plate mold opening / closing means 63 are generally provided. As for the mold opening / closing means 64 of the intermediate plate, a servo motor 70 is fixed to the side surface of the movable plate 57, a ball screw nut 71 is fixed to the intermediate plate 58, and a ball screw 72 inserted through the ball screw nut 71 is a servo. The drive shaft of the motor 70 is connected. In FIG. 5, only one set of intermediate plate mold opening / closing means 64 is shown, but generally two to four sets of intermediate plate mold opening / closing means 64 are provided. In addition, the board on which the mold opening / closing means 63 of the movable board and the mold opening / closing means 64 of the intermediate board are attached, the connecting method of the drive shafts of the servo motors 66, 70 and the ball screws 67, 72 are not limited thereto.
また固定盤５４の外側のベッド６５上には第1の射出装置７３が設けられ、可動盤５７の外側には可動盤５７とともに移動する第２の射出装置７４が設けられている。 A first injection device 73 is provided on the bed 65 outside the fixed platen 54, and a second injection device 74 that moves together with the movable platen 57 is provided outside the movable platen 57.
次に複合成形品の射出成形機５１を用いた型締装置の制御方法について説明する。本実施形態では、可動金型５９がバネ７６の取付けられたバネ金型となっており、可動金型５９と中間金型６２が型閉される際に型開方向Ｏへの反発力ｆ１が働く。最初の段階では、固定金型５３と中間金型６２、中間金型６２と可動金型５９の間がそれぞれ型開きされ、一方の金型間（例えば中間金型６２と可動金型５９の間）で成形された成形品が取出される。その際他方の金型間では１次成形品が成形され中間金型６２に貼り付いている。その後型開された状態で、中間盤５８に対して回転盤６１と回転金型６２が１８０°回転される。次に中間盤の型開閉手段６４と可動盤の型開閉手段６３が同時に作動して、中間盤５８と可動盤５７がそれぞれ型閉方向Ｃ（図５においては右方向）に移動し、固定盤５４と中間盤５８、中間盤５８と可動盤５７の間が型閉完了される。すると可動盤の型開閉手段６３のサーボモータ６６、中間盤の型開閉手段６４のサーボモータ７０をそれぞれサーボロックする。その後ハーフナット６０をタイバ５６の係止部７５に係止し、型締シリンダ５５の昇圧を開始する。そして型締シリンダ５５の型締側油室に作用する油圧を検出し、設定値（サーボロック解除設定圧Ｐ１）となったら可動盤の型開閉手段６３のサーボモータ６６、中間盤５８のサーボモータ７０のサーボロックをそれぞれ解除しサーボフリーとする。そして型締シリンダ５５が型締設定圧Ｐ２に昇圧されるまで増圧する。 Next, a control method of the mold clamping apparatus using the composite molded product injection molding machine 51 will be described. In this embodiment, the movable mold 59 is a spring mold to which a spring 76 is attached, and when the movable mold 59 and the intermediate mold 62 are closed, a repulsive force f1 in the mold opening direction O is generated. work. In the first stage, the fixed mold 53 and the intermediate mold 62, and the intermediate mold 62 and the movable mold 59 are opened, and one mold (for example, between the intermediate mold 62 and the movable mold 59) is opened. ) Is taken out. At this time, a primary molded product is formed between the other molds and attached to the intermediate mold 62. Thereafter, in a state where the mold is opened, the rotary plate 61 and the rotary die 62 are rotated by 180 ° with respect to the intermediate plate 58. Next, the mold opening / closing means 64 of the intermediate plate and the mold opening / closing means 63 of the movable platen are simultaneously operated to move the intermediate plate 58 and the movable platen 57 in the mold closing direction C (rightward in FIG. 5), respectively. The mold closing is completed between 54 and the intermediate board 58 and between the intermediate board 58 and the movable board 57. Then, the servo motor 66 of the mold opening / closing means 63 of the movable plate and the servo motor 70 of the mold opening / closing means 64 of the intermediate plate are respectively servo-locked. Thereafter, the half nut 60 is locked to the locking portion 75 of the tie bar 56, and the pressurization of the mold clamping cylinder 55 is started. Then, the hydraulic pressure acting on the mold clamping side oil chamber of the mold clamping cylinder 55 is detected, and when the set value (servo lock release setting pressure P1) is reached, the servo motor 66 of the mold opening / closing means 63 of the movable platen and the servomotor of the intermediate plate 58 are detected. Each servo lock of 70 is released to make the servo free. The mold clamping cylinder 55 is increased until the mold clamping pressure P2 is increased.
次に型締設定圧Ｐ２に昇圧完了したら第１の射出装置７３から固定金型５３と中間金型６２の間の第１のキャビティへ１次成形品用の樹脂を射出するとともに、第２の射出装置７４から中間金型６２と可動金型５９の間の第２のキャビティへ２次成形品用の樹脂を射出する。その後第１のキャビティの１次成形品と第２のキャビティで２次成形が追加された複合成形品の冷却工程を行う。冷却工程が完了して圧抜工程については図３の例と同様に、設定圧（サーボロック開始設定圧Ｐ３）まで低下したら可動盤の型開閉手段６３のサーボモータ６６、中間盤のサーボモータ７０をそれぞれサーボロックする。そしてサーボロックされた状態で圧抜を継続し、圧抜が完了したらハーフナット６０の離脱を行う。その後可動盤の型開閉手段６３のサーボモータ６６、中間盤のサーボモータ７０のサーボロックをそれぞれ解除するとともに、サーボモータ６６，７０を駆動して可動盤５７と中間盤５８をそれぞれ型開する。 Next, when the mold clamping set pressure P2 is increased, the resin for the primary molded product is injected from the first injection device 73 into the first cavity between the fixed mold 53 and the intermediate mold 62, and the second The resin for the secondary molded product is injected from the injection device 74 into the second cavity between the intermediate mold 62 and the movable mold 59. Thereafter, a cooling process is performed on the primary molded product in the first cavity and the composite molded product in which secondary molding is added in the second cavity. When the cooling process is completed and the depressurization process is reduced to the set pressure (servo lock start set pressure P3) as in the example of FIG. 3, the servo motor 66 of the mold opening / closing means 63 of the movable platen and the servomotor 70 of the intermediate plate. Servo lock each. Then, the depressurization is continued while the servo is locked, and when the depressurization is completed, the half nut 60 is detached. Thereafter, the servo locks of the servo motor 66 of the movable plate opening / closing means 63 and the servo motor 70 of the intermediate plate are released, and the servo motors 66 and 70 are driven to open the mold of the movable plate 57 and the intermediate plate 58, respectively.
前記成形においては可動金型５９にバネ金型が設けられているので、可動盤５７と中間盤５８の間に設けた中間盤の型開閉手段６４のサーボモータ７０によりサーボロックを行って型閉完了位置Ｂから型締手段により昇圧する際に、中間盤５８（回転盤６１）と可動盤５７の間がバネ金型の反発力ｆ１に負けて型開方向に開いてこないようにすることが可能となる。また図５の実施形態の変形例として、中央の中間盤が移動せずに、両側に可動盤が設けられたものでもよい。更に固定盤、回転しない中間盤、可動盤によるスタックモールドに近い型締装置であって、両方の金型でそれぞれ単色の成形品を同時に成形するものでもよい。 In the molding, since the movable mold 59 is provided with a spring mold, the mold is closed by performing a servo lock by the servo motor 70 of the mold opening / closing means 64 of the intermediate board provided between the movable board 57 and the intermediate board 58. When the pressure is increased by the mold clamping means from the completion position B, the space between the intermediate plate 58 (the rotary plate 61) and the movable plate 57 is prevented from opening in the mold opening direction due to the repulsive force f1 of the spring mold. It becomes possible. Further, as a modification of the embodiment of FIG. 5, a movable intermediate plate may be provided on both sides without moving the central intermediate plate. Further, it may be a mold clamping device close to a stack mold using a stationary platen, a non-rotating intermediate plate, and a movable platen, and each of the molds may simultaneously mold a single color molded product.
また上記図１または図５の例においてサーボロック解除やサーボロック開始(位置保持制御解除や位置保持制御開始)に用いる型締力Ｆ１の検出は、型締シリンダ２１，５５の型締側油室２６と型開側油室２７の両方の油圧を検出してその差圧を演算して利用するものでもよい。特にバネ２０，７６による反発力ｆ１が不足して離型時に型締シリンダ２１，５５による強力型開力も付加する場合は、前記の差圧を演算して利用することも想定される。また上記図１または図５の例において油圧を検出する以外に、タイバーセンサやロードセルを用いて型締力を検出するものでもよい。 Further, in the example of FIG. 1 or FIG. 5, the detection of the mold clamping force F1 used for releasing the servo lock and starting the servo lock (releasing position holding control and starting position holding control) is performed by the mold clamping side oil chambers of the mold clamping cylinders 21 and 55. It is also possible to detect and use the hydraulic pressures of both the hydraulic pressure chamber 26 and the mold opening side oil chamber 27. In particular, when the repulsive force f1 due to the springs 20 and 76 is insufficient and a strong mold opening force due to the clamping cylinders 21 and 55 is also added at the time of mold release, it is assumed that the differential pressure is calculated and used. In addition to detecting the hydraulic pressure in the example of FIG. 1 or FIG. 5, the mold clamping force may be detected using a tie bar sensor or a load cell.
また本発明の型締装置は、図６に示されるような垂直方向に型開閉を行う竪型の型締装置８１であってもよい。ハーフナット８２の係止時または係止後に自重により可動盤８３に型開方向の力が加わる竪型型締装置の場合、本発明が特に有効である。これら竪型型締装置８１の場合、取付けられる金型は、型閉時に型開方向に反発力ｆ１が発生するものでなくても本発明を用いることが有効となる。 The mold clamping device of the present invention may be a vertical mold clamping device 81 that opens and closes in the vertical direction as shown in FIG. The present invention is particularly effective in the case of a vertical mold clamping apparatus in which a force in the mold opening direction is applied to the movable plate 83 by its own weight when or after the half nut 82 is locked. In the case of these vertical mold clamping devices 81, it is effective to use the present invention even if the attached mold does not generate a repulsive force f1 in the mold opening direction when the mold is closed.
図６の例では上側の固定盤８４の下面に固定金型８５(上型)が取付けられている。また下側の金型取付盤である可動盤８３の上面には可動金型８６が取付けられている。また可動盤８３の背面側（下面側）には型締盤８７が設けられ、可動盤８３と型締盤８７の間には型締手段のトグル機構８８が設けられている。そして型締盤８７の背面側（下面側）には、型締手段を駆動するサーボモータ８９と、結合手段であるハーフナット８２が設けられている。 In the example of FIG. 6, a fixed mold 85 (upper mold) is attached to the lower surface of the upper fixed plate 84. A movable mold 86 is attached to the upper surface of the movable board 83 which is a lower mold attachment board. Further, a mold clamping machine 87 is provided on the back side (lower surface side) of the movable board 83, and a toggle mechanism 88 of mold clamping means is provided between the movable board 83 and the mold clamping machine 87. A servo motor 89 for driving the mold clamping unit and a half nut 82 as a coupling unit are provided on the back side (lower surface side) of the mold clamping plate 87.
また上側の固定盤８４の四隅近傍にはタイバ９０がナット９１により鉛直方向に固定され、タイバ９０は可動盤８３と型締盤８７に挿通されている。またタイバ９０の中間部分から下側にはハーフナット８２が係止される係止部９２が周囲に形成されている。更にタイバ９０の下端側はベース盤９３に固定されている。上側の固定盤８４には型開閉手段のサーボモータ９４が固定され、サーボモータ９４の駆動軸にはボールねじ９６が連結され、型締盤８７または可動盤８３のいずれかの盤にはボールねじナット９５が固定されている。そしてボールねじナット９５にはボールねじ９６が挿通されている。竪型の型締装置８１を射出成形機９７として用いる場合、射出装置９８については、図６のように、金型の側面にノズルがタッチするように水平方向に取付けてもよいし、上固定盤の上側にノズルを下向きにして取付けてもよい。 Further, tie bars 90 are fixed in the vertical direction by nuts 91 near the four corners of the upper fixed plate 84, and the tie bar 90 is inserted through the movable plate 83 and the mold clamping plate 87. A locking portion 92 for locking the half nut 82 is formed around the middle portion of the tie bar 90 on the lower side. Further, the lower end side of the tie bar 90 is fixed to the base board 93. A servo motor 94 as a mold opening / closing means is fixed to the upper fixed plate 84, a ball screw 96 is connected to a drive shaft of the servo motor 94, and a ball screw 96 is attached to either the mold clamping plate 87 or the movable plate 83. A nut 95 is fixed. A ball screw 96 is inserted into the ball screw nut 95. When the vertical mold clamping device 81 is used as the injection molding machine 97, the injection device 98 may be mounted horizontally so that the nozzle touches the side surface of the mold as shown in FIG. The nozzle may be mounted on the upper side of the board with the nozzle facing downward.
上記の竪型の型締装置８１を用いた型締制御について簡単に説明する。最初に型開閉手段のサーボモータ９４により可動盤８３と型締盤８７を上昇させ、型閉完了位置Ｂでサーボモータ９４を位置保持制御（サーボロック）する。そして次にハーフナット８２の係止歯をタイバ９０の係止部９２に係止する。そして次に型締手段であるトグル機構８８のサーボモータ８９を作動させる。すると型締盤８７に対して可動盤８３が上昇して型締力Ｆ１が発生する。型締力Ｆ１の検出は、型締用のサーボモータ８９のトルク、タイバ９０に設けた型締力センサ、盤や金型に設けたロードセル等のいずれかにより検出する。そして予め設定された型締力Ｆ１に到達したらサーボモータ９４の位置保持制御（サーボロック）を解除してサーボモータ９４をフリーにし、更に型締力Ｆ１を上昇させる。 The mold clamping control using the saddle mold clamping apparatus 81 will be briefly described. First, the movable plate 83 and the mold clamping plate 87 are lifted by the servo motor 94 of the mold opening / closing means, and the position holding control (servo lock) of the servo motor 94 is performed at the mold closing completion position B. Then, the locking teeth of the half nut 82 are locked to the locking portion 92 of the tie bar 90. Then, the servo motor 89 of the toggle mechanism 88 which is a mold clamping means is operated. Then, the movable platen 83 rises with respect to the mold clamping plate 87, and a mold clamping force F1 is generated. The mold clamping force F1 is detected by any of a torque of a servo motor 89 for mold clamping, a mold clamping force sensor provided on the tie bar 90, a load cell provided on a panel or a mold, and the like. Then, when the preset mold clamping force F1 is reached, the position holding control (servo lock) of the servo motor 94 is released to make the servo motor 94 free, and the mold clamping force F1 is further increased.
また型締工程における降圧工程では、降圧開始後の型締力Ｆ１を検出して予め設定されたサーボロック開始型締力まで下降されたらサーボモータ９４の位置保持制御（サーボロック）を開始し、降圧が完了または所定の型締力まで降圧されたらハーフナット８２の離脱を行う。そしてハーフナット８２の離脱後に位置保持制御（サーボロック）を解除するとともに、型開閉手段のサーボモータ９４を作動させて可動盤８３および型締盤８７を下降させて型開完了位置Ａへ移動させる。 In the pressure reducing process in the mold clamping process, the position holding control (servo lock) of the servo motor 94 is started when the mold clamping force F1 after the pressure reduction starts is detected and lowered to a preset servo lock starting mold clamping force. When the pressure reduction is completed or the pressure is reduced to a predetermined mold clamping force, the half nut 82 is removed. Then, after the half nut 82 is detached, the position holding control (servo lock) is released, and the servo motor 94 of the mold opening / closing means is operated to lower the movable plate 83 and the mold clamping plate 87 to move to the mold opening completion position A. .
また本発明の竪型の型締装置８１は、射出装置９８が設けられておらず、型開閉手段と型締手段の両方を有するプレス型締装置であってもよい。プレス型締装置の場合も可動盤８３等に自重落下方向の力が加わる場合は、本発明が有効となる。また一般的な下側の固定盤および固定金型に対して上側の可動盤および可動金型が下降するプレス型締装置であっても、バネ付金型等で型閉時に型開方向に向けて反発力ｆ１が発生する金型が取付けられるものでは本発明が有効となる。また金型自体が反発力ｆ１を有していなくても、型閉時（初期加圧時）にプレス金型に載置された成形物から型開方向に向けて反発力が発生する場合にも本発明が有効である。そしてこれらプレス型締装置は、スタンピング成形に用いられるものでもよい。 Further, the vertical mold clamping apparatus 81 of the present invention may be a press mold clamping apparatus having both the mold opening / closing means and the mold clamping means without the injection device 98 being provided. Even in the case of a press mold clamping device, the present invention is effective when a force in the direction of falling by its own weight is applied to the movable platen 83 or the like. In addition, even in a press mold clamping device in which the upper movable platen and movable die are lowered relative to the general lower fixed platen and fixed die, the mold opening direction is set when the die is closed with a spring-loaded die or the like. Thus, the present invention is effective when a mold that generates a repulsive force f1 is attached. Even when the mold itself does not have the repulsive force f1, when a repulsive force is generated in the mold opening direction from the molded product placed on the press mold when the mold is closed (at the time of initial pressurization). The present invention is also effective. These press mold clamping devices may be used for stamping molding.
本発明に用いられるサーボ機構の別の実施形態について記載する。図１等の実施形態では、サーボモータ３１は、電磁ブレーキ３４が設けられたサーボモータ３１が使用されていて、電磁ブレーキ３４は停電時や作動時の安全扉の開放時等に働くようになっている。しかしながら本発明のサーボモータ３１は電磁ブレーキが設けられていないものでもよい。前記等においてバネ金型等の反発力ｆ１が強力であってサーボロックによる力を上回る場合や停電時等の対策として、ボールねじにディスクブレーキ等を取付けるものでもよい。更には電磁ブレーキ３４付のサーボモータ３１を用いたものにおいて、型閉時や型開時の金型取付盤の位置保持制御を、電磁ブレーキ３４の作動のみ、または電磁ブレーキ３４の作動と電気的なサーボロックの併用により行ってもよい。 Another embodiment of the servo mechanism used in the present invention will be described. In the embodiment of FIG. 1 and the like, the servo motor 31 is used as the servo motor 31 provided with the electromagnetic brake 34, and the electromagnetic brake 34 works when the safety door is opened at the time of power failure or operation. ing. However, the servo motor 31 of the present invention may not be provided with an electromagnetic brake. In the above-described case, a disk brake or the like may be attached to the ball screw as a countermeasure when the repulsive force f1 of the spring mold or the like is strong and exceeds the force due to the servo lock or during a power failure. Furthermore, in the case of using the servo motor 31 with the electromagnetic brake 34, the position holding control of the mold mounting board at the time of mold closing or mold opening is performed only for the operation of the electromagnetic brake 34 or for the operation of the electromagnetic brake 34 and the electric operation. You may carry out by using together a servo lock.
更にサーボ機構は、型開閉シリンダとサーボバルブを使用したものでもよい。その場合、別途に設けた位置センサにより可動盤がハーフナット係止位置にあることが検出されたら、型開閉シリンダの駆動を停止し、サーボバルブにより可動盤の位置保持制御を行う。そしてその後型締シリンダにより昇圧開始後にサーボロック解除設定圧Ｐ１が検出されたらサーボバルブによる位置保持制御を解除する。またサーボバルブを使用したものも型締手段の圧抜開始後（降圧開始後）の型締力を検出してサーボバルブによる位置保持制御を開始することができる。 Further, the servo mechanism may use a mold opening / closing cylinder and a servo valve. In this case, when it is detected by the position sensor provided separately that the movable platen is at the half nut locking position, the driving of the mold opening / closing cylinder is stopped, and the position holding control of the movable platen is performed by the servo valve. Then, when the servo lock release set pressure P1 is detected after the mold clamping cylinder starts increasing the pressure, the position holding control by the servo valve is released. Also, a servo valve can be used to detect the mold clamping force after the mold clamping means begins to depressurize (after the pressure reduction starts) and to start position holding control by the servo valve.
本発明については、一々列挙はしないが、上記した本実施形態のものに限定されず、当業者が本発明の趣旨を踏まえて変更を加えたものについても、適用されることは言うまでもないことである。型締装置が射出成形に用いられる場合、材料は限定されず、射出圧縮成形、発泡成形、サンドイッチ成形、インサート成形などの成形を行うものも含まれる。また型締装置がプレス装置に使用される場合も、成形物は金属、樹脂等限定されない。 The present invention is not enumerated one by one, but is not limited to that of the above-described embodiment, and it goes without saying that those skilled in the art also apply modifications made in accordance with the spirit of the present invention. is there. When the mold clamping device is used for injection molding, the material is not limited, and includes materials that perform molding such as injection compression molding, foam molding, sandwich molding, and insert molding. Also, when the mold clamping device is used in a press device, the molded product is not limited to metal, resin, or the like.
１１、５１，９７ 射出成形機
１３，５２、８１ 型締装置
１４，７３，７４,９８ 射出装置
１５,５３，８５ 固定金型
１６,５４，８４ 固定盤
１７,５９,８６ 可動金型
１８,５７、８３ 可動盤
２０，７６ バネ
２１，５５ 型締シリンダ
２９ 油圧センサ
３１，６６，７０，８９，９４ サーボモータ
４０，６０，８２ ハーフナット
Ａ 型開完了位置
Ｂ 型閉完了位置
Ｃ 型開方向
Ｆ１ 型締力
Ｏ 型閉方向
Ｐ１ サーボロック解除設定圧
Ｐ３ サーボロック開始設定圧
ｆ１ 反発力
11, 51, 97 Injection molding machine 13, 52, 81 Clamping device 14, 73, 74, 98 Injection device 15, 53, 85 Fixed mold 16, 54, 84 Fixed platen 17, 59, 86 Movable mold 18, 57, 83 Movable platen 20, 76 Spring 21, 55 Clamping cylinder 29 Hydraulic sensors 31, 66, 70, 89, 94 Servo motors 40, 60, 82 Half nut A Mold opening completion position B Mold closing completion position C Mold opening direction F1 Mold clamping force O Mold closing direction P1 Servo lock release setting pressure P3 Servo lock start setting pressure f1 Repulsive force
Claims (4)
型閉時に型開方向に反発力が発生する金型を金型取付盤に取付けて前記金型の型閉完了後に前記サーボ機構により金型取付盤の位置保持制御を行い、
型締シリンダの型締昇圧開始後に油圧センサまたはタイバーセンサもしくはロードセルを用いて型締力を検出し予め設定された型締力に到達したら前記サーボ機構の位置保持制御を解除することを特徴とする型締装置の制御方法。 In a control method of a mold clamping device including a mold opening / closing means for moving a mold mounting plate using a servo mechanism and a mold clamping cylinder for clamping by hydraulic pressure ,
A mold that generates a repulsive force in the mold opening direction when the mold is closed is attached to the mold mounting board, and after the mold closing of the mold is completed, the position holding control of the mold mounting board is performed by the servo mechanism.
After the mold clamping pressure of the mold clamping cylinder is started, the mold clamping force is detected using a hydraulic sensor, a tie bar sensor, or a load cell, and the position holding control of the servo mechanism is canceled when a preset mold clamping force is reached. Control method of mold clamping device.
型閉時に型開方向に反発力が発生する金型を金型取付盤に取付けて型締工程を行い型締シリンダの降圧開始後に油圧センサまたはタイバーセンサもしくはロードセルを用いて型締力を検出し予め設定された型締力に到達したら前記サーボ機構の位置保持制御を開始することを特徴とする型締装置の制御方法。 In a control method of a mold clamping device including a mold opening / closing mechanism that moves a mold mounting plate using a servo mechanism and a mold clamping cylinder that performs hydraulic clamping.
A mold that generates a repulsive force in the mold opening direction when the mold is closed is mounted on the mold mounting plate and the mold clamping process is performed. After the pressure reduction of the clamping cylinder is started, the mold clamping force is detected using a hydraulic sensor, tie bar sensor, or load cell. A control method for a mold clamping device, wherein position holding control of the servo mechanism is started when a preset mold clamping force is reached .
型閉時に型開方向に反発力が発生する金型を金型取付盤に取付けて前記金型の型閉完了後に前記サーボ機構により金型取付盤の位置保持制御を行いつつ型締シリンダの型締昇圧開始後に油圧またはタイバーセンサもしくはロードセルを用いて型締力を検出し予め設定された型締力に到達したら前記サーボ機構の位置保持制御を解除するか、
または型締シリンダの降圧開始後に油圧またはタイバーセンサやロードセルを用いて型締力を検出し予め設定された型締力に到達したら前記サーボ機構の位置保持制御を開始することを特徴とする型締装置。 In a mold clamping device having a mold opening / closing means for moving a mold mounting plate using a servo mechanism and a mold clamping cylinder for clamping by hydraulic pressure ,
A mold that generates a repulsive force in the mold opening direction when the mold is closed is attached to the mold mounting board, and after the mold closing of the mold is completed, the position of the mold mounting board is controlled by the servo mechanism and the mold of the clamping cylinder is After clamping pressure is increased, the clamping force is detected using a hydraulic pressure or a tie bar sensor or a load cell, and when the preset clamping force is reached , the position holding control of the servo mechanism is canceled,
Alternatively, after the pressure reduction of the mold clamping cylinder is started, the mold clamping force is detected using a hydraulic pressure or a tie bar sensor or a load cell, and the position holding control of the servo mechanism is started when a preset mold clamping force is reached. Fastening device.
The servo mechanism uses a servo motor, and the mold clamping mechanism uses a mold clamping cylinder, and detects a hydraulic pressure of the mold clamping cylinder after the start of pressurization and sets a preset servo lock release setting pressure. The position holding control by the servo motor is released when the pressure reaches, or the hydraulic pressure of the mold clamping cylinder after the start of pressure reduction is detected, and the position holding control by the servo motor is started when the preset servo lock release set pressure is reached. The mold clamping apparatus according to claim 3, wherein:
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