CN1082879C - Servo-gearshift, method and turning means used in die casting machine - Google Patents

Abstract

The new invention proposes that a control drive be designed as a multi-variable controller (25). For this purpose, it has a monitoring unit (control unit) (26) consisting of a drive intelligence device (23) with a process computer (22) and a user memory (24) for programs and recipes. Either the speed or the current input to an electric motor (1) is selected. Depending on the requirement, a force, a speed or a travel with respect to time can be transferred as target variables from a high-level machine computer (15, 16) to the user memory (24), which now presets the corresponding values as control variables (or design limits) in order to approach the target variable nominal values as closely as possible. In addition, a novel multi-shaft drive (30) is lacunau for the formation of a module of at least two, and in particular for three or more, shafts, having corresponding drive monitoring devices (20), having an interface for a data transmission system and/or the machine computer (15, 16). The operating sequence can be defined in the machine computer (15, 16) and can be predetermined as corresponding nominal values. These are fed directly or via the data transmission system to the recipe memory (24) of the process computer (22), which monitors and at the same time controls and/or regulates a plurality of shafts in a coordinated manner as a multi-variable controller.

Description

Being used for electricity drives servo speed regulating device, the method for injection molding machine and turns to facility

The present invention relates to a kind of speed regulating device and be applied to the electronic adjustment transmission of machine shaft, or be used for one or more machine shafts are transferred the adjustment of parameter, these speed regulating device comprise and have turning to and speed regulating device of one or more internal signal processors, described internal signal processor includes the adjuster of phase-angle adjuster (φ), electric current (I) and speed (V), the invention still further relates to the control device of injection molding machine and carry out the method for the injection operation of injection molding machine, these injection machine are equipped with a plurality of axles, the data transmission system computer installation of unifying.

Speed adjusting technique had experienced huge variation in past 20 years.Closed-loop control is counted as the advanced stage that surmounts simple control already.Obtain best effect, adopt that simple control technology is general all must fully to support the details of holding the course of work.If the parameter of influence process is not had enough or can all not understand, then a kind of adjusting will be carried out repeatedly.Utilize process processing signals machine just can be considered to the highest developing stage as far back as the eighties.

According to transducer from processing equipment or the signal that manufacturing parameter produced obtained by measurement means.The process process computer is concentrated control, the adjustment of allotment to all major functions.This mode is replaced by so-called stored program control (SPS) subsequently, and will add to heavy calculation task one microprocessor this moment.For this reason, control and blocking function, and the initial program of part, starting sequences etc. all are dispatched to this SPS.Partly adapter process of this microprocessor is regulated.In one period, servomotor for example obtains application more and more widely at many processing equipments in injection molding machine.The rotation itself that this moment, this motor produced is used as transmission, and carries out the conversion transmission when needed.Adopt servomotor to realize regulating with high accuracy, this is by control electric field (φ) and regulates electric current (I), or motor shaft carried out corresponding instantaneous adjusting, the speed of rotating shaft and position are controlled according to predetermined rated value by interpolator in.Machine control today shows as the CNC control to process control and adjustment.Servomotor is distributed on the entire machine according to concrete application requirements.Synergistic control and conditioning equipment (below be referred to as driver) can constitute one group.Pass through the connecting line of required each driver of connection for this reason by interior interpolator, realize transfer of data frequency type or analog quantity.In analog quantity transmission, signal will be with the voltage form transmission of the value of positive and negative 10V scope.Shortcoming in this way is that transfer of data itself just exists a series of problems.Signal line, especially for speed governing operation, must resist the interference of electromagnetic field and do special protection.This bus-bar system almost can not or extremely limited effectively bus-bar system be set, because can not guarantee the transmission speed of data.Interpolator in adding in CNC control is optimal scheme at present, has proved in this case, made full use of whole system load limit.Here adjustment process is based on so total principle: it is provided with a central arithmetic unit, sends all control, i.e. adjustment instruction by it to the axle of accepting control, and accepts the total data to the measured value of adjusting parameter.Therefore this known adjustment process has aforesaid shortcoming.

Injection molding machine is used for for example thermoplastic synthetic material is done moulding processing.Raw material, promptly plastic grain relies on the plasticising worm screw to be melted in a heating cylinder, and makes axial (longitudinal direction) by this plasticising worm screw and move compression forming.This model is a greater part of formed space of mould of two halves that is, this mould relies on the clamping cutter to carry out pressing by one moving one fixing mould clamping plate.In order to take off profiled part, half model of activity is moved on to the model open position, make profiled part break away from die cavity by material-pulling device.This process repeats circularly.This mould also as the action itself and control procedure switch of pusher, for the productivity ratio consideration should be very rapid, promptly should be finished in the short as far as possible time.The action that all these and control procedure have nothing to do all is grouped into so-called dry run in the time.The typical dry process time of the modern injection molding machine of 100 tons of pressure forces is 1.4 to 2.9 seconds.The dry run time is one of principal element of limit production rate.Complete and desired is inconsistent, is adopting electric driving situation particularly not do effectively to control to the critical stage of the brake pressure establishment stage in plasticising and pressure maintenance process in pressurization stages satisfactorily in injection molding machine so far.This has been proposed recently a large amount of suggestions.For example attempt to adopt different direct impulses that worm screw that is plasticising worm screw are located and control injection rate and injection pressure (seeing European patent specification No.216940,217963,167631,249641).At this, especially at the control of drive motors torque or speed governing is regulated that is control rate that is acceleration parameter.People attempt to realize that by an error register multiple specific correcting process progressively eliminates deviation, that is the error that was produced at that time (European patent explanation No.280734).Be similar to the type of drive of hydraulic control, this method is a purpose with control injection force that is injection pressure, based on driving torque, from physically, driver (Motor controlling machine adjusting device) dtc signal and reach the inner link that can have between the injection pressure that maybe may reach more or less.But corresponding method has very big shortcoming.Restriction input by to driver (electron speed regulator of servomotor) analog quantity motor current only can reach SERVO CONTROL basically and regulate.Following boundary condition is to realize accurate dynamic Control, that is exactly must consideration by predetermined rated value operation institute:

At first, the big large disturbance of unpredicted frictional force actual static force.This just distorted from current of electric be transformed into that torque begins to the dtc signal the running of power that is pressure.

Secondly, opposite with hydraulic system, inertia force particularly plays a part very important when being transformed to downstream pressure by the blowing pressure.Elastoplast material acting in conjunction in inertia force and the worm screw cylinder makes moving plasmid constitute low frequency plasmid/elastic vibration device.Therefore particularly be difficult to thin parts are processed accurately, even usually be impossible.To all parameter control, for example when inject and the plasticising process during, especially by oxygenation to supercharging and by the translate phase that is pressurized to plasticising, be difficult to guarantee articles injection-moulded quality.

Propose now purpose of the present invention, promptly operate and control machine, or the course of work of processing equipment, enable to work according to application requirements by servo speed governing with very high degree of precision, for example raise the efficiency and/or improve its repeatable can and/or quality.The present invention also further proposes such modular construction, it is the Control work process in high quality, so that can raise the efficiency greatly, for example say under the prerequisite that does not have quality decline, reach for example in injection moulding process, the extra high accuracy of all important parameters and repeat performance has high-precision very thin parts itself thereby may produce with the very short cycle, and for example wall thickness is the cup shell of 0.4mm.

Solve this task like this according to first kind of scheme the present invention, promptly install one that can be installed separately, with the machine computer irrelevant, be used for independent control or realize rotating shaft (M1, M2, M3) assembly of speed governing, it has the calculated signals machine, also has upper level process computer placed on it, the latter is used for countershaft (M1, M2 M3) carries out undelayed real-time that is control or speed governing simultaneously, and its required information is from the memory in this assembly.The characteristics of another scheme of great use then are, the one irrelevant multi-parameter adjuster of one and machine computer that can install respectively is provided, be used for controlling automatically or adjusting each adjustable parameter, this adjuster is except that having the calculated signals machine, also has its higher level's process computer, the latter be used for doing without delay in real time promptly simultaneously to adjusting parameter as control or the adjustment selected, and its required information is taken from the memory that is provided with in this multi-parameter adjuster.

Solution of the present invention also relates to the application that realizes regulating transmission according to the requirement of using manipulator, comprises welding manipulator here, injection molding machine, crane, spray to cast machine, casting and compressor, textile and paper machine, and lathe.

To this, by servo speed-regulating scheme of the present invention, primary is the control unit with a kind of driver mechanism of the memory (being working storage) that utilizes process computer and be used to hold program, and these programs are for to work out the speed governing of two rotating shafts at least.The inventor notices that nearest development is the prerequisite for mistake.This point just can be known understanding very intuitively from the stereo-motion model of a crane or a manipulator.General robot hand can move on all three direction in spaces.Starting point up to now is, after each component motion on each of three direction in spaces (three axially) is controlled, with regard to the combination action of may command robot hand.Computer only must be enough fast and correct to the order of each driving.As supposition, the calculating of space curve is enough correct, people just think its result several flat we can say must be 100% correct.But in fact situation is not like this unfortunately.Exist various inertia, frictional force and other resistance and be known to everybody, people attempt to eliminate them with a large amount of error correcting routines.But also usually can only obtain limited result.The first wrong starting point is, considers a problem from three-dimensional viewpoint, and then simply with its decomposition that is be reduced to three-dimensional vector.But true this is problem greater than three-dimensional, has Unit one the 4th because for example resemble with the effect of time of velocity variations reflection.Therefore the mathematical model that only is based upon on the three-dimensional basis is wrong.Second wrong starting point be, the interrelated factor of three spatial movements is very big, because exist inertia force, friction speed of friction, alternation etc.Final best mathematical model also can only be smart omit approximate.Promptly when illogical function tool has a significant impact, each step of a course of work is controlled at trace level scope (μ second/μ m etc.) just can not has a fixing control logic or regulate logic.The 3rd also may be that grave error prerequisite is, the efficient of process processor, i.e. and process velocity, and the signal that has in the data transmission system of the light velocity transmits is seen as greatly as to cut any ice hardly again, and data processing is carried out in this place in system.People considered from the same time.Many actual conditions show that all complicated signal transmission systems always need big sizable time interval to the several seconds from beginning to issue a signal to finishing of an order.This depends on that for example say will be by many exchange points and conversion, and because the transmission protection, be by the protection system of taking cover layer and signal to confirm.When complication system, usually must solve many calculation tasks simultaneously.The time delay of the minimum of cumulative calculation itself also will produce a difficult inertia system that adapts to regulatory function.The inside speed adjusting technique that actual mistake just is this servo governing system promptly is divided into real process adjusting or course of work control by the work of separating.For central regulatory function, the time-delay that surpasses 100 milliseconds is just too big.

The inventor further understands, solution only may be that the correction-compensation to process control or adjusting should carry out at love scene as far as possible, and finishes as quickly as possible.This must realize and on-the-spot directly coacting, that is driver is realized directly control and speed governing.Common control unit that is public process computer are directly included each driver within its work, thereby can be almost to coordinate excitation control and electric current, position and the speed adjustment of All Drives with time ground.The ad hoc structure that itself has belonged to known driving computer meets the idea of a common control unit.These drivers have had inner φ controller and I separately, V and position control.These just make itself may have under the very big change power situation at machine intimate, for example positions by the time with high accuracy.Interpolator did not almost have the work that two or three position control is for example coordinated on time-delay ground in this control unit can be used as.For this reason, control unit is just born desired calculation task with the intelligence of driver.This control unit can be arranged all values as the direct requirement of site disposal or program.So just formed the functional unit in the measures first mentioned framework, it can even be worked under two situations as a real highly sensitive adjuster.This coupled system no longer becomes burden, the no longer adjusting of deferring procedure of this coupled system on the contrary.Two or more a plurality ofly can be guaranteed to reach inaccessible so far degree of perfection synchronously in this way by the speed governing axle.The invention enables all axles can realize collaborative work real the time, because do not existed with the transfer of data of passing through bus that is harmful at the space bias of an actual speed-regulating function this moment.Preferably adopt multiple driver as have the digital signal processing of main work in the member that is provided with integrated program storage and drives computer make electric going up realize the multiaxis synchronization by the curve movement and/or the track of many servomotor machine driven.Technically, process computer is used as the individual cores of getting in touch by the transducer and the process of necessary amount.So just can directly obtain the actual value and the speed actual value of position at the servomotor place by the calculated signals machine.According to this new invention, process computer and calculated signals machine rely on will distribute to it the processing function as indivisible functional unit as an intelligence " forward adjuster ".As pointed out the back, this new invention made to have selectively each current necessary parameter is controlled or adjusted that particularly the effect ring is regulated, for example at a manipulator or a crane suspension hook.

The present invention solves this task by an alternative plan like this, be a driver and choose a rate signal (that is distance rated signal) as adjustable parameter, and at pressure (being downstream pressure) and/or plasticising stage, as target parameter particularly injection pressure side by side adjust basically, promptly limit stroke range, particularly mainly carry out non-linear adjusting.The invention enables the rate signal (as adjustable parameter) of the relevant servo motor rotor that during downstream pressure and/or plasticising, may rely on driver that is resultant magnetic field to adjust the motion of rotor.The present invention also makes and come adjustment power that is pressure at the rate signal (as adjustable parameter) that can change by the signal of the rotor of the relevant servomotor of driver that is resultant magnetic field during downstream pressure and/or plasticising in addition, according to this it is regulated target parameter (pressure and/or speed) mainly as the function of the distance of relevant time or relevant axial motion of injecting worm screw.Can see according to the present invention, so far people go too far depend on fluid to electric between the simulation similar thought.It has been observed that in electrical system and entire machine particularly between the injected material, basic physics law says that from reasonability it is that it(?) fully can't be correctly taken in by afterwards error correcting routine equally in action.The inventor thinks that the injection worm screw of electric driving has following properties:

-plastic substance reach greater than 2000 the crust pressure the time be a kind of rubber-like material, resembling and can being compressed what have detrimental effect more more than 20% the spring is that mold and all plastic substances that inject the spray tube all are in elastic stage, reaches for example this shell of several centimetres to cause injection worm screw in the injecting jet tube may form according to the elasticity program.Plastic substance pressure is at that time depended in the accurate position of injecting worm screw.When system oscillation, pressure just changes.See that prior art adopts the solution of the frequency of oscillation of about 2.5Hz to influence torque, that is adjusting fast and accurately of injection pressure caused difficulty.This specific character causes a series of problems, and is stranded standard with accurately adjusting to cause for the quick of injection pressure;

-being considered on the contrary as the incompressible object of rigidity to the mechanical conversion of injecting on the worm screw by servomotor, it only follows the variation characteristics on machinery/geometry;

It is the actual mass that bears inertia force that-rotor reaches mechanically transition rising, itself has relatively little quality at this rotor, but is then embodying main inertia from the motion viewpoint;

-changing the driving torque of servomotor, may command is injected the work of worm screw, and this follows the theorem of " quality * acceleration ", promptly uses equation $W=\frac{\mathrm{<figure-callout\; id="2"\; label="m\; V"\; filenames="C9411792400281.png,C9411792400311.png"\; state="\{\{state\}\}">m</figure-callout>}{V}^{}{}^2}{2}$ Expression.W-energy in the formula,

V-speed,

The m-quality.The velocity variations of quality, or bigger acceleration is determining corresponding power.The power that mechanical part (passing through motor torque) produces not only causes active force, or the pressure on injection molding machine, cause in addition very strong, with other factors such as the coefficient uncontrollable vibration of frictional force.But the frequency of this vibration can not be measured in advance, and is because it is relevant with the effective dose of injected material, all relevant with quality, temperature that is the time etc. of specific instrument, plastics;

-because the functional unit of last injected system causes vibration together with the pattern and the pattern support component of injection molding machine as an integral body, so this be wrong based on the control of driving torque drawing-in system or the practice of adjusting.

This point itself is known, promptly under the situation of servomotor, and particularly at the preferential brushless servo motor of selecting, the motor of " electronic rectifier brushless electric machine " form (trade mark Fastaet) for example, the position of precision control rotor that can be very high.This driver that is electronic type show high dynamic stiff speed regulation that is position adjustments.Therefore as if rotor can be seen the object that be put in magnetic field combined with driver as, it is because of itself relatively little quality and too big power almost while and magnetic field associated for domination.Magnetic field and pass the continuity that the position of son can be high that is the alternation state that adapts is with it controlled is so that the low-frequency oscillation of system is suppressed by this new invention.Signal changes the frequency that may cause surpassing 100Hz.This can be rapidly and exactly that a default calibration curve is followed the tracks of.The processing procedure of whole correspondence can be come almost entirely controlled by the control to motion and/or be regulated.Substituted role on material the alternating force pulse and directly add to mechanical part with motion impulse, this just may eliminate many low-frequency oscillations of system.The error register of the costliness that so just can save up to now to be adopted, also still can't finally realize error correction.This new invention mainly is, have sufficient torque reserve make may be not only to position that is stroke, simultaneously also to the real control of speed realization.Because steel itself is an elastomeric material, this new invention also can correspondingly be avoided or even can utilize original deleterious effects energetically.

Suggestion according to another particularly advantageous invention thought is, driver is adjusted that is is limited injection pressure, injection rate and extreme limit of travel by a many-valued adjusting device by rate signal, so that the ground (being unlikely harmful degree that reaches) that do not transfinite reaches the specified value of immediate target.Many known, control technology always all is from the linear characteristic of forming component (distance and affiliated adjuster thereof).At this, based on the speed adjusting device on conduct basis in the driver, the adjustment of desired position is to be undertaken by the feedback of specified/actual value deviation.To the test of a closed cell of making by traditional speed and position adjustments viewpoint, adopt about 2 seconds dry run time (pressing EURO-MAP12) as expected.Therefore, the present invention also has a subsidiary purpose, realizes exactly also may approaching 0.65 second possible in theory time.

The present invention can have a large amount of advantageous embodiment, and is described as claim 2 to 13.At this, (for example saying) process computer is made to a functional unit as many-valued process controller that is many-valued adjusting device, it can be transfused to limiting value with adjustable parameter as target value (for example power and/or speed and/or distance), approaches target parameter-rated value with maximum possible.At present, in many courses of processing, for example in injection moulding process, all exist, tackle the arguement which physical parameter should and must be controlled, by any:

The control of-machine program parameter, or

-machine program parameter regulation; By one

-process (parameter) control, or one

-process (parameter) is regulated; And/or one

The adjustment of-production performance.

This new many-valued adjusting device has been done desirable answer to all these problems.The inventor understands, all does the most stable control simultaneously in the parameter that reality seldom must be all in to the control of the course of work.Wherein the main task of very frequent existence is, promptly from 1 O or point of arrival B, but can not surmount for example certain speed or acceleration, certain power and certain distance border.At initial period, speed or acceleration often are in critical and in fact must be adjusted its big or small state.Have reaction force in the course of processing, they just may become critical value, must make that for example speed reduces or must stop.Like this, for example say and make closed-loop adjustment, make only certain power or certain pressure decide with the nominal torque process.In ending phase, in fact the position adjustment may reach the vicinity of a B.The adjusting parameter that those do not deal with at every turn keeps coming under observation, but is not regulating the attention that gives in the processing progressively.The invention enables for this reason and may control that is adjust aspect the target value, perhaps do not control that is do not adjust according to the requirement of reality.According to a kind of favourable implementation, can adopt mainly is the adjusting that is the limit value operation of Digital Signal Processing mode (software) stagewise of making many-valued adjusting device.Though possible, in this many-valued controller, determine to have variant aim parameter a plurality of working stages of (for example power or speed or stroke), it is mainly made driver by rate signal and regulates that is limit value.Particularly for the periodic duty process, as at welding manipulator or at injection moulding or spray to cast machinery or in papermaking or printing industry, can be with in each complete work period all the desired and rated value part conversion deposit in the working storage, thereby can realize transition from a stage to no quiescent time in one-period in another stage.According to another embodiment, can selection speed input (V) or electric current input as the adjusting value of electric driving (axle), actual speed and physical location can be obtained that is be calculated by driver at this moment.In many cases, can obtain ideal results on the transducer of bottom line in the field of processing machine.According to another suggestion, between large signal region, promptly when very big adjusting departure, the speed regulation signal of driver is calculated with the maximum possible amplification coefficient by the parabola that is the root formula function of the specified actual deviation of pressure and/or distance-specified-actual deviation basically, acceleration with near the maximum of servomotor, particularly importantly adopt formula:

$\sqrt{|\mathrm{Ssoll}-\mathrm{Sist}|}\&times;\mathrm{ks}=\&PlusMinus;\mathrm{Stg}.$ At first in large signal region, amplification coefficient K1 or K2 (Fig. 8) are asymmetric; And/or in the minimum signal district, that is when the minor adjustment deviation, in order to reach stable, the linear function that the speed regulation signal when the whole deviation of minor adjustment can be used as the specified-reality-deviation of driver calculates.Prove,, can reach (on the time) desirable processing capacity for speed and the pressure and/or the position adjustments of demarcating the injection molding machine in the large signal region that path length difference is Parabolic relation.In other words, in speed regulating device of the present invention, specified/actual deviation must be a parabolic to the effect of speed regulation value, rather than is linear as conventional regulator.Corresponding difference is easy to be found out by rate curve.In the prior art, declining during rated value transition to shake be the index shape.According to the present invention as seen, when pressure nominal value transition, most rate curves all intercropping at any time have the linear change of higher gradient.The actual value difference of the demarcation of impact point position deviation is parabolic shape in the present invention to be increased, and is for example delivered to corresponding driver as the speed regulation parameter.Show further also in addition and can evidence under certain boundary condition that this simulation suits when making pressure and adjust, as long as try specified distance signal is replaced with rated pressure signal and corresponding actual signal.According to being such fact, promptly under static state exist direct linear relationship between progressive error and the corresponding pressure differential.Under the situation of 1000KN IMM, the static pressure of system is about 200 (crust/mm), then reduce to about 1/3 of this value in the interval of back in preceding worm screw interval.Therefore position and pressure are regulated and can be utilized equal parameter, if pressure differential basically with a scale factor suitable (KP).To improve injection process in addition between large signal region, crucial is asymmetricly quote big coefficient (K1 among Fig. 9, K2) so that utilize high angle hysteretic state under the on-load.The characteristics of another particularly advantageous embodiment are that in order to reach stable state, the speed of driver is adjusted signal and calculated as specified and the linear zone number actual deviation value basically in the small-signal interval.

Electric driving it is desirable to for example adopt-permanent-magnet servo motor or a controlled asynchronous electrode (as squirrel-cage armature) or a controlled direct current machine.In many cases, can selection speed input as the adjustable parameter of electric driving, prerequisite is that the moving side in motor-driven district has at least one and mechanically is the words of flexible system unit that is spring parts.Motor with servomotor characteristic, for example asynchronous motor (as squirrel-cage armature) of magneto servomotor or vector control, or controlled direct current machine all is specially adapted to motor-driven.Also can utilize AC and DC servomotor or DC brushless electric machine in addition, perhaps the self-starting reluctance motor of reasonable price is particularly well adapted is switch type magnetic resistance formula motor.According to another very useful implementation plan, process computer is used for three or above axle, it has a tie point in order to be connected to a machine computer via a data transmission system, be preferably in the machine computer in this course of work and define, and corresponding value, rated value, but working procedures such as limiting value are default, and import by data transmission system in the working storage of the driver intelligent cell of process computer into.Data transmission system preferably is set to data bus, especially is suitable for the bus interface as one transducer/executor, that is the Can bus.More advantageously, be at least individual values by the machine computer and determine a safety margins district that is feasible value scope, and its part as working procedure is sent to process computer, with control that is for example specific stage of supervision.So for example when surpassing this feasible value scope, stop and/or making to move reversing for respective shaft.Adopt this mode can not only make machine part trouble free service and can control the quality of production effectively very effectively.When machine is a lot of, just have the function group that gets by the course of work.The function group is irrespectively coordinated all axles by a single big control unit fully therewith.According to the general structure of system, Interference Control, and standardization under certain conditions, be regarded as particularly advantageous solution having to surpass under the Work machine situation of 4 or 5 axles, default two or more a plurality of control unit, i.e. module, each module is coordinated two or three axles as the function group.The machine computer can be used as calculator one memory, the suitable PC of price for example, and groundwork program, particularly starting sequence and process procedures are made data and are selected storage.Whole system makes the open system of the dispersion of modular in such a way.Like this, each single hardware components or software just can adapt to current new development selectively.

The invention enables and to carry out a large amount of further expansions.A kind of favourable development is, and is default additional to the time and/or to the pressure limit value of distance, that is pressure nominal value, at this moment the pressure actual value or to the value of the correction makeover process being measured and be used to adjust and facilitate.Also suggestion in addition in the injection stage, particularly at filling stage, is regulated as another target value that is is limited the quantity of injection rate.The rated value of at least one target value is preset as the constant amount, should be that the function of distance is of great use as the time perhaps.Preferably target parameter is adjusted step by step with numerical calculation (software), that is limit value is according to another embodiment, to be regulated that is limit value as the target value by volume flow that is mass flow (m) that the plastics that flow through are chewed in spray in the injection stage, particularly by resulting value: barometric gradient, worm screw speed and position and worm screw diameter, material constant (schemed by pVT) waits and calculates.After this, it is moving to measure the axial displacement of injecting on the worm screw, with compare with the curve of a demarcation power time and/or stroke, be used for the straightening speed signal again.Useful especially is that the curve of obtaining actual pressure and/or power to control that is adjust by digital regulated device with respect to the deviation of a rate curve of being scheduled to.At this, the one-stroke stroke adjustment is added in the adjusting of this pressure that is power, to avoid and mechanical stroke restriction conflict mutually.Another characteristics of effectively implementing to consider are, will add as the pressure regulatory function by the flow of material (m) that injection is chewed by the perturbation action compensation, so that also can make expulsion pressure most possibly near rated value when high injection rate.

The invention still further relates to the injection molding machine of the injection worm screw of an electric driving, this worm screw can do axial displacement work by driver and mechanical driving device, be characterized in that actuator electronic control can be imported (and input of motor position feedback or position that is position section) to speed and be controlled.This driver is provided with digital computer, to target parameter particularly injection moulding process do to adjust step by step that is limit value.

According to a preferred embodiment, at least to an axle of injection molding machine, for example mediate model and/or pusher and/or combustion chamber stroke and/or fill assembly displacement and regulated, that is limit value.Injection molding machine preferably is provided with computer and memory, is used for rated value and regulates, and is used for the change in location of integrated magnetic field and the corresponding control unit of driver, and it is set to synchronous motor recently.Show, under many application scenarios, above-mentioned control and regulate viewpoint can be individually or in specific combination, be used for aspect other of injection molding machine.Ad hoc proposal for this reason is provided with a transducer in the displacement of injecting axle mechanically at least, and/or on closed axle and/or pusher axle, and/or on the fill assembly axle, in order to record the pressure that is added to plastic material and/or the power and/or the electric current of relevant drive motor.Also suggestion in addition in the field of rotating shaft, is for example injected axle, at least install one and/or stroke sensor, till to list an adjusting device in for control procedure at least, to add pressure and/or power and/or stroke adjustment, it can automatically enter when reaching the predetermined confined value at least.Useful especially also is, (for example PC pattern) stores the master data with the required scheme type of individual product in a memory that separate with machine control, and with machine control as controlling master data that is whole programme of work.Injection molding machine preferably has a control electronic circuit, can control electronic circuit by W at this current servomotor the input of speed input and motor position feedback or position or position section is controlled.

Described invention technical scheme also may be applied to press injector, prerequisite is, with this system that self incompressible metallic solution arranged between driver element and movable injection part, to add a real elastic link, compression spring for example, similar system performance when realizing with injection molding machine of plastic.The invention still further relates to be used to handle have toggle link closed-system and the work of motor-driven matched moulds and be provided with the moulding adjusting device in protection stage.In hydraulically powered injection molding machine, have the method that detects the foreign matter between the pressing mold.At this, to lower pressure of last several millimeters or the several centimetres regulation one of mould assembling action and less speed, so that movable form just moves.At this moment as when having foreign matter between template, they just maintain under the effect of small pressure or power.(it remains static at pattern and is determined) produces obstacle signal after certain hour, and pattern can be reopened, to remove foreign matter.Therefore this existing method is referred to as the protection of low pressure pattern, because it is to carry out closed procedure under very small pressure.Can be used for the electric injection machine on these methodological principles.Replace this low pressure calibration, servomotor or control electronic circuit are adopted corresponding torque limiting.But this method is showing weak point aspect sensitivity and the closing time.

The characteristics of another effective solution are that it has a measurement mechanism, are used for measuring the power that drives toggle link by for example motor current, or the effective force transmission that is used for measuring universal joint.The inventor recognizes, under the situation of electric plastic injection-moulded and injection molding machine, quality plays a part very important, thereby has developed following method: in pattern protection close stage movable form is made speed and regulate.At this moment, active force is by motor current or preferably for example universal joint is measured by a power transducer, and with a calibration curve for example F=f (s) compare.If this power surpasses predetermined permissible range.Just stop closing motion immediately, and/or counter-rotating.A kind of effective measures are a kind of methods of regulating injection molding machine; it is characterized in that, all measure this power in motor current or the scope, stored at universal joint by measuring in pattern protection each closed action of stage; and to determine a permissible range, to control this moulding protection stage.Highly effective is in the interval (for example 5mm to 40mm) before two half mould moulds contact closed action to be slowed to 20%; preferably to 10%; be measured as and overcome the curve (particularly frictional force) that all motions before two half mould moulds are contacted produce counteractive power that is corresponding power; and stored, thus according to it determined starting permissible range was controlled the moulding protection stage of following.If calibration curve can be adapted to so that the variation of frictional force is for example said lubrication circumstances and worsens in time at toggle link machinery and in pattern guiding machinery and must arrive compensation after the closure of following, just can obtain optimal results.According to another preferred embodiment; other closed cycle is all measured (the order calibrated force is measured) as the basis with one or more directly leading effective force curves aptly for each, is used for the order permissible range as the power of generation effect effectively in the moulding protection stage for constantly correcting one.Can give and put a place of safety and limit this permissible range, that is the maximum of setting permissible range is adjusted degree.This permissible range is generally limited by an inertia curve and a positive tolerance.To injecting periodicity and calculated and storing, before reaching safety margins, for example control lubricating impulse according to test data that is this injection number according to another suggestion via a servo-lubrication device at moulding protection stage active force.Bite this adaptive must being limited within its maximum adjustment amount for what monitor guide rail in the pattern (two molds).Adopt this method under the most small power situation of change, to find out foreign matter.When confirming there is foreign matter the increase of power under situation the most smoothly-machine of 1000Kn is about only in for example 100N or lower order of magnitude scope.Another advantage of this method is that the adjustment time is very short, because only must once automatically try to achieve initial starting curve (but can monitor ground by observing), then automatically performs to further calibrating again.Therefore not resembling must dress timer and pressure regulation device in the method for the numerous and diverse mistake the above-mentioned hydraulic machine.Be that mainly closed action is controlled that is adjusted by the volume value adjusting device.Proved and adopted many-valued adjusting and digital technology, particularly very suitable to moulding protection this Fasi-Logik technology of stage, thus suitable sustainably.

Come invention is introduced according to some embodiment below.The accompanying drawing of getting is:

Fig. 1 is the schematic diagram of the central functionality parts of many-valued adjuster;

Fig. 2 is the controlling schemes figure of multiaxis regulating and controlling device;

Fig. 3 is a multiaxis regulating and controlling device;

Fig. 4 is spatial movement curve O-E;

Fig. 5 is by the moving cardon of O to A and B on a plane;

Fig. 6,6a, 6b represent different linearities---the parabolic type adjusting device;

Fig. 7 illustrates the contrast between static pressure stroke characteristic curve and linearity and dead-band regulator;

Fig. 8 shows a desirable linear/parabolic function;

Fig. 9 schematically illustrates a complete controlling schemes figure with injection molding machine of an injection module and a molding piece;

Figure 10 schematically illustrates the figure of the central functionality parts of injection molding machine of the present invention;

Figure 11 is the pressure curve as the function of time;

Figure 12 is the tonogram as the stroke function that is equivalent to a complete injection cycle;

The curve chart of the power when Figure 13 is the pattern closing motion;

Figure 13 a is the speed diagram in the moulding protection stroke;

Figure 13 b is the diagram of the power in the moulding protection stroke;

Figure 14 is actual pressure of the prior art or speed curve diagram;

Figure 15 for the injection molding machine of realizing by the present invention is measured actual pressure or rate curve;

Figure 16 is a complete injection molding machine figure.

Now Fig. 1 is described.Drive motor 1 comprises the rotor 2 with permanent magnet and position transducer 3.Stator 4 have a plurality of be generally 3 or 4 windings (to) and commutator.Drive real gearing 7 by the driven pulley 5 that is fixed on key on rotor (2) axle by overgear 6, this raising speed device 6 for example says it can is the tooth belt transmission device, but gear raising speed device preferably.This transmission mechanism 7 is changed to rectilinear motion with electric motor driven rotation motion, this rectilinear motion is directly to be obtained by a tooth bar 8, tooth bar 8 is done the power transmission with working shaft 9 and is connected, and makes rotor 2 relevant rotatablely moving directly be converted to rectilinear motion 18, and the desired motion of execution work process.But replace described raising speed device 6 that the axle of rotor 24 directly is connected with working shaft.Be motion that rotation transformation is in line, the thin bar of for example taper can be set between them.One spring 10 is housed between tooth bar 8 and working shaft 9.Spring 10 can be a real pressure type spring, or the corresponding elasticity of a mechanical system, perhaps is exactly the elasticity that desire is provided with parts.Under the situation of injection molding machine, the plastic substance of fluid just has this elasticity.Power or pressure detecting element are delivered to a many-valued process controller or adjuster 25 by a transducer that is converter 12 and holding wire 13 with the information of correspondence.This many-valued process control has a control unit 26 of being made up of driver artificial intelligence 23 and program storage 24.A driver artificial intelligence 23 and a process that is driving computer 22 are done the on-line operation coupling, and computer 22 is by the motion of an interior interpolator 21 and controller 20 controls that is adjustment rotor 2.14 and the process of " X " expression machine, or the actual value of one or more functional parameters of product, they all are carried out control as control, adjustment or limit value function as required.Working procedure is read into the data storage 24 of this driving artificial intelligence 23 by command device 16 that is machine computer and data wire 17.

Fig. 2 is the schematic diagram that explanation is applicable to the main function components of a multiaxis driver that is multiaxis control/adjusting device (module) 30.Fig. 2 also is the montage of the counterpart of Fig. 1 simultaneously.The machine computer 15 that has computer data memory 19 is connected to a multiaxis driver (module) 30 by bus that is transducer/execution unit bus 17, it is by three calculated signals machines that is controller 20 (20.2,20.1,20.3 etc.) and memory 24 compositions with working procedure.Drive computer 22 by interior interpolator 21 and three position regulator Pos.M1, Pos.M2.Pos M3 forms, and they guarantee carrying out the most perfect and of short duration as far as possible coordination between all position regulators as functional part.Each controller 20 have separately one oneself speed regulator (V-1, V-2, V-3) and current regulator (I1, an I2 who adjusts torque, I3), and field controller (φ 1, and φ 2, φ 3), and each and an axle or corresponding motor M1, M2 or M3 are coupled.The signal or the control end as switch, controller, transducer, stand-by motor etc. of necessary machine also can be connected to transducer/final controlling element bus 17, for example shown in Fig. 1.The equal direct high speed processing on multiaxis driver (module) 30 of all adjusting tasks, and all think rated value, the limiting value that each particular job is transmitted by computer data memory 19, that is corresponding program, and the permissible range value is a foundation.

Simplify among Fig. 3 to have described and have three axles (M1, M2, multiple driver M3) that is a hardware case of multiaxis driver by of the present invention.Core component is a multiaxis driver (module) 30, and it is that (M1, M2 M3) design at controlling and regulate simultaneously three axles that is three motor in phase at this.Transfer of data can by direct line 17 ', perhaps reach as Fig. 1 or data bus as shown in Figure 2 17 according to the extender or the complexity of The whole control task.For example observe on the PC of equipment control device or machine computer 15 at command device 16.This new solution rely as the element on basis is, with motor (M1 separately, M2, M3) the control wiring (S1 of Xiang Lianing, S2, S3) and reply line (R1, R2, R3) latter is used to make φ control that is each actual position value, promptly it is carried out the corresponding inner value of adjusting.The multiaxis driver is that a plurality of axles are done Motor Control/adjusting, is concentrated into a module as shown in Figure 3.

One side is referring to Fig. 4, and it illustrates the space curve CR-SO11 on the coordinate X-Y-Z.A basic task is, by starting point 0 exactly along curve C R-SO11 with a predetermined speed, reach an E with a rate curve under certain conditions, for example adopt a mechanical paw or crane hook.Fig. 4 illustrates the curve that this has been idealized, must be at this with the step pitch of enough weak points, and preferably in the scope of millisecond, to each coordinate or each corresponding axle M1, M2 and M3 give relevant new element instruction.

Fig. 5 is to illustrate two step pitch O → A and the A → B on a plane X-Y.Various NOT logic parameters in Fig. 5, have been supposed, as friction (Ri), oscillating mass (M).At an A place, particle moves on direction Ri with the speed Vi of a regulation, arrival be not position A but A '.But position A ' is outside calibration curve O-A-B, and locates to obtain rectification order on X and Y two directions at A ', and is transmitted.

Fig. 6 represents a position adjustment according to the present invention's improvement, and specific implementation is in an injection molding machine, wherein:

71 are the positioning control functional unit;

72 is basic drive/electromotor velocity adjuster;

73 is the mechanical type planimeter of motor revolution/position actual value;

RK-FUB in time that is the approximation that keeps on the best time point that quickens or postpone, comprises default peak acceleration and length of delay, and is the value of processing speed that allowed and desired that the latter can not surpass.

Fig. 6 a represents to regulate once the pressure of optimizing, wherein:

81 are the positioning control functional unit;

82 is basic drive/electromotor velocity adjuster;

83 is the mechanical type integrator of motor revolution/position actual value;

84 is that quiet system pressure strengthens (crust/rice).

Can find out according to the present invention, now should under certain boundary condition, also can adopt mathematical method to come pressure regulated and simulated, if can with the nominal pressure signal and correspondingly actual signal replace demarcating stroke signal.According to being this fact, promptly under static conditions, between progressive error and corresponding pressure differential, exist direct linear relationship.Under the situation of 1000KN IMM, static system pressure is about 200 (crust/mm), then reduce to about 1/3 of this value in the moving region of back in the moving region in front.Therefore just may regulate the parameter that utilization equates, as long as with this pressure differential and a conversion factor suitable (KP) to position and pressure.For example in injection process, generally not only want predetermined pressure, also want predetermined speed.In the initial period often is to pay the utmost attention to speed control, then transfers to pressure finally and sets.Also must move the software of injecting controller in addition for this reason, make in other words, under normal circumstances not touch it in the unlikely final position of crossing.Under any circumstance all do not allow at full speed in mechanical limit, to operate.For this proposes following requirement to injecting controller:

(maximum) acceleration and delay that-control is default;

-control (maximum) injection rate=F (s, t);

-control (maximum) injection pressure=f (s, t);

-control (minimum/maximum) stroke → (Machine Type).

Fig. 6 b represents the injecting controller of a more high-grade optimization, wherein:

91 is that power-pressure is adjusted strength matching;

92 is that position (excess of stroke) limits;

93 is the Position Control functional unit;

94 is the basic drive/electromotor velocity adjuster of this current regulator of tape base;

95 is the mechanical integrator of motor revolution word/position actual value;

96 be static system power-intensity of pressure (crust/m);

A is the range restriction;

B is the minimum stroke restriction;

C is a rated acceleration;

D is a normal delay;

E be specified injection rate=f (s, t).

This-also can further finish specific task through the injecting controller of optimizing.Particularly in the large-signal scope, Kp or Kz can be able to be done asymmetric amplification, so that utilize the high angle under the load to lag behind as further improving.

Can see the linearity curve of the near ideal of the actual speed under the situation that pressure jump is replied according to Fig. 7.Fig. 7 shows and the static pressure stroke characteristic that contrasts.Here show very significantly, nonlinear adjuster can very closely be applied to the limiting value of planning.

Fig. 8 shows the function curve of one linearity-parabolic governor.For this reason, can not bring actual stationary value, just will be close to the parabola in calibration position interval and replace with traditional linear function in the interval high amplification of small-signal.Can see, when doing the position between large signal region and adjusting, utilize speed and parabolic relation between the demarcation progressive error can obtain (in time) desirable processing capacity.In other words, specified in the new adjuster/actual effect that departs from the speed regulation amount mainly is Parabolic, and be not only resemble in traditional adjuster for linear.

Fig. 9 represents 10 fens favourable master control facility layouts, is wherein realized writing to each other by a working bus bar 17.This moment all calibrating procedures all put give a computer memory for example say-PC15 in, the specific moulding that is the situation of material aspect are all paid attention to the part that is equal to of some in the working procedure (for example SPS) in this moment work.Provide the working signal that comprehensive all remaining sensor signals are coordinated gained by working bus bar 17 thus.Among Fig. 9 two multiaxis driver hardware unit are merged into module 41 and 42.Module 41 is used for the running of three axles of injection (transmission), plasticising (rotation) and polymerization action at the example coordination of injection molding machine.Module 54 is provided with two axles: pattern closure and pusher (core guiding).Other combination also is possible.

Put it briefly, can be designed to simple, comprehensive and stable Machine-Tool Control by technical scheme of the present invention:

-from practical guide and supervision to the course of work self;

-according to an effective especially new-type many reference amounts adjusting device, basic parameters such as object power, speed and stroke guiding are controlled in impossible mode so far;

-especially the s function of direct interaction is combined into adjusting and control module at a plurality of.As the many reference amounts adjuster, mainly but be not to be the adjusting of carrying out according to a plurality of target parameters uniquely to axle that is driving.(existing adjuster in contrast to be referred to as space envelope gauge cap that basic parameter forms by three for many reference amounts adjuster default (illustrated) at each concrete task, be characterized in that rated value combines with strictness between the actual value, it and tends to make the two to coincide always in action at this.) this many-valued adjusting device partly has difference in principle therewith.Because given in advance at least two or three rated values or corresponding limiting value are as the target value, only there is a value on existing meaning, to be adjusted that is limit in the ordinary course of things at every turn, and partly do not act at other adjuster of corresponding time point, but corresponding value then has deviation.In fact this just means, for example says that when reaching maximum preset pressure (as 2000 crust), corresponding pressure adjustment receives adjusts order, and this moment, other two adjustment processes were then inoperative.This is applicable to other parameter too.Make all basic parameters (pressure/power, speed etc.) idealized but can rely on corresponding electric driving head to reach thus in the reality.For example an injection molding machine is being done to inject under the situation of worm screw adjusting, just selecting one to inject the rate signal that worm screw does axial motion.Therefore machine integral body can or quote new control separately that is Adjusting Mechanism for injection process or in the pattern closure, they will alleviate the control of whole process task and make that the very big flexibility of biggest quality effect can be arranged.In addition, nervous especially stage that is process field can be finished with the repeatability of be beyond one's reach so far stability and production procedure in very short whole cycle times.Here the combination that special many reference amounts are effectively regulated and multiaxis drives.According to another program also may, speed is adjusted signal carries out integration and be sent to control electronic unit (having the speed of packing into and the driver of position control) as stroke adjustment signal (under certain conditions for stroke signal).Particularly advantageous is that the present invention can coordinate at least one parts of control by driver artificial intelligence, preferably a robot all axles of welding manipulator or a crane for example.This new technical scheme is also to annotating casting and press and hair-dryer, general pressing mold and injection moulding, and injection moulding, injection moulding, or dixoTrophen compacting, and weaving, papermaking processing machine and lathe, the control that for example is used for the course of work of timber, building stones or metal material processing provide improvement.

The adjustment of illustrated injection cylinder 111 plasticising worm screws 110 reaches the end in filling stage, make to still have a considerable amount of injection materials 112 injecting cylinder 111, now it to enter cavity 114 be two half mould moulds 115 and 116 compressions by injecting nozzle 113.Described process is to control by the correspondence of the control of 120 pairs of synthetic magnetic field position variations of a driver and rotor 2 motions to finish.Driver 120 needed full control signals are by an electronic-controlled installation 121 equipments and transmission.At this, this electronic-controlled installation 121 has a data memory or memory under program 122, thus to the in addition conversion of each desired base program of the speed of giving the motion process of determining earlier by injection moulding process and pressure calibration value, and try to achieve desirable speed and pressure curve.Electronic-controlled installation 121 preferably makes the many reference amounts adjuster.Utilize described basic function can control whole injection moulding process.At the new shape formula material of not understanding as yet, also be simultaneously the safeguard protection when quality of materials changes on the one hand, it is favourable obtaining additional procedure parameter by corresponding transducer frequently.Like this, predict the axial force of a worm shaft 109 in the whole injection process by power or pressure receiver 11, with by may transmitting electronic control function as the holding wire 13 of bus transmission system, thereby making for example to be provided to correct by motion control unit immediately when the value of overstepping the extreme limit orders.Another may be directly to obtain pressure by pressure sensor 125, and its signal is used to the movement guide mechanism in the electronic control unit 121 simultaneously.

Figure 11 describes the pressure curve in a whole injection cycle.Here emphasize critical change procedure specially.A represents by the variation of packing stage to the pressurized energy stage.B indicates the transfer in pressurized energy stage to plasticising stage, and C is self changing in the plasticising process.

Figure 12 is used to illustrate the pressure stroke function of the linear movement curve of plasticising worm screw 10.Motion finishes by an origin or beginning (Start) beginning and at same Start, constitutes the continuous cycle thus.

Figure 13 shows the curve of the known power of an injection molding machine during making the pattern closing motion own, and wherein: GK is to the universal joint maximum force, and PK illustrates the power energy of the toggle link of movable plate, and MS is the motor current draw on whole closing stroke.Curve shape is corresponding with the power on the link rod basically, at this, shown in the inertia force that takes place during high speed is superimposed upon on the curve, for example shown in Figure 13 a.

Figure 13 a shows the rate curve (V) when for example universal joint is particularly protected stroke (FS) by sensitive moulding by stroke.Figure 13 b represents that especially this can test by the molten head of so-called perfume (or spice) and be proved for the curve of the power of the stroke between the half mould mould that for example is in 100 to 200N under.Very big advantage is; the braking distance that can lack under a disturbance situation reaches the decrease speed that adds very much; because plastid can be placed inactive state under the effect of the slow power that has excited the motor maximum possible, thereby the pusher pin of protection mould exempts from damage, and opens pattern in high sensitivity.

Figure 14 illustrates vibration characteristics of the prior art.In the prior art, the phase I, promptly load the stage, introducing speed (Vco), second stage, promptly the back pressure stage, controlled pressure and torque (Mdco).The latter is well known that the electric driving of injection molding machine so far.Itself not that critical filling stage is obtained good result by pure speed importing.Situation is then opposite in the pressure limit of back, can go out such its half-wavelength that extremely is harmful to that pressure curve that phenomenon D centers on and the rate curve that is just centering on indicate and be about 200 milliseconds oscillating movement.What linear regulator obtained is very disadvantageous index vibration when calibration value transition.

Figure 15 shows on the other side neoteric example.Actual value is near following default rated value ideally.And obtain being essentially linear rate curve and by the very sharp-pointed transition in a stage to another stage.Oscillating movement does not take place in this process.But might obviously cause the not only vibration of about 21/2Hz of system self to this, and cause the center shortcoming of prior art.Must control the interference parameter that to allow in the critical stage of eliminating injection process by many correction adjustment that is correction-compensation in the prior art.Know also that by Figure 14 the face of land illustrates, when motion itself was controlled, the oscillating movement of existence was inhibited and pressure and rate curve all show very high stability.Neoteric all trials all show, and relevant vibration does not take place when doing motion control fully, and can produce the ideal curve corresponding to desired target parameter function.Linearity curve near desirable actual speed appears when pressure jump is replied.This new non-linear adjuster can be in close proximity to the work of design limit value.

Figure 16 shows that one has the whole injection molding machine of a pattern closing device 131 at machinery base 130, this pattern closing device makes a movable seat board 135 with each the opening or the make position action to correspondence backward forward of half shaping mould 16 by a rotor 132 and transmission device 139 and double crank hinge 134.Another drive unit is loaded with material-pulling device 137.Plastic material is sent into by a feed draw-gear 140.Rotatablely moving of plasticising snail material 9 done to change accordingly to obtain by a drive motors 141.Another 142 for injecting mechanism default.Inlet is realized by calibrating device 143.In addition can also at calibration value select actual speed or preferably (local for) quadratic power disturbance variable compensation of the flow of material of inlet 143 make pressure-speed characteristic (pressure limiting characteristic) further optimize.According to another scheme of great use, stack that is the access that pressure is adjusted function can be used as, by the disturbance variable compensation that flow of material (m) is chewed in injection so that when high pressure injection speed, also can connect the rated value of awarding pressure injection pressure to greatest extent.For example can utilize as

The disturbance variable compensation of K1XV2-K2XP2 form is to pressure nominal value.Wherein: K1, K2 are corresponding constant, and V is the worm screw running speed, and P is the pressure injection barometric gradient.

Equipment control device by the adjusting that solution of the present invention is designed simply, energy is comprehensive and stable:

-set out by real introducing pressure injection process itself;

-according to a useful especially new volume value adjuster, with the basic parameter that carries out so far can not mode controlling: pressure injection pressure, pressure injection speed and stroke guiding.

So-called volume value adjuster mainly but be not to be understood that the axle that a plurality of target values are carried out that is the adjustment of a drive unit uniquely.Give the volume value adjusting device make in advance by at the space that three so-called basic parameters of each concrete task are formed on the work subprogram of skin-gauge-cover cap (as shown).(in contrast, existing adjuster is to be coupled as characteristic with rated value and actual strictness, and it is always in work at this, and the two is matched.) volume value adjuster therewith part have an important difference.Because be preset with two or three rated values or corresponding limiting value at least,, then be idle at other regulator parts of moment corresponding so mostly just have only a value on the past meaning to be adjusted that is limit value as the target value.In fact this just means, for example the pressure regulating unit of correspondence is just accepted to adjust to order when the predetermined pressure that reaches maximum (as 2000 crust), and this moment, two regulons were then inoperative in addition.This process is equally applicable to other parameter.But in fact can reach the optimization of all basic parameters (pressure, speed and stroke) by corresponding electrically driven at this, because under the situation of all three being injected the worm screw adjustment as adjustment amount, be to select this to inject the rate signal of the axial motion of worm screw.In other words,, promptly utilize first injection moulding process of the moulding section of an injection molding machine for example for three centre points, at this moment:

A) inject worm screw and do axial motion by motor and coupled shift drive mechanism;

B) operational factor is adjusted or controlled;

C) so adjusting/control, comprise to as adjustment magnitude be added in the limit value of the pressure on the injected material time, select to inject the rate signal of worm screw axial motion.

By injection molding machine second injection moulding process of the moulding section that may carry out, at this moment:

A) inject worm screw by motor and be attached thereto the variable transmission mechanism that connects and do axial motion;

B) adjust or control operational factor;

C) regulating/control, comprising in addition during limit value, selecting rate signal as the stroke of the injection worm screw of regulating value.

The 3rd possible method carried out according to first or second method, so for to adjust/and control, comprise in addition during limit value, being chosen as the rate signal that the injection worm screw does axial motion as the axial velocity of the injection worm screw of regulated quantity.The 4th operational factor group (be added to the pressure of injection moulding material, inject the axial velocity of worm screw and inject worm screw stroke etc.) is thus regulated/is controlled an operational factor at every turn in addition, is bandwidth to reach its limiting value.The function that the limiting value of operational factor or bandwidth can be used as time and/or stroke gives earlier given.Similarly, when pattern is closed, can partly act at least by same " guiding theory ".

Machine as a whole thereby can manage injection process and pattern closing course with new unified control that is regulation mechanism, this has just alleviated the control to the whole operation flow process, and makes to have the very big flexibility that obtains the first water result.In addition, critical especially stage that is interval in the process might obtain handling in very short whole cycles with the stability and the repeatability of the production procedure that is beyond one's reach so far.Very advantageously the volume value is regulated and the combining of multiaxis driving in addition.Also speed may be adjusted in addition integration and adjust signal (being stroke signal sometimes) as stroke and deliver to Electronic Control facility (concentrating the drive unit that speed and position control are arranged) of signal according to another program.

The injection molding machine of carrying out said method becomes the characteristics of injection molding machine to be, is provided with one and drives the electronic equipment that the injection worm screw and that can do axial displacement is used to regulate or control operational factor by motor and mechanical driving device; The adjustment here/control electronic equipment is to be provided with like this, is promptly adjusting/control, is comprising when being added in pressure on the injected material and carrying out limit value, offers the adjusting value input that has at the rate signal of the axial motion of injecting worm screw.Carry out injection molding machine of the method that is second embodiment of injection molding machine by one, its feature then is: be provided with one and driven by motor and mechanical driving device and can do axially movable injection worm screw, with an electronic equipment that is used to regulate or control aforementioned operational factor, at this moment this adjusting/control electronic equipment is to be provided with like this, promptly adjusting/controlling and comprising, requiring the adjusting parameter of input to have rate signal injecting the worm screw stroke in addition during limit value.

Claims (19)

1. be used for speed regulating device that the controlled variable of motor-driven injection moulding arbor is adjusted, be provided with one turning to and speed regulating device of calculated signals machine (20) arranged in inside, they lay particular emphasis on control and/or adjust following controlled variable: phase angle adjusting, Current Regulation and speed regulation

It is characterized in that,

Comprise predefined being installed separately, with machine computer (15,16) Wu Guan many-valued adjuster (25), be used for controlling independently or adjusting described adjusting parameter, this adjuster (25) is except that having described calculated signals machine (20), the process computer (22) that also has its higher level, it is arranged at least one axle (M1, M2, M3) adjusting parameter does not have the selectable control or the adjusting of time-delay, and obtain the necessary information of calculating by a memory (24) that is arranged in the described many-valued adjuster (25), to determine described conditioning signal.

2. according to the described speed regulating device of claim 1, it is characterized in that,

A module (30) except that having a plurality of calculated signals machines (20), also has process process computer (22).

3. according to the described speed regulating device of claim 1, it is characterized in that,

Described process computer (22) is configured to many-valued adjuster (25), and it can be transfused to the limiting value as the regulated quantity of the target value of power and/or speed and/or stroke.

4. according to the described speed regulating device of claim 1, it is characterized in that,

Described many-valued adjuster (25) mainly is connected to data bus (17) or directly links machine computer (15,16) with an interface point as the stagewise adjuster.

5. according to the described speed regulating device of claim 1, it is characterized in that,

Different rated values or desired value in can many-valued adjuster (25) be determined a plurality of working stages.

6. according to the described speed regulating device of claim 1, it is characterized in that,

Described conditioning signal is a linear function of adjusting deviation when ditty is put in order deviation, and is the root function of adjustment deviation when adjusting deviation greatly.

7. according to the described speed regulating device of claim 1, it is characterized in that,

Described motor driver (1) is a magneto servomotor, an asynchronous motor that regulated by vector, a controlled DC motor, a brushless DC motor or a self-starting reluctance motor.

8. according to the described speed regulating device of claim 1, it is characterized in that,

Described process computer (22) is set up and acts on three or more axles.

9. according to the described speed regulating device of claim 1, it is characterized in that,

Under the situation of processing equipment with four or more a plurality of, two or more module (30) are set, they are by starting and working procedure co-ordination, and main at this is that module (30) as higher level's module includes described starting and working procedure.

10. according to the described speed regulating device of claim 1, it is characterized in that,

Be at least single value and in module (30), set a safety margins interval, and by its process computer (22) transmission, the subprogram of this computer is carried out monitoring function.

11. according to the described speed regulating device of claim 1, it is characterized in that,

Described machine is used for robot, comprises welding manipulator, air compressor, moulds casting machine, crane, casting machine and forming press, weaving and paper finisher and lathe.

12. according to the described speed regulating device of claim 1, it is characterized in that,

Described machine at this axle regulating or limit injection molding machine at least, for example injects worm screw as the transfer of electric driving injection molding machine, and/or the pattern closing device, and/or material-pulling device, and/or the kernel actuator, and/or injects linkage,

Wherein, described driver can be controlled by a speed input signal by a control electronic equipment, this electronic equipment is used as volume value adjuster, and has a digital computer, is used for classification adjustment or limit the particularly target value of injection moulding process.

13. according to the described speed regulating device of claim 12, it is characterized in that,

In the field of injection molding machine, a transducer that is used to obtain to the current signal of the pressure of plastic substance and/or power and/or relevant drive motors is housed at least, and its device in injection moulding axle and/or closed axle and/or pusher axle and/or the displacement of injecting the link gear axle mechanically.

14. according to the described speed regulating device of claim 1, it is characterized in that,

The control device that described machine is used to have elbow handle closed-system and has the electric driving of the pattern closure of protecting at the moulding in moulding protection stage,

Wherein, it has a measurement mechanism, is used for measuring the power that drives crank by current of electric, perhaps is used for the guiding of the power of universal joint.

15. according to the described speed regulating device of claim 14, it is characterized in that,

For the moulding protection stage each closing motion; by the active force of obtaining motor current or in the universal joint scope, measuring; stored; and definite thus tolerance interval; in order to control with monitor protection stage of this moulding, in stop motion when surpassing this tolerance interval in the closing motion subsequently and/or make its commutation.

16. be used for it is characterized in that in the method for carrying out injection moulding process according to the described injection molding machine of claim 1,

Described injection worm screw does axial motion by motor-driven and machine driving, the rate signal of choosing a driver is as adjusting parameter, and at pressure stage and/or plasticising stage, injection pressure is regulated or limited as desired value, preferably also travel limits is regulated simultaneously, particularly this adjusting or qualification are non-linear.

17. in accordance with the method for claim 16, it is characterized in that,

By a many-valued adjuster by a driver the rate signal adjustment or limit pressure injection pressure, pressure injection speed and stroke and limit the quantity of, to obtain most possibly approximation near the target rated value.

18. in accordance with the method for claim 16, it is characterized in that,

Between large signal region, the speed of driver adjust signal as pressure specified-reality-deviation and/or stroke be specified-parabolic or the root formula function of reality-deviation, the amplification coefficient that preferably multiply by maximum possible calculates, it is similar to the accekeration of the maximum possible of servomotor, particularly mainly according to the following equation:

Or $\sqrt{|\mathrm{Ssoll}-\mathrm{Sist}|}\&times;\mathrm{ks}=\&PlusMinus;\mathrm{stg}.$

19. in accordance with the method for claim 16, it is characterized in that,

Mainly in the large-signal scope, in order to optimize injection moulding process, to utilize the high angle of retard under the application of load, adopt amplification coefficient K1 asymmetricly, K2, and/or in the minimum signal district for reaching stable, the speed regulation signal of the driver linear function as specified-reality-deviation is calculated.

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