1299604 九、發明說明： 【發明所屬之技術領域】 本發明係闕於一電動缸，將馬達之旋轉運動，藉由螺 =與螺合於此之螺帽來轉換為直線運動，以使桿伸張及 細’更坪言之，係關於-擠轉止型電動缸，具有當將 過載施加於桿時可使馬達自動停止之機能。 、 【先前技術】 +對於將螺帽螺合於受旋轉驅動之螺桿輪而使桿伸縮的 :::，必須要防止桿之過載。因此’已知有一種極限開 I方式之電動紅（例如，參照專利文獻υ，其旋轉驅動用之 馬達，係使用具備制動器（藉由停止供電，將旋轉軸強制地 予以㈣附制動機構馬達’並且藉由彈簧機構將螺桿轴 支撐成能沿軸方向邊施以彈壓邊移動，將桿擠壓時彈箬之 •彎曲以極限開關⑴„it switch)檢測出，藉此來停止對 達之供電。 刀又，亦已知有一種馬達電流檢測方式之電動缸（例如， 參妝專利文獻2)，係藉由檢測桿擠壓時之馬達電流之上 升，來停止對附制動機構馬達之供電。 (專利文獻1)日本特公昭58__33431號公報 (專利文獻2)日本特開2002 - 1 76746號公報 【發明内容】 …、、而’在如上述習知之極限開關方式之電動缸，因藉 由彈H之彎曲移動撞錘，來使極限開關動作，故 為了要調整極限開關之動作點需要花費許多工a，並且擠 1299604 麼力之調整或_爭m她 置 、。又，因需要從極限開關至控制裝 直之配線，故對梦罢德 等諸項均要求改善。小型、輕量化，製造成本削減 電動：’：：開關方式及馬達電流檢測方式之任-方式之 制 馬達之供電停止同時要使用制動機構進行 達之㈣轴純㈣進行旋㈣中，要 使用制動機構進行制動動 ?要 烈，而妨磁狀罢. 故制動機構之襯套之磨損劇 衣置之長哥命化及免維護化。 再者，因制動時間(從對馬達之供電 用制動機構來制動使馬達 (至使 之旋轉軸之旋轉，桿m為止所需要之時間）中 制則困難。 力會變化，故播愿力之正確控 因此，本發明之目的 於、^旦儿. 在於獒供··能獲得裝置之小型 择坐里、長哥命化，削減製造成本、製程數、维★蒦負 擔，以簡單之操作即能作擠壓 、 電動缸。 確控制的擠壓停止型 為了要解決上述之習知電動缸 第！項之擠厂堅停止型電動缸，係具備二申料利範圍 式支樓於殼體；螺桿軸，螺合於固定在二：：二出的方 動機構馬達，用以使該螺桿轴正逆旋；= …累帽；附制 該馬達之控制裝置；其特徵在於：，及用以控制 二，方向可遊動的方式支撐㈣殼體； &收猎由該螺桿軸之軸方向之遊動 方向之力量的彈簣機構，裝設螺 之軸 累才干轴與該馬達之旋轉 1299604 達之旋轉軸受拘束’在馬達旋轉停止之狀態下，使制動機 構動作，故能大幅減少制動機構之襯套之磨損，獲得裝置 之長壽命化，運轉成本之削減，肅靜性之提高，擠壓力之 控制精度之提高。 又，依申請專利範圍第2項之擠壓停止型電動缸，除 申明專利範圍第1項之擠壓停止型電動缸所發揮之效果外 另加上，控制裝置藉由檢測馬達電流持續既定時間超過基 準值的情形，來檢測旋轉軸之拘束狀態；藉此，由於具有 月b私測出疑轉軸之拘束狀態之構成，故不需要將旋轉檢測 感測器等之特別測定器裝設於裝置本體内，能獲得裝置構 成之簡單化乃、型化、製造成本削減，並且能更正確控制 擠壓力。 再者，依申請專利範圍第3項之擠壓停止型電動缸， 除申明專利範圍第2項之擠壓停止型電動缸所發揮之效果 外另加上，控制裝置考慮馬達之起動電流，在馬達起動後 經過一定時間後才檢測旋轉軸之拘束狀態；藉此，能避免 馬達之起動電流所引起之誤動作，提高裝置之可靠性。 【實施方式】 以下’依圖式說明本發明之擠壓停止型電動缸之一實 施例。圖1，係用以說明本發明之擠壓停止型電動缸之裝置 構成’將裝置之主要部以截面圖示的說明圖。 此擠壓停止型電動缸10，如圖1所示，具備：桿14， 以能進出的方式支撐於殼體12 ;螺桿軸18，螺合於固定在 此桿14之螺帽16 ;附制動機構馬達22，用以使此螺桿軸 1299604 1 8正逆旋轉驅動；及用以控制此馬達22之控制裝置20。 並且’將延設於螺桿軸18之支持軸1 9與馬達22之一方之 旋轉軸24a藉由連結金屬件£6，在此等軸之端部間隔著間 隙來連結，藉此將螺桿軸丨8以在軸方向可遊動之狀態支撐 於殼體12。 在馬達22之另一方之旋轉軸24b，裝設有在供電停止 時使旋轉軸為制動狀態之無激磁作動型（彈簧制動型）之電 磁制動4，作為制動機構4〇。此電磁制動器具備··制動板 42，兼作固没於馬達之旋轉軸24b前端之馬達空冷用風扇 42a ;具襯套41之電樞43，在非供電時，藉由制動彈簣^ 施以彈壓而貼緊於，制動才反42 ;及電磁線圈45，藉由供電產 生磁場。並且，藉由供電至電磁線圈45,電枢43瞬間被吸 引至電磁線圈側，在襯套41與制動板42之間產生間隙， 使％轉軸24b之制動狀態完全解除，馬達則開始旋轉。相 反地藉由停止電磁線圈45之供電，電磁線圈“吸引力 則消滅，電樞43藉由制動彈簧“推回至制動板仏側，使 襯套41接觸於制動板42，在兩者之間產生制動力 成為制動狀態。 … w，雖使用如上述 …、激磁作動型電磁制動器，但對停電時解除制動，而不 壓緊力之用途，亦能使用藉由供電使制動板42 接觸之激磁作動型電磁制動器。 藉由連結金屬件26,邊容許支持轴i9 動，邊與旋轉軸24連結之；、、& ^ , n之 方法，雖未㈣限定，但例如 10 1299604 在支持軸1 9端部之外H : ^ ^ 卜周面形成沿軸方向延伸之鍵（凸部）， 將與此鍵能滑動地卡合之鍵槽（凹部）形成於連結金屬件26 之内周面，藉由使兩者卡合，能使支持軸19以在軸方向可 遊動之狀態與旋轉軸24連結。 又’將用以吸收藉由士曰4 队稭由螺杯軸18之軸方向遊動所產生之 軸方向之力量的彈菩趟播 评只機構30,裝設於螺桿軸18與馬達之 轉軸W之間。彈簀機構3〇,只要能圓滑地吸收螺桿軸18 之軸方向之遊動，能產生與所要求之擠壓力對抗之彈力， 對其構造或彈簧之種類，並未特職定。制1299604 IX. Description of the Invention: [Technical Field] The present invention relates to an electric cylinder that converts a rotary motion of a motor into a linear motion by a screw that is screwed and screwed therein to extend the rod And the finer 'more versatile, it is about the - squeezing type electric cylinder, which has the function of automatically stopping the motor when an overload is applied to the rod. [Prior Art] + For the ::: pinning of the nut to the screw wheel that is driven by rotation, the rod must be prevented from being overloaded. Therefore, there is known a type of electric red that is limited to the open type I (for example, referring to the patent document, the motor for the rotary drive is provided with a brake (by stopping the power supply, the rotating shaft is forcibly given (four) with the brake mechanism motor' And the spring shaft mechanism supports the screw shaft to be elastically moved along the axial direction, and the bending of the spring is detected by the limit switch (1) „it switch”, thereby stopping the power supply. Further, an electric cylinder of a motor current detecting method (for example, Patent Document 2) is known in which a power supply to a brake mechanism motor is stopped by detecting an increase in motor current when the rod is squeezed. (Patent Document 1) Japanese Laid-Open Patent Publication No. JP-A No. Hei. No. Hei. No. 2002-176746. H bends the ram to move the limit switch, so it takes a lot of work to adjust the action point of the limit switch, and squeezes the force of 1299604 or adjusts it. Because it is necessary to switch from the limit switch to the control and straightening, it is required to improve the items such as the dream, etc. Small, lightweight, and the manufacturing cost is reduced. Electric: ':: Switching mode and motor current detecting method - mode When the power supply of the motor is stopped, it is necessary to use the brake mechanism to perform the (four) shaft pure (4). In the rotation (4), the brake mechanism should be used to brake the brakes. If it is strong, it should be magnetic. Therefore, the wear of the bushing of the brake mechanism is placed. In addition, it is difficult to make the brakes (the time required for the rotation of the motor (to the rotation of the rotary shaft, the rod m) from the braking time of the brake mechanism for supplying power to the motor. The force will change, so the correct control of the broadcast power. Therefore, the purpose of the present invention is to provide a small choice for the device, to reduce the manufacturing cost, the number of processes, and the dimension. ★蒦loading, it can be used as a squeeze and electric cylinder with simple operation. The squeeze-stop type that is controlled by the company is to solve the above-mentioned conventional electric cylinder. Profit The range type branch is mounted on the casing; the screw shaft is screwed to the motor of the square mechanism fixed at two:: two out to make the screw shaft reversing; = ... the tired cap; the control device for attaching the motor; The utility model is characterized in that: (4) a casing is supported by means for controlling the movement in the direction of the second direction; & an impeaching mechanism for collecting the force of the swimming direction by the axis direction of the screw shaft, and the shaft of the screw shaft is installed When the rotation of the motor is 1299604, the rotation axis is restrained. When the motor is stopped, the brake mechanism is actuated. Therefore, the wear of the bushing of the brake mechanism can be greatly reduced, and the life of the device can be shortened, and the running cost can be reduced. The improvement of the sexuality and the improvement of the control precision of the squeezing force. Moreover, the squeeze-stop type electric cylinder according to the second paragraph of the patent application scope, in addition to the effect exerted by the squeezing stop type electric cylinder of the first claim patent range In addition, the control device detects the restraint state of the rotating shaft by detecting that the motor current continues for a predetermined time exceeding the reference value; thereby, the composition of the restraint state of the suspected rotating shaft is detected by the month b. It does not require the rotation detecting sensor, etc. In particular measuring apparatus is mounted on the body, constituting the apparatus can be obtained is the simplification, miniaturization, reduction in manufacturing cost, and can more accurately control the pressing force. Furthermore, according to the extrusion stop type electric cylinder of the third application patent scope, in addition to the effect exerted by the extrusion stop type electric cylinder of claim 2, the control device considers the starting current of the motor, The restraint state of the rotating shaft is detected after a certain period of time after the motor is started; thereby, the malfunction caused by the starting current of the motor can be avoided, and the reliability of the device can be improved. [Embodiment] Hereinafter, an embodiment of the squeeze stop type electric cylinder of the present invention will be described with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing the configuration of a device for squeezing a stop type electric cylinder according to the present invention. The squeeze stop type electric cylinder 10, as shown in FIG. 1, is provided with a rod 14 that is supported by the housing 12 so as to be able to enter and exit; the screw shaft 18 is screwed to the nut 16 fixed to the rod 14; The mechanism motor 22 is configured to drive the screw shaft 1299604 18 forward and reverse rotation; and the control device 20 for controlling the motor 22. And the rotating shaft 24a extending from the support shaft 1 9 of the screw shaft 18 and the motor 22 is connected by a metal piece of the joint member 6 at a distance between the ends of the shafts, thereby connecting the screw shaft 8 is supported by the casing 12 in a state of being movable in the axial direction. On the other rotating shaft 24b of the motor 22, a non-excitation type (spring brake type) electromagnetic brake 4 that causes the rotating shaft to be in a braking state when the power supply is stopped is mounted as the brake mechanism 4''. The electromagnetic brake includes a brake plate 42 and also serves as a motor air cooling fan 42a that is fixed to the front end of the rotating shaft 24b of the motor. The armature 43 having the bushing 41 is biased by the brake cartridge when the power is not supplied. And close to, the brake is reversed 42; and the electromagnetic coil 45 generates a magnetic field by supplying electricity. Further, by supplying power to the electromagnetic coil 45, the armature 43 is instantaneously attracted to the electromagnetic coil side, and a gap is formed between the bushing 41 and the brake plate 42, so that the braking state of the %-turn shaft 24b is completely released, and the motor starts to rotate. Conversely, by stopping the supply of the electromagnetic coil 45, the electromagnetic coil "the attraction force is extinguished, and the armature 43 is pushed back to the brake plate side by the brake spring, so that the bushing 41 is in contact with the brake plate 42 between the two. The braking force is generated to become a braking state. w, although the above-mentioned ..., excitation-actuated electromagnetic brake is used, the excitation-actuated electromagnetic brake that contacts the brake plate 42 by the power supply can be used for the purpose of releasing the brake at the time of power failure without using the pressing force. By connecting the metal members 26, the support shaft i9 is allowed to move while being coupled to the rotary shaft 24; the method of & ^, n is not limited to (4), but for example, 10 1299604 is outside the end of the support shaft 19 H: ^ ^ The circumferential surface forms a key (protrusion) extending in the axial direction, and a key groove (recessed portion) slidably engaged with the key is formed on the inner circumferential surface of the coupling metal member 26, so that both cards are The support shaft 19 can be coupled to the rotary shaft 24 in a state in which it can swim in the axial direction. Further, the bomb boon-review mechanism 30 for absorbing the force of the axial direction generated by the girth of the girth of the girth of the girder shaft 18 is mounted on the screw shaft 18 and the shaft of the motor W between. The magazine mechanism 3〇, as long as it can smoothly absorb the movement of the screw shaft 18 in the axial direction, can generate an elastic force against the required pressing force, and the structure or the type of the spring is not specifically determined. system
之彈簧機構30，如圖1所+ 胺+产 J 所不，將在底面中央穿設插通孔之 一對有底圓筒狀彈簧保持具34,分別在各底面外側固裝徑 向滾珠軸承32,並使開口側對向，在兩彈簧保持具34之内 側裝填能伸縮動作之螺旋彈I 38。並且，使此彈筹保持且 34滑接於单-之圓筒狀構件％(固設於殼體12内且具有段 狀知β 36a)之内周面’以2個徑向滾珠轴承支撑支持軸 19。在螺桿軸18之端部，固裝形成擴徑形狀之制動器17, 抵接於一方之徑向滾珠軸承。 因使用如上述構造之彈簧機構3G，故支持軸19不受彈 餐機構3G存在之影響而圓滑地旋轉，並且能確實進行彈筹 保持具34之軸方向移動。再者’因螺旋彈普⑽之端面全 體會抵接於彈簧保持具34之底面，故螺旋彈簧之伸縮時， 不會產生扭歪或·彎曲。 >、其次，依圖2所示之動作說明圖及圖3所示之時序圖， 祝明本發明之擠壓停止型電動缸之動作。 1299604 在時點t3，當電動缸之桿前端到達固定位置，彈簧機 構即開始縮退，受彈簧機構之彈力，如圖3(a)所示馬達之 旋轉速度逐漸降低，並且因馬達之轉矩上升，故馬達電流 如圖3(e)所示上升。此時，如圖3(f)所示，在桿產生與彈 黃機構之彈力相等之擠壓力。t檢測出與馬達電流成比例 之電壓值已到達基準值E4(時點t4)，則判斷馬達之旋轉軸 大致受拘束，其後，經過既定時間T2後（時點t6)，如圖 3(b)所示停止制動電流使旋轉軸鎖止。了2之值，設定為比 從與馬達電流成比例之電壓值Ε3變成Ε4時算起至馬達之 旋轉完全停止為止所需要之時間Ts為大之值。 ，土準值不是以當馬達之旋轉軸完全受拘束時、 即旋轉速度變成〇時與馬達電流成比例之電壓值Μ來控制 制動電流之停止，而係以比E0低之值E4 制 之停止’其理由在於：目《值EG係臨界值（漸近值），故 萬一由於某原因使此值降低時，會有制動電流始終無法停 止’以致馬達變成過載之虞。為了要避免免此點，當到達 基準值E4後’藉由在既定時間T2經過後停止制動電流， 使控制之穩定性提高。爯去，士同 权同冉者如圖3(e)所示馬達剛起動後 在馬達通過過度的起動電流，因有馬達電流成比例之電壓 值Ε3’ 一時地超過基準值Ε4而弓丨起誤動作之虞，故藉由在 馬達起動後經過一定時間T1以前， 能提高控制之可靠性。 不進订如上述之控制’ 制動電流停止後，藉由在既定時間T3經過後（時點⑻ 停止馬達之供電，穿志一查由 电凡成連串之馬達控制。Τ3之值，設定 14 1299604 為比從停止制動電流時算起至馬達之旋轉完全被鎖止為止 所需之時間Tc為大之值。 如上述之控制，能藉由組合繼電器電路或延遲電路之 逐次控制裝置，或使用微電腦之程式控制等各種方法來進 行。在本實施例，藉由使用運算電路（0P放大器）或比較電 路（比較器）等之電子電路來構成控制電路。以下，依圖4 說明本實施例所使用之控制電路。 圖4，係表示本實施例所使用之控制裝置2 〇 〇之電路 圖。此控制裝置具備以下各電路單元：控制電源電路21〇、 t動電路2 3 0、馬達電流檢測電路2 4 0、擠壓檢測電路2 5 〇、 制動控制電路260、馬達控制電路270、及制動電源電路 280 °以下，對使附制動機構馬達220正轉之情形，即對使 電動缸前進之情形，來說明使用控制裝置2〇〇之馬達控制。 雖未圖示，當正轉（前進）用電磁接觸器關閉，三相交 流電源則供應至控制裝置2〇〇之端子W、V1、W1，將端子 ui〜wi間之交流電壓輸入於控制電源電路21〇。並且，從控 制電源電路210輸出直流電壓Vcc。直流電壓Vcc被串聯之 2個電阻211、212分壓，將所分壓之電壓E1輸出至起動電 路230、擠壓檢測電路25〇及制動控制電路26〇。 所分壓之電壓E1，輸入於起動電路230之比較器233 之〜端子。又，電阻231與電容器232所構成之積分電路之 輪出電壓E2，輸入於比較器233之+端子。此時，按照電阻 231與電容器232之值所限定之時間常數，使積分電路之輸 出電壓E2比直流電壓Vcc之上升延遲來上升。 15 1299604 並且，在ε1>ε〇λ間，比較器233之輸出以成為低位 準（Low)輸出於制動控制電路26〇，並輸入於 端子。又，在比較請之-端子，輸入將直流電壓 電阻211、212分壓之電壓^。此時，因成為以〈^，比較 器261之輸出E8變成低位準（Low)，電流從直流電壓Vcc 通過電阻262而至串聯之2個光電耦合器 (Ph〇t〇C〇Upler)263、264之一次側。一方之光電耦合器263 之二次側輸出至制動電源電路280，另一方之光電耗合器 264之二次側輸出至外部。又，比較器261之輸出E8，係 輸出至馬達控制電路270。 另一方面，制動電源電路280之動作如下。若在控制 裝置200之端子U1_W1間加上交流電壓Va，則藉由二極體 281、282所構成之半波整流電路輸出電壓E13，而輸入於 電阻283，電容器284及齊納二極體（Zener cii〇de)285所 構成之閘電源電路，從此閘電源電路輸出閘電源電壓E11。 若電流通過在上述制動控制電路2 6 0之光電叙合器2 6 3之 一次側’則使光電耦合器263之二次側導通，藉由閘電源 電壓E11，在並聯FET 287之閘極、源極間之電阻286電流 流動，使FET 287之閘極、源極間之電壓變成高位準 (High)，FET 287則導通。當FET 287導通，自半波整流電 路輸出之電壓E13，則施加在電磁制動器之電磁線圈223， 制動電流通過電磁線圈223，而開放電磁制動器。 又，若控制電源電路210之直流電壓Vcc上升，在馬 達控制電路270之比較器271之-端子，輸入電阻211、212 16 1299604 所分壓之電壓El，在+端子，輸入從直流電壓Vcc通過電阻 274充電於電容器276，且比直流電壓vcc延遲上升之充電 電[E9。當在端子ui -W1間施加交流電壓Va，則控制電源 電路210之直机電壓vcc開始上升，而變成Ei〉gg，比較器 271之輸出E10變成低位準（L〇w)，電流通過串聯之2個光 電耦合器7a、8a之一次側，並從直流電壓Vcc通過電阻277 而使二次側導通。 當光電耦合器7a、8a之二次側導通，通過連接於各光 電耦合器之電阻7b、8b，在半導體開關7、8之閘極通過閘 極私机I f、I g，半導體開關7、8則導通，而使電流通過馬 達 221。 再者，藉由制動控制電路260,從比較器261將低位準 (Low)之輸出E8輸入於馬達控制電路27〇，電流從直流電壓The spring mechanism 30, as shown in Fig. 1 + amine + J, will pass through one of the insertion holes in the center of the bottom surface to the bottomed cylindrical spring holder 34, and the radial ball bearings are respectively fixed on the outer sides of the bottom surfaces. 32, and the opening side is opposed to each other, and the inside of the two spring holders 34 is loaded with a helically-elastic I 38 capable of expanding and contracting. Further, the inner peripheral surface of the cylindrical member % (fixed in the casing 12 and having the segment shape β 36a) is slidably supported by the two spring ball bearings. Axis 19. At the end of the screw shaft 18, a brake 17 having a diameter-expanding shape is fixed and abuts against one of the radial ball bearings. Since the spring mechanism 3G having the above configuration is used, the support shaft 19 is smoothly rotated without being affected by the presence of the catering mechanism 3G, and the axial movement of the accommodating holder 34 can be surely performed. Furthermore, since the end surface of the spiral spring (10) is completely abutted against the bottom surface of the spring holder 34, no twisting or bending occurs when the coil spring is expanded and contracted. > Next, according to the operation explanatory diagram shown in FIG. 2 and the timing chart shown in FIG. 3, the operation of the extrusion stop type electric cylinder of the present invention will be described. 1299604 At the time point t3, when the front end of the rod of the electric cylinder reaches the fixed position, the spring mechanism begins to retract, and the spring force of the spring mechanism gradually decreases as shown in Fig. 3(a), and the torque of the motor rises due to the spring force of the spring mechanism. Therefore, the motor current rises as shown in Fig. 3(e). At this time, as shown in Fig. 3 (f), the rod generates a pressing force equal to the elastic force of the spring mechanism. t detecting that the voltage value proportional to the motor current has reached the reference value E4 (time point t4), it is judged that the rotation axis of the motor is substantially restrained, and then after a predetermined time T2 (time point t6), as shown in Fig. 3(b) The stop brake current is shown to lock the rotary shaft. The value of 2 is set to a value larger than the time Ts required from when the voltage value Ε3 which is proportional to the motor current is changed to Ε4 until the rotation of the motor is completely stopped. The ground value is not controlled by the voltage value proportional to the motor current when the rotation axis of the motor is completely restrained, that is, the rotation speed becomes 〇, and is stopped by the value E4 lower than E0. 'The reason is: the value "value EG system critical value (asymptotic value), so if for some reason this value is reduced, there will be a brake current can not always stop ' so that the motor becomes overloaded. In order to avoid this, when the reference value E4 is reached, the stability of the control is improved by stopping the braking current after the lapse of the predetermined time T2. In the past, the same person as shown in Figure 3(e) shows that the motor has passed an excessive starting current after the motor has started, and the voltage value Ε3' proportional to the motor current temporarily exceeds the reference value Ε4. After the malfunction, the reliability of the control can be improved by a certain time T1 after the start of the motor. If the brake current is stopped, after the lapse of the predetermined time T3 (the power supply of the motor is stopped at the time point (8), the motor is controlled by a series of motors. Τ3 value, set 14 1299604 The time Tc required to be completely locked from the time when the braking current is stopped until the rotation of the motor is completely locked is large. As the above control, the sequential control device of the combined relay circuit or the delay circuit can be used, or the microcomputer can be used. In the present embodiment, the control circuit is constructed by using an electronic circuit such as an arithmetic circuit (OP amplifier) or a comparison circuit (comparator). Hereinafter, the present embodiment will be described with reference to FIG. Fig. 4 is a circuit diagram showing a control device 2 used in the present embodiment. The control device includes the following circuit units: a control power supply circuit 21A, a t-action circuit 2300, and a motor current detection circuit 2. 40, the squeeze detection circuit 2 5 〇, the brake control circuit 260, the motor control circuit 270, and the brake power supply circuit 280 ° or less, to the brake mechanism motor 2 In the case of 20 forward rotation, the motor control using the control device 2 is described for the case where the electric cylinder is advanced. Although not shown, when the forward (advance) electromagnetic contactor is closed, the three-phase AC power supply is supplied. The terminals W, V1, and W1 of the control device 2 are connected to the control power supply circuit 21A by the AC voltage between the terminals ui and wei, and the DC voltage Vcc is outputted from the control power supply circuit 210. The DC voltage Vcc is connected in series. The resistors 211, 212 are divided, and the divided voltage E1 is output to the starting circuit 230, the squeeze detecting circuit 25A, and the brake control circuit 26. The divided voltage E1 is input to the comparator 233 of the starting circuit 230. Further, the output voltage E2 of the integrating circuit formed by the resistor 231 and the capacitor 232 is input to the + terminal of the comparator 233. At this time, the integral is defined by the time constant defined by the values of the resistor 231 and the capacitor 232. The output voltage E2 of the circuit is delayed by the rise of the DC voltage Vcc. 15 1299604 Further, between ε1 > ε λ, the output of the comparator 233 is output to the brake control circuit 26〇 in a low level (Low). Input to the terminal. In addition, in the comparison-terminal, input the voltage that divides the DC voltage resistors 211 and 212 by ^. At this time, because the output E8 of the comparator 261 becomes the low level (Low), the current From the DC voltage Vcc through the resistor 262 to the primary side of the two photocouplers (Ph〇t〇C〇Upler) 263, 264 in series. The secondary side of one of the photocouplers 263 is output to the brake power supply circuit 280, and The secondary side of the photoelectric coupler 264 is output to the outside, and the output E8 of the comparator 261 is output to the motor control circuit 270. On the other hand, the brake power supply circuit 280 operates as follows. When the AC voltage Va is applied between the terminals U1_W1 of the control device 200, the half-wave rectifying circuit formed by the diodes 281 and 282 outputs a voltage E13, and is input to the resistor 283, the capacitor 284, and the Zener diode ( The Zener cii〇de) 285 constitutes a gate power supply circuit from which the gate power supply voltage E11 is output. If the current passes through the primary side of the photo-combiner 269 of the brake control circuit 206, then the secondary side of the photocoupler 263 is turned on, and the gate of the FET 287 is connected in parallel by the gate supply voltage E11. The current between the source and the resistor 286 flows, so that the voltage between the gate and the source of the FET 287 becomes a high level, and the FET 287 is turned on. When the FET 287 is turned on, the voltage E13 output from the half-wave rectifying circuit is applied to the electromagnetic coil 223 of the electromagnetic brake, and the braking current is passed through the electromagnetic coil 223 to open the electromagnetic brake. Further, when the DC voltage Vcc of the control power supply circuit 210 rises, at the terminal of the comparator 271 of the motor control circuit 270, the input voltage 211, 212 16 1299604 is divided by the voltage E1, and at the + terminal, the input is passed from the DC voltage Vcc. The resistor 274 is charged to the capacitor 276 and is delayed in charge of the DC voltage vcc [E9. When the AC voltage Va is applied between the terminals ui - W1, the straight-line voltage vcc of the control power supply circuit 210 starts to rise, and becomes Ei> gg, and the output E10 of the comparator 271 becomes a low level (L〇w), and the current passes through the series. The primary side of the two photocouplers 7a, 8a is turned on from the DC voltage Vcc through the resistor 277 to turn on the secondary side. When the secondary sides of the photocouplers 7a, 8a are turned on, through the resistors 7b, 8b connected to the respective photocouplers, the gates of the semiconductor switches 7, 8 pass through the gates private I f, I g, the semiconductor switch 7, 8 is then turned on, and current is passed through the motor 221. Further, by the brake control circuit 260, the low level output E8 is input from the comparator 261 to the motor control circuit 27, the current is from the direct current voltage.
Vcc通過電阻274、273及二極體272，電容器276之電壓 E9保持著E9< E1，比較器271之輸出E1〇維持低位準 (Low) ’電流通過光電耦合器7a、8a之一次側，使二次側 導通，並通過電阻7b、8b，在半導體開關7、8之閘極通過 閘極電流I f、Ig，使半導體開關7、8導通，電流則繼續通 過馬達。其結果，在具制動馬達220之馬彡221通過馬達 電流，在電磁制動之電磁線圈223通過制動電流，使電磁 制動器之制動狀態解除，馬達221則起動。 ^通過馬達之馬達電流，藉由馬達電流檢測電路240之 變流器241來檢測。變流器241所檢測之馬達電流（一次電 )雖係父机，但變流器之二次電流輪入於整流平滑電路 17 1299604 242 ’轉換為與馬達電流大小成比例之直流電壓E3後，輸 入於運算放大器246之+端子。 又，將直流電壓Vcc以電阻243、245及可變電阻244 分壓之直流電壓E4，則輸入於運算放大器246之-端子。電 動缸成為擠壓狀態，擠壓力變大後馬達電流雖會上升，但 藉由調整可變電阻244，將與既定之擠壓力相當之馬達電流 成比例之直流電壓E4當作基準值，其能預先設定。 藉由馬達起動時所通過之起動電流或擠壓狀態而使過 載電流通過時，直流電壓E3(與輸入在運算放大器246之+ 端子之馬達電流大小成比例）變為比輸入於運算放大器246 之-端子之直流壓壓E4(基準值）為高，運算放大器246之輸 出電壓E5則成為高位準（High)。另一方面，以正常之負載 運轉時，直流電壓E3(與輸入在運算放大器246之+端子之 馬達電〃IL大小成比例），則變成比輸入於運算放大器2 4 6之 -端子之直流壓壓E4(基準值）為低，運算放大器246之輸出 電壓E5則成為低位準（l〇w)。 來自馬達電流檢測電路240之運算放大器246之輸出 電壓E5，輸入於擠壓檢測電路25〇之電阻251、253及電容 器252所構成之積分電路，其輸出之積分值£6則輸入於比 較态256之+端子。另一方面，在比較器256之’端子，輸 入將直流電壓VCC以電阻211、212分壓之電壓Ει。在馬達 起動時，雖藉由起動電流從馬達電流檢測電路24〇將高位 準（High)之輸出電壓肠輸入於積分電路，電容器252之充 電電壓則上升，而成為E6>E卜但因比較器脱之輸出Μ 18 !2996〇4 7述之起動電路230之比較器233之輸出連接，馬達起 後—定時間，比較器233之輸出係成為低位準（Μ，故 為低位準（Low)。當在比較器233之輸出係低位準 期間完成馬達之起動，在比較胃233之輸出變成高位準 咖之前，比較器256之輸出則變成低位準（㈣。因此， 不會因起動電流而產生誤動作’ E7維持低位準（L⑹。 势馬達旋轉，電動缸前進而成為擠壓狀態，電動缸之彈 、j彎曲4達電流增大，馬達電流檢測電路㈣之以輸 出電壓，再變成高位準（High)。積分電路所產生之延遲時 間’係以電阻251與電容器252之時間常數來設定，使直 ，以彈簧之彎曲所產生之反作用力馬達軸受拘束之時間稍 U長之時間。目此，電動缸則成為擠壓狀態，馬達軸受拘 束，馬達電流增大，E7則變成高位準（High)。 當E7變成高位準（High)，充電電流從Vcc通過電阻 255=二極體254、電阻253,而流至電容器252，成為e6>ei， 比較器256之輸出維持高位準（High)，並維持”之高位準 (High)狀態。x，若馬達電流被隔絕，E5則變成低位準 (L〇W)，則電流從Vcc通過電阻255、二極體254、電阻253、 251 ’而流至運算放大器246，變成Ε6>Ει，比較器之 輸出=維持高位準（High)，並維持E7之高位準⑻妙）狀態。 田E7蜒成向位準（High)，輸入於制動控制電路26〇之 =較时261之E1與E7，則變為E7>E1，比較器261之輸出 电I E8成為鬲位準（High)，通過光電耦合器263、264之 一次側之電流被隔絕，制動電源電路280之光電耦合器263 1299604 之二次側則變成非導通，閘極電壓E12成為低位準（Low)， FET287變成非導通，使制動電流隔絕。 在制動電流被隔絕之時點，馬達電流雖流動，但轉矩 與擠壓力對抗著，馬達軸係在拘束狀態。並且，以馬達軸 之旋轉完全停止之狀態，藉由電磁制動器使馬達軸鎖止。 當E8變成高位準（High)，充電電流則從直流電壓vcc 通過電阻274而通過馬達控制電路27〇之電容器276，使電 谷為276之充電電壓E6上升，在以電阻274及電容器276 之日π間常數限定之時間後，變成E9>e 1，比較器271之輸出 E10 ’則成為高位準（High)。當E10成為高位準（High)，通 過光電耦合器7a、8a之一次側之電流被隔絕，二次侧成為 非導通，閘極電流I f、丨g被隔絕，半導體開關7、8成為 非導通，馬達電流則被隔絕。即使馬達電流被隔絕，因馬 達軸藉由電磁制動器鎖止，故電動缸，則維持彈簧之反作 用力所產生之擠壓力。 以上’雖係本實施例之控制電路之概要，但控制電路 之具體構成，並不限定於此，只要能實現本發明之技術思 想’能適用各種構成。 【圖式簡單說明】 圖1’係將表示本發明之電動缸之一實施例之一部分刳 開的說明圖。 圖2(a)〜（c)，係用以說明圖j所示之電動缸之動作的 說明圖。 圖3(a)〜（f)，係用以說明圖！所示之電動缸之動作的 20 1299604 時序圖。 圖4，係使用於圖1所示之電動缸之控制裝置的說明圖。 【主要元件符號說明】 10 擠壓停止型電動缸 12 殼體 14 桿 16 螺帽 17 制動器 18 螺桿軸 19 支持軸 20 控制裝置 22 馬達 24 旋轉軸 26 連結金屬件 30 彈簧機構 32 徑向滾珠軸承 34 彈簣保持具 36 圓筒狀構件 36a 段狀端部 38 螺旋彈簧 40 制動機構 41 襯套 42 制動板 42a 風扇 21 1299604 43 電樞 44 制動彈簧 45 電磁線圈 200控制裝置 21 0控制電源電路 220附制動機構馬達 230起動電路 240馬達電流檢測電路 2 5 0擠壓檢測電路 260制動控制電路 270馬達控制電路 2 8 0制動電源電路Vcc passes through resistors 274, 273 and diode 272, voltage E9 of capacitor 276 maintains E9 < E1, and output E1 of comparator 271 maintains a low level (Low) current flows through the primary side of photocouplers 7a, 8a, The secondary side is turned on, and the semiconductor switches 7, 8 are turned on by the gates I f and Ig at the gates of the semiconductor switches 7 and 8 through the resistors 7b and 8b, and the current continues to pass through the motor. As a result, the horse 221 having the brake motor 220 passes the motor current, and the electromagnetic brake 223 of the electromagnetic brake passes the brake current to release the brake state of the electromagnetic brake, and the motor 221 is started. The motor current through the motor is detected by the converter 241 of the motor current detecting circuit 240. The motor current (primary power) detected by the converter 241 is a parent machine, but the secondary current of the converter is input to the rectification smoothing circuit 17 1299604 242 'converted to a DC voltage E3 proportional to the magnitude of the motor current. Input to the + terminal of operational amplifier 246. Further, the DC voltage E4 that divides the DC voltage Vcc by the resistors 243 and 245 and the variable resistor 244 is input to the - terminal of the operational amplifier 246. The electric cylinder is in a squeeze state, and the motor current is increased after the pressing force is increased. However, by adjusting the variable resistor 244, a DC voltage E4 proportional to the motor current corresponding to the predetermined pressing force is used as a reference value. It can be preset. When the overload current is passed by the starting current or the squeeze state that is passed when the motor is started, the DC voltage E3 (which is proportional to the magnitude of the motor current input to the + terminal of the operational amplifier 246) becomes larger than that input to the operational amplifier 246. - The DC voltage of the terminal E4 (reference value) is high, and the output voltage E5 of the operational amplifier 246 is high. On the other hand, when operating at a normal load, the DC voltage E3 (which is proportional to the magnitude of the motor 〃IL input to the + terminal of the operational amplifier 246) becomes a DC voltage that is greater than the terminal input to the operational amplifier 246. The voltage E4 (reference value) is low, and the output voltage E5 of the operational amplifier 246 becomes a low level (l〇w). The output voltage E5 of the operational amplifier 246 from the motor current detecting circuit 240 is input to the integrating circuit formed by the resistors 251, 253 and the capacitor 252 of the squeeze detecting circuit 25, and the integrated value of the output of the motor is outputted to the comparative state 256. + terminal. On the other hand, at the terminal of the comparator 256, the voltage of the DC voltage VCC divided by the resistors 211, 212 is input. At the time of starting the motor, although the high-level output voltage is input from the motor current detecting circuit 24〇 to the integrating circuit by the starting current, the charging voltage of the capacitor 252 rises, and becomes the E6> The output of the comparator 233 of the starting circuit 230 is connected to the output Μ 18 ! 2996 〇 4 7 , and the output of the comparator 233 becomes a low level (Μ, so it is a low level (Low). When the start of the motor is completed during the low level of the output of the comparator 233, the output of the comparator 256 becomes a low level ((4) before the output of the comparative stomach 233 becomes a high level. Therefore, no malfunction occurs due to the starting current. 'E7 maintains a low level (L(6). The potential motor rotates, the electric cylinder advances to a squeeze state, the electric cylinder spring, j bends 4 to increase the current, and the motor current detection circuit (4) outputs the voltage, and then becomes a high level (High) The delay time generated by the integration circuit is set by the time constant of the resistor 251 and the capacitor 252, so that the reaction force generated by the bending of the spring is restrained. For a long time, the electric cylinder becomes squeezed, the motor shaft is restrained, the motor current increases, and E7 becomes high. When E7 becomes high, the charging current passes from Vcc. The resistor 255 = the diode 254 and the resistor 253, and flows to the capacitor 252 to become e6 > ei. The output of the comparator 256 maintains a high level and maintains a "high" state. x, if the motor current When E5 is turned to low level (L〇W), current flows from Vcc through resistor 255, diode 254, resistor 253, 251 ' to operational amplifier 246, becomes Ε6>Ε, comparator output = maintain High level (High), and maintain the E7 high level (8) wonderful state. Field E7 蜒 into the level (High), input to the brake control circuit 26 = = time 261 E1 and E7, then become E7> E1, the output power E E8 of the comparator 261 becomes the 鬲 level, the current on the primary side of the photocouplers 263, 264 is isolated, and the secondary side of the photocoupler 263 1299604 of the brake power supply circuit 280 becomes non- When turned on, the gate voltage E12 becomes low (Low), and the FET 287 becomes non-conductive. The braking current is isolated. When the braking current is isolated, the motor current flows, but the torque is against the pressing force, the motor shaft is in a restrained state, and the motor shaft is completely stopped. The motor shaft is locked by the electromagnetic brake. When E8 becomes high, the charging current rises from the DC voltage vcc through the resistor 274 through the capacitor 276 of the motor control circuit 27, causing the charging voltage E6 of the electric valley 276 to rise. After the time between the resistance 274 and the capacitor 276 is defined by the inter-π constant, it becomes E9 > e 1, and the output E10' of the comparator 271 becomes the high level. When E10 becomes a high level, the current passing through the primary side of the photocouplers 7a, 8a is isolated, the secondary side becomes non-conductive, the gate currents If, 丨g are isolated, and the semiconductor switches 7, 8 become non-conductive. The motor current is isolated. Even if the motor current is isolated, the motor shaft is locked by the electromagnetic brake, so the electric cylinder maintains the pressing force generated by the reaction force of the spring. The above is an outline of the control circuit of the present embodiment, but the specific configuration of the control circuit is not limited thereto, and various configurations can be applied as long as the technical idea of the present invention can be realized. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an explanatory view showing a part of an embodiment of an electric cylinder of the present invention. 2(a) to 2(c) are explanatory views for explaining the operation of the electric cylinder shown in Fig. j. Figures 3 (a) ~ (f) are used to illustrate the figure! 20 1299604 timing diagram for the action of the electric cylinder shown. Fig. 4 is an explanatory view of a control device for the electric cylinder shown in Fig. 1. [Main component symbol description] 10 Extrusion stop type electric cylinder 12 Housing 14 Rod 16 Nut 17 Brake 18 Screw shaft 19 Support shaft 20 Control device 22 Motor 24 Rotary shaft 26 Connecting metal member 30 Spring mechanism 32 Radial ball bearing 34 Magazine holder 36 cylindrical member 36a segmented end 38 coil spring 40 brake mechanism 41 bushing 42 brake plate 42a fan 21 1299604 43 armature 44 brake spring 45 solenoid 200 control device 21 0 control power circuit 220 with brake Mechanism motor 230 starting circuit 240 motor current detecting circuit 2 0 0 squeeze detecting circuit 260 brake control circuit 270 motor control circuit 2 8 0 brake power supply circuit
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