WO2019239704A1 - Electric cylinder system - Google Patents

Electric cylinder system Download PDF

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Publication number
WO2019239704A1
WO2019239704A1 PCT/JP2019/016011 JP2019016011W WO2019239704A1 WO 2019239704 A1 WO2019239704 A1 WO 2019239704A1 JP 2019016011 W JP2019016011 W JP 2019016011W WO 2019239704 A1 WO2019239704 A1 WO 2019239704A1
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WO
WIPO (PCT)
Prior art keywords
servo motor
brake
servo
cylinder
current sensor
Prior art date
Application number
PCT/JP2019/016011
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French (fr)
Japanese (ja)
Inventor
恭治 古川
陽一郎 白井
Original Assignee
新東工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 新東工業株式会社 filed Critical 新東工業株式会社
Priority to JP2020525297A priority Critical patent/JP7272358B2/en
Priority to CN201980039199.XA priority patent/CN112272918A/en
Publication of WO2019239704A1 publication Critical patent/WO2019239704A1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/02—Details of stopping control
    • H02P3/04—Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake

Definitions

  • the present invention relates to an electric cylinder system.
  • an electric cylinder that includes a servo motor and a ball screw, converts a rotation of the servo motor into a linear motion by the ball screw, and has a reciprocating cylinder is known.
  • Patent Document 1 as an example of the prior art discloses a device in which a rotation-linear motion conversion unit, a servo motor, a shaft brake, and an encoder are shown as an integral unit.
  • This shaft brake operates by a brake holding signal output from the brake circuit when the main power is turned off, and forcibly stops the rotation of the servo motor.
  • the present invention has been made in view of the above, and an object of the present invention is to provide an electric cylinder system that starts operation in a state where the brake of the servo motor is reliably released.
  • the present invention that achieves the object by solving the above-described problems is an electric cylinder system that includes an electric cylinder including a cylinder portion and a servo motor that drives the cylinder portion, and a servo motor control device that controls the servo motor.
  • the servo motor includes a brake whose opening / closing is controlled by a brake switch, a current sensor is provided between the brake switch and the brake, and the servo motor control device rotates based on operation information.
  • a servo cylinder controller that outputs a command, and a contact output type current sensor amplifier that closes the contact when the value detected by the current sensor is within the set range and opens the contact when the detected value is not within the set range,
  • the servo cylinder controller sends a rotation command to the servo motor when the contact is open. Characterized in that it operates not to output.
  • the electric cylinder system preferably includes an abnormality notification function for notifying the user of an abnormality when the contact is open.
  • FIG. 1 is a diagram illustrating a configuration of an electric cylinder system 100 according to the present embodiment.
  • An electric cylinder system 100 shown in FIG. 1 includes an electric cylinder 10, a servo motor control device 4, and a current sensor 5.
  • the electric cylinder 10 includes a cylinder portion 1, a rotation transmission mechanism 2, and a servo motor 3.
  • the cylinder unit 1 includes a ball screw, and the rod in the cylinder unit 1 reciprocates as the rotation of the servo motor 3 transmitted through the rotation transmission mechanism 2 is converted into a linear motion by the ball screw.
  • the rotation transmission mechanism 2 transmits the rotation of the servo motor 3 to the cylinder unit 1.
  • the rotation transmission mechanism 2 can be realized by, for example, two timing pulleys connected to each of the cylinder portion 1 and the servo motor 3, and a timing belt that transmits power between these timing pulleys.
  • the present invention is not limited to this, and the rotation transmission mechanism 2 may include a gear, and the rotation of the servo motor 3 may be transmitted to the cylinder portion 1 by this gear.
  • the electric cylinder system 100 may not include the rotation transmission mechanism 2 as described above.
  • the servo motor 3 that drives the cylinder unit 1 includes a brake connector 31, an encoder connector 32, and a power connector 33, and the encoder connector 32 and the power connector 33 are connected to the servo motor control device 4. Further, the servo motor 3 has a brake (not shown). The brake is released when energized to allow the servo motor 3 to rotate, and when not energized, the servo motor 3 stops rotating.
  • a brake switch 31 is connected to the brake of the servo motor 3 via a brake connector 31 and a brake cable 64 as will be described later.
  • a current sensor 5 is connected between the brake and the brake switch 50. Provided.
  • the brake cable 64 is a cable that connects the brake connector 31 and the brake switch 50 and through which a direct current flows.
  • the brake of the servo motor 3 can be realized by parts such as an exciting coil, an armature, a brake lining, a plate, and a spring, for example.
  • an exciting coil When no voltage is applied to the exciting coil, the armature is released, the brake lining presses the plate with the spring, the motor shaft is fixed, and the brake is applied.
  • a voltage is applied to the exciting coil, the armature is attracted to the exciting coil against the spring, the motor shaft is released, and the brake is released.
  • the brake should be reliably released before the servo motor 3 starts to rotate.
  • Servo motor control device 4 is connected to servo motor 3 and controls the operation of servo motor 3 by outputting a command to servo motor 3.
  • the servo motor control device 4 includes a current sensor connection terminal 40, a brake opening / closing command terminal 41, an encoder cable terminal 42, and a power cable terminal 43.
  • the brake opening / closing command terminal 41 is connected to the brake switch 50 by a brake opening / closing command cable 61
  • the encoder cable terminal 42 is connected to the encoder connector 32 by an encoder cable 62
  • the power cable terminal 43 is a power cable.
  • 63 is connected to the power connector 33.
  • the brake opening / closing command cable 61 is a cable that connects the brake opening / closing command terminal 41 and the brake switch 50 and transmits an energization or non-energization signal from the servo motor control device 4 to the brake switch 50.
  • the brake opening / closing command terminal 41, the encoder cable terminal 42, and the power cable terminal 43 are shown for explaining the connection relationship between the servo motor 3, the brake switch 50, and the configuration in the servo motor control device 4.
  • the servo motor 3, the brake switch 50, and the configuration in the servo motor control device 4 are directly connected, the servo motor 3, the brake switch 50, and the configuration in the servo motor control device 4 may be omitted.
  • FIG. 2 is a diagram showing a configuration of the servo motor control device 4 shown in FIG.
  • the servo motor control device 4 shown in FIG. 2 includes a servo cylinder controller 44, a servo motor amplifier 45, a current sensor amplifier 46, a PLC connection terminal 47 to which a PLC (Programmable Logic Controller) 51 is connected, and a servo cylinder teaching box. And a servo cylinder teaching box connection terminal 48 to which 52 is connected.
  • the encoder cable terminal 42 and the power cable terminal 43 are connected to the servo motor amplifier 45, the brake opening / closing command terminal 41 is connected to the brake switch 50, and the servo cylinder teaching box connection terminal 48 is connected to the servo cylinder teaching box 52.
  • the PLC 51 is connected to the PLC connection terminal 47.
  • the servo cylinder teaching box 52 or the PLC 51 is connected to the servo cylinder controller 44, and displays an operation state and the like based on input of operation information of the servo cylinder and output data from the servo cylinder controller 44.
  • Servo cylinder controller 44 outputs a rotation command to servo motor amplifier 45 based on operation information input from servo cylinder teaching box 52 or PLC 51.
  • the servo cylinder controller 44 receives operation information from the PLC 51 connected via the PLC connection terminal 47 and outputs a brake opening / closing command to the brake switch 50 connected via the brake opening / closing command terminal 41.
  • Servo motor amplifier 45 is arranged between servo cylinder controller 44, encoder cable terminal 42 and power cable terminal 43, and outputs power corresponding to a rotation command from servo cylinder controller 44 to power cable terminal 43.
  • the current sensor 5 is positioned between the brake connector 31 and the brake switch 50 so that the current of the brake cable 64 between the brake switch 50 and the servo motor 3 can be detected. Detects whether the brake is open or closed. For example, when a disconnection occurs between the brake switch 50 and the servo motor 3, the detection value of the current sensor 5 is an extremely small value, which is different from the detection value when no disconnection occurs. .
  • the current sensor amplifier 46 is a contact output type that closes the contact when the detected value of the current sensor 5 is within the set range, and opens the contact when the detected value is not within the set range.
  • PLC 51 outputs operation information reflecting user operation. This operation information is input to the servo cylinder controller 44 via the PLC connection terminal 47. The servo cylinder controller 44 generates a rotation command based on this operation information.
  • a display device may be connected to or mounted on the PLC 51. Further, when the operation information can be input by the servo cylinder teaching box 52 without connecting the PLC 51, the PLC 51 may not be connected.
  • the brake switch 50 is connected to the brake DC power source 6 and energizes or de-energizes the brake of the servo motor 3 via the brake cable 64 and the brake connector 31.
  • a brake opening / closing command is output from the servo cylinder controller 44 to the brake switch 50 via the brake opening / closing command cable 61 and the brake opening / closing command terminal 41.
  • the PLC 51 and the brake switch 50 are connected to the servo motor control device 4 .
  • the present invention is not limited to this, and the PLC 51 and the brake switch 50 are not limited to the servo motor control device. 4 may be mounted.
  • FIG. 3 is a flowchart showing the operation at the start-up of the electric cylinder system 100 according to the present embodiment.
  • the servo cylinder controller 44 When the electric cylinder system 100 is powered on, the servo cylinder controller 44 outputs a brake opening / closing command to the brake switch 50 and starts processing.
  • the brake switch 50 When the process is started, first, the brake switch 50 energizes the brake of the servo motor 3 by the brake DC power supply 6 (S1).
  • the current sensor amplifier 46 determines whether or not the detected value of the current sensor 5 is within the set range. Is determined (S2). Here, the current sensor amplifier 46 closes the contact when the detection value of the current sensor 5 is within the set range, and opens the contact when it is not within the set range.
  • the servo cylinder controller 44 receives a signal indicating the open / closed state of the contact output of the current sensor amplifier 46 that is opened / closed based on the detection value of the current sensor 5.
  • the servo cylinder controller 44 determines that the current detection value is abnormal if the contact of the current sensor amplifier 46 is open, and determines that the current detection value is normal if the contact of the current sensor amplifier 46 is closed. To do. When the detected current value is within the set range, that is, when it is normal (S2: Y), the servo cylinder controller 44 rotates the servo motor 3 based on the operation information from the servo cylinder teaching box 52 or the PLC 51. It is determined whether or not to perform (S3). When the servo motor 3 is rotated (S3: Y), the servo cylinder controller 44 outputs a rotation command to the servo motor 3 (S4), and the process ends.
  • the brake switch 50 does not energize the brake of the servo motor 3.
  • the cylinder controller 44 transmits an abnormal signal to the display connected to or mounted on the servo cylinder teaching box 52 or PLC 51 without outputting a rotation command to the servo motor 3 (S6), and connected to the servo cylinder teaching box 52 or PLC 51.
  • the mounted display device displays an abnormal message (S7) and ends the process.
  • the electric cylinder system 100 operating in this way can detect an abnormality in energization such as disconnection between the servo motor 3 and the brake switch 50 by the current sensor 5, the brake of the servo motor 3 is released. Thus, the servo motor 3 can be prevented from rotating.
  • the open / close state of the brake switch 50 is detected by the current sensor 5, but the present invention is not limited to this, and a specific configuration is possible as long as the energization state of the brake switch 50 can be detected. It is not limited to.
  • the electric cylinder system 100 preferably includes an abnormality notification function that notifies the user of an abnormality when the contact of the current sensor amplifier 46 is in an open state, that is, when it is abnormal.
  • an abnormality notification function that notifies the user of an abnormality when the contact of the current sensor amplifier 46 is in an open state, that is, when it is abnormal.
  • a signal is transmitted from the servo cylinder controller 44 to the PLC 51 or the servo cylinder teaching box 52, and the PLC 51 or servo cylinder teaching box 52 that has received the signal. This can be realized by displaying an error message on the screen.
  • the present invention is not limited to this, and is not limited to a specific configuration as long as the user can be notified of the abnormality. For example, it is good also as a structure which alert

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Motor And Converter Starters (AREA)
  • Actuator (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The purpose of the present invention is to provide an electric cylinder system that initiates operation when a brake is definitely released. An electric cylinder system (100) comprises: an electric cylinder (10) that comprises a cylinder part (1) and a servo motor (3) that drives the cylinder part; and a servo motor control device (4) that controls the servo motor, wherein the servo motor (3) comprises a brake, the opening and closing of which is controlled by a brake switch (50), a current sensor (5) is provided between the brake switch (50) and the brake, the servo motor control device (4) comprises a servo cylinder controller that outputs a rotation command on the basis of operation information, and a current sensor amplifier that closes a contact when the value detected by the current sensor (5) is within a set range and opens the contact when the value is not within the set range, and the servo cylinder controller does not output a rotation command to the servo motor (3) when the contact is open.

Description

電動シリンダシステムElectric cylinder system
　本発明は、電動シリンダシステムに関する。 The present invention relates to an electric cylinder system.
　従来、サーボモータ及びボールねじを備え、サーボモータの回転をボールねじによって直線運動に変換し、往復運動可能なシリンダを備える電動シリンダが知られている。 2. Description of the Related Art Conventionally, an electric cylinder that includes a servo motor and a ball screw, converts a rotation of the servo motor into a linear motion by the ball screw, and has a reciprocating cylinder is known.
　従来技術の一例である特許文献１には、回転－直動変換部と、サーボモータと、軸ブレーキと、エンコーダとが一体として示された装置が開示されている。この軸ブレーキは、主電源がオフするとブレーキ回路から出力されるブレーキ保持信号によって動作し、サーボモータの回転を強制停止させる。 Patent Document 1 as an example of the prior art discloses a device in which a rotation-linear motion conversion unit, a servo motor, a shaft brake, and an encoder are shown as an integral unit. This shaft brake operates by a brake holding signal output from the brake circuit when the main power is turned off, and forcibly stops the rotation of the servo motor.
特開２００７－１９２７８５号公報JP 2007-192785 A
　しかしながら、上記の特許文献１に開示された技術では、サーボモータの回転開始時におけるブレーキの解除については考慮されていない。そのため、ブレーキ回路からのブレーキ解除信号がブレーキに伝達されていない場合には、ブレーキ未解除の状態でサーボモータが回転を開始しようとしてしまい、サーボモータの故障を誘発する、という問題があった。 However, in the technique disclosed in Patent Document 1 described above, release of the brake at the start of rotation of the servo motor is not considered. For this reason, when the brake release signal from the brake circuit is not transmitted to the brake, there is a problem that the servomotor tries to start rotation without releasing the brake, thereby causing a failure of the servomotor.
　本発明は、上記に鑑みてなされたものであって、サーボモータのブレーキが確実に解除された状態で動作を開始する電動シリンダシステムを提供することを目的とする。 The present invention has been made in view of the above, and an object of the present invention is to provide an electric cylinder system that starts operation in a state where the brake of the servo motor is reliably released.
　上述の課題を解決して目的を達成する本発明は、シリンダ部及び該シリンダ部を駆動させるサーボモータを備える電動シリンダと、該サーボモータを制御するサーボモータ制御装置とを備える電動シリンダシステムであって、前記サーボモータは、ブレーキ開閉器によって開閉が制御されるブレーキを備え、前記ブレーキ開閉器と前記ブレーキとの間に電流センサが設けられ、前記サーボモータ制御装置は、操作情報に基づいて回転指令を出力するサーボシリンダコントローラと、前記電流センサによる検出値が、設定範囲内である場合には接点を閉じ、設定範囲内でない場合には接点を開く接点出力型の電流センサアンプとを備え、前記サーボシリンダコントローラは、前記接点が開いている場合には前記サーボモータに対して回転指令を出力しないように動作することを特徴とする。 The present invention that achieves the object by solving the above-described problems is an electric cylinder system that includes an electric cylinder including a cylinder portion and a servo motor that drives the cylinder portion, and a servo motor control device that controls the servo motor. The servo motor includes a brake whose opening / closing is controlled by a brake switch, a current sensor is provided between the brake switch and the brake, and the servo motor control device rotates based on operation information. A servo cylinder controller that outputs a command, and a contact output type current sensor amplifier that closes the contact when the value detected by the current sensor is within the set range and opens the contact when the detected value is not within the set range, The servo cylinder controller sends a rotation command to the servo motor when the contact is open. Characterized in that it operates not to output.
　上記電動シリンダシステムは、前記接点が開いている場合に、ユーザに異常を報知する異常報知機能を備えることが好ましい。 The electric cylinder system preferably includes an abnormality notification function for notifying the user of an abnormality when the contact is open.
　本発明によれば、サーボモータのブレーキが確実に解除された状態で動作を開始する電動シリンダシステムを提供することができる、という効果を奏する。 According to the present invention, there is an effect that it is possible to provide an electric cylinder system that starts operation in a state where the brake of the servo motor is reliably released.
実施形態に係る電動シリンダシステムの構成を示す図である。It is a figure which shows the structure of the electric cylinder system which concerns on embodiment. 図１に示すサーボモータ制御装置の構成を示す図である。It is a figure which shows the structure of the servomotor control apparatus shown in FIG. 実施形態に係る電動シリンダシステムの起動時の動作を示すフローチャートである。It is a flowchart which shows the operation | movement at the time of starting of the electric cylinder system which concerns on embodiment.
　本発明の実施形態について図面を参照して以下に説明する。ただし、本発明は、以下の実施形態の記載によって限定解釈されるものではない。 Embodiments of the present invention will be described below with reference to the drawings. However, this invention is not limitedly interpreted by description of the following embodiment.
＜実施形態＞
　図１は、本実施形態に係る電動シリンダシステム１００の構成を示す図である。図１に示す電動シリンダシステム１００は、電動シリンダ１０と、サーボモータ制御装置４と、電流センサ５とを備える。また、電動シリンダ１０は、シリンダ部１と、回転伝達機構２と、サーボモータ３とを備える。 <Embodiment>
FIG. 1 is a diagram illustrating a configuration of an electric cylinder system 100 according to the present embodiment. An electric cylinder system 100 shown in FIG. 1 includes an electric cylinder 10, a servo motor control device 4, and a current sensor 5. The electric cylinder 10 includes a cylinder portion 1, a rotation transmission mechanism 2, and a servo motor 3.
　シリンダ部１はボールねじを備え、回転伝達機構２を介して伝達されたサーボモータ３の回転が該ボールねじによって直線運動に変換されることで、シリンダ部１内のロッドが往復運動を行う。 The cylinder unit 1 includes a ball screw, and the rod in the cylinder unit 1 reciprocates as the rotation of the servo motor 3 transmitted through the rotation transmission mechanism 2 is converted into a linear motion by the ball screw.
　回転伝達機構２は、サーボモータ３の回転をシリンダ部１に伝達する。回転伝達機構２は、例えば、シリンダ部１及びサーボモータ３の各々に接続された２つのタイミングプーリと、これらのタイミングプーリ間において動力の伝達を行うタイミングベルトとにより実現することができる。ただし、本発明はこれに限定されるものではなく、回転伝達機構２が歯車を備え、この歯車によってサーボモータ３の回転がシリンダ部１に伝達されてもよい。なお、シリンダ部１の回転軸にサーボモータ３の回転軸が直接又は直列に接続されている場合には、電動シリンダシステム１００は、上記のような回転伝達機構２を備えていなくてもよい。 The rotation transmission mechanism 2 transmits the rotation of the servo motor 3 to the cylinder unit 1. The rotation transmission mechanism 2 can be realized by, for example, two timing pulleys connected to each of the cylinder portion 1 and the servo motor 3, and a timing belt that transmits power between these timing pulleys. However, the present invention is not limited to this, and the rotation transmission mechanism 2 may include a gear, and the rotation of the servo motor 3 may be transmitted to the cylinder portion 1 by this gear. When the rotation shaft of the servo motor 3 is connected directly or in series to the rotation shaft of the cylinder portion 1, the electric cylinder system 100 may not include the rotation transmission mechanism 2 as described above.
　シリンダ部１を駆動するサーボモータ３は、ブレーキ用コネクタ３１、エンコーダ用コネクタ３２及び動力用コネクタ３３を備え、エンコーダ用コネクタ３２及び動力用コネクタ３３はサーボモータ制御装置４に接続されている。更には、サーボモータ３は図示しないブレーキを有し、このブレーキは、通電時には解除されてサーボモータ３の回転を可能とし、非通電時にはサーボモータ３の回転を止めるものである。なお、このサーボモータ３のブレーキにはブレーキ用コネクタ３１、及び後述するようにブレーキケーブル６４を介してブレーキ開閉器５０が接続され、このブレーキとブレーキ開閉器５０との間には電流センサ５が設けられる。ブレーキケーブル６４は、ブレーキ用コネクタ３１とブレーキ開閉器５０とを接続し、直流電流が流れるケーブルである。 The servo motor 3 that drives the cylinder unit 1 includes a brake connector 31, an encoder connector 32, and a power connector 33, and the encoder connector 32 and the power connector 33 are connected to the servo motor control device 4. Further, the servo motor 3 has a brake (not shown). The brake is released when energized to allow the servo motor 3 to rotate, and when not energized, the servo motor 3 stops rotating. A brake switch 31 is connected to the brake of the servo motor 3 via a brake connector 31 and a brake cable 64 as will be described later. A current sensor 5 is connected between the brake and the brake switch 50. Provided. The brake cable 64 is a cable that connects the brake connector 31 and the brake switch 50 and through which a direct current flows.
　サーボモータ３のブレーキは、例えば、励磁コイル、アーマチュア、ブレーキライニング、プレート及びばね等の部品により実現することができる。励磁コイルに電圧が印加されていない状態では、アーマチュアが釈放され、ばねによりブレーキライニングがプレートを押し付け、モータ軸が固定されて、ブレーキがかかる。そして、励磁コイルに電圧が印加されると、ばねに抗して励磁コイルにアーマチュアが吸引され、モータ軸が開放されてブレーキが解除される。このとき、ブレーキが解除されていない状態でサーボモータ３が回転を開始してしまうと、ブレーキを構成する部品が損傷又は破壊される。そのため、サーボモータ３が回転を開始する前にブレーキを確実に解除すべきである。 The brake of the servo motor 3 can be realized by parts such as an exciting coil, an armature, a brake lining, a plate, and a spring, for example. When no voltage is applied to the exciting coil, the armature is released, the brake lining presses the plate with the spring, the motor shaft is fixed, and the brake is applied. When a voltage is applied to the exciting coil, the armature is attracted to the exciting coil against the spring, the motor shaft is released, and the brake is released. At this time, if the servo motor 3 starts rotating in a state where the brake is not released, parts constituting the brake are damaged or destroyed. Therefore, the brake should be reliably released before the servo motor 3 starts to rotate.
　サーボモータ制御装置４は、サーボモータ３に接続され、サーボモータ３に指令を出力することでサーボモータ３の動作を制御する。また、サーボモータ制御装置４は、電流センサ接続端子４０と、ブレーキ開閉指令端子４１と、エンコーダケーブル端子４２と、動力ケーブル端子４３とを備え、電流センサ接続端子４０は電流センサ接続ケーブル６０により電流センサ５と接続され、ブレーキ開閉指令端子４１はブレーキ開閉指令ケーブル６１によりブレーキ開閉器５０と接続され、エンコーダケーブル端子４２はエンコーダケーブル６２によりエンコーダ用コネクタ３２と接続され、動力ケーブル端子４３は動力ケーブル６３により動力用コネクタ３３と接続されている。ブレーキ開閉指令ケーブル６１は、ブレーキ開閉指令端子４１とブレーキ開閉器５０とを接続し、サーボモータ制御装置４からブレーキ開閉器５０への通電又は非通電の信号を送信するケーブルである。 Servo motor control device 4 is connected to servo motor 3 and controls the operation of servo motor 3 by outputting a command to servo motor 3. The servo motor control device 4 includes a current sensor connection terminal 40, a brake opening / closing command terminal 41, an encoder cable terminal 42, and a power cable terminal 43. Connected to the sensor 5, the brake opening / closing command terminal 41 is connected to the brake switch 50 by a brake opening / closing command cable 61, the encoder cable terminal 42 is connected to the encoder connector 32 by an encoder cable 62, and the power cable terminal 43 is a power cable. 63 is connected to the power connector 33. The brake opening / closing command cable 61 is a cable that connects the brake opening / closing command terminal 41 and the brake switch 50 and transmits an energization or non-energization signal from the servo motor control device 4 to the brake switch 50.
　なお、ブレーキ開閉指令端子４１、エンコーダケーブル端子４２及び動力ケーブル端子４３は、サーボモータ３とブレーキ開閉器５０とサーボモータ制御装置４内の構成との接続関係を説明するために示すものであり、サーボモータ３とブレーキ開閉器５０とサーボモータ制御装置４内の構成とが直接接続される場合には設けられていなくてもよい。 The brake opening / closing command terminal 41, the encoder cable terminal 42, and the power cable terminal 43 are shown for explaining the connection relationship between the servo motor 3, the brake switch 50, and the configuration in the servo motor control device 4. When the servo motor 3, the brake switch 50, and the configuration in the servo motor control device 4 are directly connected, the servo motor 3, the brake switch 50, and the configuration in the servo motor control device 4 may be omitted.
　図２は、図１に示すサーボモータ制御装置４の構成を示す図である。図２に示すサーボモータ制御装置４は、サーボシリンダコントローラ４４と、サーボモータアンプ４５と、電流センサアンプ４６と、ＰＬＣ（Programmable　Logic　Controller）５１が接続されるＰＬＣ接続端子４７と、サーボシリンダティーチングボックス５２が接続されるサーボシリンダティーチングボックス接続端子４８とを備える。また、エンコーダケーブル端子４２及び動力ケーブル端子４３はサーボモータアンプ４５に接続され、ブレーキ開閉指令端子４１はブレーキ開閉器５０に接続され、サーボシリンダティーチングボックス接続端子４８にはサーボシリンダティーチングボックス５２が接続され、ＰＬＣ接続端子４７にはＰＬＣ５１が接続されている。 FIG. 2 is a diagram showing a configuration of the servo motor control device 4 shown in FIG. The servo motor control device 4 shown in FIG. 2 includes a servo cylinder controller 44, a servo motor amplifier 45, a current sensor amplifier 46, a PLC connection terminal 47 to which a PLC (Programmable Logic Controller) 51 is connected, and a servo cylinder teaching box. And a servo cylinder teaching box connection terminal 48 to which 52 is connected. The encoder cable terminal 42 and the power cable terminal 43 are connected to the servo motor amplifier 45, the brake opening / closing command terminal 41 is connected to the brake switch 50, and the servo cylinder teaching box connection terminal 48 is connected to the servo cylinder teaching box 52. The PLC 51 is connected to the PLC connection terminal 47.
　サーボシリンダティーチングボックス５２又はＰＬＣ５１は、サーボシリンダコントローラ４４に接続され、サーボシリンダの操作情報の入力及びサーボシリンダコントローラ４４からの出力データに基づいて動作状態等の表示を行う。 The servo cylinder teaching box 52 or the PLC 51 is connected to the servo cylinder controller 44, and displays an operation state and the like based on input of operation information of the servo cylinder and output data from the servo cylinder controller 44.
　サーボシリンダコントローラ４４は、サーボシリンダティーチングボックス５２又はＰＬＣ５１から入力された操作情報に基づき、サーボモータアンプ４５に回転指令を出力する。また、サーボシリンダコントローラ４４は、ＰＬＣ接続端子４７を介して接続されたＰＬＣ５１から操作情報が入力され、ブレーキ開閉指令端子４１を介して接続されたブレーキ開閉器５０にブレーキ開閉指令を出力する。 Servo cylinder controller 44 outputs a rotation command to servo motor amplifier 45 based on operation information input from servo cylinder teaching box 52 or PLC 51. The servo cylinder controller 44 receives operation information from the PLC 51 connected via the PLC connection terminal 47 and outputs a brake opening / closing command to the brake switch 50 connected via the brake opening / closing command terminal 41.
　サーボモータアンプ４５は、サーボシリンダコントローラ４４と、エンコーダケーブル端子４２及び動力ケーブル端子４３との間に配され、サーボシリンダコントローラ４４からの回転指令に応じた動力を動力ケーブル端子４３に出力する。 Servo motor amplifier 45 is arranged between servo cylinder controller 44, encoder cable terminal 42 and power cable terminal 43, and outputs power corresponding to a rotation command from servo cylinder controller 44 to power cable terminal 43.
　電流センサ５は、ブレーキ開閉器５０とサーボモータ３との間のブレーキケーブル６４の電流を検出可能なようにブレーキ用コネクタ３１とブレーキ開閉器５０との間に位置することで、サーボモータ３のブレーキの開閉状態を検出する。例えば、ブレーキ開閉器５０とサーボモータ３との間において断線が生じている場合には、電流センサ５の検出値は極めて小さい値となり、断線が生じていない場合の検出値とは異なる値となる。 The current sensor 5 is positioned between the brake connector 31 and the brake switch 50 so that the current of the brake cable 64 between the brake switch 50 and the servo motor 3 can be detected. Detects whether the brake is open or closed. For example, when a disconnection occurs between the brake switch 50 and the servo motor 3, the detection value of the current sensor 5 is an extremely small value, which is different from the detection value when no disconnection occurs. .
　電流センサアンプ４６は、電流センサ５の検出値が設定範囲内である場合に接点を閉じ、設定された範囲内でない場合には接点を開く接点出力型である。 The current sensor amplifier 46 is a contact output type that closes the contact when the detected value of the current sensor 5 is within the set range, and opens the contact when the detected value is not within the set range.
　ＰＬＣ５１は、ユーザの操作を反映した操作情報を出力する。この操作情報は、ＰＬＣ接続端子４７を介してサーボシリンダコントローラ４４に入力される。サーボシリンダコントローラ４４は、この操作情報に基づいて回転指令を生成する。なお、図示していないが、ＰＬＣ５１には表示器が接続又は搭載されていてもよい。また、ＰＬＣ５１を接続しなくてもサーボシリンダティーチングボックス５２によって操作情報を入力可能な場合にはＰＬＣ５１が接続されていなくてもよい。 PLC 51 outputs operation information reflecting user operation. This operation information is input to the servo cylinder controller 44 via the PLC connection terminal 47. The servo cylinder controller 44 generates a rotation command based on this operation information. Although not shown, a display device may be connected to or mounted on the PLC 51. Further, when the operation information can be input by the servo cylinder teaching box 52 without connecting the PLC 51, the PLC 51 may not be connected.
　ブレーキ開閉器５０は、ブレーキ用の直流電源６に接続され、ブレーキケーブル６４及びブレーキ用コネクタ３１を介してサーボモータ３のブレーキを通電又は非通電とする。また、ブレーキ開閉器５０には、ブレーキ開閉指令ケーブル６１及びブレーキ開閉指令端子４１を介してサーボシリンダコントローラ４４からブレーキ開閉指令が出力される。ブレーキ開閉器５０が直流電源６によりサーボモータ３のブレーキに通電する場合、サーボモータ３のブレーキが解除され、サーボモータ３は回転可能となる。ブレーキ開閉器５０がサーボモータ３のブレーキに通電しない場合、サーボモータ３にブレーキがかかり、サーボモータ３は制止される。 The brake switch 50 is connected to the brake DC power source 6 and energizes or de-energizes the brake of the servo motor 3 via the brake cable 64 and the brake connector 31. A brake opening / closing command is output from the servo cylinder controller 44 to the brake switch 50 via the brake opening / closing command cable 61 and the brake opening / closing command terminal 41. When the brake switch 50 energizes the brake of the servo motor 3 by the DC power source 6, the brake of the servo motor 3 is released and the servo motor 3 can rotate. When the brake switch 50 does not energize the brake of the servo motor 3, the brake is applied to the servo motor 3, and the servo motor 3 is stopped.
　なお、ここではサーボモータ制御装置４にＰＬＣ５１及びブレーキ開閉器５０が接続された形態について説明したが、本発明はこれに限定されるものではなく、ＰＬＣ５１及びブレーキ開閉器５０は、サーボモータ制御装置４に搭載されていてもよい。 Here, the embodiment in which the PLC 51 and the brake switch 50 are connected to the servo motor control device 4 has been described. However, the present invention is not limited to this, and the PLC 51 and the brake switch 50 are not limited to the servo motor control device. 4 may be mounted.
　図３は、本実施形態に係る電動シリンダシステム１００の起動時の動作を示すフローチャートである。電動シリンダシステム１００の電源がオンされると、サーボシリンダコントローラ４４がブレーキ開閉器５０にブレーキ開閉指令を出力して処理を開始する。処理を開始すると、まず、ブレーキ開閉器５０は、ブレーキ用の直流電源６によりサーボモータ３のブレーキを通電する（Ｓ１）。 FIG. 3 is a flowchart showing the operation at the start-up of the electric cylinder system 100 according to the present embodiment. When the electric cylinder system 100 is powered on, the servo cylinder controller 44 outputs a brake opening / closing command to the brake switch 50 and starts processing. When the process is started, first, the brake switch 50 energizes the brake of the servo motor 3 by the brake DC power supply 6 (S1).
　次に、電流センサ５がブレーキケーブル６４の電流値を検出し、その検出値を電流センサアンプ４６に送信すると、電流センサアンプ４６は、電流センサ５の検出値が設定範囲内であるか否かを判定する（Ｓ２）。ここで、電流センサアンプ４６は、電流センサ５の検出値が設定範囲内である場合には接点を閉じ、設定された範囲内でない場合には接点を開く。サーボシリンダコントローラ４４には、電流センサ５の検出値をもとに開閉された電流センサアンプ４６の接点出力の開閉状態を示す信号が入力される。サーボシリンダコントローラ４４は、電流センサアンプ４６の接点が開状態であれば電流検出値は異常であると判定し、電流センサアンプ４６の接点が閉状態であれば電流検出値は正常であると判定する。電流検出値が設定範囲内である場合、すなわち正常である場合（Ｓ２：Ｙ）には、サーボシリンダコントローラ４４は、サーボシリンダティーチングボックス５２又はＰＬＣ５１からの操作情報に基づいて、サーボモータ３を回転させるか否かを判定する（Ｓ３）。サーボモータ３を回転させる場合（Ｓ３：Ｙ）には、サーボシリンダコントローラ４４は、サーボモータ３に回転指令を出力し（Ｓ４）、処理を終了する。 Next, when the current sensor 5 detects the current value of the brake cable 64 and transmits the detected value to the current sensor amplifier 46, the current sensor amplifier 46 determines whether or not the detected value of the current sensor 5 is within the set range. Is determined (S2). Here, the current sensor amplifier 46 closes the contact when the detection value of the current sensor 5 is within the set range, and opens the contact when it is not within the set range. The servo cylinder controller 44 receives a signal indicating the open / closed state of the contact output of the current sensor amplifier 46 that is opened / closed based on the detection value of the current sensor 5. The servo cylinder controller 44 determines that the current detection value is abnormal if the contact of the current sensor amplifier 46 is open, and determines that the current detection value is normal if the contact of the current sensor amplifier 46 is closed. To do. When the detected current value is within the set range, that is, when it is normal (S2: Y), the servo cylinder controller 44 rotates the servo motor 3 based on the operation information from the servo cylinder teaching box 52 or the PLC 51. It is determined whether or not to perform (S3). When the servo motor 3 is rotated (S3: Y), the servo cylinder controller 44 outputs a rotation command to the servo motor 3 (S4), and the process ends.
　又は、電流検出値が正常である（Ｓ２：Ｙ）ものの、サーボモータ３を回転させずに停止させる場合（Ｓ３：Ｎ）には、サーボシリンダコントローラ４４は、サーボモータ３に現在位置停止指令を出力し（Ｓ５）、処理を終了する。 Alternatively, when the current detection value is normal (S2: Y) but the servo motor 3 is stopped without rotating (S3: N), the servo cylinder controller 44 issues a current position stop command to the servo motor 3. Output (S5), the process is terminated.
　しかしながら、Ｓ２において電流検出値が設定範囲内でない場合、すなわち正常でないと判定した場合（Ｓ２：Ｎ）には、ブレーキ開閉器５０からサーボモータ３のブレーキに通電していないおそれがあるため、サーボシリンダコントローラ４４は、サーボモータ３に回転指令を出力することなくサーボシリンダティーチングボックス５２又はＰＬＣ５１に接続又は搭載された表示器に異常信号を送信し（Ｓ６）、サーボシリンダティーチングボックス５２又はＰＬＣ５１に接続又は搭載された表示器は異常メッセージを表示し（Ｓ７）、処理を終了する。 However, if the current detection value is not within the set range in S2, that is, if it is determined that the current detection value is not normal (S2: N), there is a possibility that the brake switch 50 does not energize the brake of the servo motor 3. The cylinder controller 44 transmits an abnormal signal to the display connected to or mounted on the servo cylinder teaching box 52 or PLC 51 without outputting a rotation command to the servo motor 3 (S6), and connected to the servo cylinder teaching box 52 or PLC 51. Alternatively, the mounted display device displays an abnormal message (S7) and ends the process.
　このように動作する電動シリンダシステム１００は、サーボモータ３とブレーキ開閉器５０との間の断線等の通電の異常を電流センサ５により検出可能であるため、サーボモータ３のブレーキが解除されることなくサーボモータ３が回転してしまうことを防止することができる。 Since the electric cylinder system 100 operating in this way can detect an abnormality in energization such as disconnection between the servo motor 3 and the brake switch 50 by the current sensor 5, the brake of the servo motor 3 is released. Thus, the servo motor 3 can be prevented from rotating.
　なお、本実施形態において、ブレーキ開閉器５０の開閉状態は電流センサ５によって検出されているが、本発明はこれに限定されず、ブレーキ開閉器５０の通電状態を検出することができれば特定の構成に限定されるものではない。 In the present embodiment, the open / close state of the brake switch 50 is detected by the current sensor 5, but the present invention is not limited to this, and a specific configuration is possible as long as the energization state of the brake switch 50 can be detected. It is not limited to.
　なお、本実施形態に係る電動シリンダシステム１００は、電流センサアンプ４６の接点が開状態である場合、すなわち異常である場合に、ユーザに対して異常を報知する異常報知機能を備えることが好ましい。この異常報知機能は、サーボシリンダコントローラ４４が異常であると判定した際に、サーボシリンダコントローラ４４からＰＬＣ５１又はサーボシリンダティーチングボックス５２に信号が送信され、当該信号を受信したＰＬＣ５１又はサーボシリンダティーチングボックス５２に異常である旨が表示されることで実現することができる。ただし、本発明はこれに限定されるものではなく、ユーザに対して異常を報知することができれば特定の構成に限定されるものではない。例えば、サーボモータ３又はサーボモータ制御装置４に搭載されたブザーが鳴動することで、ユーザに対して異常を報知する構成としてもよい。 Note that the electric cylinder system 100 according to the present embodiment preferably includes an abnormality notification function that notifies the user of an abnormality when the contact of the current sensor amplifier 46 is in an open state, that is, when it is abnormal. When the servo cylinder controller 44 determines that this abnormality notification function is abnormal, a signal is transmitted from the servo cylinder controller 44 to the PLC 51 or the servo cylinder teaching box 52, and the PLC 51 or servo cylinder teaching box 52 that has received the signal. This can be realized by displaying an error message on the screen. However, the present invention is not limited to this, and is not limited to a specific configuration as long as the user can be notified of the abnormality. For example, it is good also as a structure which alert | reports abnormality to a user by the buzzer mounted in the servomotor 3 or the servomotor control apparatus 4 ringing.
１　シリンダ部
２　回転伝達機構
３　サーボモータ
４　サーボモータ制御装置
５　電流センサ
６　直流電源
１０　電動シリンダ
３１　ブレーキ用コネクタ
３２　エンコーダ用コネクタ
３３　動力用コネクタ
４０　電流センサ接続端子
４１　ブレーキ開閉指令端子
４２　エンコーダケーブル端子
４３　動力ケーブル端子
４４　サーボシリンダコントローラ
４５　サーボモータアンプ
４６　電流センサアンプ
４７　ＰＬＣ接続端子
４８　サーボシリンダティーチングボックス接続端子
５０　ブレーキ開閉器
５１　ＰＬＣ
５２　サーボシリンダティーチングボックス
６０　電流センサ接続ケーブル
６１　ブレーキ開閉指令ケーブル
６２　エンコーダケーブル
６３　動力ケーブル
１００　電動シリンダシステム DESCRIPTION OF SYMBOLS 1 Cylinder part 2 Rotation transmission mechanism 3 Servo motor 4 Servo motor control apparatus 5 Current sensor 6 DC power supply 10 Electric cylinder 31 Brake connector 32 Encoder connector 33 Power connector 40 Current sensor connection terminal 41 Brake open / close command terminal 42 Encoder cable terminal 43 Power cable terminal 44 Servo cylinder controller 45 Servo motor amplifier 46 Current sensor amplifier 47 PLC connection terminal 48 Servo cylinder teaching box connection terminal 50 Brake switch 51 PLC
52 Servo Cylinder Teaching Box 60 Current Sensor Connection Cable 61 Brake Open / Close Command Cable 62 Encoder Cable 63 Power Cable 100 Electric Cylinder System

Claims (2)

  1. 　シリンダ部及び該シリンダ部を駆動させるサーボモータを備える電動シリンダと、該サーボモータを制御するサーボモータ制御装置とを備える電動シリンダシステムであって、
    　前記サーボモータは、ブレーキ開閉器によって開閉が制御されるブレーキを備え、
    　前記ブレーキ開閉器と前記ブレーキとの間には電流センサが設けられ、
    　前記サーボモータ制御装置は、
    　操作情報に基づいて回転指令を出力するサーボシリンダコントローラと、
    　前記電流センサによる検出値が、設定範囲内である場合には接点を閉じ、設定範囲内でない場合には接点を開く接点出力型の電流センサアンプとを備え、
    　前記サーボシリンダコントローラは、前記接点が開いている場合には前記サーボモータに対して回転指令を出力しないように動作することを特徴とする電動シリンダシステム。     An electric cylinder system comprising an electric cylinder comprising a cylinder part and a servo motor for driving the cylinder part, and a servo motor control device for controlling the servo motor,
    The servo motor includes a brake whose opening and closing is controlled by a brake switch,
    A current sensor is provided between the brake switch and the brake,
    The servo motor controller is
    A servo cylinder controller that outputs a rotation command based on the operation information;
    A contact output type current sensor amplifier that closes the contact when the detected value by the current sensor is within the set range and opens the contact when not within the set range;
    The electric cylinder system, wherein the servo cylinder controller operates so as not to output a rotation command to the servo motor when the contact is open.
  2. 　前記接点が開いている場合に、ユーザに異常を報知する異常報知機能を備えることを特徴とする請求項１に記載の電動シリンダシステム。 The electric cylinder system according to claim 1, further comprising an abnormality notification function for notifying a user of an abnormality when the contact is open.
PCT/JP2019/016011 2018-06-12 2019-04-12 Electric cylinder system WO2019239704A1 (en)

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JPH042991U (en) * 1990-04-23 1992-01-10
JPH0480295U (en) * 1990-11-27 1992-07-13

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JP2001278021A (en) * 2000-03-31 2001-10-10 Tokico Ltd Brake device
JP5382543B2 (en) * 2010-06-25 2014-01-08 新東工業株式会社 Electric cylinder control method and electric cylinder control system
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JPS62185576A (en) * 1986-02-10 1987-08-13 Nissan Motor Co Ltd Electromagnetic brake release confirming circuit
JPH042991U (en) * 1990-04-23 1992-01-10
JPH0480295U (en) * 1990-11-27 1992-07-13

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