Patent Application
20220324190
The present disclosure relates to an electric cylinder system and a method of detecting an abnormality of an electric cylinder.
Patent Document 1 discloses an electric press that presses a workpiece by moving a ram up and down. The electric press includes a load cell that detects a load applied on the ram. The electric press stores an output of the load cell when the load is zero, as a calibration quantity. Where the calibration quantity is equal to or exceeds a predetermined value, the electric press provides notification to urge replacement of the load cell. The predetermined value is a calibration quantity that may cause the load cell output to exceed an upper limit value or fall below a lower limit value during displacement of a position of pressing operation of the ram from a zero point at which there is no load to a maximum load position. The predetermined value is set on an assumption that the relationship between the load cell output and the position of the ram is linear.
Since the electric press described in Patent Document 1 determines replacement of the load cell based only on the output of the load cell when there is no load, the electric press may fail to correctly make a determination on replacement of the load cell. For example, even though the output of the load cell when there is no load falls within an allowable range, the output of the load cell when there is a load may fail to fall within the allowable range.
The present disclosure provides an electric cylinder system that enables enhancing the accuracy of detection of an abnormality of a strain detector.
An electric cylinder system according to an aspect of the present disclosure includes: a rod; a ball screw mechanism including a ball screw making a rotary motion via a drive force of an electric motor; a nut connected to the rod, the nut making a linear motion in an axis direction of the ball screw together with the rod via the rotary motion of the ball screw; a cylindrical body including a contact portion, the nut making the linear motion abutting against the contact portion, the cylindrical body supporting the ball screw mechanism in such a manner that the ball screw mechanism is displaceable in the axis direction of the ball screw; a strain detector fixed to the cylindrical body and detecting a value corresponding to the displacement of the ball screw mechanism; and a control section making the ball screw mechanism be displaced by making the nut abut against the contact portion, and detecting an abnormality of the strain detector based on the value detected by the strain detector according to the displacement of the ball screw mechanism.
In this electric cylinder system, the nut makes a linear motion in the axis direction of the ball screw via a rotary motion of the ball screw. The nut making the linear motion abuts against the contact portion of the cylindrical body, causing a load to be generated on the ball screw mechanism with the contact portion of the cylindrical body as a fulcrum. The ball screw mechanism is displaced in the axis direction of the ball screw by the generated load. The strain detector detects a value corresponding to the displacement of the ball screw mechanism. In this way, this electric cylinder system can apply a load to the strain detector without using a workpiece. Therefore, the control section of this electric cylinder can detect an abnormality of the strain detector based on the value detected by the strain detector when there is a load. Therefore, this electric cylinder system enables enhancing the accuracy of detection of an abnormality of the strain detector in comparison with the case of detecting an abnormality of the strain detector based only on an output of the strain detector when there is no load.
In an embodiment, the strain detector may include an outer edge portion fixed to the cylindrical body and a movable portion being provided on an inner side of the outer edge portion and being displaceable in the axis direction of the ball screw, the ball screw mechanism may include a plurality of bearings rotatably supporting the ball screw, and the plurality of bearings may include a first bearing located between the contact portion of the cylindrical body and the strain detector and a second bearing holding the movable portion of the strain detector jointly with the first bearing. In this case, no matter which side in the axis direction of the ball screw the ball screw mechanism is displaced to, the strain detector can detect the displacement.
In an embodiment, the cylindrical body may include a first cylindrical body supporting the first bearing, the contact portion being provided in the first cylindrical body and a second cylindrical body supporting the second bearing. In this case, processing of the contact portion of the cylindrical body is easy, and thus, it is possible to reduce time necessary for manufacture of the cylindrical body in comparison with the case of manufacturing the cylindrical body from a single member.
In an embodiment, a gap may be provided between the contact portion of the cylindrical body and the first bearing, in an axis direction of the ball screw. Because of the gap being provided between the contact portion of the cylindrical body and the first bearing, the ball screw mechanism including the first bearing can move in the direction approaching the contact portion by the amount corresponding to the gap. Therefore, until the first bearing comes into contact with the contact portion, the strain detector can properly measure an amount of displacement of the ball screw mechanism for a load.
In an embodiment, the control section may detect the abnormality of the strain detector based on a comparison between the value corresponding to the displacement of the ball screw mechanism, the value being detected by the strain detector at a predetermined load value, and a reference value acquired in advance at the predetermined load value. In this case, this electric cylinder system can detect an abnormality of the strain detector based on a reference value acquired in advance.
A method of detecting an abnormality of an electric cylinder according to another aspect of the present disclosure includes: a step of making a ball screw of the electric cylinder make a rotary motion via a drive force of an electric motor, making a nut attached to the ball screw make a linear motion in an axis direction of the ball screw and making the nut making the linear motion abut against a contact portion provided in a cylindrical body of the electric cylinder; a step of making a ball screw mechanism including the ball screw be displaced in the axis direction of the ball screw with the contact portion provided in the cylindrical body as a fulcrum, by the abutted nut; a step of detecting a value corresponding to the displacement via a strain detector fixed to the cylindrical body; and a step of detecting an abnormality of the strain detector based on the value corresponding to the displacement, the value being detected in the step of detecting.
In the method of detecting an abnormality of an electric cylinder, the nut making a linear motion abuts against the contact portion provided in the cylindrical body of the electric cylinder. The abutted nut causes a load to be generated with the contact portion provided in the cylindrical body as a fulcrum, and the ball screw mechanism including the ball screw is displaced in the axis direction of the ball screw by the generated load. A value corresponding to the displacement of the ball screw is detected by the strain detector fixed to the cylindrical body. Then, an abnormality of the strain detector is detected based on the valve corresponding to the displacement of the ball screw. In this way, this method of detecting an abnormality of an electric cylinder enables applying a load to the strain detector without using a workpiece. Therefore, the control section of this electric cylinder can detect an abnormality of the strain detector based on the value detected by the strain detector when there is a load. Therefore, this method of detecting an abnormality of an electric cylinder enables enhancing the accuracy of detection of an abnormality of the strain detector in comparison with the case of detecting an abnormality of the strain detector based only on an output of the strain detector when there is no load.
With an electric cylinder system according to the present disclosure, it is possible to enhance the accuracy of detection of an abnormality of a strain detector.
An embodiment of the present disclosure will be described below with reference to the drawings. In the below description, elements that are identical or correspond to each other are provided with a same reference sign and overlapping description thereof is not repeated. Dimension ratios in the drawings do not necessarily agree with those in the description. The terms “upper (up)”, “lower (down)”, “left” and “right” are those based on the illustration and used for the sake of expediency.
[Configuration of Electric Cylinder System]
The electric cylinder 1 includes an electric motor 10, a rotation transmission mechanism 20 and a cylinder portion 30. In
The electric motor 10 generates a drive force via electric power supplied from the control device 50. The electric motor 10 is, for example, a servomotor. The electric motor 10 includes a motor body 11 and an encoder 12. The motor body 11 includes a motor shaft 111. The motor body 11 is supplied with electric power from the control device 50 and rotates the motor shaft 111 around an axis direction (here, the Z-direction) of the motor shaft 111. The encoder 12 detects a rotational angle of the motor shaft 111 and feeds the rotational angle back to the control device 50. The drive force generated by the electric motor 10 is transmitted to the rotation transmission mechanism 20 through the motor shaft 111.
The rotation transmission mechanism 20 transmits the drive force of the electric motor 10 to the cylinder portion 30. The rotation transmission mechanism 20 includes a casing 21, two timing pulleys 22, 24, a timing belt 23, a rotary shaft 25 and two bearings 26, 27. The casing 21 receives the two timing pulleys 22, 24, the timing belt 23, the rotary shaft 25 and the two bearings 26, 27 inside. The electric motor 10 is fixed to the outer side of the casing 21 and the motor shaft 111 of the electric motor 10 is connected to the timing pulley 22. The cylinder portion 30 is fixed to the outer side of the casing 21 in such a manner as to be provided side by side with the electric motor 10. The rotary shaft 25 rotatably supported by the two bearings 26, 27 is connected to the timing pulley 24. The two timing pulleys 22, 24 are linked by the timing belt 23. The drive force generated by the electric motor 10 is transmitted from the timing pulley 22 to the timing pulley 24 via the timing belt 23 and rotates the rotary shaft 25 around an axis direction (here, the Z-direction) of the rotary shaft 25.
The cylinder portion 30 operates based on the drive force transmitted from the rotation transmission mechanism 20. The cylinder portion 30 includes a cylindrical body 30a, a strain detector 33, a ball screw mechanism 35, a nut 356, a rod 357, a reducer 36 and a sliding key 37. The cylindrical body 30a receives or holds the strain detector 33, the ball screw mechanism 35, the nut 356, the rod 357 and the reducer 36. An opening that enables access of the sliding key 37 to a groove of the rod, which will be described later, is provided in an outer circumferential surface of the cylindrical body 30a. The reducer 36 is connected to the ball screw mechanism 35 via a spline portion 35e of a ball screw 353. The rotary shaft 25 is connected to the reducer 36. The drive force of the rotary shaft 25 is transmitted to the ball screw mechanism 35 via the reducer 36 and the spline portion 35e of the ball screw 353 and then transformed to a drive force for linear motion of the rod by the ball screw mechanism 35 and the sliding key 37.
The nut 356 is threadably connected to the ball screw 353. A rotative force of the ball screw 353 is transmitted to the nut 356. The nut 356 is connected to the rod 357. A keyway provided in the rod 357 fits in the sliding key 37 provided at the cylindrical body 30a. The rotative force transmitted to the nut 356 is restricted from rotary motion, by the keyway of the rod 357 and the sliding key 37 and becomes a drive force in an axis direction (here, the Z-direction) of the ball screw 353. In this way, the nut 356 makes a linear motion together with the rod 357 in the axis direction of the ball screw 353 via a rotary motion of the ball screw 353.
The cylindrical body 30a supports the ball screw mechanism 35 in such a manner that the ball screw mechanism 35 is displaceable in the axis direction of the ball screw 353. The cylindrical body 30a includes a cylindrical body 31 (an example of a first cylindrical body), a cylindrical body 32 (an example of a second cylindrical body) and a cylindrical body 34 and is configured by the cylindrical body 31, the cylindrical body 32 and the cylindrical body 34 being joined. The cylindrical body 31 receives the bearing 351 and supports the bearing 351 in such a manner that the bearing 351 is displaceable in the axis direction of the ball screw 353. The inner diameter of the cylindrical body 31 is substantially equal to the outer diameter of the bearing 351. The cylindrical body 31 includes a contact portion 31b that the nut 356 in a linear motion abuts against. The contact portion 31b is a part (flange) that projects to the inner side of the cylindrical body 31 at a distal end of the cylindrical body 31. The inner diameter of the contact portion 31b is smaller than the outer diameter of the nut 356. Therefore, the nut 356 abuts against the contact portion 31b when moving to an end of the ball screw mechanism 35.
A gap 31a is provided between the contact portion 31b and the bearing 351. In other words, the contact portion 31b and the bearing 351 are not in contact with each other, allowing displacement, in the axis direction of the ball screw 353, of the ball screw mechanism 35 by the amount corresponding to the gap 31a. The gap 31a is, as an example, 0.5 to 2.0 mm, but is not limited to such size range, in other words, may be a gap of any size as long as such gap enables the later-described strain detector 33 to detect displacement of the ball screw mechanism 35.
The cylindrical body 32 receives the bearing 352 and supports the bearing 352 in such a manner that the bearing 352 is displaceable in the axis direction of the ball screw 353. In other words, the bearing 351 and the bearing 352 are displaceably supported by the cylindrical body 31 and the cylindrical body 32, respectively. The ball screw mechanism 35 is supported by the cylindrical body 31 and the cylindrical body 32 in such a manner as to be displaceable in the axis direction of the ball screw 353.
The strain detector 33 detects a value corresponding to a displacement of the ball screw mechanism 35. The strain detector 33 is, as an example, a load cell. The strain detector 33 includes an outer edge portion 33a and a movable portion 33b. The strain detector 33 is, as an example, a plate-like member. The outer edge portion 33a forms an edge of the plate-like member and is fixed to the cylindrical body 30a. As an example, the outer edge portion 33a is held between the cylindrical body 31 and the cylindrical body 32. The movable portion 33b is provided on the inner side of the outer edge portion 33a and is displaceable in the axis direction of the ball screw 353. For example, the movable portion 33b is connected to the outer edge portion 33a via an elastic portion 33c on the inner side of the outer edge portion 33a of the plate-like member. A strain gauge is provided in the elastic portion 33c. The strain gauge outputs a value corresponding to a displacement of the movable portion 33b based on strain of the elastic portion 33c according to the displacement of the movable portion 33b.
The bearing 351 is located between the contact portion 31b of the cylindrical body 30a and the movable portion 33b of the strain detector 33. The bearing 352 holds the movable portion 33b of the strain detector 33 jointly with the bearing 351. Consequently, the movable portion 33b is held between the bearing 351 and the bearing 352 and is displaced together with the bearing 351 and the bearing 352. A displacement of the ball screw mechanism 35 is transmitted to the movable portion 33b via the bearing 351 and the bearing 352.
Element (B) in
[Configuration of Control Device]
A signal corresponding to a displacement of the movable portion 33b of the strain detector 33 is input to the control section 51. The motor driver 52 is, for example, a servo amplifier. A signal corresponding to a rotational angle of the motor shaft 111 is input from the encoder 12 to the motor driver 52. The motor driver 52 controls the electric motor 10 by making an electric current flow in the motor body 11 based on the signal input from the encoder 12. A torque load factor of the electric motor 10 is calculated based on a value of the current flowing at this time and a rated current value of the electric motor 10.
The load cell amplifier section 511 converts a displacement of the movable portion 33b into a voltage value signal. The A/D conversion section 512 converts the voltage value signal input from the load cell amplifier section 511 into a digital electric signal. The gain setting section 513 adjusts a gain by multiplying the digital electric signal input from the A/D conversion section 512 by a multiplier. The offset setting section 514 adjusts an output of the strain detector 33 when there is no load, by adding a correction value to the digital electric signal input from the gain setting section 513. The load value conversion section 515 converts the digital electric signal input from the offset setting section 514 from the digital electric signal corresponding to the displacement of the movable portion 33b to a digital electric signal corresponding to a load applied to the movable portion 33b.
The motor driver communication section 518 bidirectionally communicates with the motor driver 52 and the arithmetic section 516. For example, the value of the current flowing in the motor body 11, the torque load factor based on the current value or the rotational angle of the motor shaft 111 is input from the motor driver 52 to the motor driver communication section 518. The motor driver communication section 518 outputs a signal for controlling the electric motor 10 to the motor driver 52 based on an instruction input from the arithmetic section 516.
The arithmetic section 516 outputs the load received by the movable portion 33b to the storage section 517 based on the digital electric signal input from the load value conversion section 515. The arithmetic section 516 outputs, e.g., the value of the current applied to the motor body 11, the torque load factor based on the current value or the rotational angle of the motor shaft 111 (an example of a value corresponding to the displacement of the ball screw mechanism), which has been input from the motor driver communication section 518, to the storage section 517. Also, the arithmetic section 516 outputs an instruction for controlling the electric motor 10 to the motor driver 52 by referring to the storage section 517.
The arithmetic section 516 performs control of the electric motor 10 based on the load on the strain detector 33, the load being stored in the storage section 517, and detects an abnormality of the strain detector 33 based on the torque load factor of the electric motor 10 at this time. For example, the arithmetic section 516 stores a torque load factor of the electric motor 10 and a load on the movable portion 33b in the storage section 517 as reference values. The reference value is a torque load factor when a load is actually imposed. Next, the arithmetic section 516 outputs an instruction for pushing the nut 356 against the contact portion 31b to the motor driver 52, until the resulting load becomes equal to the load stored in the storage section 517. The arithmetic section 516 compares the torque load factor of the electric motor 10 obtained as a result of the nut 356 being pushed against the contact portion 31b and the torque load factor (an example of a reference value) stored in the storage section 517 with each other and the arithmetic section 516 detects an abnormality of the strain detector 33.
[Operation of Electric Cylinder System]
Next, an example of the process of the electric cylinder 1 detecting an abnormality of the strain detector 33 will be described.
As illustrated in
Subsequently, as displacement processing (step S2), the control device 50 makes the ball screw mechanism 35 including the ball screw 353 be displaced in the axis direction of the ball screw 353 with the contact portion 31b of the cylindrical body 30a as a fulcrum, by the abutted nut 356 (Element (B) in
Subsequently, as displacement detection processing (step S3), the control device 50 detects a value corresponding to the displacement, via the strain detector 33 fixed to the cylindrical body 30a.
Subsequently, as abnormality determination processing (step S4), the control device 50 detects an abnormality of the strain detector 33 based on the value corresponding to the displacement, which has been detected in the displacement detection processing (step S3). The control device 50 calculates the torque load factor of the electric motor 10 based on, for example, a displacement of the ball screw mechanism 35, the displacement being detected by the strain detector 33 at a predetermined load value. Then, the control device 50 detects an abnormality of the strain detector 33 based on a comparison between the torque load factor of the electric motor 10 and the reference value (torque load factor when a load is actually imposed) stored in the storage section 517. For example, if the absolute value of the difference between the torque load factor of the electric motor 10 and the reference value is equal to or below a threshold value set in advance, the control device 50 determines that the strain detector 33 is normal. For example, if the absolute value of the difference between the torque load factor and the reference value of the electric motor 10 exceeds the threshold value set in advance, the control device 50 determines that the strain detector 33 is abnormal. Upon an end of the abnormality determination processing (step S4), the flowchart illustrated in
By the flowchart illustrated in
The control device 50 can also detect an abnormality of the strain detector 33 by varying the predetermined load value described with reference to
In the process in
As illustrated in
In step S12, the control device 50 calculates a torque load factor of the electric motor 10 when the first target load is applied to the strain detector 33 and stores the torque load factor in the storage section 517 as a reference value. As illustrated in
The procedure of the control device 50 with a torque load factor stable range set calculating a torque load factor will be described with reference to
In steps S14 to S16, operations that are the same as those in steps S10 to S12 above are performed with the target load changed to the second target load. Also, in steps S18 to S20, operations that are the same as those in steps S10 to S12 above are performed with the target load changed to the third target load. In steps S10 to S20, the torque load factors of the electric motor 10 for the three target loads are stored in the storage section 517 as reference values. In step S22, the control device 50 makes the rod 357 and the nut 356 abutting against the contact portion 31b move to a predetermined original position at which no load is applied to the strain detector 33 in the axis direction of the ball screw 353. Upon an end of step S22, the flowchart illustrated in
Next, the process of detecting an abnormality of the strain detector 33 will be described. Detection of an abnormality of the strain detector 33 is performed during regular work, and for example, is performed during an inspection before a start of work. As illustrated in
In step S32, the control device 50 calculates a torque load factor of the electric motor 10 when the first target load is applied to the strain detector 33 and performs a comparison with the torque load factor in step S12. More specifically, the arithmetic section 516 compares the torque load factor in step S12 stored in the storage section 517 as a reference value and the actual torque load factor in step S32 with each other. The comparison refers to the work of setting a threshold value for the torque load factor in step S12 stored in the storage section 517 as a reference value and determining whether or not an actual torque load factor falls within the threshold value.
In steps S34 to S36, operations that are the same as those in steps S30 to S32 above are performed with the target load changed to the second target load. Also, in steps S38 to S40, operations that are the same as those in steps S30 to S32 above are performed with the target load changed to the third target load. In step S42, as in step S22, the control device 50 makes the rod 357 and the nut 356 move to the predetermined original position.
In step S44, an abnormality of the strain detector 33 is detected based on respective results of the comparisons in steps S32, S36 and S40. As an example, if the results of the torque load factor comparisons for the respective target loads all fall within the threshold value, the arithmetic section 516 determines that the strain detector 33 is normal and outputs a normality determination in step S46. In a case not falling under the above, the arithmetic section 516 determines that there is an abnormality in the strain detector 33 and outputs the abnormality determination in step S48.
The process in steps S10 to S22 is stored in the storage section 517 as an operation program for master data acquisition. Also, the process in steps S30 to S42 is stored in the storage section 517 as an operation program for detection of an abnormality of the strain detector 33. The control device 50 executes the above programs via an operator's operation.
According to the electric cylinder system 100 and the method of detecting an abnormality of the electric cylinder 1, the nut 356 makes a linear motion in the axis direction of the ball screw 353 via a rotary motion of the ball screw 353. The nut 356 in the linear motion abuts against the contact portion 31b of the cylindrical body 30a, causing a load to be generated on the ball screw mechanism 35 with the contact portion 31b of the cylindrical body 30a as a fulcrum. The ball screw mechanism 35 is displaced in the axis direction of the ball screw 353 by the generated load. The strain detector 33 detects a value corresponding to the displacement of the ball screw mechanism 35. In this way, this electric cylinder system 100 can apply a load to the strain detector 33 without using a workpiece. Therefore, the control section 51 of this electric cylinder 1 can detect an abnormality of the strain detector 33 based on the value detected by the strain detector 33 when there is a load. In other words, the control section 51 can detect an abnormality of the strain detector 33 in consideration of variation in relationship between the output value of the strain detector 33 and the load due to age-related deterioration (variation due to curing and deterioration of an adhesive material for the strain gauge). Therefore, this electric cylinder system 100 enables enhancing the accuracy of detection of an abnormality of the strain detector 33 in comparison with the case of detecting an abnormality of the strain detector 33 based only on an output of the strain detector 33 when there is no load.
Because of the cylindrical body 30a including the cylindrical body 31 supporting the bearing 351, the contact portion 31b being provided in the cylindrical body 31, and the cylindrical body 32 supporting the bearing 352, processing of the contact portion 31b is easy, and thus, it is possible to reduce time necessary for manufacture of the cylindrical body 30a in comparison with the case of manufacturing the cylindrical body 30a from a single member.
Because of the gap 31a being provided between the contact portion 31b of the cylindrical body 30a and the bearing 351 in the axis direction of the ball screw 353, the ball screw mechanism 35 can move in the direction approaching the contact portion 31b by the amount corresponding to the gap 31a. Therefore, until the bearing 351 comes into contact with the contact portion 31b, the strain detector 33 can properly measure an amount of displacement of the ball screw mechanism 35 for a load.
[Alterations]
Although various exemplary embodiments have been described above, the present disclosure is not limited to the above exemplary embodiments, but various omissions, replacements and changes may be made. For example, detection of an abnormality of the strain detector 33 may be performed with the torque load factor replaced with the current value. Also, with target torque load factors set instead of the target loads, the process of detecting an abnormality of the strain detector 33 by performing comparison of a load at each target torque load factor may be provided. An abnormality of the strain detector 33 may be detected by calculating torque load factors for a plurality of target loads and evaluating the linearity of the output of the strain detector 33.
The electric cylinder system 100 may detect an abnormality of the strain detector 33 when pressing a workpiece. In this case, a workpiece pressing portion 35c of the rod 357 in a linear motion in the extension direction abuts against a workpiece (not illustrated). The rod 357 displaces the ball screw mechanism 35 in the contraction direction of the rod 357 with the workpiece as a fulcrum. As a result of the displacement in the contraction direction of the ball screw mechanism 35, the gap 32a becomes smaller and the gap 31a becomes wider. The movable portion 33b is displaced together with the ball screw mechanism 35 and becomes more away from the nut 356 than the outer edge portion 33a is. The control device 50 measures a load on the strain detector 33 based on a signal corresponding to the displacement of the movable portion 33b. When the load reaches the first target load, the control device 50 makes the rod 357 stop with the rod 357 maintained in abutment with the workpiece. By operating in this way, the electric cylinder system 100 can detect an abnormality of the strain detector 33 when pressing a workpiece. Such operation is implemented by holding the movable portion 33b of the strain detector 33 via the two bearings 351, 352. With such configuration, no matter which side in the axis direction of the ball screw 353 the ball screw mechanism 35 is displaced to, the strain detector 33 can detect the displacement.
In the electric cylinder system 100, a contact portion that a distal end of the nut 356 abuts against may be provided at an inner portion of the cylindrical body 34. In this case, the electric cylinder system 100 can detect an abnormality of the strain detector 33 through a procedure that is the same as that of the above-described case of pressing a workpiece.
The electric cylinder 1 may include no bearings 351, 352. The cylindrical body 30a may be configured by a single member. The cylindrical body 31 and the cylindrical body 34 may be formed integrally. The strain detector 33 only needs to be fixed to the cylindrical body 30a and is not limited to being held between separated cylindrical bodies.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-163015 | Sep 2019 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/032220 | 8/26/2020 | WO |
