JP2010041864A - Electric actuator - Google Patents

Abstract

An electric actuator capable of pressing a moving body moved to an end point against a pressed body and enabling the pressed body to be clamped or pressed into the pressed body.
An electric actuator 11 operates an encoder 20 that detects position information of a slider 13, speed adjusters 42a and 42b of the slider 13, a learning unit that learns a moving distance of the slider 13, and a learning unit. Operating buttons 44 a and 44 b, a control unit 30 that outputs a drive signal to the electric motor M, and a thrust adjuster 43 for the slider 13. After positioning the slider 13 at the end point, the control unit 30 of the electric actuator 11 outputs a drive signal to the electric motor M on the basis of the thrust set according to the operation of the thrust adjuster 43, and the thrust is applied to the slider 13. The slider 13 is pressed against the work. As a result, the workpiece can be clamped by the sandwiching body and the slider 13 of the electric actuator 11.
[Selection] Figure 1

Description

  The present invention relates to an electric actuator that moves a moving body by a driving force of an electric motor.

  Conventionally, an electric actuator has been widely used as a means for conveying a workpiece or the like (for example, see Patent Document 1). The electric actuator of Patent Document 1 transmits a driving force of a motor to a slider via a slider that moves linearly to move or convey a workpiece, a motor that includes a drive shaft, and a gear portion that is fitted to the drive shaft. Has a timing belt. Further, the electric actuator has a pair of stoppers each including a stopper bolt for adjusting the relative stop position of the start point and the end point of the slider, and a control panel that controls the movement of the slider and controls the electric actuator in an integrated manner.

  The electric actuator also includes an encoder that detects position information of the slider, a speed adjuster for setting the speed of the constant speed movement of the slider, and an acceleration adjuster for setting the acceleration of the acceleration movement of the slider. . Further, the control panel includes a learning unit that learns the moving distance of the slider, and a learning operation operator for operating the learning unit.

  According to the electric actuator of Patent Document 1, the stop position of the start point and end point of the slider is set by adjusting the position of the stopper, and the moving distance of the slider is set by a control panel command according to the operation of the learning operation operator. Let them learn. Further, the speed and acceleration of the slider are set by the speed controller and the acceleration controller. Then, the control panel outputs a drive signal to the motor based on the position information from the encoder, the set speed condition of the constant speed movement of the slider, the acceleration condition of the acceleration movement, and the learned movement distance, and the slider Move. As a result, when the slider approaches the start point or end point, the control panel controls the slider to a speed lower than the speed of the constant speed movement so that the slider comes into contact with the start point or end point and is positioned at the start point or end point. Yes.

Further, as disclosed in Patent Document 1, as the electric actuator, in addition to the one that moves the slider linearly to convey or move the workpiece, the rotary table that supports the workpiece is rotated to move or convey the workpiece or the like. There are also things.
JP 2004-54789 A

  By the way, the electric actuator as disclosed in Patent Document 1 is intended to convey or move a workpiece or the like supported by a slider from a start point to an end point. Therefore, in Patent Document 1, a slider of an electric actuator is pressed against a work (a pressed body) and the work is clamped using the electric actuator, or a slider is pressed against the work (a pressed body). There is no disclosure or suggestion about press-fitting a workpiece into a press-fit body using an electric actuator. In addition, the electric actuator provided with the rotary table is also intended to convey or move the work supported by the rotary table from the start point to the end point.

  An object of the present invention is to provide an electric actuator capable of pressing a moving body moved to an end point against a pressed body, and enabling the pressed body to be clamped or pressed into the pressed body.

  In order to solve the above-described problems, the invention according to claim 1 includes a moving body that is moved by a driving force of an electric motor, an actuator body that supports the moving body, and a start point and an end point of the moving body. A position information detector for detecting the position information of the moving body, a speed adjuster for setting the speed of the moving body, a learning section for learning a moving distance between the start point and the end point of the moving body, and the learning section A learning operation operator for operating the learning motor, a control unit for controlling the electric motor, and a thrust adjuster for generating a thrust in the moving body, according to the operation of the learning operation operator The learning unit learns the moving distance of the moving body, and the control unit learns the position information from the position information detector, the speed set by the speed adjuster, and the moving distance learned by the learning unit. Based on the electric A drive signal is output to the motor to move the movable body between the start point and the end point, and the controller is further configured to control the electric motor based on a thrust set according to an operation of the thrust adjuster. The gist of the invention is that a driving signal is output to the motor to cause the moving body to generate thrust.

  According to a second aspect of the present invention, the electric actuator according to the first aspect includes a temperature detector that detects a temperature of the electric motor, and a detection result of the temperature detector in a state where the thrust is continuously generated. The gist of the present invention is to have a notifying unit for notifying the user of the temperature abnormality when the electric motor is determined to be temperature abnormal.

  The invention according to claim 3 is the electric actuator according to claim 1 or 2, wherein the moving body is a slider that linearly moves on the actuator body by a driving force of the electric motor. To do.

  According to a fourth aspect of the present invention, in the electric actuator according to the first or second aspect, the moving body is integrated with a rotary table that rotates on the actuator body by a driving force of the electric motor, and the rotary table. The gist of the invention is that the clamp arm is rotatably provided.

  ADVANTAGE OF THE INVENTION According to this invention, the moving body which moved to the end point can be pressed against a to-be-pressed body, and the electric actuator which enabled the press-fit to the clamp of a to-be-pressed body or a to-be-pressed body can be provided.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of an electric actuator according to the present invention will be described with reference to FIGS. In the following description, “front” and “rear” of the electric actuator are the front and rear directions in the direction of the arrow Y1 shown in FIGS. 1 and 6, and “upper” and “lower” are shown in FIGS. The direction of the arrow Y2 is the vertical direction.

  As shown in FIG. 1, the electric actuator 11 has an actuator body 12 having a rectangular plate shape, and as shown in FIG. 6, the upper surface of the actuator body 12 is arranged in the front-rear direction (axial direction) of the actuator body 12. A guide rail 12a extending linearly along is formed. A slider 13 as a moving body is slidably attached to the guide rail 12a, and the slider 13 is supported by the guide rail 12a so as to be linearly movable in the front-rear direction (axial direction) of the actuator body 12.

  In addition, a pair of rods 14 are accommodated in the actuator body 12 so as to be movable along the front-rear direction (axial direction) of the actuator body 12, and the pair of rods 14 can protrude and retract from the front end (one end) of the actuator body 12. Is provided. A slider end plate 15 is joined to the front end (tip) of each rod 14, and the front end of the slider 13 is joined to the slider end plate 15. Therefore, when the rod 14 protrudes from the actuator main body 12, the slider 13 moves forward (advances) via the slider end plate 15. On the other hand, when the rod 14 is immersed in the actuator body 12, the slider 13 moves backward (reverse) through the slider end plate 15.

  The front end of the adapter case 16 is joined to the rear end (other end) of the actuator body 12. The slider 13 is configured such that the movement distance of the rod 14 is restricted by a movement restricting member provided in the actuator body 12. The position at which the rod 14 abuts against the movement restricting member in the actuator body 12 is the starting point of the slider 13.

  As shown in FIG. 1, a motor housing plate 17 is joined to the rear end of the adapter case 16. A front end (one end) of a motor case 18 that opens forward and backward is joined to the rear end of the motor housing plate 17, and the front opening of the motor case 18 is closed by the motor housing plate 17. Further, an end plate 19 is joined to the rear end of the motor case 18, and an opening on the rear side of the motor case 18 is closed by the end plate 19.

  An electric motor M (stepping motor) including an encoder 20 serving as a position information detector for detecting position information of the slider 13 is accommodated in a space surrounded by the motor housing plate 17, the motor case 18, and the end plate 19. In addition, a control unit 30 that controls driving of the electric motor M is accommodated. The driving force of the electric motor M is converted into a linear motion in the front-rear direction of the rod 14 by a ball screw 32 (see FIG. 2) as a driving force transmission means, and the slider 13 is moved linearly.

  As shown in FIG. 2, the control unit 30 is connected to a host control device 31 (programmable logic controller, so-called PLC) for integrating and controlling a device on which the electric actuator 11 is mounted, and the control unit 30. And a power source P for driving the electric motor M. Moreover, the control part 30 has each function, such as control in the electric actuator 11, a comparison, a determination, and has CPU40 for integrating and processing these. Although not shown, the control unit 30 includes a converter and a drive circuit unit that amplifies a drive signal output from the CPU 40 in order to drive the electric motor M.

  The control unit 30 is electrically connected to the encoder 20, and the control unit 30 estimates the position of the slider 13 based on position information from the encoder 20. Further, a temperature sensor 41 as a temperature detector for detecting the temperature of the electric motor M is electrically connected to the control unit 30. The controller 30 is electrically connected to speed adjusters 42a and 42b and a thrust adjuster 43 operated by a user. The speed adjusters 42a and 42b are for setting the speed and acceleration, which are the movement conditions of the slider 13, and control the output pulse interval of the drive signal output to the electric motor M to control the rotation speed of the electric motor M. It is something to control. The thrust adjuster 43 is for setting a thrust for pressing the slider 13 against a work W (see FIG. 6) as a pressed body, and outputs a drive signal output to the electric motor M. The torque of the electric motor M is controlled by controlling the magnitude of the pulse.

  In order to learn the moving distance of the slider 13, operation buttons 44 a and 44 b as learning operation operators for moving the slider 13 at a predetermined speed are electrically connected to the control unit 30. Further, the controller 30 is electrically connected to an LED 45 for notifying (displaying) the operating state of the electric actuator 11 and the abnormality of the electric motor M to the user. The LED 45 has a power display that is displayed when the power of the control unit 30 is turned on, and an alarm display that is displayed when an abnormality occurs in the electric motor M. The control unit 30 has a timer 48. The timer 48 measures an elapsed time from the time when the slider 13 generates thrust. That is, the timer 48 measures the continuous generation time of thrust.

  The control unit 30 includes a storage unit 47, and the storage unit 47 stores setting conditions and the like input from the speed adjusters 42 a and 42 b and the thrust adjuster 43. Further, the storage unit 47 stores the moving distance of the slider 13 detected by the encoder 20 when the slider 13 is moved (forward and backward) by the operation buttons 44a and 44b. In the present embodiment, the control unit 30 and the storage unit 47 constitute a learning unit.

  Further, the control unit 30 estimates the temperature of the electric motor M based on the temperature information output from the temperature sensor 41 and performs drive control of the electric motor M based on the estimated temperature of the electric motor M. The storage unit 47 stores a map in which the temperature information from the temperature sensor 41 is associated with the temperature of the electric motor M. Based on this map, the control unit 30 estimates the temperature of the electric motor M. Further, the storage unit 47 stores a temperature threshold value to be compared with the estimated temperature of the electric motor M as information. This temperature threshold is set to a value much lower than the temperature at which the electric motor M may be burned.

  Further, the control unit 30 performs drive control of the electric motor M based on time information output from the timer 48. In the storage unit 47, a threshold value of time to be compared with time information is stored as information. The threshold of this time is set to a value that is much shorter than the time during which the electric motor M may be burned when thrust is continuously generated.

  The storage unit 47 stores various programs such as a drive control program for driving and controlling the electric actuator 11, and the control unit 30 drives and controls the electric actuator 11 based on the drive control program and the like.

  As shown in FIG. 3, each of the speed adjusters 42 a and 42 b and the thrust adjuster 43 includes an operation unit exposed on the operation surface 19 a of the end plate 19, and each operation unit includes a general volume. Yes. The operation surface 19a is provided with an operation unit for the forward speed adjuster 42a and an operation unit for the reverse speed adjuster 42b. The operation buttons 44a and 44b are provided with an operation part exposed on the operation surface 19a of the end plate 19, and each operation part is constituted by a push button. The operation surface 19a is provided with an operation portion for the forward operation button 44a and an operation portion for the reverse operation button 44b.

  Then, as shown in FIG. 6, the electric actuator 11 configured as described above presses the tip of the slider 13 against a work W as a pressed body, and presses the work W against the holding body K to hold it with the slider 13. Used to clamp the workpiece W with the body K.

Next, the setting of each condition by the user performed for clamping the workpiece W using the electric actuator 11 will be described.
First, the power supply P of the electric actuator 11 is turned on, and the slider 13 is positioned at the starting point. And as shown in FIG. 4, while setting the moving distance of the slider 13, a learning part is made to learn the moving distance (step S1). The moving distance of the slider 13 is a distance from the start point to the end point. The end point of the slider 13 is a position when the workpiece W is pressed against the clamping body K in order to clamp the workpiece W by the slider 13 and the clamping body K. When the learning unit learns the movement distance, a positioning member (not shown) is arranged at a position that is the end point of the slider 13.

  In step S1, when the user of the electric actuator 11 operates the forward operation button 44a, the slider 13 moves (advances) toward the positioning member at a predetermined constant speed. Next, when the operation button 44a is long pressed while the slider 13 is in contact with the positioning member, the forward position of the slider 13 is calculated based on the position information (number of output pulses) output from the encoder 20.

  In step S1, the user of the electric actuator 11 operates the reverse operation button 44b, so that the slider 13 moves (reverses) from the positioning member toward the adapter case 16 at a predetermined constant speed. Next, when the operation button 44b is pressed for a long time with the slider 13 returned to the starting point, the backward movement position of the slider 13 is calculated and learned based on the position information (number of output pulses) output from the encoder 20. Then, the movement distance learned when moving forward and backward is stored in the storage unit 47.

  Next, in step S <b> 2, the user of the electric actuator 11 operates the speed adjusters 42 a and 42 b to adjust the speed of the slider 13 (at the time of forward movement and reverse movement) to a desired value, and the control unit 30. Is stored in the storage unit 47. As shown in FIG. 7, the speed of the slider 13 is equal acceleration movement (acceleration movement) at a predetermined acceleration until a first time point t1 after a predetermined time has elapsed from the movement start time t0, and a predetermined time has elapsed from the first time point t1. Up to the second time point t2, it is set to move at a constant speed at a predetermined set speed. Furthermore, the speed of the slider 13 is set so as to move at a constant acceleration (decelerate movement) at a predetermined acceleration from a second time t2 to a third time t3 (end point) after a predetermined time has elapsed. Further, during the movement of the slider 13, the maximum torque is generated in the electric motor M from the movement start time t0 to the third time t3 until the deceleration movement ends. The control unit 30 automatically sets the acceleration of the slider 13 based on the set moving distance and speed. This acceleration is set so that the impact when the slider 13 comes into contact with the start point and the end point can be reduced.

  As shown in FIG. 4, in step S3, the user of the electric actuator 11 operates the thrust adjuster 43 so that the slider 13 reaches the end point until the fourth time point t4 after a predetermined time has elapsed. The thrust generated in the slider 13 is adjusted to a desired value. The thrust adjusted by the thrust adjuster 43 is stored in the storage unit 47 of the control unit 30. This thrust is set to be lower than the maximum torque generated in the electric motor M when the slider 13 is moved.

  In this way, the user of the electric actuator 11 operates the speed adjusters 42a and 42b and the thrust adjuster 43, so that the user of the electric actuator 11 can change the moving condition while confirming the moving state of the slider 13. Can be set.

  Next, drive control of the electric actuator 11 performed by the control unit 30 when thrust is generated on the slider 13 and the workpiece W is clamped by the electric actuator 11 will be described. FIG. 5 is a flowchart showing a drive control program for the electric actuator 11 executed by the control unit 30.

  Now, in a state where the slider 13 is disposed at the starting point and the workpiece W is disposed between the slider 13 and the sandwiching body K, the control unit 30 outputs a drive signal to the electric motor M, and the electric motor M rotates. The number is controlled (step S11). Then, as shown in FIG. 7, the slider 13 is moved at a constant acceleration (accelerated movement) at a predetermined acceleration from the movement start time t0 to the first time t1, and is predetermined from the first time t1 to the second time t2. Move at a constant speed. Further, the slider 13 moves at a constant acceleration (decelerates) at a predetermined acceleration from the second time point t2 to the third time point t3.

  Next, the control unit 30 determines whether the slider 13 has moved a predetermined movement distance based on the position information output from the encoder 20 and the movement distance stored in the storage unit 47 and has reached the end point. Determination is made (step S12). When the determination result is affirmative determination, the control unit 30 switches the control of the electric motor M from the rotation speed control to the torque control, and adjusts the drive signal (pulse width) output to the electric motor M to adjust the electric motor M to A predetermined thrust lower than the maximum torque is generated (step S13). Then, the slider 13 is pressed against the workpiece W with a predetermined thrust. As a result, the workpiece W is clamped by the slider 13 and the sandwiching body K from the third time point t3 to the fourth time point t4.

  On the other hand, when the determination result of step S12 is negative, the control unit 30 returns to step S11 and thereafter repeats the steps up to step S12. Next, the control unit 30 compares the temperature information from the temperature sensor 41 with the temperature threshold value stored in the storage unit 47 in a state where thrust is generated in the slider 13, and the electric motor M has no temperature abnormality. It is determined whether or not (step S14). When the determination result is affirmative determination, that is, when there is no temperature abnormality in the electric motor M, the control unit 30 waits for a control signal from the host control device 31.

  On the other hand, if the determination result in step S14 is negative, that is, if the electric motor M has a temperature abnormality, the control unit 30 adjusts the drive signal (pulse width) output to the electric motor M, and the electric motor The electric motor M is controlled so that the torque of M decreases.

  Next, drive control of the electric actuator 11 performed by the control unit 30 when thrust is continuously generated in the slider 13 will be described. FIG. 8 is a flowchart showing a drive control program for the electric actuator 11 executed by the control unit 30.

  Now, in a state in which the thrust is continuously generated in the slider 13, the control unit 30 compares the time information from the timer 48 with the time threshold stored in the storage unit 47, and the elapsed time exceeds the threshold. If it determines with having generate | occur | produced (step 21), the control part 30 will compare the temperature information from the temperature sensor 41, and the threshold value of the temperature memorize | stored in the memory | storage part 47. FIG. And the control part 30 determines whether there is no temperature abnormality in the electric motor M (step S22). When the determination result is affirmative determination, that is, when there is no temperature abnormality in the electric motor M, the control unit 30 waits for a control signal from the host control device 31.

  On the other hand, when the determination result of step S22 is negative, that is, when the temperature of the electric motor M is abnormal, the control unit 30 adjusts the drive signal (pulse width) output to the electric motor M, and the electric motor The electric motor M is controlled so that the torque of M decreases (step S23). Next, the control unit 30 turns on the alarm display LED 45 to notify the user that the thrust has been reduced.

According to the above embodiment, the following effects can be obtained.
(1) The electric actuator 11 includes a thrust adjuster 43 that generates a thrust on the slider 13 after the slider 13 is positioned at the end point. For this reason, the slider 13 can be pressed against the workpiece W by generating a thrust on the slider 13. Therefore, the work W can be clamped between the clamping body K by the slider 13 of the electric actuator 11, and the electric actuator 11 can be used as a clamping means.

  (2) The electric actuator 11 includes a temperature sensor 41 that detects the temperature of the electric motor M. When it is determined that the temperature of the electric motor M has become abnormal based on the temperature information from the temperature sensor 41 when thrust is generated on the slider 13 and the workpiece W is clamped using the electric actuator 11. The control unit 30 performs control to reduce the torque of the electric motor M, and lights the LED 45 to notify the user of the temperature abnormality. Therefore, seizure of the electric motor M when the electric actuator 11 is used as the clamping means can be prevented.

  (3) The slider 13 moves linearly on the actuator body 12. Therefore, by moving the slider 13 linearly toward the workpiece W, the workpiece W can be reliably clamped by the sandwiching body K and the slider 13.

  (4) The thrust (torque) generated in the slider 13 when the workpiece W is clamped is set smaller than the torque generated when the slider 13 is moved. For this reason, for example, compared with the case where the slider 13 is pressed against the workpiece W and clamped with the torque when moving the slider 13 at a constant speed, the power consumption when clamping the workpiece W can be suppressed.

  (5) Since the electric actuator 11 includes the thrust adjuster 43 and the torque generated by the electric motor M when the slider 13 is positioned at the end point can be adjusted, the work W can be clamped by the slider 13. The hardness of the workpiece W varies depending on the type of the workpiece W. By making it possible to change the torque generated in the electric motor M by the thrust adjuster 43, even the workpiece W having various hardnesses can be clamped by the electric actuator 11.

  (6) The electric actuator 11 has a function of reducing the torque of the electric motor M when the workpiece W is clamped by the slider 13 for a long time. For this reason, for example, power consumption can be suppressed as compared with a case where the workpiece W is clamped by generating a constant torque for a long time.

  (7) In the electric actuator 11, the end plate 19 is joined to the motor case 18 that houses the electric motor M and the control unit 30, and the speed adjusters 42 a and 42 b and the thrust adjuster 43 are connected to the operation surface 19 a of the end plate 19. , And operation buttons 44a and 44b are provided. Therefore, for example, when the control unit provided with the speed adjusters 42a and 42b, the thrust adjuster 43, and the operation buttons 44a and 44b is provided separately from the motor case 18 and connected to the electric motor M by a cable or the like. In comparison, the electric actuator 11 can be made compact.

In addition, you may change the said embodiment as follows.
As shown in FIG. 9, the electric actuator 50 may be embodied as a type in which an actuator body 52 includes a rotary table 51 and a clamp arm 53 as moving bodies. In this electric actuator 50, a clamp arm 53 is attached to a rotary table 51 so as to be integrally rotatable. The clamp arm 53 has a plate shape. The actuator body 52 has an operation surface 52a on the side surface, and the operation portions of the speed adjusters 42a and 42b, the thrust adjuster 43, and the operation buttons 44a and 44b are exposed on the operation surface 52a.

  Then, as shown by a two-dot chain line in FIG. 9, a state where the clamp arm 53 is positioned so as to extend in the vertical direction is a starting point of the rotary table 51. A position obtained by rotating the rotary table 51 by 90 degrees from the starting point is set as the end point of the rotary table 51. Then, after the rotary table 51 is rotated from the start point to the end point, the thrust set by the thrust adjuster 43 is generated in the rotary table 51. Then, the clamp arm 53 can be pressed against the workpiece W by the rotary table 51. Therefore, the workpiece W can be clamped between the clamping body K by the clamp arm 53 of the electric actuator 50, and the electric actuator 11 can be used as a clamping means.

  The electric actuator 50 shown in FIG. 9 may be used as a conveying means for the workpiece W. That is, the work table W is placed on the turntable 51 and the turntable 51 is rotated. At this time, when the rotary table 51 is positioned at the end point, the thrust adjuster 43 causes the rotary table 51 to generate a thrust. If comprised in this way, when the turntable 51 is urged | biased by the biasing member (for example, spring member) in the direction rotated toward a starting point, the turntable 51 is resisted against the biasing force of a biasing member. Can be held at the end point.

  Further, the electric actuator 50 shown in FIG. 9 may be used in a vertical posture so that the rotary table 51 rotates from the upper side to the lower side. In this case, the clamp arm 53 is deleted. At this time, when the rotary table 51 is positioned at the end point, the rotary table 51 can be held at the end point by generating a thrust in the rotary table 51. Therefore, even if the weight of the turntable 51 and the mass of the work W are applied to the turntable 51, the turntable 51 is prevented from rotating downward, and the state in which the work W is conveyed to the end point is maintained. Can do.

  Further, in the electric actuator 50 shown in FIG. 9, the electric actuator 50 is used so that the clamp arm 53 attached to the rotary table 51 is pressed against the work W and the work W is press-fitted into the press-fit object by the pressing. Also good. When used in this way, the work W can be press-fitted into the press-fit object by adjusting the thrust generated in the rotary table 51 in accordance with the rigidity of the press-fit object and the rigidity of the work W.

  The electric actuator 11 may be used as a means for conveying the workpiece W. That is, the work 13 is placed on the slider 13 and the slider 13 is moved. At this time, when the slider 13 is positioned at the end point by the thrust adjuster 43, the power consumption of the electric motor M can be suppressed by setting the thrust generated by the slider 13 to the minimum.

  In addition, the electric actuator 11 may be used as a means for conveying the workpiece W. Here, when the electric actuator 11 is arranged in a vertical posture so that the slider 13 of the electric actuator 11 moves in the vertical direction, when the slider 13 is positioned at the upper end of the guide rail 12a which is the end point thereof, a thrust is applied to the slider 13. By generating, the slider 13 can be held at the end point. Therefore, even if the weight of the slider 13 and the mass of the workpiece W are applied to the slider 13, the slider 13 can be prevented from moving downward, and the state where the workpiece W is conveyed to the end point can be maintained.

  The electric actuator 11 may be used so that the slider 13 of the electric actuator 11 is pressed against the work W and the work W is press-fitted into the press-fit body by the pressing. When used in this way, the work W can be press-fitted into the press-fit body by adjusting the thrust generated in the slider 13 in accordance with the rigidity of the press-fit body and the rigidity of the work W.

O When the temperature of the electric motor M is abnormal, a warning sound or the like may be output from the audio output unit to notify the user of the temperature abnormality. In this case, the audio output unit constitutes the notification unit.
Next, the technical idea that can be grasped from the above embodiment and other examples will be described below.

  (1) A moving body that moves by driving force of an electric motor, an actuator body that supports the moving body, a position information detector that detects position information between a start point and an end point of the moving body, and the moving body A speed controller for setting the speed of the moving body, a learning unit for learning a moving distance between the start point and the end point of the moving body, a learning operation operator for operating the learning unit, and the electric motor A control unit that outputs a driving signal to the moving body and a thrust adjuster that generates a thrust force on the moving body, and the learning section learns a moving distance of the moving body according to an operation of the learning operation operator. The control unit outputs a drive signal to the electric motor based on the position information from the position information detector, the speed set by the speed adjuster, and the moving distance learned by the learning unit. The move When the movable body is positioned at the end point, the control unit outputs a drive signal to the electric motor based on the thrust set by the operation of the thrust adjuster, and the movement A method for controlling an electric actuator, characterized in that a thrust is generated on a body so that the movable body is pressed against a pressed body.

The perspective view which shows the electric actuator of embodiment. The block diagram which shows the electric structure of an electric actuator. The figure which shows an operation surface. The flowchart which shows the setting procedure of each condition by a user. The flowchart showing the drive control program of an electric actuator. The perspective view which shows the state which clamped the workpiece | work with the slider. The figure which shows the speed and torque fluctuation | variation of an electric motor. The flowchart showing the drive control program of an electric actuator. The perspective view which shows the electric actuator of another example.

Explanation of symbols

  M ... Electric motor, 12, 52 ... Actuator body, 13 ... Slider as moving body, 20 ... Encoder as position information detector, 30 ... Control unit constituting learning unit, 41 ... Temperature sensor as temperature detector, 42a, 42b ... speed controller, 43 ... thrust adjuster, 44a, 44b ... operation buttons as learning operation operators, 45 ... LEDs as notification units, 47 ... storage unit constituting learning unit, 51 ... moving body Rotating table as 53, clamp arm as moving body.

Claims (4)

A moving body that is moved by the driving force of the electric motor;
An actuator body for supporting the moving body;
A position information detector for detecting position information between a start point and an end point of the moving body;
A speed regulator for setting the speed of the moving body;
A learning unit for learning a movement distance between the start point and the end point of the moving body;
A learning operation operator for operating the learning unit;
A control unit for controlling the electric motor;
A thrust adjuster for generating thrust on the moving body;
The learning unit learns the moving distance of the moving body according to the operation of the learning operation operator, and the control unit sets the position information from the position information detector and the speed adjuster. A driving signal is output to the electric motor based on the speed and the moving distance learned by the learning unit so as to move the moving body between the start point and the end point;
Furthermore, the control unit outputs a drive signal to the electric motor based on a thrust set in accordance with an operation of the thrust adjuster so as to generate a thrust in the moving body. Actuator.   A temperature detector for detecting the temperature of the electric motor, and when the electric motor is determined to be abnormal based on a detection result of the temperature detector in a state where the thrust is continuously generated, The electric actuator according to claim 1, further comprising a notifying unit for notifying to.   The electric actuator according to claim 1, wherein the moving body is a slider that linearly moves on the actuator body by a driving force of the electric motor.   The electric actuator according to claim 1, wherein the movable body is a rotary table that rotates on the actuator main body by a driving force of the electric motor, and a clamp arm that is provided so as to be integrally rotatable with the rotary table.

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