TWI856302B - Control devices, electromagnetic valve devices, electromagnetic contactors and electromagnetic brake devices - Google Patents

Abstract

The subject of the present invention is to simply and reliably determine the abnormality of the actuator element. The actuator element 10 uses the magnetic force generated by the current flowing in the coil 2 to move the movable element 1. The current detector 11 measures the first current waveform signal, which indicates the time variation of the current flowing in the coil 2. The storage device 12 pre-saves the second current waveform signal, which indicates the time variation of the current flowing in the coil 2 when the actuator element 10 operates normally. The comparison circuit 13 calculates the difference between the first current waveform signal and the second current waveform signal. When the absolute value of the difference between the first current waveform signal and the second current waveform signal exceeds the critical value, the control circuit 14 outputs a control signal indicating that the actuator element 10 is not operating normally.

Description

Control device, electromagnetic valve device, electromagnetic contactor and electromagnetic brake device

The present disclosure provides an actuator driving device, an electromagnetic valve device, an electromagnetic contactor and an electromagnetic brake device.

There are known devices such as electromagnetic valve devices, electromagnetic contactors, and electromagnetic brake devices that include actuator elements, which use the magnetic force generated by the current flowing in the coil to move the movable element between two predetermined points. The actuator element may not operate normally due to wear or foreign matter, and it is required to automatically determine the abnormal operation.

For example, Patent Document 1 discloses a device for diagnosing the signs of failure of an electromagnetic brake device including a brake disc, an armature, and an electromagnetic coil. The device of Patent Document 1 detects the current variation component of the back electromotive force voltage formed by the change of the armature's sliding in the change of the current flowing in the electromagnetic coil, and observes the armature's sliding abnormality based on the current variation component based on the back electromotive force voltage.

[Prior art literature]

[Patent Literature]

[Patent document 1] Japanese Patent No. 6368007

The device of Patent Document 1 measures the number of drops or current values of the current flowing in the electromagnetic coil in order to detect the sliding abnormality of the armature. In this case, it is necessary to predefine the conditions for determining that the sliding abnormality of the armature has occurred based on the various drops and current values of the current flowing in the electromagnetic coil, which takes a lot of time. Therefore, it is required to more easily determine the abnormality of the actuator element.

The purpose of the present disclosure is to provide an actuator driving device that can more easily and reliably determine the abnormality of an actuator element than before. In addition, the purpose of the present disclosure is to provide an electromagnetic valve device, an electromagnetic contactor, and an electromagnetic brake device including such an actuator driving device.

The actuator driving device of one aspect of the present disclosure includes: an actuator element, the actuator element includes a coil and a movable element, and uses the magnetic force generated by the current flowing in the coil to move the movable element between two predetermined points; a current detector, which measures a first current waveform signal, the first current waveform signal indicating the time variation of the current flowing in the coil; a storage device, which pre-stores a second current waveform signal, the second current waveform signal indicating the time variation of the current flowing in the coil when the actuator element operates normally; a comparison circuit, which calculates the difference between the first current waveform signal and the second current waveform signal; and a control circuit, which outputs a control signal indicating that the actuator element is not operating normally when the absolute value of the difference between the first current waveform signal and the second current waveform signal exceeds a predetermined threshold value.

This makes it easier and more reliable to determine abnormalities in actuator components than before.

In the actuator driving device of one aspect of the present disclosure, the current detector measures the first current waveform signal during the entire predetermined time length including the moment when the voltage applied to the coil transitions between zero and non-zero values, and the storage device pre-stores the second current waveform signal measured during the entire predetermined time length including the moment when the voltage applied to the coil transitions between zero and non-zero values when the actuator element is operating normally.

This allows the degradation of actuator elements to be properly detected.

The actuator driving device of one aspect of the present disclosure further includes: an alarm device that generates a visual or audible alarm signal according to the control signal.

This allows the user to be notified of abnormalities in the actuator components.

In one aspect of the actuator driving device disclosed herein, the actuator driving device further includes a switching circuit, the switching circuit controls the current supply to the coil, and the current detector is integrated with the switching circuit.

This can reduce the overall size of the device.

The electromagnetic valve device of one aspect of the present disclosure includes: the actuator driving device; and a pipeline, which is opened and closed by the movable element of the actuator driving device.

This makes it possible to more easily and reliably determine abnormalities in actuator components than before, and also to determine abnormalities in electromagnetic valve devices.

The electromagnetic contactor disclosed in one aspect includes: the actuator driving device; and at least one pair of contacts, which are opened and closed by the movable element of the actuator driving device.

This makes it possible to detect abnormalities in actuator components more easily and reliably than before, and also to detect abnormalities in electromagnetic contactors.

The electromagnetic brake device of one aspect of the present disclosure includes: the actuator drive device; and a brake device driven by the movable element of the actuator drive device.

This makes it possible to more easily and reliably determine abnormalities in actuator components than before, and also to determine abnormalities in electromagnetic brake devices.

According to an actuator driving device of one aspect of the present disclosure, abnormalities of actuator components can be determined more simply and reliably than before. In addition, according to an actuator driving device of one aspect of the present disclosure, an electromagnetic valve device, an electromagnetic contactor, and an electromagnetic brake device can be provided that can determine abnormalities of actuator components more simply and reliably than before.

1, 1A, 1B: movable components

2: Coil

3: Spring

4: Frame

10, 10A, 10B: Solenoid element/actuator element

11: Current detector

11a: Inverter

12: Storage device

13: Comparison circuits

14: Control circuit

15, 15A: driving circuit

16: Alarm device

20: Solenoid valve device

21: Pipeline

22: Wall

23: Open mouth

24: Fluid

30: Electromagnetic contactor

31, 32: Contact points

40: Electromagnetic brake device

41: Movable components

42: Coil

43: Spring

44: Rotation axis

45: Brake disc

46: Support plate

47: Core

48: Substrate

49: Bolts

51: Power circuit

52: Switching circuit

53: Current detector

I0: Reference waveform signal (current waveform signal)

I1: Current waveform signal

t0, t1, t10, t12: time

t11: Moment

Th: critical value

FIG1 is a block diagram showing the structure of an actuator driving device of the first embodiment.

FIG. 2 is a graph showing an example of the voltage applied to the coil 2 of FIG. 1 and the current flowing in the coil 2.

FIG. 3 is a diagram illustrating the operation of the actuator drive device when the actuator element 10 of FIG. 1 operates normally.

FIG. 4 is a diagram illustrating the operation of the actuator drive device when an abnormality occurs in the actuator element 10 of FIG. 1 .

FIG5 is a schematic diagram showing a portion of the structure of the electromagnetic valve device 20 of the second embodiment.

FIG6 is a schematic diagram showing a portion of the structure of the electromagnetic contactor 30 of the third embodiment.

FIG. 7 is a schematic diagram showing a portion of the structure of the electromagnetic brake device 40 of the fourth embodiment, and is a cross-sectional view showing the electromagnetic brake device 40 in operation.

FIG8 is a cross-sectional view showing the electromagnetic brake device 40 of FIG7 being released.

FIG9 is a block diagram showing the structure of the actuator driving device of the fifth embodiment.

Below, an implementation method of one aspect of the present disclosure is described based on the drawings. In each drawing, the same symbol represents the same component.

[First implementation method]

In the first embodiment, the basic actuator driving device is described.

[Structural example of the first embodiment]

FIG1 is a block diagram showing the structure of an actuator driving device of the first embodiment. The actuator driving device of FIG1 includes an actuator element 10, a current detector 11, a storage device 12, a comparison circuit 13, a control circuit 14, a driving circuit 15, and an alarm device 16.

The actuator element 10 includes a movable element 1, a coil 2, a spring 3, and a frame 4. The movable element 1 contains a ferromagnetic material in at least a part thereof, and is held in a manner that moves between two predetermined points (in the example of FIG. 1 , the position of the solid line and the position of the dotted line). In the example of FIG. 1 , the movable element 1 is a rod-shaped plunger. When current flows through the coil 2, the movable element 1 moves to the position of the solid line. In the example of FIG. 1 , the coil 2 is a solenoid coil. When no current flows through the coil 2, the spring 3 moves the movable element 1 to the position of the dotted line. The frame 4 accommodates the movable element 1 and the coil 2 inside. Thus, the actuator element 10 uses the magnetic force generated by the current flowing through the coil 2 to move the movable element 1 between two predetermined points.

The current detector 11 is connected to the wire that supplies current to the coil 2 via the current transformer 11a, and measures the current waveform signal I1, which represents the time variation of the current flowing in the coil 2.

The storage device 12 pre-stores the current waveform signal I0, which represents the time variation of the current flowing in the coil 2 when the actuator element 10 operates normally. In this specification, the current waveform signal I0 pre-stored in the storage device 12 is also referred to as the "reference waveform signal I0".

The comparison circuit 13 calculates the difference between the measured current waveform signal I1 and the reference waveform signal I0.

When the absolute value of the difference between the measured current waveform signal I1 and the reference waveform signal I0 exceeds a predetermined threshold value, the control circuit 14 outputs a control signal indicating that the actuator element 10 is not operating normally.

The driving circuit 15 includes a power circuit and a switch circuit, etc., and supplies current to the coil 2 under the control of the control circuit 14. The driving circuit 15 stops the operation of the actuator element 10 according to the control signal output from the control circuit 14 when the actuator element 10 does not operate normally.

The alarm device 16 generates a visual or audible alarm signal indicating that the actuator element 10 is not operating normally according to the control signal output from the control circuit 14. In this way, the user is notified of the abnormality of the actuator element 10.

[Operation example of the first implementation method]

FIG. 2 is a graph showing an example of a voltage applied to the coil 2 of FIG. 1 and a current flowing in the coil 2. The first layer of FIG. 2 shows the voltage applied to the coil 2. In addition, the second layer of FIG. 2 shows the current flowing in the coil 2 when the actuator element 10 operates correctly. In addition, the third layer of FIG. 2 shows the current flowing in the coil 2 when an abnormality occurs in the actuator element 10 (for example, when the movable element 1 is fixed at the position of the solid line or the position of the dotted line in FIG. 1).

In the example of FIG. 2 , in order to move the movable element 1 from the position of the dashed line in FIG. 1 to the position of the solid line, a predetermined voltage is applied to the coil 2 at time t0. The current flowing in the coil 2 gradually increases after the voltage is applied. When the movable element 1 is located at the position of the dashed line in FIG. 1 , the inductance of the coil 2 becomes small because the coil 2 has no core. On the other hand, when the movable element 1 is located at the position of the solid line in FIG. 1 , the magnetic flux of the coil 2 passes through the movable element 1, thereby increasing its inductance. Therefore, if the actuator element 10 operates correctly, as shown in the second layer of FIG. 2 , when the movement of the movable element 1 is completed at time t1 (that is, when the movable element 1 reaches the position of the solid line in FIG. 1 ), the current flowing in the coil 2 temporarily decreases. In contrast, when the movable element 1 is fixed at the position of the solid line or the dotted line in FIG. 1 , as shown in the third layer of FIG. 2 , the current flowing in the coil 2 does not decrease but increases monotonically.

In this way, by utilizing the characteristics of the solenoid coil that the inductance changes according to the position of the movable element 1, the state of the stroke of the movable element 1 can be monitored based on the current flowing in the coil 2.

FIG. 3 is a diagram for explaining the operation of the actuator drive device when the actuator element 10 of FIG. 1 operates normally. FIG. 4 is a diagram for explaining the operation of the actuator drive device when an abnormality occurs in the actuator element 10 of FIG. 1. The first layer of FIG. 3 and FIG. 4 represents the voltage applied to the coil 2. In addition, the second layer of FIG. 3 and FIG. 4 represents the current waveform signal I1 measured by the current detector 11. The third layer of FIG. 3 and FIG. 4 represents the inverted signal of the reference waveform signal I0 stored in the storage device 12. In addition, the fourth layer of FIG. 3 and FIG. 4 represents the difference between the measured current waveform signal I1 and the reference waveform signal I0.

When the actuator element 10 operates normally, as shown in FIG3 , the difference between the measured current waveform signal I1 and the reference waveform signal I0 is approximately 0. On the other hand, when an abnormality occurs in the actuator element 10, as shown in FIG4 , the absolute value of the difference between the measured current waveform signal I1 and the reference waveform signal I0 becomes a non-zero specified value. Therefore, when the absolute value of the difference between the measured current waveform signal I1 and the reference waveform signal I0 exceeds a predetermined threshold value Th, the control circuit 14 can determine that the actuator element 10 is not operating normally.

The current detector 11 measures the current waveform signal I1 during the entire predetermined time length including the instant t11 when the voltage applied to the coil 2 shifts between zero and a non-zero value. The storage device 12 pre-stores the following current waveform signal as the reference waveform signal I0: the current waveform signal is measured during the entire predetermined time length including the instant t11 when the voltage applied to the coil 2 shifts between zero and a non-zero value when the actuator element 10 operates normally. The time interval for measuring the current waveform signal I1 or the current waveform signal I0 can be set to t10~t12, or can be set to t11~t12, for example.

[Effects of the first implementation method]

The solenoid element 10 may have increased sliding resistance, increased gaps between contacts, or abnormal stroke due to wear or foreign matter. According to the actuator drive device of the first embodiment, by calculating the difference between the measured current waveform signal I1 and the reference waveform signal I0, the abnormality of the actuator element 10 can be determined more simply and reliably than before.

In any device including an actuator drive device, the characteristic rise of the current flowing in the coil 2 described with reference to FIG. 2 to FIG. 4 can be similarly observed. Therefore, as will be described in the second to fourth embodiments, the actuator drive device of the first embodiment can be applied to an electromagnetic valve device, an electromagnetic contactor, an electromagnetic brake device, etc.

[Second implementation method]

In the second embodiment, an electromagnetic valve device including the actuator driving device of the first embodiment is described.

[Structural example of the second embodiment]

FIG5 is a schematic diagram showing a part of the structure of the electromagnetic valve device 20 of the second embodiment. The electromagnetic valve device 20 includes an actuator element 10A shown in FIG5 instead of the actuator element 10 of FIG1, and further includes a pipeline 21. The actuator element 10A includes a movable element 1A, a coil 2, a spring 3, and a frame 4. The electromagnetic valve device 20 includes a current detector 11, a storage device 12, a comparison circuit 13, a control circuit 14, a drive circuit 15, and an alarm device 16 in the same manner as in FIG1, but they are omitted in FIG5. The coil 2 of FIG5 is connected to the current detector 11 and the drive circuit 15 in the same manner as in FIG1.

A fluid 24 can flow inside the pipe 21. The fluid 24 can be a gas such as air, or a liquid such as water. The pipe 21 includes a wall 22 having a small opening 23 in a part of its flow path in a manner that does not hinder the flow of the fluid 24. The movable element 1A is configured to close the opening 23 at the position of the dotted line in Figure 5. When current flows in the coil 2, the movable element 1A moves to the position of the solid line. When no current flows in the coil 2, the spring 3 moves the movable element 1A to the position of the dotted line.

Generally speaking, in electromagnetic valve devices, sometimes the movable element cannot operate within the range and speed consistent with the design value due to wear of parts or clogging of foreign matter. As a result, the operation of the actuator element is abnormal and the flow rate of the flowing fluid cannot be controlled to the required value. According to the electromagnetic valve device 20 of the second embodiment, similar to the actuator drive device of the first embodiment, by calculating the difference between the measured current waveform signal I1 and the reference waveform signal I0, the abnormality of the actuator element 10A can be determined more simply and reliably than before.

[Effects of the Second Implementation Method]

According to the electromagnetic valve device 20 of the second embodiment, by calculating the difference between the measured current waveform signal I1 and the reference waveform signal I0, the abnormality of the actuator element 10A can be determined more simply and reliably than before, and the abnormality of the electromagnetic valve device 20 can also be determined.

The electromagnetic valve device 20 of the second embodiment can be applied to, for example, a cooling device that supplies air or cooling liquid to a machining device, a welding device, a control panel, etc. In addition, the electromagnetic valve device 20 of the second embodiment can be applied to, for example, a coating device that blows paint onto an object.

[Third implementation method]

In the third embodiment, an electromagnetic contactor including the actuator driving device of the first embodiment is described.

[Structural example of the third embodiment]

FIG6 is a schematic diagram showing a part of the structure of the electromagnetic contactor 30 of the third embodiment. The electromagnetic contactor 30 includes an actuator element 10B shown in FIG6 instead of the actuator element 10 of FIG1, and further includes contacts 31 and 32. The actuator element 10B includes a movable element 1B, a coil 2, a spring 3, and a frame 4. The electromagnetic contactor 30 includes a current detector 11, a storage device 12, a comparison circuit 13, a control circuit 14, a drive circuit 15, and an alarm device 16 in the same manner as in FIG1, but they are omitted in FIG6. The coil 2 of FIG6 is connected to the current detector 11 and the drive circuit 15 in the same manner as in FIG1.

The contact 31 is fixed to the front end of the movable element 1B, and the contact 32 is set at a relatively fixed position relative to the frame 4 of the actuator element 10B. The contacts 31 and 32 are connected to the external circuit and are configured to contact each other when the movable element 1B is in the position of the solid line. When the coil 2 has a current flowing, the movable element 1B moves to the position of the solid line. When the current does not flow in the coil 2, the spring 3 moves the movable element 1B to the position of the dotted line.

Generally speaking, in electromagnetic contactors, the movable element may not be able to operate within the range and speed consistent with the design value due to wear of parts or clogging of foreign matter. As a result, the operation of the actuator element is abnormal and the connection and disconnection cannot be controlled as required. According to the electromagnetic contactor 30 of the third embodiment, similar to the actuator driving device of the first embodiment, by calculating the difference between the measured current waveform signal I1 and the reference waveform signal I0, the abnormality of the actuator element 10B can be determined more simply and reliably than before.

[Effects of the third implementation method]

According to the electromagnetic contactor 30 of the third embodiment, by calculating the difference between the measured current waveform signal I1 and the reference waveform signal I0, the abnormality of the actuator element 10B can be determined more simply and reliably than before, and the abnormality of the electromagnetic contactor 30 can also be determined.

The electromagnetic contactor 30 of the third embodiment can be applied to a belt conveyor, for example. In this case, the electromagnetic contactor 30 can be used to control the on and off of the motor of the belt conveyor.

[Fourth Implementation Method]

In the fourth embodiment, an electromagnetic brake device including the actuator drive device of the first embodiment is described.

[Structural example of the fourth embodiment]

FIG7 is a schematic diagram showing a part of the structure of the electromagnetic brake device 40 of the fourth embodiment, and is a cross-sectional view showing the electromagnetic brake device 40 in operation. FIG8 is a cross-sectional view showing the electromagnetic brake device 40 of FIG7 in a released state. The electromagnetic brake device 40 includes a movable element 41, a coil 42, a spring 43, a rotating shaft 44, a brake plate 45, a support plate 46, a core 47, a base plate 48 and a bolt 49.

The support plate 46, the core 47 and the base plate 48 are fixed to each other by bolts 49. The movable element 41 is held by bolts 49 in a manner that it can slide between the support plate 46 and the core 47 along the length direction of the bolts 49. The rotating shaft 44 is held by the support plate 46 and the core 47 in a manner that it can rotate. The brake plate 45 is fixed to the rotating shaft 44 and inserted between the movable element 41 and the support plate 46. The movable element 41, the coil 42 and the spring 43 correspond to the movable element 1, the coil 2 and the spring 3 of Figure 1, respectively, and operate in the same manner as the actuator element 10 of Figure 1.

The electromagnetic brake device 40 includes a current detector 11, a storage device 12, a comparison circuit 13, a control circuit 14, a drive circuit 15 and an alarm device 16 in the same manner as in FIG1 , but they are omitted in FIG7 and FIG8 . The coil 42 in FIG7 and FIG8 is connected to the current detector 11 and the drive circuit 15 in the same manner as in FIG1 .

When no current flows in the coil 42, the spring 43 moves the movable element 41 to the position shown in FIG. 7. As a result, the movable element 41 applies force to the brake plate 45 toward the support plate 46, thereby hindering the rotation of the rotating shaft 44. On the other hand, when current flows in the coil 42, the movable element 41 moves to the position shown in FIG. 8. As a result, the brake plate 45 is released between the movable element 41 and the support plate 46, and the rotating shaft 44 can rotate freely.

In this specification, the movable element 41, the brake disc 45 and the support plate 46 are also collectively referred to as the "brake device".

Generally speaking, in electromagnetic brake devices, sometimes the movable element cannot operate within the range and speed consistent with the design value due to wear of parts or clogging of foreign matter. As a result, the operation of the actuator element becomes abnormal and the object cannot be stopped as required. According to the electromagnetic brake device 40 of the fourth embodiment, similar to the actuator drive device of the first embodiment, by calculating the difference between the measured current waveform signal I1 and the reference waveform signal I0, the abnormality of the electromagnetic brake device 40 can be determined more simply and reliably than before.

[Effects of the fourth implementation method]

According to the electromagnetic brake device 40 of the fourth embodiment, by calculating the difference between the measured current waveform signal I1 and the reference waveform signal I0, the abnormality of the electromagnetic brake device 40 can be determined more simply and reliably than before.

The electromagnetic brake device 40 of the fourth embodiment can be applied to devices such as elevators, robot arms, and unmanned transport vehicles (Automated Guided Vehicles (AGV)). The electromagnetic brake device 40 of the fourth embodiment can be configured to stop the motors included in these devices.

[Fifth Implementation Method]

FIG9 is a block diagram showing the structure of the actuator driving device of the fifth embodiment. The actuator driving device of FIG9 includes a driving circuit 15A instead of the current detector 11 and the driving circuit 15 of FIG1.

The drive circuit 15A includes a power supply circuit 51 and a switch circuit 52. Under the control of the control circuit 14, the switch circuit 52 selectively supplies the current supplied from the power supply circuit 51 to the coil 2. The switch circuit 52 includes, for example, a solid state relay. In addition, the switch circuit 52 is integrated with a current detector 53, and the current detector 53 measures a current waveform signal I1 representing the time variation of the current flowing in the coil 2. The control circuit 14 obtains the measured current waveform signal I1 from the current detector 53.

[Effects of the Fifth Implementation Method]

According to the actuator driving device of the fifth embodiment, by integrating the current detector 53 and the switch circuit 52, the overall size of the device can be reduced compared to the actuator driving device of the first embodiment. In addition, according to the actuator driving device of the fifth embodiment, the actuator driving device can be retrofitted effectively.

[Other variations]

The above is a detailed description of the implementation of the present disclosure, but the previous description is only an example of the present disclosure in all aspects. Of course, various improvements or modifications can be made without departing from the scope of the present disclosure. For example, the following changes can be made. Furthermore, in the following, the same symbols are used for the same components as the above implementation, and the description of the same aspects as the above implementation is appropriately omitted. The following modifications can be appropriately combined.

In Figures 2 to 4, the case where the voltage applied to the coil 2 shifts from zero to a non-zero value is described, but the abnormality of the actuator element 10 can also be determined when the voltage applied to the coil 2 shifts from a non-zero value to zero.

In the second embodiment, the electromagnetic valve device 20 is described, which closes the flow path when no current flows in the coil 2 and opens the flow path when current flows in the coil 2. However, the actuator driving device of the embodiment can also be applied to an electromagnetic valve device that closes the flow path when current flows in the coil 2 and opens the flow path when no current flows in the coil 2.

In the third embodiment, the electromagnetic contactor 30 is described, which is disconnected when no current flows in the coil 2 and connected when current flows in the coil 2. However, the actuator driving device of the embodiment can also be applied to an electromagnetic contactor that is disconnected when current flows in the coil 2 and connected when no current flows in the coil 2.

In the fourth embodiment, the electromagnetic brake device 40 is described for stopping the rotation of the rotating shaft 44 when no current flows in the coil 2 and rotating the rotating shaft 44 when current flows in the coil 2. However, the actuator drive device of the embodiment can also be applied to an electromagnetic brake device for stopping the rotation of the rotating shaft 44 when current flows in the coil 2 and rotating the rotating shaft 44 when no current flows in the coil 2.

[Summary]

The actuator drive device, electromagnetic valve device, electromagnetic contactor and electromagnetic brake device of various aspects of the present disclosure can be described as follows.

An actuator driving device according to one aspect of the present disclosure includes an actuator element 10, a current detector 11, a storage device 12, a comparison circuit 13, and a control circuit 14. The actuator element 10 includes a coil 2 and a movable element 1, and utilizes a magnetic force generated by a current flowing in the coil 2 to move the movable element 1 between two predetermined points. The current detector 11 measures a first current waveform signal, which indicates a time variation of the current flowing in the coil 2. The storage device 12 pre-stores a second current waveform signal, which indicates a time variation of the current flowing in the coil 2 when the actuator element 10 operates normally. The comparison circuit 13 calculates a difference between the first current waveform signal and the second current waveform signal. When the absolute value of the difference between the first current waveform signal and the second current waveform signal exceeds a predetermined threshold value, the control circuit 14 outputs a control signal indicating that the actuator element 10 is not operating normally.

In the actuator driving device of one aspect of the present disclosure, the current detector 11 measures a first current waveform signal in the entire predetermined time length including the moment when the voltage applied to the coil 2 transitions between zero and a non-zero value. The storage device 12 pre-stores a second current waveform signal measured in the entire predetermined time length including the moment when the voltage applied to the coil 2 transitions between zero and a non-zero value when the actuator element 10 operates normally.

The actuator driving device of one aspect of the present disclosure further includes an alarm device 16, wherein the alarm device 16 generates a visual or audible alarm signal according to the control signal.

The actuator driving device of one aspect of the present disclosure further includes a switching circuit 52, and the switching circuit 52 controls the supply of current to the coil 2. In this case, the actuator driving device includes a current detector 53 integrated with the switching circuit 52.

The electromagnetic valve device of one aspect of the present disclosure includes: the actuator driving device; and the pipeline 21, which is opened and closed by the movable element 1A of the actuator driving device.

The electromagnetic contactor disclosed in one aspect includes: the actuator driving device; and at least one pair of contacts 31, 32, which are opened and closed by the movable element 1B of the actuator driving device.

The electromagnetic brake device of one aspect of the present disclosure includes: the actuator driving device; and a brake device driven by the movable element 41 of the actuator driving device.

[Industrial availability]

The actuator driving device of one aspect of the present disclosure can be applied to any device including an actuator element. It can determine the degradation of the actuator element and the degradation of the device, and has the function of reducing the chance of loss.

1: Movable components

2: Coil

3: Spring

4: Frame

10: Actuator element (solenoid element)

11: Current detector

11a: Inverter

12: Storage device

13: Comparison circuit

14: Control circuit

15: Driving circuit

16: Alarm device

Claims (7)

A control device is a control device for an actuator element, the actuator element includes a coil and a movable element, and uses the magnetic force generated by the current flowing in the coil to move the movable element between two predetermined points, the two points include a first point and a second point, when the current flows in the coil, the movable element moves to the first point, and when the current does not flow in the coil, the movable element moves to the second point, the control device includes: a current detector, measuring a first current waveform signal, the first current waveform signal indicating the time change of the current flowing in the coil; a storage device, pre-storing a second current waveform signal, the second current waveform signal indicating when the The time variation of the current flowing in the coil when the actuator element is operating normally; a comparison circuit that calculates the difference between the current value of the first current waveform signal when the movable element should reach the first point and the current value of the second current waveform signal when the movable element reaches the first point; and a control circuit that outputs a control signal indicating that the actuator element is not operating normally when the movable element is fixed at the first point or the second point and the absolute value of the difference between the current value of the first current waveform signal when the movable element should reach the first point and the current value of the second current waveform signal when the movable element reaches the first point exceeds a predetermined threshold value. A control device as described in claim 1, wherein, the current detector measures the first current waveform signal during the entire predetermined time length including the moment when the voltage applied to the coil transitions between zero and a non-zero value, and the storage device pre-stores the second current waveform signal measured during the entire predetermined time length including the moment when the voltage applied to the coil transitions between zero and a non-zero value when the actuator element is operating normally. The control device as described in claim 1 further includes: an alarm device that generates a visual or audible alarm signal according to the control signal. A control device as described in claim 1, wherein the control device further includes a switching circuit, the switching circuit controls the current supply to the coil, and the current detector is integrated with the switching circuit. An electromagnetic valve device comprises: an actuator element, including a coil and a movable element, and using the magnetic force generated by the current flowing in the coil to move the movable element between two predetermined points; a control device as described in any one of claim 1 to claim 4; and a pipeline, which is opened and closed by the movable element. An electromagnetic contactor comprises: an actuator element, including a coil and a movable element, and using the magnetic force generated by the current flowing in the coil to move the movable element between two predetermined points; a control device as described in any one of claim 1 to claim 4; and at least one pair of contact points, which are opened and closed by the movable element. An electromagnetic brake device comprises: an actuator element, including a coil and a movable element, and using the magnetic force generated by the current flowing in the coil to move the movable element between two predetermined points; a control device as described in any one of claim 1 to claim 4; and a brake device driven by the movable element.