JPH0254080A - Shutter drive control device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] (Table of contents) Overview Industrial field of application Prior art (Figures 6 to 9) Means for solving the problem to be solved by the invention (Figure 1) Effect (Figure 1) ) Embodiment (Figures 2 to 9) Effects of the invention (Summary) The present invention relates to a shutter drive control device that avoids fingers being caught by a cover shutter, etc. The shutter is driven before the cover shutter closes. The purpose of the present invention is to provide a shutter drive control device that can perform a pinching operation with a weak force even if the torque of the pulse motor decreases and the hand gets caught. means for counting the number of pulses of the pulse motor; means for inserting a resistor into the power supply circuit of the pulse motor when the number of pulses reaches a predetermined count in the pulse number counting means; and the pulse number counting means; A shutter drive control device was constructed from means for controlling the operation of the resistor insertion means.

(Industrial Application Field) The present invention relates to a shutter drive control device, for example, a shutter drive control device that prevents fingers from being caught by a cover shutter of a storage container such as a linear motor type conveyance device.

(Prior Art) In recent years, in financial institutions, hospitals, etc., in order to transport various items such as documents from one part to another, a transport route is formed using a linear motor, and this linear There are many examples in which a transport vehicle (hereinafter referred to as a linear motor car) is run on a motor transport path and documents, etc. are transported by the linear motor car. This linear motor car is equipped with a storage container on top of the bogie, and this storage container is closed with a cover shutter while the car is in motion.When it arrives at its destination, it is removed from the track and the cover shutter is opened, allowing the operator etc. to carry out documents. is taken out or loaded. General examples of such a linear motor car type conveyance system and a shutter drive device used therein are shown in FIGS. 6 to 9. FIG. 6 shows a station where a linear motor car is designated as a destination point, and in this figure, reference numeral 1 is a linear motor car stator, 2 is a vehicle support member that engages with a running bogie, 3 is a running bogie, and 4 is a linear motor car stator. It is a secondary rust conductor that produces an electromagnetic induction effect with the stator 1 and generates an inductive force in the traveling direction of the traveling truck 3. Reference numeral 5 denotes a wheel for running the linear motor car, 6 a container provided on the running carriage, 7 a shutter for opening and closing the container on the running carriage, and 8 a motor for opening and closing the shutter 7. Reference numeral 9 is a lift motor provided in the station and lifts the linear motor car when the linear motor car stops at this station position. This is an elevating rail that supports the traveling bogie 3 and moves the linear motor car up and down. The shutter 7 has a structure and operates as shown in FIGS. 7 to 9. This shutter 7 includes a first cover 11 rotatably supported on a carriage by an indicator bin 23, and a support bin 24 also on the carriage.
It consists of a second cover 12 that is rotatably provided by a screwdriver, and a drive mechanism that opens and closes these covers 11 and 12. The support bins 23 and 24 are provided at positions facing each other on the left and right with respect to the center line of the truck, and the first cover 11 and the second cover 12 supported by the respective support pins 23 and 24 are supported by the respective support pins 23 and 24. It is configured to close in a butting state centering on the bins 23 and 24, and to open in a double opening motion. The device for driving the shutter includes a lever body 15 that is rotatably provided on the cart 3 by a rotating shaft 21, and one end of the lever body 15 that is pivoted at a position opposite to the rotating shaft 21. a first link 16 and a second link 17 whose respective opposite ends are rotatably coupled to the first cover 11 and the second cover 12 by means of pins 19 and 20, respectively; and a lever body 1.
5, and a power transmission mechanism that is provided between the step motor 8 and the lever body and transmits the power of the shutter motor to the input shaft of the lever body. The power transmission mechanism includes a pulley 27 operatively connected to the output shaft of the shutter motor 8 by a belt 13, a fixed shaft 25 installed at the rotation center of the pulley, and fixedly attached to the fixed shaft 25. Rotating rotating arm 2
It consists of 6. The distal end portion of the rotating arm 26 is formed into a bifurcated structure having a hollow portion therebetween, and the input shaft 18 of the lever body 15 is operatively engaged within this hollow portion. still,
A step motor is used as the shutter motor 8.

In such a configuration, when the rotary arm is rotated in the direction of arrow S in FIG. 8 by the operation of the step motor 8 from the shutter closed state as shown in FIG. 7, the lever body 15 is also rotated accordingly. Rotate in the direction of arrow S in Figure 7,
This rotational movement causes links 16 and 17 to actuate the first cover 11 and second cover 12, respectively, causing each cover 11,12 to rotate about its respective support bin 23, 24, as shown in FIG. Open as shown. Next, the step motor 8 is reversely rotated, and the rotary arm 26
When the lever body 15 is rotated in the direction opposite to the arrow S, the lever body 15 also rotates in the direction opposite to the arrow S from the state shown in FIG.
The first cover 11 and the second cover 12 are closed and the shutter is operated to close.

(Problem to be Solved by the Invention) However, in such a conventional shutter driving device, the operator's hand or fingers may be caught between the first cover and the second cover 11, 12 at the end of the closing operation of the shutter. In this case, the first and second covers 11.12 rotate at a relatively high speed due to the closing operation, and press the fingers of the operator or the like. After the pulse motor 8 is rotated to a predetermined number of steps, it is detected that the shutter close sensor is not turned on at the end of the step, and the closing operation is performed again.

Therefore, when an operator's fingers are pinched, the operator's fingers are continuously pinched with a relatively strong force until the closing operation is attempted, and the operator is forced to feel uneasy and uncomfortable. There wasn't. In order to eliminate this problem, it is possible to incorporate a transmission type sensor into the shutter, for example, to detect when an operator's finger is caught, open the shutter, and then close it again. When a transmission type sensor is used, there is a problem in that a relatively large detection distance is required to operate the sensor, which leads to an increase in the size of the shutter drive device and increases in cost.

The present invention has been made in view of the above-mentioned problems, and its purpose is to reduce the torque of the pulse motor that drives the shutter before the shutter closes, so that even if your hand gets caught, it can be operated with a weak force. An object of the present invention is to provide a shutter drive control device that electrically performs the following.

[Means to solve the problem]

FIG. 1 is a diagram showing the basic configuration of the present invention. In this figure, reference numeral 29 indicates a control section, and this control section has an internal C.
In addition to incorporating the PU, this control unit 29 also includes a pulse counter 41 that measures the pulses of the motor for opening and closing the shutter.
is connected. Reference numeral 37 indicates a pulse motor used as a drive source for opening and closing the shutter, and reference numeral 36 indicates a pulse motor 37.
A driver 42 that operates the driver 36 is a resistor insertion portion that switches the operation of the driver 36 using a resistor.

[Effect]

In a general shutter opening operation, when the operator inputs support from the operation section, a drive signal is given from the control section 29 to the driver, and the driver 36 is activated to move the pulse motor 37 in a predetermined direction ( (This is the forward direction) to open the shutter.

Next, when support is provided for the shutter closing operation, the control section 29 outputs a support signal for the closing operation to the driver 36, and in conjunction with this, the driver 36 is activated by the pulse motor 37. Gives rotation in the opposite direction. When the reverse rotation operation of the pulse motor 37 is started, the control unit 2
At 9, the pulse counter 41 starts counting pulses and continues counting pulses while the shutter 7 is closed. Since the number of pulses to be counted until the shutter 7 is completely closed is known in advance by the control unit 29, the maximum number of pulses is exceeded by a predetermined number (the operator accidentally touches the closing part). The drive voltage of the pulse motor 37 is lowered by providing support to the resistor insertion portion 42 at a portion in front of the resistor insertion portion 42 (to the extent that there is a gap where a finger can be caught when inserted). As a result, the pulse motor 37
begins to close at a constant rate consisting of the maximum open state, and
At a certain point when the gap becomes smaller, the closing speed decreases rapidly, and a kind of brake is applied, leading to a complete closing state. Therefore, even if an operator or the like gets his or her fingers caught by the closing shutter, the pinching action is extremely gentle, so the operator does not feel any discomfort.

〔Example〕

2 to 5 are diagrams showing an embodiment of the shutter drive control device according to the present invention and its operating procedure. The shutter drive control device according to this embodiment is incorporated into the shutter drive device shown in FIGS. 6 to 9 and shown as a conventional example. This control device includes a driver 36 that applies a driving voltage to a pulse motor 37 that opens and closes the shutter 7, a resistor insertion part 42 that inserts a resistor to increase and decrease the output of this driver 36, and an opening and closing operation of the shutter 7. , a shutter open sensor 38 that detects that the shutter is completely opened, a shutter close sensor 39 that detects that the shutter is completely closed, and their respective actuating members 36.38, 39.42.
and a control section 29 that controls the. The control unit 29 includes a CPU 30 that performs various calculations and data processing for control, and a read-only memory (ROM) 31 that is connected to the CPU 30 via a bus 40 and stores various operating programs for the CPU 30. , a rewritable memory (RAM) 32 that stores various data necessary for control operations, a timer 33 that synchronizes and measures time necessary for the operation of the CPU 30, and input from various external components to the control unit 29. It consists of an input boat 34 that receives input signals, and an output boat 35 that outputs signals from the control section 29 to external members. A pulse counter 41 is further connected to the CPU 30 via a bus 40. The pulse counter 41 inputs the pulse current outputted from the driver 36 to the pulse motor 37 and counts the pulses.

FIG. 3 is a diagram showing a detailed configuration of the driving portion of the pulse motor 37. As shown in FIG. As is clear from this figure, the pulse motor 3
In order to excite the excitation coils 37a and 37b of No. 7, a switch circuit consisting of transistors 44, 45, 46, and 47, respectively, and a resistor circuit 48, 49 that reduces the power input from the power source 43 by a certain value. It has the following. The transistors 44 and 46 each have a phase of Φ1. A pulse current of Φ3 is supplied to the excitation coil 37a, and the transistors 45 and 47 each have a phase of Φ2.
．． A pulse current of Φ4 is supplied to the exciting coil 37b. On the other hand, the resistor insertion section 42 includes a resistor 50 connected to a power source 43 and a switch 51 built into the power supply circuit in parallel with the resistor 50. The switch 51 is controlled by the control section 29. Performs on/off operation based on signals.

The operation of the shutter drive control device having such a configuration will be described below. First, when opening the shutter 7 from the closed state, the switch 51 of the resistor insertion part 42 is set to the on state (closed state) by a control signal from the control part 29, and the control part 29 instructs the driver 36 to open the shutter. A signal is output. As a result, in the driver 36, the transistors 44, 45, 46°47
The on/off operation is performed according to the table shown in FIG. 4(a). That is, in step 1, transistor 4
4.45 is turned on, and the phase becomes Φ1. A pulse current of Φ2 is output, and in step 2, the transistor 45
．． 46 is turned on, and the phase becomes Φ2. A pulse current of Φ3 is output. In the next step 3, the transistors 46 and 47 are turned on and the phase changes to Φ3. A pulse current of Φ4 is output, and then in step 4, the transistor 47.
44 is turned on, pulse currents with phases Φ4, Φ1 are output, and so on. Φ3. Φ
Pulse currents of two sets of adjacent phases are sequentially supplied to each excitation coil 37a, 37b in the order of 4. This causes the pulse motor 37 to rotate in the forward direction, causing the shutter 7 to open. Next, when the shutter in the open state is to be closed, the transistors 44, 45 in the driver 36,
46 and 47 are turned on according to the table shown in FIG. 4(b), and pulse currents of each phase are output. That is, in step 1, transistors 44 and 45 are turned on, and the phase becomes Φ1. A pulse current of Φ2 is output, and in the following step 2, the transistors 44 and 47 are turned on so that the phase changes to Φ1. A pulse current of Φ4 is output. In step 3 below, the transistor 47.46
is turned on and the phase becomes Φ4. A pulse current of Φ3 is output, and in the next step 4, the transistors 46 and 45 are turned on and the phase becomes Φ3. The pulse current of Φ2 is output, and so on, the transistors 44, 47, 4
Two pairs of transistors adjacent to each other in the order of 6°45 are sequentially turned on, and pulse currents of corresponding phases are supplied to the excitation coils 37a and 37b, which causes the pulse motor 37 to rotate in the reverse direction and close the shutter 7. .

The operating procedure of the control unit 29 for performing this shutter closing operation is shown in a flowchart in FIG. When the control unit 29 first receives a start instruction for shutter closing operation in a processing step (hereinafter simply referred to as step) STI, it starts the shutter closing operation in step ST2.

Then, in step ST3, the pulse count recorded in the pulse counter 41 is cleared, and in the subsequent step ST4, the switch 51 of the resistor insertion part is turned on. Next, proceeding to step ST5, the driver 36
A shutter closing operation signal is output to the
b) For each transistor 44°45
．． Enter 46.47. During this operation, the number of pulses of each pulse current outputted from the driver 36 to the excitation coils 37a and 37b of the pulse motor is counted (step 5T6), and then in step ST7, the pulse count is determined to be the specified number of pulses. Check whether it has been reached. This prescribed number of pulses means that when the shutter 7 is in the process of closing, the driver 36 is in a position where the operator's fingers are caught between the shutter's fully open state (this time is defined as the number of pulses 0) and the operator's fingers are caught in the shutter. It means the number of pulses supplied to the pulse motor 37 from . Then, in step ST7, while the pulse count number has not reached the specified number of pulses, checking is continued until the specified number of pulses is reached, and when the number of pulses reaches the specified number of pulses, step ST7 is performed.
Moving to T8, the switch 51 is turned off. As a result, the resistor insertion section 42 in the power supply circuit becomes a series circuit with the resistor 50, so that the voltage supplied to the pulse motor 37 is reduced by a certain percentage. Therefore, the rotational speed of the pulse motor 37 decreases, and the closing speed of the shutter decreases. Then, in step ST9, the control section 29 checks whether the number of pulses counted by the pulse counter 41 has reached the maximum number of pulses, and if it is determined that the number of pulses has reached the maximum number, the control section 29 moves to step 5TIO. Check whether the shutter close sensor 38 is turned on. When the shutter close sensor 38 turns on, it is determined that the shutter 7 is completely closed, and the shutter closing operation is completed in step 11. If it is determined in step 5TIO that the shutter close sensor is not turned on, the process returns to step ST5 and the operations from step ST5 onwards are repeated. Furthermore, if it is determined in step ST9 that the maximum number of pulses has not been reached, the control unit 29 determines that the operator's fingers or other object is caught in the opening of the shutter, or something that obstructs the closing operation of the shutter. It is determined that this is the case, and the process proceeds to step 12, where an attempt is made to terminate abnormally or close the shutter.

In this way, during the shutter closing operation, the speed of the shutter closing operation is reduced, so even if an operator's hand or fingers are caught, the pinching will be done smoothly. The process is carried out in a manner that does not cause any discomfort to the operator.

In the above description, the switch and the resistor inserted in parallel with the switch are used as an embodiment, but it goes without saying that other variable resistors may also be used.

〔Effect of the invention〕

As explained above, according to the present invention, in a shutter drive device using a pulse motor, the number of pulses of the pulse motor during shutter closing driving is counted, and when this count reaches a certain value, the pulse motor is By reducing the torque of It does not cause any anxiety or discomfort.

Also, from the viewpoint of the shutter and the mechanism that drives it, various effects can be obtained by closing the shutter at high speed, such as no impact occurring when the shutter is closed, and damage to the device can be prevented.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing the principle configuration of the present invention, Fig. 2 is a diagram showing an embodiment of the shutter drive control device according to the invention, and Fig. 3 is a diagram showing details of the pulse motor drive part in the embodiment. The configuration diagram, FIG. 4(a), is a diagram showing the order of supplying pulse current to the pulse motor during shutter opening operation, FIG.
b) is a table showing the order in which pulse current is supplied to the pulse motor during the shutter closing operation, FIG. 5 is a flowchart showing the processing procedure during the shutter closing drive in the embodiment of the present invention, and FIG. A diagram showing a station of a linear motor conveyance system incorporating a shutter drive device to which the invention is applied, FIG. 7 is a configuration diagram showing the shutter in a closed state, and FIG. 8 is an example of a power transmission mechanism in the shutter drive device. FIG. 9 is a diagram showing the shutter in an open state. 7...Shutter 29...Control unit 30...CPU 31...ROM 32...RAM 33...Timer 34...Input boat 35...Output boat 36...Driver 37... ...Pulse motor 38...Shutter open sensor 39...Shutter close sensor 41...Pulse counter 42...Resistor insertion part 44, 45, 46, 47...Transistor (switch circuit) 50... Resistor 51...Switch 7 The principle of invention 111m 29 Ikuo C A) Figure (G)! IUk, force k < P motion 4γ) Fig. (b) (0) Closed 4I! 1 o'clock diagram Cedar lator 11/J11 wave state round 911

Claims (1)

[Claims] A pulse motor (37), a driver (36) that drives the pulse motor, a shutter (7) that is opened and closed by the pulse motor, and a power transmission provided between the pulse motor and the shutter. A shutter driving device having a member (41) for counting the number of pulses of the pulse motor during shutter closing driving, and a means (41) for counting the number of pulses of the pulse motor when the number of pulses reaches a specified count. A means (42) for inserting a resistor; and a means (29) for controlling the operations of the pulse number counting means and the resistor inserting means to reduce the torque of the pulse motor before closing the shutter. Characteristic shutter drive control device.