JPS63182713A - Repetitive driving device - Google Patents

Abstract

PURPOSE:To accurately maintain a repetitive section by setting the upper and lower limit positions of a mobile member in response to the revolving position of a drive shaft. CONSTITUTION:The upper and/or lower limit position of a mobile member 22 which moves up and down within a prescribed section A by the revolutions of a drive shaft 21 produced round the axial core are set in response to the revolving position of the shaft 21 within a prescribed section. The member 22 is moved up and down by a control circuit part 23 within a set section B in the section A. In such a way, the upper and/or lower limit position of the member 22 is accurately set in response to the revolving position of the shaft 21. Thus, the member 22 moves up and down within the section B including the set upper limit position through the lower limit position.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a repetitive drive device, and more particularly to a repetitive drive device for use in electric pine surgery machines and the like.

[Conventional technology and its problems]

Generally, in an electric pine surger, a roller attached to the back of a chair is moved up and down within a predetermined range using this type of repetitive driving device. However, in this type of conventional repetitive drive device, the flip-flops are sequentially reversed by a time circuit that repeatedly generates pulse output at fixed time intervals, and the output is used to reversely reverse the motor through a motor control circuit. The above roller was moved repeatedly.

However, in this type of roller, there is a difference in the load applied to the motor when the roller is ascending and descending, which results in a difference in the motor rotational speed when the roller is ascending and descending, and overflow when reversing. This may cause the repetitive motion section to shift.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to solve these conventional problems and provide a repetitive driving device that can accurately maintain a set repetitive movement section.

[Means for solving problems]

The repetitive drive device of the present invention is a repetitive drive device equipped with a moving member that moves up and down within a predetermined section by rotation around the axis of a drive shaft, and the upper limit position of the moving member within the predetermined section and/or A control circuit section is provided that sets a lower limit position according to the rotational position of the drive shaft and moves the moving member up and down within a set section within a predetermined section.

[Effect]

With the above configuration, the movable member moves up and down due to the rotation of the drive shaft, so the upper limit position and/or lower limit position of the movable member that is set according to the rotational position of the drive shaft is accurate. Therefore, the movable member moves up and down in the set section from the set upper limit position to the lower limit position.

〔Example〕

Hereinafter, the present invention will be explained in detail based on drawings showing examples.

FIG. 1 shows an electric pine surgical machine 20 in which a repetitive drive device according to the present invention is used, and this repetitive drive device has a drive shaft 2
1, a drive motor 2 that rotates the drive shaft 21 about its axis, a moving member 22 that moves up and down a predetermined section A by rotation of the drive shaft 21 about its axis, and a moving member 22 that moves the moving member 22 up and down a predetermined section A. A control circuit section 23 that moves up and down in a set section B within A is provided.

That is, the drive shaft 21 is connected to a pair of guide frames 28 and 29 that connect the upper and lower frames 26 and 27 of the backrest 25 of the chair 24.
It is rotatably supported by the upper and lower frames 26 and 27 so as to be interposed therebetween. The motor 2 and the control circuit section 23 are fixed to the lower frame 27. Further, the moving member 22 is moved to the guide frame 28 as shown in FIGS. 2 and 3.
．． Rotating rollers 30 and 31 move up and down by transferring 29,
It consists of a support frame 32 that supports the rotating rollers 30 and 31, and a pine surge roller mounting frame 33 that is attached to the support frame 32 and into which the drive shaft 21 is screwed. 34 is a rotating shaft of the roller 30.31, which is inserted into both side walls 35.35 of the support frame 32. 36 is a pine surge roller attached to the pine surge roller mounting frame 33. 41. 41 is a bearing that rotatably supports the upper and lower ends of the drive shaft 21, and does not move the drive shaft 21 up and down when the drive shaft 21 rotates around its axis.

A large pulley 37 is fixed to the lower end of the drive shaft 21, and a belt 40 is attached to the large pulley 37 and a small pulley 39 fixed to the tip of the rotating shaft 38 of the drive motor 2.
is installed.

Therefore, when the drive motor 2 is driven and its rotation shaft 38 rotates, the drive shaft 21 rotates and the rollers 30, 31
moves up and down along the guide frames 28 and 29, and the pine surge roller 36 moves up and down.

Further, the control circuit section 23 controls the predetermined section A (
The upper limit position and/or lower limit position between the upper and lower frames 26 and 27 are set by the upper limit switch 6 and the lower limit switch 7, and the moving member 22 is moved within a predetermined section A.
is set according to the rotational position of the drive shaft 21 and the time limit of the timer, and the movable member 22 is moved within a predetermined section B within a predetermined section A.
It is made to move up and down within the interior, and is constructed with an electric circuit as shown in FIG.

Next, this circuit will be explained.

3 is a position pulse generator that generates pulses in proportion to the rotation angle of the rotating shaft 38 of the motor 2, and 3 is a changeover switch, which is placed in the operating position (upper side in the drawing)
If the power supply voltage is the capacitor 101 and the resistor 102
is input to the set input terminal Sa of the flip-flop 4 via the OR gate 103 to set it, and the output terminal Qa is set to "1" and the output terminal Qb to "0".
is output. Further, when the changeover switch 3 is set to the stop position (lower side in the drawing), the power supply voltage is differentiated by the capacitor 104 and the resistor 105, and the OR gate 106
is input to the reset input terminal Ra of the flip-flop 4 via
"1" is output to the output terminal Qb.

Reference numeral 5 designates a position counter consisting of an up/down counter, which counts the number of output pulses from the pulse generator 1. That is, the output Qa of the flip-flop 4 is "1".
”, the number of pulses is added, and when it is “0”, the number of pulses is subtracted.

Further, 6 is an upper limit switch that is closed when the movable member 22 reaches the upper limit, and 7 is a lower limit switch that is closed when the movable member 22 reaches the lower limit.

Then, due to the action of the upper limit switch 6, the power supply voltage is changed to the capacitor 107, resistor 108, 109, and diode 110.
The output is differentiated by a differentiating circuit 16 consisting of O
The signal is inputted to the reset input terminal Ra of the flip-flop 4 via the R gate 106 to reset it. In addition, due to the operation of the lower limit switch 7, the power supply voltage is reduced to the capacitor 11.
1, resistors 112, 113, and a diode 114, and its output is input to the set terminal Sa of the flip-flop 4 via an AND gate 15 and an OR gate 103. Furthermore, since the other input terminal of the AND gate 115 is connected to the activation side of the changeover switch 3, when the AND gate 115 is activated, the AND gate 115
becomes open, and if the lower limit switch 7 is activated, the capacitor 111, resistor 112, 113 and diode 114
The differential output formed by differentiation is sent to the set terminal S
A is input and this is set. However, if the changeover switch 3 is set to the stop side, the AND gate 115 is in an inhibited state, and the flip-flop 4 is not set even if this differential output is applied.

Next, 8 is a second flip-flop, and when the selector switch 3 is turned on, the differential output from the differentiating circuit 15 consisting of a capacitor 104 and a resistor 105 is inputted to its set input terminal sb via an OR gate 116 and an AND gate 117. This is set, and "1" is generated at the output terminal Qc and "0" is generated at the output terminal Qd, resulting in a so-called "continuous" state. That is, in this state, the moving member 22 is moving up and down (repetitive movement) in the predetermined section A.

Next, 9 is a repetition switch for repeatedly driving the moving member 22 in an arbitrary section (setting section B) from the above-mentioned "continuous" state, and uses an automatic return switch.

It is also used to convert repetitive driving in the set section B to repetitive driving in the predetermined section A.

Therefore, if the repetitive switch 9 is operated in the repetitive driving state in the predetermined period A, the power supply voltage is increased to the capacitor 118,
AN is differentiated by a differentiating circuit 19 consisting of resistors 119, 120 and a diode 121, and is opened by the output terminal Qc of the flip-flop 8 which is in the "1" state.
It is applied to the reset input terminal Rb of the flip-flop 8 via the D gate 122 to reset it, and the moving member 2
2 to the state of repetition in the setting interval B.

Further, 10 is a register in which the contents of the position counter 5 are shifted and stored when the repetition switch 9 is turned on.

Reference numeral 11 denotes a reversal timer, to which the set side and reset side inputs of the flip-flop 4 are inputted via an OR gate 123, and it is started at the time of each input (that is, when the motor is reversed) and outputs "1" to the output terminal Qe. ” and the output becomes “0” after a predetermined period of time has elapsed.

In addition, this predetermined time is the period after the motor 2 is de-energized.
The output of the inverting timer 11 has its polarity inverted by the inverting amplifier 124 and is input to AND gates 125 and 126 connected to the input of the motor drive circuit 12. Also, AND gate 1
25, the output from the output terminal Qa of the flip-flop 4 is input, and the AND gate 126 receives the output from the output terminal Qa of the flip-flop 4.
The output from the output terminal Qb of is input, and the inversion timer 11
When inactive, the motor drive circuit 12 amplifies the power and drives the motor 2 so that the moving member 22 moves up or down. During the activation time of the reversal timer 11, the AND gates 125 and 126 are prohibited and the motor drive circuit 1 is disabled.
The input to motor 2 is cut off, and the drive current of motor 2 is cut off. Then, the drive of the motor 2 is brought to a substantially stopped state before the next reverse rotation starts. In other words, the settings are made so that no excessive force is applied to the motor 2 etc. during the reverse rotation, and the user of the pine surge machine 20 is not made to feel uncomfortable.

Reference numeral 13 denotes a repetition counter, which sets the repetition time during the repetition operation of the moving member 22 within the set interval B, thereby setting the repetition stroke. Also, this repetition counter 1
A four-man power AND gate 127 is connected to 3, and its input terminals receive the output from the position pulse generator 1, the output from the output terminal Qd of the flip-flop 8, and the inverting amplifier 124.
and the output from the output terminal Qa of the flip-flop 4 are input. Therefore, the repetition counter 13 is
During the repetitive motion of the moving member 22, position pulses are counted after the start of rising, and after a predetermined number of counts (i.e., after a certain period of time), the counting is stopped, and a time signal (
outputs a pulse signal with a minute pulse width or a differential signal).

Further, this output is inputted to the reset input terminal Ra of the flip-flop 4 via the above-mentioned OR gate 106,
This is reset to a so-called "lowering" state, and the output of the OR gate 106 operates the reversal timer 11 to cut off the power supply to the motor 2 during that time. 22 is driven downward.

Also, at this time, the position counter 5 is switched in the downward direction and begins to subtract the position pulse, so that the contents of the position counter 5 are constantly updated to a numerical value indicating the absolute position of the moving member 22.

Further, reference numeral 14 denotes a matching circuit, which is configured to constantly compare the counted contents of the position counter 5 and the stored contents of the register 10, and generate a pulse signal at its output if the contents match.

As a result, the rotating shaft of the motor 2 rotates in the direction in which the moving member 22 descends, and the contents of the position counter 5 are changed to the register 1.
0 (that is, when the moving member 22 reaches the initial setting position), the output pulse signal of the minus number circuit 14 is applied to the cent input Sa of the flip-flop 4 via the OR gate 103. Set this and "rise"
After the reversal timer 11 expires, the motor 2 is driven to rotate in the direction of raising the moving member 22. Thereafter, the above-described operation is repeated to perform repetitive driving.

Next, FIG. 5 shows a time chart in the case where the moving member 22 is in a repetitive movement state between predetermined intervals A and is switched to a repetitive operation between set intervals 8 while the moving member 22 is in the upward movement state, FIG. 6 shows that while the moving member 22 is in the anti-rhythm state in the predetermined section A, the moving member 22 is in the antirhythmic state and
A time chart is shown for the case of switching to the repetitive operation in .

Thus, in the case shown in FIG. 5, when the repeat switch 9 is operated, the repeat counter 13 operates immediately, but the flip-flop 4 is not reversed, the moving member 22 continues to rise, and the time limit of the repeat counter 13 ends. Then, the output pulse becomes O
The signal is inputted to the reset input terminal Ra of the flip-flop 4 through the R gate 106 to reset it, thereby placing the flip-flop 4 in the "down" state. In addition, in this case, the output from the output terminal Qb of the flip-flop 4 and the differential output of the repetition switch 9 are input to the AND gate 128,
Since the output is input to the OR gate 103, as shown in FIG.
When switching to repetitive operation, flip-flop 4
is immediately reversed and enters the "rising" state, and the reversal timer 11
After expiration of the time period, the motor is driven to rotate in the direction in which the moving member 122 moves upward.

Therefore, the position where the repeat switch 9 is operated is the position of the moving member 2.
2, and a repeat operation range (that is, setting section B) determined by the time limit of the repeat counter 13 is set.

In addition, in FIG. 4, the lower limit switch 7 and the OR gate 1
The inverting amplifier 129 and the AND gate 130, which are inserted in series between the inputs of 23, operate the inverting timer 11 when the moving member 22 is at the lower limit and the flip-flop 14 is set to the rising side (i.e., at the start of operation). Try not to
When the changeover switch 3 is turned on, the motor 2 is immediately driven. Further, at the lower limit, the output of the inverting amplifier 129 becomes "0" and the AND gate 130 is inhibited.

When the repetition switch 9 is operated during the repetition operation of the setting section B, the differential output from the differentiation circuit 19 formed by the resistor 119, 120, the capacitor 118, and the diode 121 is opened at the output terminal Qd of the flip-flop 8. It acts on the cent side of the flip-flop 8 through the AND gate 117, sets it, and makes it operate continuously during a predetermined period A.

When the repeat switch 9 is operated when the flip-flop 4 is in the "down" state, the output of the output terminal Qc of the flip-flop 8 is set to "0" in the AND gate 128, so the differential of the repeat switch 9 is The differential output of the circuit 19 is not input to the input terminal Sa of the flip-flop 4,
The flip-flop 4 continues to operate during the predetermined section A while maintaining the "downward" state, and the flip-flop 4
is in the "rising" state, when the repeat switch 9 is operated, no signal is input to the reset manual Ra of the flip-flop 4, and the "rising" state is maintained during the predetermined interval A. It is a continuous operation.

Next, when the selector switch 3 is set to the "stop" state during operation, the differential output from the differentiator circuit 18 of the upper output of the selector switch 3 is the set input terminal S of the flip-flop 15.
The output from the output terminal Qf is input to the motor drive circuit 12 and supplies power through a relay or the like. At this time, the motor 2 does not stop immediately, but drives the moving member 22 to the lower limit storage position and then stops.

Therefore, the reset input terminal R of the flip-flop 15
c is an AND gate 1 into which the differential output of the differentiating circuit 17 and the output from the lower common terminal of the changeover switch 3 are input.
31 is input and the changeover switch 3 is set to the "stop" state, when the movable member 22 reaches the lower limit and the lower limit switch 7 is closed, the differential output of the differential circuit 17 is applied to the flip-flop 15. The signal is input to the reset input terminal Rc to reset it and turn off the power in the motor drive circuit 12, thereby stopping the motor 2.

Therefore, as shown on the right side of FIGS. 5 and 6, if the changeover switch 3 is stopped when the flip-flop 4 is on the "rise" side, the flip-flop 4 is immediately turned off.
is reset, the moving member 22 descends, and if the changeover switch 3 is stopped when the flip-flop 4 is on the "down" side, the moving member 22 descends and stops at the lower limit position.

That is, for example, if the full stroke of the drive shaft is 600 m11
1% If the gear pitch of the drive shaft is 3nu++, then if a position pulse generator l is used that generates one pulse signal per revolution of the drive shaft 21, the full stroke will be 200 pulses, and the repetition counter 13 will be 6 bits. If the above-mentioned counter IC is used and the output of the built-in flip-flop of the 6th bit is utilized, the repetitive stroke will be 96 mm and 32 pulses per stroke. Further, as shown in FIG. 7, if a combination of a decoder 42 and a counter 43 is used for the repetition counter 13, the setting interval B can be made variable.

Note that 43 is a 6-bit binary counter, and 44 is a 6-bit binary counter.
It is a bit digital switch. Decoder 4 like this
2, the outputs from the output terminals Qo-Qs of each stage of the flip-flop of the counter 43 will be input to the corresponding decoder input terminals 81 to S8, respectively.
For example, to set "32 pulses" per stroke, input to input terminal Sb should be "1", and input terminals 31 to S5 should be set to "1".
It is sufficient to set the input to "0", and to set it to "40 pulses", input terminal S4. The input of Sb is “1” respectively.
”, and the other input terminals St, S2 . S3. The input of S5 may be set to "0". In other words, in this case, it is possible to set up to 63 pulses, and the setting interval B is 18
Can be set in 311III+ intervals up to 9mm.

According to the above embodiment, the flip-flops 4.8.
15, position counter, 5, register 10, inversion timer 1
1. The repetition counter 13, various gates, etc. are not special at all, and the control circuit section 23 can be made inexpensive and highly reliable.

Note that the present invention is not limited to the illustrated embodiment, and the design may be changed without departing from the gist of the present invention. For example, the motor 2 may be of either a direct current type or an alternating current type, and further, It is also possible to provide the control circuit section 23 outside the chair 24. Further, in the embodiment, the repetition counter 13 is a digital type that counts position pulses, but it is also possible to use an analog-operated timer.Furthermore, the time limit can be adjusted, and the setting interval 13 can be adjusted arbitrarily. It is also preferable to make it possible. It should be noted that this repetitive drive device can of course be used in any device other than a pine surger, as long as it is equipped with a moving member 22 that moves up and down by rotation of the drive shaft 21 around its axis.

〔Effect of the invention〕

According to the repetitive drive device of the present invention, the upper limit and/or lower limit position of the moving member 22 that is set according to the rotational position of the drive shaft 21 is accurate, and the set interval from the set upper limit position to the lower limit position is accurate. 13, the moving member 22 will move up and down accurately. In other words, since the moving member 22 moves up and down due to the rotation of the drive shaft 21, if the rotational speed of the motor 2 changes due to load fluctuations or the overrun amount of the motor 2 changes during reversal. In this case, even if there is a slight variation in the operating range from one time to the next, there will be practically no change as a whole, and the set interval will be maintained accurately.

[Brief explanation of the drawing]

FIG. 1 is a partially sectional perspective view of a pine surgical machine using a repetitive drive device according to an embodiment of the present invention, FIG. 2 is an enlarged front view showing a moving member, FIG. 3 is an enlarged side view of the same, and FIG. This figure is an electric circuit diagram used in the control circuit section, FIGS. 5 and 6 are time charts, and FIG. 7 is an electric circuit diagram used when the set interval is made variable. 21... Drive shaft, 22... Moving member, 23... Control circuit section, A... Predetermined section, B... Setting section.

Claims (1)

[Claims] 1. A repetitive drive device comprising a moving member 22 that moves up and down within a predetermined section A by rotation around the axis of a drive shaft 21, the upper and/or lower limit positions of the moving member 22 within the predetermined section A. The position of the moving member 22 is set according to the rotational position of the drive shaft 21, and the movable member 22 is moved to a set section B within a predetermined section A.
A repetitive drive device characterized in that it is provided with a control circuit section 23 for vertically moving the device.