JP2003009583A - Electric apparatus which controls and mounts motor in relative position - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electric apparatus which mounts a motor in a relative position. SOLUTION: The electric apparatus involves a main driving element which may be a human; a position reference body which is controlled and driven by the main driving element; and a sensor which outputs a signal in response to the movement of the position reference body. The position reference body is connected with a spring. After the position reference body is deformed under force from driving by the main driving element, the position reference body automatically restores and transmits the force to the electric apparatus. A controller is driven by a signal outputted by the sensor, and a motor is driven by a signal from the controller. Thus, the motor is provided with a function of accelerating and decelerating and normally revolving and inversely revolving. The electric apparatus is driven by the motor and is provided with a function of linkage with the main driving element. In response to a change in the relative position between the main driving element and the electric apparatus, the sensor transmits a signal to the controller to change the speed of the electric apparatus and synchronize the electric apparatus with the main driving element.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric mount for controlling and mounting a motor at a kind of relative position, and more particularly to an electric mount that completely complies with a personalized drive function,
The speed of the electric mount is controlled by modifying the relative position where the speed difference between the driving element (for example, a person) and the controlled element occurs, and thereby the speed of the electric mount is modified by modifying the speed of the driving element. The electric mounting tool is moved with the help of the motor, and a spring is provided between the main driving element and the electric mounting tool. The force applied by the main driving element is transmitted to the electric mounting tool. The present invention relates to an electric mount that achieves a wide range of industrial utility values by applying appropriate force or using little force.

[0002]

2. Description of the Related Art Generally, there are two types of control methods for an electric mounting tool which controls and mounts a motor at a relative position: open circuit control and closed circuit control.

The open circuit control will be described. As shown in the control block flow chart of FIG. 1, it only drives a motor by one controller and directly drives an electric mount by the motor, and the control flow of such an open circuit control method is simple. It has the advantage of low cost. However, the actual practical range was not wide. For example, when the electric mount is a vehicle traveling on land, when the vehicle travels on a flat road, the controller controls the rotation speed of the motor to achieve the traveling requirement of the vehicle. However, when the car is approaching a slope, the controller still drives the motor, but the car is underpowered when climbing slope terrain and too fast when descending, which allows the motor to fundamentally meet its rotational speed requirements. Disappear. For this reason, such an open circuit control is suitable only for a place where the environment is relatively unchanged or where the result is not pursued relatively, and therefore its industrial applicability is not high.

The closing control will be described. As shown in the control block flow chart of FIG. 2, the main difference between it and the above-mentioned open circuit control is that a tachometer for detecting the motor rotation speed is additionally installed, and the motor rotation speed data detected by the rotation speed meter is the motor. Is fed back to the controller that drives and controls the motor to automatically correct the rotation speed of the motor to achieve a stable motor rotation speed requirement. However, although such a closed circuit control method guarantees that the output point control of the motor is good, the target of the control is the motor and not the actual controlled object. gap)
Alternatively, when the load characteristics do not look like the theoretical calculation, it often causes a larger error. Therefore, academically, the theory of motor control and mechanism design is submitted constantly, and higher precision is sought. However, even if any one of the new methods is used, the manufacturing cost will only increase, and it will not be accepted as a consumer product, so improvement has been required.

[0005]

SUMMARY OF THE INVENTION The main object of the present invention is to provide an electric mount for controlling and mounting a motor in a relative position, which is fully compatible with the personalized drive function, and thereby the electric mount. The drive speed of the mounting tool should be synchronized with the driving element to have wide industrial utility value.

[0006]

According to a first aspect of the present invention, there is provided a position reference body which is a driving element which can be a person and a sensor, which is controlled by the driving element and operates by receiving the driving of the driving element. And a detection body that generates a signal output by using the movement of the position reference body. Among them, a spring is connected to the position reference body, which undergoes force deformation by driving the driving element and automatically recovers to the position reference body. The above-mentioned sensor and controller, which are provided with a function and an electric mounting device is provided with a function of assisting operation, are the above-mentioned controller and a motor, which are driven by receiving a signal output from a detection body of the sensor, The motor is driven by a signal from the controller and has the function of acceleration, deceleration, or forward / reverse rotation, and is an electric mount, which is interlocked by the drive of the motor and has an interlocking function with the main driving element. , By utilizing the movement relationship between the driving element and the electric mounting tool, a signal is generated by the sensor to the controller to control the rotation speed of the motor, and the speed between the driving element and the electric mounting tool is brought close to synchronization. , The above-mentioned electric mount, and driving and moving the electric mount so as not to use an appropriate output or complete force to the driving element,
An electric mount for controlling and mounting a motor at a relative position is characterized by achieving a synchronizing function.
The invention of claim 2 is characterized in that the position reference body is a carbon brush, a magnet, an optical gate, or a metal.
An electric mount for controlling and mounting a motor at the relative position according to claim 1 is provided. According to a third aspect of the present invention, the detection body is a printed circuit board, a magnetic spring switch, a photoelectric switch or a metal sensor whose related positions are standardized in advance, and a switch module which generates a different signal depending on the position of the position reference body. The electric mount for controlling and mounting the motor at the relative position according to claim 1.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION The main features of the present invention are as follows. One driving element that can be a person, a sensor controlled by the driving element, one controller driven by a signal generated by the sensor controlled by the driving element, and one motor controlled by the controller When the relative position between the electric mount and the driving element is changed, that is, when there is a speed difference, the sensor immediately detects and controls the signal. To control acceleration or deceleration of the electric mount, thereby synchronizing the speeds of both the driving element and the electric mount.
With such a structure, the drive of the electric mount is synchronized with the driving element at any time, and has a wide industrial utility value.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 4, in the first embodiment of the present invention, the driving element 10 is a single vehicle and the electric mount 20 is also a single vehicle. A position reference body 40 that is controlled by the controller, a detection body 41 attached to the electric mount 20, and a controller that receives a signal from the detection body 41.
And a motor under the control of the controller. An electric mount 20 is mounted on the motor, and a sensor uses the relative movement relationship between the electric mount 20 and the driving element 10 to send an appropriate command to the controller to control acceleration / deceleration of the motor. As a result, when the driving element 10 moves forward, it is driven in the order of sensor → controller → motor, and the electric mount 20 is driven to move. In other words, the electric mount 20 can be regarded as one driven element, and when the relative position between the driven element and the driven element 10 is modified, the sensor immediately detects and sends a signal to the controller, By controlling acceleration or deceleration, the speeds of both the driving element 10 and the driven element are almost synchronized, and the driven element can be said to be a load on the driving element 10.
However, this load is not a burden on the driving element 10, and is applied to the following various types of articles having practical value according to this design concept (the sensors, controllers,
The motor will be further described in the practical application example below).

Next, FIG. 5 shows the second embodiment of the present invention.
It is an embodiment and is a handle 31 of the golf ball electric vehicle 30.
FIG. 8 is a perspective view of a handle portion applied to vehicle speed control by the vehicle. For the control method, refer to FIGS. 7 to 8. Of these, the position reference body 40 (carbon brush, magnet, optical gate, metal, etc.) that moves due to the pulling of the handle 31, and detection that detects the position of the position reference body 40 and outputs a signal when the position reference body 40 moves. The golf ball electric vehicle 3 receives the output signal control of the body 41 (printed circuit board, magnetic spring switch, photoelectric switch, metal sensor, etc.) and the detection body 41.
A controller 42 is provided which drives zero motors and can therefore be considered a motor driver. With this structure, FIG. 7 can be regarded as one sensor. For ease of explanation, we use the position reference body 40 as a carbon brush and the detection body 41 as a copper foil, and the carbon brush serves as one ground point (that is, the GND shown in the drawing). The controller 42 has three I / O points (BIT2, B
IT1, BIT0), and when detecting the position of the carbon brush, when the carbon brush contacts the copper foil, this I /
When the O point is set to LOW (0), or otherwise set to High (1), in the example shown in FIG. 8, these three I / O points are (011), at different positions of the carbon brush. (0
01), (101), (100), and (110), the controller 42 has five types of acceleration / deceleration modes. Naturally, these five kinds of acceleration / deceleration modes are first achieved by mutual combination between the detection body 41 and the position reference body 40. Therefore, the shape of the detection body 41 can be changed in many different designs, and is not limited to a single type. Further, it can be designed to have more than five types of acceleration / deceleration control modes in multiple stages, as shown in FIGS. 9, 11 and 15, and as shown in FIG. It is possible to have five types of acceleration / deceleration modes by making the shape into an arc shape.
Also, that is, the comfort of operation can be achieved with different acceleration / deceleration modes by simply using different variable settings between different modes. 18, the horizontal axis represents time (T) and the vertical axis represents speed (V). When the user manually pulls the handle 31 of the golf ball electric vehicle 30, the five types of acceleration / deceleration modes are set. The curve is as shown in FIG. 17, that is, the motor for driving the golf ball electric vehicle 30 is slowly activated. On the contrary, when the time (T) in the acceleration curve is modified with respect to the speed (V) as shown in FIG. 18, the motor driving the golf ball electric vehicle 30 starts rapidly.

More specifically, by utilizing the modification of the variables (the variable here is the slope of the acceleration / deceleration body time relation), the speed and time of the drive mode of the motor are changed to achieve operational comfort. .

Basically, the control of the output signal of the I / O point described above is completed by a microprocessor, which makes it extremely accurate and is capable of performing changes under a large number of different acceleration variables. As can be seen from the comparison of both figures in FIGS. 17 and 18, acceleration curves with different slope rates can occur under different acceleration variables. For example, when the electric mount requires slow activation, the variables shown in FIG. 17 can be used. On the other hand, when the electric mount requires a relatively large actuating force moment, the variables shown in FIG. 18 apply. Moreover, forward / reverse rotation of the motor can be controlled by I / O. In the example of FIG. 9, all four I / O points are (0I
11), (0011), (1011), (1001),
(1101), (1100), (1000), (101
0), (0010), (0110), and if the lowest bit (BIT0) is LOW (0) and is used to control the bidirectional movement of the motor, the acceleration curve is As shown in Fig. 10 (+ on the vertical axis in the figure)
And-indicate the positive and negative force of the motor). Similarly, different modes have different adjustment modes by utilizing different variable settings.

Therefore, as shown in FIG. 11 or FIG. 15, when the controller has five I / O points to detect the carbon brush position, the five I / O points are (0111)
1), (00111), (10111), (1001
1), (11011), (11001), (1110)
1), (11101), (11100) and (1111)
It has 9 kinds of changes of 0), and by setting the variable, it can also combine the acceleration curves as shown in FIG. 20, and can achieve the function of controlling the motor forward / reverse.

Therefore, as can be seen from the above description, when the driving element is a person (see also FIG. 3),
When the sensor of the present invention is displayed on the handle of the electric mount, that is, the handle of the electric mount is manually operated, and the electric mount also automatically changes the rotation speed of the motor according to the traveling speed of the person. And achieve the function of synchronizing the electric mount with a person.

Please also refer to FIGS. The speed control method of the embodiment of the present invention can employ circumferential motion control, and the sensor combined therewith is as shown in FIG. 13 or FIG. 15, whereby the driving can be performed only by changing the variable. The function can be achieved. For example, the design of the circumferential motion control can be applied to the power-assisted bicycle 60. Pedal disc 61 and motor synchronization disc 6
Using the relationship design between the two, the signal can be output by the pedal circumferential movement, that is, the motor can be driven in the multi-step acceleration / deceleration mode state as shown in FIG. 14 or FIG. Since the bicycle only moves forward when riding, it is not necessary to consider the motor reversal at the time of actual design, and the function of the electric assist is achieved by the assistance of the motor, which is extremely practical. In addition, the present invention can also be applied to an electrically assisted wheelchair 7, as shown in FIG.
Is equipped with an auxiliary push wheel 70, a rotating wheel 71, a stationary disk 72 and a differential disk 73, and the correlation position between the stationary disk 72 and the differential disk 73 is as shown in FIG. If the idea of the five I / O points in FIG. 11 is changed to five switches (for example, a non-contact magnetic spring switch), the magnetic spring switch is regarded as an element that conducts when approaching a magnetic element (for example, a magnet). Therefore, when the magnetic element 74 is provided at a specific position of the magnetic spring switch (see FIG. 24) and the magnetic spring switch has a total of five I / O points, the differential disk 73 in FIG. When the corresponding turntable has a deviation, different magnetic elements 74 conduct different corresponding magnetic spring switches, and one or two magnetic spring switches approach the magnetic element due to the angular arrangement of the switches. It works, and at this time its dynamic changes and I
The / O output is as shown in FIG. 26, thus the setting of that variable can be utilized to achieve different speed control functions.

As can be seen from the above description, FIGS.
23 and FIG. 23 both give an actual speed command by the driving element (ie, human), and the control flow thereof is as shown in FIG. Therefore, whether the operation performance is good or bad is completely human sense, and then the variable setting is further actually performed. If the three examples of FIGS. 5, 21 and 23 are positioned in the electric assist type, the person (ie, the driving element 10) outputs the driven element (ie, the electric mount 20, for example, an electric vehicle, a golf ball electric vehicle, a wheelchair assist push). It is necessary to move the vehicle 70, etc.) and thus the position reference 40 (eg carbon brush) on the sensor and the drive element 10 need to be synchronized, as shown in FIG. 27. When the detection body 41 (for example, the divided substrate) and the driven element are synchronized, that is, the electric mount 20
And a spring 80 is attached between the two. This spring 80 requires attachment in either linear or circumferential motion, as shown in FIGS. 27, 28 and 29. On the other hand, it is used for automatic recovery of the position reference body 40, prevents occurrence of an unrecoverable phenomenon which is stagnant due to the magnitude of the pulling force of the driving element 10 and ensures control stability. On the other hand, the pulling force or thrust of a person is transmitted to the electric mount 20 (that is, the driven element) via the spring 80. We can interpret this by the notion of mathematical limits. When the elastic coefficient of the spring 80 is infinite, that is, the position reference body 40 stays at the reset position, that is, the position reference body 40 does not operate. At this time, the motor does not output, and the forward movement of the electric mount 20 is completely driven by the output of the driving element 10 to form a traditional non-powered vehicle.
On the contrary, when the elastic coefficient of the spring 80 is infinitesimally small, the position reference body 40 is completely adjusted and controlled by the driving element 10.
The force of the driving element 10 cannot be transmitted to the electric mount 20, and therefore the movement of the electric mount 20 is completely due to the output of the motor.
As a result, a genuine electric vehicle is formed. Thus, by selecting an appropriate spring 80 (modifying the elastic coefficient k value of the spring 80), it is possible to obtain an electrically assisted vehicle having different degrees of motion. Similarly, in the wheelchair of FIG.
We regard the auxiliary push wheel 70 as the main driving element 10 and the rotating wheel 71 as the driven element (that is, the electric mount 20), and the same driving effect can be achieved. In terms of mechanical design, the spring is conveniently designed to adjust the amount of preload (elastic coefficient adjustment)
Then, as shown in FIG. 27, that is, the screw rod 81 of the clockwise screw thread 81A and the counterclockwise screw thread 81B is provided at the front end and the rear end respectively, and the counterclockwise screw thread 81B and the clockwise screw thread 81B of the screw rod 81 are provided. The stopper pieces 90 and 91 before and after the spring 81 presses the ridges 81A respectively.
When the screw rod 81 is driven and rotated, the stopper pieces 90 and 91 respectively move toward the middle and press the stopper pieces 90 and 91. With this design, the user can adjust the auxiliary power of the motor by himself according to the physical condition at that time, which is very good in practical use.

[0016]

The effects to be emphasized again are as follows. The central creative idea of the present invention is different from the one in which a person is the starting point of designing, and the comfort of man's operation is the designing purpose, and the motor of the non-life element of the known technology is mainly used. In the present invention, when it is desired to drive the electric mount, it is only necessary to counteract the elastic force of the spring combined with the driving element at the time, thereby achieving the operation assisting function of the present invention. The utility value of the market is extremely wide (for example, it is mounted on an electric wheelchair, a golf ball electric vehicle), and it is very practical. The present invention relies on a motor as a power source. The movement drive of objects is completely perceived by people,
Fully meet personalized control requirements. The known techniques do not extend to the present invention, and the known techniques do not have a personalized design, and the known techniques are prone to control error, and as a whole comparison, the present invention has a significant functional enhancement. And has an inventive step.

In summary, the present invention has inventive step and industrial applicability, and the features of the present invention have not been publicly announced yet, have novelty, and meet the requirements of the patent. In addition, the above examples do not limit the scope of the present invention, modifications or alterations of details that can be made based on the present invention,
All of them belong to the claims of the present invention.

[Brief description of drawings]

FIG. 1 is a known open circuit control flowchart.

FIG. 2 is a known closed circuit control flowchart.

FIG. 3 is a control flowchart of the present invention.

FIG. 4 is a view showing a state in which the two vehicles according to the first embodiment of the present invention are held at a constant speed and moved forward.

FIG. 5 is a perspective view of the second embodiment of the present invention when the handle portion is pulled and moved, which is applied to the vehicle speed control by the handle of the electric golf ball vehicle.

6 is a display diagram after pushing in a direction opposite to that in FIG. 5. FIG.

FIG. 7 is a static display diagram of a first example of the sensor according to the embodiment of the present invention.

8 is a dynamic state change in FIG. 7 of the present invention and its I / O point correspondence situation diagram.

FIG. 9 is a static display diagram of a second example of the sensor according to the embodiment of the present invention.

FIG. 10 is a diagram showing a dynamic change in FIG. 9 of the present invention and its I / O point correspondence situation.

FIG. 11 is a static display diagram of a third example of the sensor according to the embodiment of the present invention.

FIG. 12: Dynamic change in FIG. 11 of the present invention and its I / O
It is a point correspondence situation diagram.

FIG. 13 is a static display diagram of a fourth example of the sensor according to the embodiment of the present invention.

FIG. 14 is a dynamic change and its I / O in FIG. 13 of the present invention.
It is a point correspondence situation diagram.

FIG. 15 is a static display diagram of a fifth example of the sensor according to the embodiment of the present invention.

FIG. 16 is a dynamic change and its I / O in FIG. 15 of the present invention.
It is a point correspondence situation diagram.

FIG. 17 is a diagram showing the relationship between speed and sensor position under the first set of variables when the sensor of FIG. 7 is used.

FIG. 18 is a relationship diagram of speed vs. sensor position under the setting of the second set of variables when the sensor of FIG. 7 of the present invention is used.

19 is a velocity vs. sensor position relationship for the sensor of FIG. 9 of the present invention.

20 is a diagram showing the relationship between speed and sensor position when the sensor of FIG.

FIG. 21 is a diagram showing the application of the third embodiment of the present invention to the speed control structure of an electrically assisted bicycle.

22 is an enlarged side view showing the attachment of the sensor of FIG. 13 of the present invention to an electrically assisted bicycle.

FIG. 23 is a diagram showing the application of the fourth embodiment of the present invention to the speed control structure of an electric wheelchair.

FIG. 24 is a front view when the magnetic spring switch is used as a sensor according to FIG. 23 of the present invention.

FIG. 25 is a side view when the magnetic spring switch is used as a sensor according to FIG. 23 of the present invention.

FIG. 26 is a dynamic change diagram in FIG. 24 of the present invention.

FIG. 27 is a perspective view in which a spring is added to the sensor when the embodiment of the present invention moves linearly.

FIG. 28 is a front view in which a spring is added to the sensor when the embodiment of the present invention makes a circumferential movement.

FIG. 29 is a side view in which a spring is added to the sensor when the embodiment of the present invention makes a circumferential movement.

[Explanation of symbols]

10 Driving element 20 Electric mount 30 golf ball electric car 31 steering wheel 40 Position reference body 41 Detection body 42 controller 50 linear variable resistance 60 bicycle 61 pedal disc 62 Sync Disk 7 Wheelchair 70 Auxiliary push wheel 71 Rotating wheel 72 Fixed disk 73 Differential disk 74 Magnetic element 80 Spring 81 screw rod 81B counterclockwise thread 81A clockwise screw thread 90, 91 stopper piece

Claims (3)

[Claims] 1. A moving element that can be a person, a sensor, a position reference body that is controlled by the driving element, and operates by receiving the drive of the driving element, and a movement of the position reference body. The position reference body is connected with a spring, and the position reference body is deformed by receiving the force by driving the driving element. To have the function of
The sensor and the controller are driven by receiving a signal output from the detection body of the sensor, and the controller and the motor are driven by the signal of the controller,
The above-mentioned motor having an acceleration, deceleration, or forward / reverse function is an electric mounting tool, which is interlocked by being driven by the motor and has an interlocking function between the main driving element and the main driving element. Utilizing the movement relationship between the tools, the sensor is caused to generate a signal toward the controller to control the rotation speed of the motor, and the speed between both the driving element and the electric mounting tool is brought close to synchronization.
The above-described electric mount is provided, and the electric mount is driven and moved to prevent the driving element from using an appropriate output or a complete force to achieve a synchronization function. An electric mounting tool that controls and mounts a motor at a relative position. 2. The electric mount according to claim 1, wherein the position reference body is a carbon brush, a magnet, an optical gate, or a metal. 3. The detection body is a printed circuit board, a magnetic spring switch, a photoelectric switch, or a metal sensor whose related positions are standardized in advance, and is a switch module that generates a different signal depending on the position of the position reference body. An electric mount for controlling and mounting a motor at the relative position according to claim 1.