JP2010172073A - Axis synchronous rotary machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable rotation of axes manually synchronized through a very simple configuration. <P>SOLUTION: There are provided multiple stepping motors connected in parallel with one another and having an identical number of phases. Some motors are mechanically coupled to an input shaft 10 and used as a generator 30 and the other motors are mechanically coupled to an output shaft 20 and used as a motor 40. The input shaft 10 is coupled with a hand handle 50. When the hand handle 50 is manually rotated, the generator 30 is rotated and power is generated. The motor 40 is accordingly rotated in synchronization. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention relates to a shaft-synchronized rotating device that rotates a shaft synchronously using a stepping motor.

A multi-axis drive system that uses a stepping motor as a drive motor generally has a configuration in which a stepping motor is connected to each axis, and each controller that drives these motors is controlled synchronously using a computer or the like. (For example, Patent Document 1).

JP 2008-141882 A

However, for the purpose of improving system reliability, if you want to change the design so that each axis can be rotated synchronously by manual operation in the event of an abnormality such as a power failure or controller failure, you can prepare an uninterruptible power supply or controller separately. It is indispensable to connect each shaft (output shaft) and the input shaft using a mechanical mechanism such as a belt or a chain. In either case, there is a problem that the configuration of the apparatus becomes complicated, and this causes a significant increase in cost.

The present invention has been created under the above-described background, and the object of the present invention is to provide an axis synchronization capable of rotating each axis in synchronization with manual operation while having a very simple configuration. It is to provide a rotating device.

In order to solve the above problems, an axis synchronous rotation device according to the present invention is a device that rotates one or a plurality of output shafts in synchronization with an input shaft, and has the same number of phases connected in parallel to each other. N stepping motors (n ≧ 2) are provided, and some of the stepping motors are mechanically connected to the input shaft and used as a generator, while other motors are mechanically connected to the output shaft. Used as an electric motor by connecting to

According to the present invention, when the input shaft is manually rotated, some of the n number of the steering motors operate as a generator, and a sine wave having a frequency corresponding to the rotation of the input shaft from the motor. A voltage is output for each phase. This sine wave voltage is input to the other motor for each phase, and the other motors each operate as an electric motor, and the output shaft rotates accordingly. That is, the output shaft rotates in synchronization with the input shaft. Therefore, the output shaft can be rotated in synchronization with the rotation of the input shaft, and the uninterruptible power supply, controller, etc. can be omitted even though it is a very simple configuration. It becomes possible to plan. further,
It is only necessary to make an electrical connection between the generator and the motor, and the input shaft can be arranged at a position where it can be easily operated regardless of the output shaft, which is also advantageous in this respect.

It is preferable that the same apparatus has a common stepping motor driving device for driving the electric motor.

According to the invention of the subordinate concept described above, when the motor is operated according to the stepping motor drive device during normal operation, the output shaft rotates synchronously, whereas when the input shaft is rotated manually during abnormalities such as a power failure or failure, The electric motor operates by the sine wave voltage output from the machine, and the output shaft rotates in synchronization. Therefore, it becomes possible to easily cope with an abnormality without using an uninterruptible power supply device or the like, and the reliability as the device is enhanced.

  In the same apparatus, the input shaft may be configured such that a manual rotation operation member is mechanically coupled.

According to the invention of the subordinate concept described above, the rotation operation of the input shaft is facilitated through the manual rotation operation member, and the usability is improved.

In the apparatus, a part of the plurality of output shafts may be mechanically connected to a generator instead of an electric motor.

According to the above subordinate concept invention, when the input shaft is manually rotated, the generator rotates and the output shaft mechanically connected to the generator also rotates simultaneously. Therefore, the number of electric motors can be reduced with respect to the number of output shafts, and further cost reduction can be achieved in this respect.

In the same apparatus, the generator is composed of m (m <n) stepping motors, and not only they are connected in parallel to each other but also mechanically connected to each other.

According to the invention of the subordinate concept described above, m generators are operated in parallel. Therefore, the power generation capacity is increased and it is possible to easily cope with the load increase.

The same device may be configured to include a common stepping motor driving device that drives the electric motor.

According to the invention of the subordinate concept described above, m generators are operated in parallel, the power generation capacity is increased, and it is possible to easily cope with the load increase.

In the same device, for example, when a pair of opening / closing objects is incorporated in an opening / closing device that can be opened or closed by moving or rotating in a predetermined direction, one of the output shafts is one of the opening / closing objects and one of the other output shafts is the opening / closing object. The other is preferably mechanically connected to each other.

It is a lineblock diagram of the axis synchronous rotation device concerning an embodiment of the invention. It is a connection diagram at the time of using a 2-phase stepping motor as a generator and an electric motor of the apparatus. It is a wave form diagram of the output voltage of each phase of the generator. It is a graph of the torque-speed characteristic which shows the relationship between the input torque of the generator, and the output torque at the time of no load of the motor. It is a connection diagram at the time of using a 5-phase stepping motor as a generator and an electric motor of the apparatus. It is a typical block diagram of the automatic door opening and closing apparatus for demonstrating Example 1 of the apparatus. It is a typical block diagram of the automatic gate opening / closing apparatus for demonstrating Example 2 of the apparatus. It is a typical block diagram of the curtain opening / closing apparatus for demonstrating Example 3 of the apparatus.

Hereinafter, an axis synchronous rotation device according to an embodiment of the present invention will be described with reference to the drawings. In addition, about the thing whose correspondence is unclear between the invention specific matter of the invention described in the claims and the constituent elements of the device, it will be shown together in the description of the reference numerals described later.

FIG. 1 shows a configuration diagram of an axis synchronous rotation device 1. In the figure, 10 is an input shaft, 20 is an output shaft, 3
Reference numeral 0 is a generator, 40 is an electric motor, 50 is a handwheel handle, 60 is a driver, and 61 is a controller.

The generator 30 and the motor 40 are a plurality of two-phase stepping motors having the same configuration, and the motors are electrically connected in parallel to each other. And some motors are connected to the generator 30.
On the other hand, another motor is used as the electric motor 40. In FIG. 1, there are one generator 30 and two motors 40, which are a generator 30a and motors 40a, 40.
Each is shown as b.

The generator 30 and the motor 40 are connected in parallel with each other as shown in FIG. 2A shows the case where the electric motor 40a or 40b is rotated in the same direction as the generator 30a. FIG. 2B shows the case where the electric motor 40a or the electric motor 40b is rotated in the opposite direction to the generator 30a. Each connection is shown. Then, the forward connection shown in FIG. 2A or the reverse connection shown in FIG. 2B is established between the generator 30 and the electric motor 40 in accordance with the rotational direction of the output shafts 20a and 20b of the multi-axis drive system. Good.

Note that the number of generators 30 and motors 40 is arbitrary. When three or more motors 40 are used according to the number of axes of the multi-axis drive system, as shown in FIG. 1, the motors 40a, 40b,
It is sufficient to connect 40c and the like in parallel. The same applies when two or more generators 30 are used, but not only the generators 30a and 30b are connected in parallel to each other, but also the rotor shaft 31a of the generator 30a and the rotor shaft 31b of the generator 30b. And the like may be mechanically connected in series using a connecting device 11 such as a timing belt or a chain. That is,
Since the phase coils of the generator 30a and the generator 30b are connected in parallel and the rotors are mechanically connected to each other, when the generator 30a is rotated, the generator 30b and the like are also synchronized accordingly. The generator 30a and the generator 30b are rotated in parallel.

The input shaft 10 is a shaft for manually rotating the output shaft 20 of the multi-axis drive system, and is attached and connected to one end portion (not shown) of the rotor shaft 31a of the generator 30a. Yes. The input shaft 10 is pivotally supported by a generator 30a.

The handwheel 50 is an instrument used when the input shaft 10 is rotated manually, and a disc body 51 in which the tip of the input shaft 10 is fixed at the center position on the back surface, and an eccentric position of the surface of the disc body 51. It has the structure which has the knob 52 stood on. That is, when the knob 50 is held by the hand and the entire handle 50 is rotated, the rotor of the generator 30a is correspondingly rotated by the input shaft 10.
It is supposed to rotate through.

The output shaft 20 is a plurality of shafts for operating the multi-axis drive system, and is attached to and connected to the tip end portion (not shown) of the rotor shaft of the electric motor 40. Electric motor 40a,
The output shafts connected to 40b are represented as 20a and 20b.

The driver 60 is a stepping motor driving device that generates a driving voltage necessary for driving the electric motor 40 in accordance with a command pulse output from the controller 61. Each phase coil of the electric motors 40a and 40b is provided at the subsequent stage of the device. Electrical connection. The motors 40a and 40b are operated using the driver 60 and the controller 61, and the output shaft 20a,
Since the rotation of 20b is exactly the same as in the prior art, the description thereof is omitted.

  The driver 60 and the controller 61 are required when driving the output shaft 20a, the output shaft 20b, and the like using external supply energy such as commercial voltage. When the output shafts 20a, 20b, etc. are driven using only the power generation energy of the generator 30a without using externally supplied energy, the driver 60 and the controller 61 are unnecessary.

When the drive voltage output from the driver 60 is input not only to the motors 40a and 40b but also to the generator 30a, and it is necessary to prevent the generator 30a from being rotated, a changeover switch (illustrated on the wiring line L) is displayed. (Omitted) should be provided. For example, when the changeover switch is on, the driver 60 and the motors 40a and 40b are electrically connected,
When the changeover switch is off, the electrical connection between the driver 60 and the generator 30a is cut.

  When the handwheel 50 is manually rotated, the input shaft 10 and the rotor of the generator 30a are rotated accordingly. FIG. 3 shows voltage waveforms output from the A-phase and B-phase coils of the generator 30a when the input shaft 10 is rotated at a constant speed. In the generator 30a, the A-phase and B-phase coils are disposed 90 degrees apart from the rotor rotation axis (see FIG. 2), so that the voltages output from the A-phase and B-phase coils are also 90 degrees. Out of phase. When the handwheel 50 is rotated in the opposite direction, only the phase sequence of the voltage output from the generator 30a is changed, which is exactly the same as described above. Since not only the generator 30a but also the power generator 30b or the like is used for power generation, parallel operation is performed, so that output voltages as shown in FIG. 3 are generated.

  As described above, the voltage shown in FIG. 3 is generated in the A-phase coil and the B-phase coil of the generator 30a, and these voltages are simultaneously output to the electric motor 40a and the electric motor 40b. As a result, the electric motors 40a and 40b rotate in synchronization. Since the generator 30a and the motors 40a and 40b are stepping motors having the same number of phases, the motors 40a and 40b rotate in synchronization with the generator 30a due to the characteristics of the motors. When the output torque generated in the electric motor 40a is measured, it is as shown in FIG. In FIG. 4, the input torque of the generator 30a is also shown. The same applies to the electric motor 40b. Therefore, it is obvious that the output shafts 20a and 20b can be rotated in synchronization with the rotation direction and the rotation amount of the handwheel 50. This is exactly the same when the motor 40c and the like are connected in parallel to the motors 40a and 40b and the output shaft 20c and the like are rotated.

  Note that the stepping motor used as the generator 30 and the motor 40 is not limited to only two phases, and may be three or five phases, and the type is not limited as long as the number of phases is the same, depending on the load, etc. May be selected as appropriate. For example, when a five-phase stepping motor is used, the connection between the generator 30 'and the electric motor 40' may be connected in parallel as shown in FIG. 5A shows a case where the motor 40 ′ is rotated in synchronization with the generator 30 ′ in the same direction, and FIG. 5B shows a case where the motor 40 ′ is rotated in synchronization with the direction opposite to the generator 30 ′. Each is shown. The same applies to the case of using stepping motors of other phases.

  Further, the connection between the coils in the generator 30 ′ and the electric motor 40 ′ may be not only the star connection shown in FIG. 5 but also a unipolar, bipolar, delta, or pentagon. Of course, the driving method including the excitation sequence is not questioned for the driver 61.

As an example of use of such a shaft rotating device 1, there is an opening / closing device that can freely open and close by moving or rotating a pair of opening / closing objects in a predetermined direction. This embodiment will be described below.

FIG. 6 shows a schematic configuration diagram of the automatic door opening and closing device 2 disposed at the vehicle entrance of the station platform. In the figure, reference numerals 71 and 72 denote opening / closing doors (opening / closing objects) respectively disposed on both sides of the vehicle entrance / exit α, 73 and 74 are opening / closing mechanisms that support the opening / closing doors 71 and 72 so that they can be opened and closed, and 75 is a power distribution panel. The open / close doors 71 and 72 in the figure are schematically shown as viewed from the front of the vehicle entrance / exit α. A shaft rotating device 1 is incorporated in the automatic door opening and closing device 2.

The apparatus 1 has three stepping motors, one is used as the generator 10a, and two are used as the electric motors 40a and 40b (see FIG. 1).

The output shaft 20 a of the electric motor 40 a is mechanically connected to the open / close door 71 via the open / close mechanism 73. The output shaft 20b of the electric motor 40b is mechanically connected to the open / close door 72 via the open / close mechanism 74. The generator 10a with the handwheel 50 is installed at a location near the vehicle entrance / exit α that is easy to operate.

  The opening / closing mechanism 73 is a mechanism that linearly moves the opening / closing door 71 in the direction of the arrow in the figure based on the rotation of the output shaft 20a. The same applies to the opening / closing mechanism 74, which is a mechanism that linearly moves the opening / closing door 72 in the direction of the arrow in the drawing based on the rotation of the output shaft 20b.

The generator 30a and the motor 40a are connected in the forward direction, and the generator 30a and the motor 40b are connected in the reverse direction. Therefore, when the handwheel 50 is rotated manually to generate power by the generator 30a, the electric motor 40a and the electric motor 40b are synchronized with the generator 30a and rotated in opposite directions. Therefore, according to the rotation of the handwheel 50, the open / close door 71,
72 moves by an equal distance in opposite directions, and opens and closes the vehicle entrance / exit α. This is the same not only when the generator 30a is generated by manual operation of the handwheel 50 but also when the motors 40a and 40b are driven using the driver 60 and the controller 61.

The distribution panel 75 is a switch circuit connected to the position between the generator 30a and the driver 60 on the wiring cable L, and the manual operation mode and the automatic operation mode are alternately switched through the operation switch included in the circuit. It is possible to switch to That is, in the automatic operation mode, the driver 60 and the electric motors 40a and 40b are electrically connected, while in the manual operation mode, the driver 60 is disconnected and the generator 30a and the electric motors 40a and 40b are disconnected. The space is electrically connected.

Although not shown in the drawings, other vehicle entrances and exits are also provided with the automatic door opening / closing device 2 similar to the above, and the components of the device 2 excluding the electric motor 40 (the handwheel 50, the generator 30a). And the driver 60 and the like are shared.

When the controller 61 and the driver 60 are operated in the automatic operation mode, the drive voltage output from the driver 61 is guided to the electric motors 40 a and 40 b through the power distribution panel 75, and the electric motors 40 a and 40 b operate according to the controller 61. As a result, the door 71,
All of 72 and the like are automatically opened and closed synchronously.

Further, when an abnormality such as a power failure occurs, the distribution panel 75 automatically switches from the automatic operation mode to the manual operation mode. When the handwheel 50 is manually rotated in this state, the generator 30a is rotated to generate electric power, and accordingly, the electric motor 40 is rotated and the door 7 is opened.
1 and 72 etc. are all opened and closed in synchronization with the rotation of the handwheel 50. That is, even when an abnormality such as a power failure occurs, all of the open / close doors 71 and 72 and the like can be opened and closed in synchronization by merely rotating the handwheel 50 by manual operation.

FIG. 7 shows a schematic configuration diagram of an automatic gate opening / closing device 2 ′ disposed at a gate of a building, an expressway or the like. In the figure, 81 and 82 are open / close bars (open / close objects) respectively provided on both sides of the gate β, and 83 is a manual / automatic switch. The open / close bars 81 and 82 in the figure are schematically shown as viewed from above the gate β. A shaft rotating device 1 is incorporated in the automatic gate opening / closing device 2 ′.

The apparatus 1 has three stepping motors, and unlike the first embodiment, two are used as the generators 30a and 30b, and one is used as the electric motor 40a. Generator 3
Since 0a and 30b are also used as electric motors, the output shaft 20f is connected to the shaft 31b of the generator 30b (see FIG. 1).

An open / close bar 81 is connected to the output shaft 20f of the generator 30b. That is, the handwheel 50 is mechanically connected to the open / close bar 81 through the generator 30a, the connecting device 11, the generator 30b, and the output shaft 20f sequentially. On the other hand, the output shaft 20a of the electric motor 40a has
An open / close bar 82 is connected. That is, when the generator 30b and the electric motor 40a are rotated, the open / close bars 81 and 82 are rotated in the direction indicated by the arrows.

  The forward connection is established between the generator 30a and the generator 30b, and the backward connection is established between the generator 30a and the electric motor 40ab. Therefore, when the handwheel 50 is rotated manually to generate power by the generators 30a and 30b, the electric motor 40a is synchronized with the generator 30a and the like and rotated in the opposite direction, and the open / close bar 82 is rotated accordingly. . On the other hand, the open / close bar 81 rotates in the opposite direction to the open / close bar 82 in accordance with the rotation of the generators 30a and 30b. Therefore, according to the rotation of the handwheel 50, the open / close bars 81 and 82 rotate in opposite directions and the same angle to open and close the gate β. This is the same not only when the generators 30a and 30b are caused to generate power by manual operation of the handwheel 50, but also when the generators 30a and 30b and the motor 40a are driven using the driver 60 and the controller 61. .

The manual / automatic switch 83 is a switch connected between the driver 60 on the wiring cable L and the generators 30a, 30b and the electric motor 40a, and can switch between the manual operation mode and the automatic operation mode alternately. It is possible. That is, in the automatic operation mode, the driver 60 is electrically connected to the generators 30a and 30b and the electric motor 40a, while in the manual operation mode, the driver 60 is disconnected and the generator 30 is disconnected.
a and 30b and the electric motor 40a are electrically connected.

First, when the manual / automatic switch 83 is switched to the automatic operation mode and the controller 61 and the driver 60 are operated in this state, the drive voltage output from the driver 61 is supplied to the generators 30a, 30b and the manual / automatic switch 83 through the manual / automatic switch 83. Guided to the electric motor 40 a, the generators 30 a and 30 b and the electric motor 40 a are driven according to the controller 61. As a result, the open / close bars 81 and 82 are opened and closed in synchronization with each other.

When the manual / automatic switch 83 is switched to the manual operation mode in the event of an abnormality such as a power failure and the handle 50 is manually rotated in this state, power is generated by the generators 30a and 30b. The open / close bars 81 and 82 are opened and closed in synchronization with the rotation of the handwheel 50. That is, even when an abnormality such as a power failure occurs, the open / close bars 81 and 82 can be opened and closed simply by rotating the handwheel 50 manually.

FIG. 8 shows a schematic configuration diagram of a curtain opening / closing device 2 ″ installed in an indoor window or the like. In the figure, 91 and 92 are curtains (objects to be opened and closed), and 93 and 94 are curtain opening and closing mechanisms that support the curtains 91 and 92 so that they can be opened and closed. About the curtains 91 and 92 in a figure, a mode that it saw from the front, such as a window, is shown typically. The shaft rotating device 1 is incorporated in the curtain opening / closing device 2 ″.

  The apparatus 1 has three stepping motors, one is used as the generator 30a, and two are used as the electric motors 40a and 40b. Unlike the first and second embodiments, the driver 60 and the controller 61 are not provided (see FIG. 1).

The output shaft 20 a of the electric motor 40 a is connected to the curtain 91 via the curtain opening / closing mechanism 93.
Are mechanically connected to each other. The output shaft 20b of the electric motor 40b is mechanically connected to the curtain 92 via the curtain opening / closing mechanism 94. The generator 30a with the handwheel 50 may be installed in a place where it is easy to operate near the window frame γ, or the wiring cable L may be long and placed near the user.

The curtain opening / closing mechanism 93 is a mechanism that converts the rotation of the output shaft 20 a into a linear movement in the direction of the arrow of the curtain 91. The opening / closing mechanism 94 is a mechanism that converts the rotation of the output shaft 20 b into a linear movement in the direction of the arrow of the curtain 92.

The generator 30a and the motor 40a are connected in the forward direction, and the generator 30a and the motor 40b are connected in the reverse direction. Therefore, when the handwheel 50 is rotated manually to generate power by the generator 30a, the electric motor 40a and the electric motor 40b are synchronized with the generator 30a and rotated in opposite directions. As a result, the curtains 91 and 92 move linearly in opposite directions and at equal distances.

In this manner, the curtains 91 and 92 can be opened and closed in synchronization by merely rotating the handwheel handle 50 by manual operation without receiving power supply. It is very convenient in hospitals.

In the axis synchronous rotation device according to the present invention, even if the number of input shafts and output shafts is 1, the output shaft can be rotated synchronously according to the input shaft. In this case, for example,
It is conceivable to incorporate one side door into an openable / closable device. In addition, the stepping motor and the manual rotation operation member used as the generator and the electric motor are not limited in type, and the input shaft and the output shaft may be configured to use the shaft of the generator and the electric motor. Furthermore, the motor to be operated may be switched by a switch or the like, a current amplifier may be connected to the subsequent stage of the generator, or a speed reducer or the like may be mechanically connected to the input shaft. In particular, as shown in FIG. 4, when sufficient output torque cannot be obtained in the low speed region, a mechanism such as a clutch that connects the input shaft and the generator is mechanically connected to the input shaft in the medium speed region or higher. Is preferred. The application target is not limited to the above-described opening / closing devices such as the automatic door opening / closing device, automatic gate opening / closing device, and curtain opening / closing device, but can also be applied to machine tools and the like that need to be manually aligned.

1 axis synchronous rotation device 10 input shaft 20 output shaft 30 generator (some motors)
40 Electric motors (other motors)
50 Handwheel handle (Manual rotation operation member)
60 driver (common stepping motor drive device)
61 controller

Claims (6)

An axis-synchronous rotating device that rotates one or a plurality of output shafts in synchronization with an input shaft, comprising n stepping motors (n ≧ 2) having the same number of phases connected in parallel to each other, A shaft synchronization characterized in that a part of the motor is mechanically connected to the input shaft and used as a generator, while another motor is mechanically connected to the output shaft and used as an electric motor. Rotating device. 2. The axis synchronous rotation apparatus according to claim 1, further comprising a common stepping motor driving apparatus for driving the electric motor. 2. The axis synchronous rotation apparatus according to claim 1, wherein a manual rotation operation member is mechanically connected to the input shaft. 2. The shaft-synchronized rotating device according to claim 1, wherein a part of the plurality of output shafts is mechanically connected to the generator instead of the electric motor. 2. The shaft-synchronous rotating device according to claim 1, wherein the generator is composed of m (m <n) stepping motors that are not only connected in parallel to each other but also mechanically connected to each other. A shaft-synchronized rotating device. 6. The shaft-synchronized rotating device according to claim 1, wherein the device is incorporated in an opening / closing device that freely opens and closes by moving or rotating a pair of opening / closing objects in a predetermined direction. One of the shafts is mechanically connected to one of the objects to be opened and closed, and the other of the output shafts is mechanically connected to the other of the objects to be opened and closed.