JP3419549B2 - Drive motor control device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for controlling a drive motor provided in a pachinko machine and minimizing heat generated from the entire pachinko machine. 2. Description of the Related Art In a pachinko machine, when paying out prize balls when a game ball wins a prize device, a pulse motor (in addition to a "step motor", Alternatively, it is also called “stepping motor”.)
Is used. Therefore, besides paying out prize balls, it is necessary to stop the axis of the pulse motor at a fixed position. For this purpose, no current is supplied to the pulse motor at all, and the shaft is stopped at a fixed position by the self-holding force of the pulse motor. However, when a force for rotating the shaft is applied and the force exceeds the self-holding force, the shaft rotates. An example will be described with reference to FIG. As shown in FIG. 9, in the substrate 200 attached to the back of the game board, the game balls are temporarily stored in the ball tank 202 and then discharged. Sent to
The prize ball discharging device 210 uses a pulse motor, and rotates the shaft by the number of game balls required for payout according to a pulse command from a system control unit (not shown).
In this way, when a prize device is won, a predetermined number of prize balls are surely paid out. [0004] Usually, the ball tank 202, the tank rail 20
6 and the guide path 208 are both filled with game balls, and the weight and vibration of these game balls are
It is applied to the axis of 10 pulse motors. In this case, if the force for rotating the shaft due to the gravity or vibration of the game ball exceeds the self-holding force of the pulse motor, the ball rotates. In such a case, it is difficult to lock the rotation of the shaft only by preventing the current from flowing to the pulse motor at all, and therefore, in the related art, the current for forcibly locking the shaft of the pulse motor (hereinafter, referred to as “ Lock current "). However, since a lock current must be supplied to the pulse motor even when the shaft is stopped, a large amount of heat is generated from the pulse motor and a large radiator is required. Was. In addition, a large amount of power is wasted due to the flow of the lock current. The present invention has been made in view of such a point, and an object thereof is to fix a shaft of a drive motor such as a pulse motor at a fixed position without using a radiator. [0006] A first means for solving the problems is as set forth in claim 1.
As shown schematically in FIG. 1, the drive motor control device according to the invention includes a constant current source for supplying a current of a predetermined value, and a rotation of the shaft.
Detecting means for detecting power supplied from the constant current source.
The shaft is driven by the flow to pay out game balls.
And Rusumota (corresponding to drive motor 30), the path
And the control means 10 while while stopping the shaft of the pulse motor outputs a continuous excitation signal to output the intermittent excitation signal for rotating the shaft of Rusumota, of the pulse motor
While the axis is locked, the detection means
When the stop of the motor shaft is detected, the intermittent excitation signal
Modulation control so that the pulse width becomes narrow,
When the rotation of the pulse motor shaft is detected, the intermittent excitation
Signal modulation to control the modulation so that the pulse width of the signal is wide
A means, and drive means 20 for outputting a drive signal for the continuous excitation signal or receiving the intermittent excitation signal driving the pulse motor, the pulse motor
When the axis is stopped, the detection
The output signal is received by the signal modulating means, and feedback control is performed.
Control to stop the axis of the pulse motor
I did . According to the first aspect of the present invention, the play
When rotating the shaft of the pulse motor to pay out the ball , the control means 10 outputs a continuous excitation signal (that is, an excitation signal which becomes a high level or a low level for a certain period), and according to this excitation signal. The driving means 20 outputs a driving current to the pulse motor . On the other hand, when locking the axis of the pulse motor , the control means 10 outputs an intermittent excitation signal (that is, an excitation signal that repeats a high level and a low level within a certain period), and the driving means 20 according to the excitation signal. Outputs drive current. The intermittent encouragement
For the magnetic signal, the axis of the pulse motor is locked
During this time, when the stop of the axis of the pulse motor is detected,
The modulation means performs modulation control to narrow the pulse width, and
When the rotation of the motor shaft is detected, the signal
Modulation control. With this configuration, when the axis of the pulse motor is locked, the driving current can be suppressed to be low on average. For this reason, the heat generated when locking the axis of the pulse motor at a fixed position can be suppressed low. Again
High precision rotation angle of shaft by using a loose motor
Can be done with In addition, the axis of the pulse motor is locked.
While the pulse motor shaft is rotating or stopped
Detection means detects whether the
Since the width of the pulse width applied to the excitation signal was changed,
The current required to lock the axis of the pulse motor is minimal.
Can be kept to a minimum. Then, the play on the shaft of the drive motor
Minimal heat generated by the drive motor according to the weight of the ball
The heat generated is also minimized. An embodiment of the present invention will be described below with reference to the drawings. First, a first embodiment will be described. FIG. 2 is a block diagram showing a configuration of the drive motor control device.
1 shows a minimum configuration necessary for implementing the present invention. In the figure, a control device 100 is one of the control means 10 and includes a CPU 110, a ROM 102, a RAM 104, an output processing circuit 112, and an input processing circuit 114. The driving device 120 is one of the driving means 20 and includes a constant current source 122 and excitation circuits 124 and 12.
6, 128, and 130. further,
The pulse motor 140 is one of the drive motors 30,
The motor body 142 includes coils L1 and L2 and an encoder 144. Here, encoder 1
44 is one of the detecting means. First, the configuration of the control device 100 will be described. The CPU 110 controls the rotation and stop operations of the pulse motor 140 according to the drive control program stored in the ROM 102. The ROM 102 has an EPROM
Alternatively, an EEPROM is used. RAM 104 is S
A RAM (or a DRAM), a flash RAM, or the like is used, and various types of rotation time, such as a rotation time for defining a time for outputting a continuous excitation signal, and an ON setting time and an OFF setting time for outputting an intermittent excitation signal are used. Data or input / output signals are stored. The output processing circuit 112 includes a CPU 110
According to the command data sent from the
Excitation circuit 124, 126, 128, 1 of drive device 120
An excitation signal is sent to 30. Each of the above components is connected to the bus 106. Next, the configuration of the driving device 120 will be described. The constant current source 122 supplies a predetermined current to the pulse motor 1.
40. A switching power supply for supplying power to
The pulse motor 140 is connected to the respective midpoints of the coils L1 and L2. The reason why the constant current source 122 is used is to increase the response speed of the pulse motor 140. The excitation circuits 124, 126, 128, and 130 supply a drive current according to the excitation signal output from the output processing circuit 112, and rotate or stop (lock) the axis of the pulse motor 140. One end of the excitation circuit 124 is connected to one end of the coil L1, and one end of the excitation circuit 126 is connected to the other end of the coil L1. Similarly, one end of the excitation circuit 128 is connected to one end of the coil L2,
Are connected to the other end of the coil L2, respectively.
Further, the other ends of the excitation circuits 124, 126, 128, 130 are respectively connected to ground. The excitation circuits 124, 126, 128, and 130 may be configured as, for example, a series resistance additional excitation system, a dual power supply excitation system, a chopper system, a diode clamp system, an inverse diode clamp system, and an active suppression. , A capacitor coupling method, an X-drive method, a cross-couple method, an L / R drive method and the like. Among these excitation methods, the series resistance additional excitation method, the dual power supply excitation method, and the chopper method are particularly suitable for driving the pulse motor 140 at high speed. Next, the configuration of the pulse motor 140 will be described. The pulse motor 140 is a two-phase hybrid type (Hybrid Type) motor, and has coils L1 and L2 wound by bifilar winding. Here, the bifilar winding is a method in which when exciting currents in the same direction are alternately applied to the respective windings, two windings whose winding directions are reversed so that the magnetic poles have opposite polarities are formed. Next, a processing procedure for executing the present invention in the above configuration will be described with reference to FIG. Here, FIG. 3 is a flowchart showing a processing procedure for implementing the first embodiment, which is realized by the CPU 110 executing the drive control program stored in the ROM 102 in the control device 100 shown in FIG. You. This processing procedure is a procedure that embodies the control unit 10 and is executed at regular intervals (for example, 1 millisecond), and a predetermined angle (for example, 7.2 degrees) about the axis of the pulse motor 140 is performed only once. It rotates and then stops (locks). First, the excitation signal is turned on to rotate the axis of the pulse motor 140 (step S10). After the rotation time required to rotate the shaft by a predetermined angle has elapsed (step S12), the excitation signal is turned off (step S14). Thereby, the axis of the pulse motor 140 stops. Thereafter, when the axis of the pulse motor 140 is locked (YES in step S16), the process waits for an OFF set time (step S18), and turns on the excitation signal again (step S20). Further, it waits for the set ON time (step S22), and turns off the excitation signal again (step S24). By executing steps S18 to S24, the output excitation signal becomes an intermittent signal. Here, the ON setting time and the OFF setting time are predetermined times (for example, both the ON setting time and the OFF setting time are 20 [milliseconds]).
It is stored in the RAM 104. Then, after executing steps S18 to S24 only for a period necessary for locking, the present processing procedure is ended to control another excitation circuit. FIG. 4 shows a time-series change of the excitation signal controlled in this manner. 4, a signal 180 (excitation signal 1) is a one-phase excitation signal for unipolar excitation, and is a signal for controlling the excitation circuit 124 shown in FIG. Similarly, signals 182, 184, 186 (in order,
The excitation signal 2, the excitation signal 3, and the excitation signal 4) are also one-phase excitation signals for unipolar excitation, and control the excitation circuits 126, 128, and 130, respectively. At time t1
The time interval from 2 to time t14, the time interval from time t16 to time t18, and the time interval from time t18 to time t20 are all the rotation times required to rotate the axis of the pulse motor 140 by a predetermined angle. Corresponding. Further, in this example, a signal of the one-phase excitation system is applied, but a signal of a two-phase excitation system, a 1-2-phase excitation system, or a micro-step drive system can be applied. The processing procedure shown in FIG. 3 shows the processing from time t12 to time t16 of the signal 182 in FIG. Specifically, the processing of steps S10 to S14 is performed from time t12 to time t14, and the processing of steps S16 to S24 is performed from time t14 to time t16. Also, the signal 182
From the time t12 to the time t12.
It is continuous (i.e., remains on) until 14 and is intermittent (i.e., repeated on and off) from time t14 to time t16. Here, the above “on” is a high level (H, generally 5
[V] or 3.3 [V]), and “OFF” indicates a low level (L, generally 0 [V]). Since the drive current (ie, the lock current) changes in accordance with the above excitation signal, the drive current also becomes intermittent while the axis of the pulse motor 140 is stopped (locked). For this reason, since the average drive current required for locking the axis of the pulse motor 140 is reduced, the heat generated from the pulse motor 140 can be suppressed. Therefore, the capacity of the radiator provided in the pulse motor 140 can be reduced to be small, and the radiator itself is not required. The drive motor 30
Since the pulse motor 140 is applied, the motor control circuit required for performing open-loop control can be simplified. For this reason, the cost required for realization can be kept low. Furthermore, since the rotation angle required for paying out one prize ball can be controlled with high precision, the number of prize balls instructed can be paid out accurately. Next, a second embodiment will be described with reference to FIG. In this embodiment, feedback control is performed by a pulse signal sent from an encoder 144 newly provided in the pulse motor 140 in the configuration of the first embodiment. Here, the configuration differs from the first embodiment in that an input processing circuit 114 is newly provided in the control device 100 and an encoder 144 is newly provided in the motor main body 142 of the pulse motor 140 in FIG. This encoder 144 is a pulse motor 140
A pulse signal is generated each time the shaft rotates by the predetermined angle. Further, the input processing circuit 114 receives the pulse signal sent from the encoder 144, converts the received pulse signal into a data format that can be processed in the control device 100, and
To the CPU 110 or the RAM 104 via the. This configuration enables feedback control. FIG. 5 is a flowchart showing a processing procedure for carrying out the second embodiment, which is a processing procedure in which a signal modulating means is embodied. This flowchart is shown in FIG.
Is realized by the CPU 110 executing the drive control program stored in the ROM 102 in the control device 100 shown in FIG. This processing procedure is executed at regular intervals (for example, 1 millisecond) together with the processing procedure shown in FIG. First, it is determined whether or not the current state is locked (step S30). If not locked (NO), this processing procedure is terminated. On the other hand, if it is locked (YES) in step S30, the ON set time is shortened by a fixed time (step S32). That is, step S
At 32, the pulse width is modulated. For example, when the ON setting time is 20 [milliseconds], it is shortened by 2 [milliseconds] and reset at 18 [milliseconds]. After this setting, it is determined whether or not a pulse signal has been input from the encoder 144 of the pulse motor 140 shown in FIG. 2 (step S34). If no pulse signal has been input (NO), the above step S32 is repeated. By repeating these processes, the ON setting time is gradually shortened, so that the average drive current required for locking the axis of the pulse motor 140 is further reduced. Thereafter, when a pulse signal is input from the encoder 144, the on-set time is lengthened by a predetermined time, contrary to step S32 (step S36). After this setting, it is determined whether or not a pulse signal has been input from the encoder 144 (step S38), and the above step S36 is repeated until the pulse signal is no longer input. Since these processes gradually increase the ON setting time, the average drive current required for locking the axis of the pulse motor 140 increases accordingly. Thus, the pulse motor 14
While the 0 axis is locked, the pulse motor 1
The drive current (average current) for locking the 40 axes is changed. Therefore, since it is possible to control the minimum drive current to flow according to the weight of the game ball applied to the axis of the pulse motor 140, the heat generated from the pulse motor 140 can be minimized. Next, a third embodiment will be described. FIG. 6 is a second block diagram showing the configuration of the drive motor control device, and shows the minimum configuration necessary to carry out the present invention, similarly to FIG. Note that the same elements as those in FIG. 2 are denoted by the same reference numerals, and description thereof will be omitted. Here, the difference from the configuration shown in FIG. 2 is as follows. First, the control device 10
At 0, an output processing circuit 112a for outputting four excitation signals and one output signal is provided in place of the output processing circuit 112. The driving device 120 includes a voltage detection input terminal instead of the constant current source 122, and a detection voltage detected at the voltage detection input terminal is an internal voltage (specifically, a voltage applied to a resistor R1 described later, ie, A constant current source 122a that can change the current value output by feedback control until the current value matches the voltage at the connection point P2). Further, a new resistor R
1, R2 and R3 are provided. Excitation circuit 124, 1
The other ends of the resistors 26, 128, and 130 are combined into one (hereinafter, referred to as a "connection point P1"), connected to the ground via the resistor R1, and connected in series with the resistors R3, R
2 is connected to the output processing circuit 112a of the control device 100. Note that the above-described resistor R3 connected in series
A connection point between the resistor R2 and the connection point P1 is called a "connection point P1".
1 is connected to the voltage detection input terminal of the constant current source 122a. FIG. 7 is a flowchart showing a processing procedure for carrying out the third embodiment, which is realized by the CPU 110 executing a drive control program stored in the ROM 102 in the control device 100 shown in FIG. You. This processing procedure is executed at regular intervals (for example, 1 millisecond) in parallel with the processing procedures shown in FIGS. First, the output signal is turned off (step S50),
It waits until the rotation time required to rotate the axis of the pulse motor 140 by a predetermined angle elapses (step S5).
2). If the axis of the pulse motor 140 is locked (YES in step S54), the output signal is turned on (step S56), and the on state is maintained while the axis is kept locked (step S58). Thereafter, the output signal is turned off (step S60), and the present processing procedure ends. According to the above processing procedure, in the example shown in FIG. 4, the signal 182 for locking the axis of the pulse motor 140 is provided.
From time t14 to time t16, the output signal (signal 190 in the figure) is at a high level (H), and otherwise is at a low level (L). For this reason, the detection voltage detected at the voltage detection input terminal (signal 192 in the figure)
Is at the potential V1 from the time t14 to the time t16, and at other times, the potential V2. Here, the magnitude of the potential is V2>V1> 0, and the specific value is as shown in the following equation. V1 = (potential of the connection point P2) / 2 V2 = (potential of the connection point P2−potential of the above high level)
/ 2 Therefore, while the axis of the pulse motor 140 is locked, since the potential V2 is reduced to the potential V1 as described above, the driving current is also reduced. For this reason, the current required for the constant current source 122a to output is also reduced, so that the constant current source 122a
The heat generation of the pulse motor 140 can be suppressed while the heat generation of the motor itself can be suppressed. Next, a fourth embodiment will be described. FIG. 8 is a block diagram showing a configuration of a drive motor control device for implementing the fourth embodiment, and shows a minimum configuration necessary for implementing the present invention, similarly to FIG. Note that the same elements as those in FIG. 2 are denoted by the same reference numerals, and description thereof will be omitted.
Here, the difference from the configuration shown in FIG.
P, NPN transistor Q and resistors R10, R1
1, R12 is newly provided in the driving device 120. In this case, the current output terminal of the constant current source 122 is connected to the emitter terminal of the transistor Q, and the collector terminal of the transistor Q is connected to the coils L1 and L2 of the pulse motor 140.
Are connected to the respective midpoints. Further, the other ends of the excitation circuits 124, 126, 128, and 130 are combined into one (hereinafter, referred to as a “connection point P10”), and the resistance R is set.
10 and to the ground, and to the positive-phase input terminal (+) of the operational amplifier OP. And
The output terminal of the operational amplifier OP is connected to the base terminal of the transistor Q, and is connected to the negative-phase input terminal (-) through the resistor R12. Further, the negative-phase input terminal (-) is connected to the ground through the resistor R11.
Therefore, the operational amplifier OP forms a positive-phase amplifier circuit from the above connection configuration. In the above configuration, the transistor Q is controlled so that the potential of the positive-phase input terminal (+) and the potential of the negative-phase input terminal (−) of the operational amplifier OP become the same. The supplied drive current is also controlled. For this reason, when the potential of the connection point P10 increases, the potential of the positive-phase input terminal (+) of the operational amplifier OP also increases, so that the driving current temporarily increases.
Since the potential of the negative-phase input terminal (−) of
Eventually, the drive current becomes smaller. Therefore, control can be performed so that the drive current becomes constant. Therefore,
By appropriately setting the ratio between the values of the resistors R12 and R13, the drive current supplied from the constant current source 122 to the pulse motor 140 can be reduced. Thus, not only the pulse motor 140 but also the constant current source 122 and the excitation circuit 1
The heat generated from 24, 126, 128, 130 and the like can be suppressed as a whole. In the above, one embodiment of the drive motor control device in the pachinko machine has been described. However, the structure, shape, size, material, number, arrangement, operating conditions and the like of other parts in the drive motor control device in this pachinko machine are described. Is not limited to the present embodiment. For example, although a two-phase hybrid motor is applied to the pulse motor 140, the present invention is not limited to this, and a single-phase or three-phase or more multi-phase hybrid motor or a variable reluctance
able Reluctance Type, Permanent Magn
et Type) may be applied. Although the pulse motor 140 employs a coil wound by bifilar, a coil wound by unifilar may be applied. In this case, the driving device 1
The excitation circuits 124, 126, 128 and 130 in the circuit 20 are constituted by bipolar excitation type circuits, and signals sent from the control device 100 to these circuits need to be used for bipolar excitation (bipolar drive). Furthermore, although the pulse motor 140 is applied to the drive motor 30, other motors whose drive can be controlled in accordance with a continuous excitation signal (that is, a pulse signal) or an intermittent excitation signal output from the control device 100 are also used. It can also be applied. Note that the present invention can be similarly applied to a servo motor and a linear motor.
A drive motor most suitable for the pachinko machine may be selected from these motors, and the same effect as in the above embodiment can be obtained. This increases the degree of freedom in selecting the drive motor 30. According to the present invention, the axis of the pulse motor is stopped.
An intermittent excitation signal is output while stopping
Occurs when locking the motor shaft to a certain position
Heat can be kept low. Also, the use of a pulse motor
Thus, the rotation angle of the shaft can be performed with high accuracy. Further signal modulation
Means to change (wide or narrow) the pulse width of the intermittent excitation signal
Power required to lock the axis of the pulse motor.
Flow is minimized. And the shaft of the drive motor
The heat generated by the drive motor according to the weight of the game ball
Minimizes the heat generated.
You. [0036]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a conceptual diagram showing a configuration of a drive motor control device of the present invention. FIG. 2 is a first block diagram illustrating a configuration of a drive motor control device. FIG. 3 is a first flowchart showing a processing procedure for implementing the present invention. FIG. 4 is a time chart showing a time-series change of each signal. FIG. 5 is a second flowchart showing a processing procedure for implementing the present invention. FIG. 6 is a second block diagram illustrating a configuration of a drive motor control device. FIG. 7 is a third flowchart showing a processing procedure for implementing the present invention. FIG. 8 is a third block diagram illustrating a configuration of a drive motor control device. FIG. 9 is a diagram showing a configuration of a board attached to the back surface of the game board. [Description of Signs] 10 control means 20 drive means 30 drive motor

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-5-15196 (JP, A) JP-A-5-176597 (JP, A) JP-A-4-285499 (JP, A) JP-A-61-1986 273199 (JP, A) JP-A-53-25816 (JP, A) JP-A-60-70997 (JP, A) JP-A-58-159900 (JP, U) (58) Fields investigated (Int. ⁷ , DB name) H02P 8/00 A63F 7/02

Claims (1)

(57) Claims 1. A constant current source for supplying a current of a predetermined value, and a detecting means for detecting rotation of a shaft, wherein the constant current source
The shaft is driven by the supplied current to pay the game ball.
A pulse motor for performing out, and control means while rotating the shaft of the pulse motor outputs a continuous excitation signal, while stopping the axis of the pulse motor for outputting intermittent excitation signal, the pulse While the motor shaft is locked,
When the output means detects the stop of the axis of the pulse motor,
Modulation control so that the pulse width of the intermittent excitation signal becomes narrower
And the detecting means detects rotation of the axis of the pulse motor.
Then, the pulse width of the intermittent excitation signal is increased.
A signal modulating means for modulating control on the continuous excitation signal or receiving the intermittent excitation signal, and a driving means for outputting a driving signal for driving the pulse motor, the pulse motor Detecting means for stopping the shaft
Receiving the detection signal output from the signal modulation means,
The axis of the pulse motor is locked by feedback control.
Drive motor control device configured to perform