JPH089690A - Control apparatus for drive motor in pachinko machine - Google Patents

Abstract

PURPOSE:To obtain a control apparatus which locks the shaft of a drive motor in a constant position without using a heat-dissipating device. CONSTITUTION:When the shaft of a drive motor 30 rotates, a control means 10 outputs a continuous exciting signal, and a drive means 20 outputs a drive current to the drive motor 30 according to the exciting signal. On the other hand, when the shaft of the drive motor 30 is locked, the control means 10 outputs an intermittent exciting signal, and the drive means 20 outputs a drive current according to the exciting current. By this constitution, when the shaft of the drive motor 30 is locked, the drive current can be suppressed low on the average. Consequently, heat generated when the shaft of the drive motor 30 is locked in a constant position can be suppressed to be low, and a heat dissipating device is not required.

Description

Detailed Description of the Invention

[0001]

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 to minimize heat generated from the entire pachinko machine.

[0002]

2. Description of the Related Art In a pachinko machine, when paying out prize balls when a game ball wins a winning device, a pulse motor (other than a "step motor" or "stepping") is used to count the number of payouts. Also called a "motor."
Is used. Therefore, it is necessary to stop the shaft of the pulse motor at a fixed position other than paying out the prize ball. For that purpose, no current is applied to the pulse motor, and the self-holding force of the pulse motor stops the shaft at a fixed position.

However, when a force for rotating the shaft is applied, the shaft rotates when it exceeds the self-holding force. An example thereof will be described with reference to FIG. As shown in FIG. 9, in the board 200 attached to the back surface of the game board, the game balls are temporarily stored in the ball tank 202 and then discharged, and pass through the tank rail 206 and the guide passage 208, and a prize ball discharging device 210. Sent to.
A pulse motor is used in the prize ball discharging device 210, and the shaft is rotated by the number of game balls required for payout according to a pulse command from a system control unit (not shown).
In this way, a predetermined number of prize balls are surely paid out when the prize is won.

Usually, the ball tank 202 and the tank rail 20
6 and the guide passage 208 are filled with game balls, and the weight and vibration of these game balls cause the prize ball discharging device 2
It is applied to the axis of 10 pulse motors. In this case, when the force for rotating the shaft by the gravity or vibration of the game ball exceeds the self-holding force of the pulse motor, the pulse motor rotates. In the above cases, it is difficult to lock the rotation of the shaft simply by not supplying any current to the pulse motor. Therefore, in the past, the current for forcibly locking the shaft of the pulse motor (hereinafter, " Called "lock current").

[0005]

However, since a pulse 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. Further, since the lock current is passed, the power is wasted a lot. The present invention has been made in view of the above circumstances, and an object thereof is to fix the shaft of a drive motor such as a pulse motor at a fixed position without using a radiator.

[0006]

[First Means for Solving the Problems] Claim 1 of the present application
In the invention described in FIG. 1, a continuous excitation signal is output while the shaft of the drive motor 30 is rotated, and intermittently while the shaft of the drive motor 30 is stopped, as schematically shown in FIG. It has a control means 10 for outputting an excitation signal, and a drive means 20 for receiving the continuous excitation signal or the intermittent excitation signal and outputting a drive signal for driving the drive motor 30.

[0007]

According to the first aspect of the invention, when the shaft of the drive motor 30 is rotated, the control means 10 keeps a continuous excitation signal (that is, high level or low level for a certain period of time). An excitation signal) is output, and the drive unit 20 outputs a drive current to the drive motor 30 according to the excitation signal. On the other hand, when the shaft of the drive motor 30 is locked, the control means 10 outputs an intermittent excitation signal (that is, an excitation signal in which a high level and a low level are repeated within a certain period), and the drive means 20 is driven in accordance with this excitation signal. Outputs the drive current. With this configuration, the drive motor 30
When locking the axis of, the drive current is also kept low on average. Therefore, the heat generated when the shaft of the drive motor 30 is locked at a fixed position can be suppressed to a low level.

[0008]

[Second Means for Solving the Problem] Claim 2 of the present application
In the invention described in claim 1, in the invention described in claim 1, the drive motor 30 is a pulse motor.

[0009]

According to the invention of claim 2, by using the pulse motor as the drive motor 30,
Open loop control is possible and the rotation angle of the shaft can be performed with high accuracy.

[0010]

[Third Means for Solving the Problems] Claim 3 of the present application
In the invention described in claim 1, in the invention described in claim 1, the drive motor 30 includes a detection means for detecting rotation of a shaft of the drive motor 30, and the control means 10
Is provided with signal modulating means for modulating and controlling the pulse width of the intermittent excitation signal, and the signal modulating means receives the detection signal output from the detecting means when stopping the shaft of the drive motor 30. The rotation of the shaft of the drive motor 30 is locked by feedback control.

[0011]

According to the third aspect of the invention, when the shaft of the drive motor 30 rotates due to the low current for locking the shaft, the detecting means detects this rotation. When the signal modulator receives the detection signal output from the detector, the pulse width of the intermittent excitation signal is modulated and controlled, and the shaft of the drive motor 30 is reliably locked. Therefore, the current required to lock the shaft of the drive motor 30 is minimized.

[0012]

An embodiment of the present invention will be described below with reference to the drawings. First, the first embodiment will be described. FIG. 2 is a block diagram showing the configuration of the drive motor controller,
1 shows the minimum configuration required to implement the invention. In the figure, the control device 100 is one of the control means 10, and is composed of 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 exciting circuits 124 and 12.
6, 128, 130. further,
The pulse motor 140 is one of the drive motors 30,
The motor main body 142, the coils L1 and L2, and the encoder 144 are included. Where encoder 1
Reference numeral 44 is one of detection means.

First, the configuration of the control device 100 will be described. The CPU 110 controls the rotation and stop operation of the pulse motor 140 according to the drive control program stored in the ROM 102. The ROM 102 is an EPROM
Alternatively, an EEPROM is used. RAM104 is S
A RAM (or DRAM), a flash RAM, or the like is used, and various types such as a rotation time that defines a time for which a continuous excitation signal is output, an ON setting time and an OFF setting time for outputting an intermittent excitation signal, etc. Data or input / output signals are stored.

The output processing circuit 112 is a CPU 110.
According to the command data sent from the
Exciting circuits 124, 126, 128, 1 of the driving device 120
An excitation signal is sent to 30. It should be noted that each of the above components is coupled to the bus 106.

Next, the structure of the drive unit 120 will be described. The constant current source 122 supplies a current of a predetermined value to the pulse motor 1
A switching power supply for supplying to 40
The coils L1 and L2 of the pulse motor 140 are connected to the respective midpoints. The constant current source 122 is used in order to speed up the response of the pulse motor 140. The excitation circuits 124, 126, 128, 130 flow a drive current according to the excitation signal output from the output processing circuit 112 to rotate or stop (lock) the shaft of the pulse motor 140. Further, one end of the exciting circuit 124 is connected to one end of the coil L1, and one end of the exciting 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, and
Is connected to the other end of the coil L2.
Further, the other ends of the exciting circuits 124, 126, 128 and 130 are respectively connected to the ground. The excitation circuits 124, 126, 128 and 130 may be constructed by, for example, series resistance addition excitation method, dual power supply excitation method, chopper method, diode clamp method, inverse diode clamp method, active suppression. An excitation method such as a method, a capacitor coupling method, an X-drive method, a cross couple method, and an L / R drive method can be applied. Of these excitation methods, the series resistance addition 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 structure of the pulse motor 140 will be described. The pulse motor 140 is a two-phase hybrid type motor and has coils L1 and L2 wound in a bifilar manner. Here, the bifilar winding is a method in which two windings having opposite winding directions are formed so that the magnetic poles have opposite polarities when exciting currents in the same direction are alternately applied to the respective windings.

Next, a processing procedure for carrying out 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 carrying out 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. It This processing procedure is a procedure in which the control means 10 is embodied, is executed at regular intervals (for example, 1 millisecond), and only once at a predetermined angle (for example, 7.2 degrees) with respect to the axis of the pulse motor 140. It rotates and then stops (locks).

First, the excitation signal is turned on in order to rotate the shaft of the pulse motor 140 (step S10). Then, after the rotation time required to rotate the shaft by a predetermined angle has passed (step S12), the excitation signal is turned off (step S14). As a result, the axis of the pulse motor 140 is stopped.

After that, when the axis of the pulse motor 140 is to be locked (YES in step S16), it waits for the OFF set time (step S18), and the excitation signal is turned on again (step S20). Furthermore, it waits for the ON set time (step S22), and turns off the excitation signal again (step S24). By executing the steps S18 to S24, the excitation signal that is output becomes an intermittent signal. Here, the ON setting time and the OFF setting time are preset times (for example, both the ON setting time and the OFF setting time are 20 [milliseconds]), and
It is stored in the RAM 104. Then, after executing steps S18 to S24 only for a period required for locking, this processing procedure is ended to control other exciting circuits.

FIG. 4 shows the time-sequential change of the excitation signal controlled in this way. In FIG. 4, a signal 180 (excitation signal 1) is a signal of the one-phase excitation method 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 system signals for unipolar excitation and control the excitation circuits 126, 128 and 130, respectively. Note that time t1
The time interval from 2 to the time t14, the time interval from the time t16 to the time t18, and the time interval from the time t18 to the time t20 are all the rotation time required to rotate the shaft of the pulse motor 140 by a predetermined angle. Correspond. Further, although the signal of the one-phase excitation method is applied in this example, it is also possible to apply the signals of the two-phase excitation method, the one-two phase excitation method, and the microstep drive method.

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
As is clear from the change in the time, from time t12 to time t
It is continuous (that is, on) until 14 and is intermittent (that is, on and off are repeated) 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]).

By the way, since the drive current (that is, the lock current) changes according to the above-mentioned excitation signal, the drive current also becomes intermittent while the shaft of the pulse motor 140 is stopped (locked). Therefore, the average current of the drive current required to lock the shaft of the pulse motor 140 is reduced, so that heat generated from the pulse motor 140 can be suppressed. Therefore, the capacity of the radiator provided in the pulse motor 140 can be suppressed to a small size, and the radiator itself is not required. In addition, the drive motor 30
Since the pulse motor 140 is applied as the above, the control circuit of the motor required for performing the open loop control can be simplified. Therefore, the cost required for realization can be kept low. Further, since the rotation angle required for paying out one prize ball can be controlled with high accuracy, the commanded number of prize balls can be paid out accurately.

Next, a second embodiment will be described with reference to FIG. In this embodiment, in the configuration of the first embodiment, feedback control is performed by the pulse signal sent from the encoder 144 newly provided in the pulse motor 140. Here, the difference from the first embodiment in configuration is 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. The encoder 144 is a pulse motor 140.
One pulse signal is generated each time the axis of is rotated by the above-mentioned predetermined angle. Further, the input processing circuit 114 receives the pulse signal sent from the encoder 144, converts the pulse signal into a data format that can be processed in the control device 100, and the bus 106.
To the CPU 110 or the RAM 104 via. 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 embodying the signal modulating means. This flowchart is shown in FIG.
It 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, together with the processing procedure shown in FIG. 3, is executed at regular intervals (for example, 1 millisecond).

First, it is determined whether or not the current state is locked (step S30), and 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-set 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 is input from the encoder 144 of the pulse motor 140 shown in FIG. 2 (step S34), and when the pulse signal is not input (NO), the above step S32 is repeated. By repeating these processes, the ON set time is gradually shortened, so that the average drive current required to lock the shaft of the pulse motor 140 is further reduced.

After that, when a pulse signal is input from the encoder 144, the ON setting time is lengthened by a fixed time, contrary to step S32 (step S36). After this setting, it is determined whether or not the pulse signal is input from the encoder 144 (step S38), and the above step S36 is repeated until the pulse signal is not input. By these processes, the on-setting time is gradually lengthened, so that the average current of the drive current required to lock the axis of the pulse motor 140 is correspondingly increased. Thus, the pulse motor 14
While the 0 axis is locked, the pulse motor 1
The drive current (average current) for locking the axis of 40 is changed. Therefore, according to the weight of the game ball on the axis of the pulse motor 140, it is possible to control so as to flow a minimum drive current, it is possible to minimize the heat generated from the pulse motor 140.

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 for implementing the present invention, as in FIG. The same elements as those in FIG. 2 are designated by the same reference numerals and the description thereof will be omitted. Here, the points different from the configuration shown in FIG. 2 are as follows. First, the control device 10
0, instead of the output processing circuit 112, an output processing circuit 112a that outputs an excitation signal output to four excitation circuits and one output signal is provided. In the drive device 120, a voltage detection input terminal is provided instead of the constant current source 122, and the detection voltage detected at the voltage detection input terminal is an internal voltage (specifically, a voltage applied to a resistor R1 described later, that is, A constant current source 122a is provided that can change the output current value by feedback control until it matches the voltage at the connection point P2).

In addition, the drive device 120 has a new resistor R.
1, R2, R3 are provided. Excitation circuit 124,1
The other ends of 26, 128, and 130 are combined into one (hereinafter referred to as "connection point P1") and connected to the ground through a resistor R1, and resistors R3 and R connected in series.
2 to the output processing circuit 112a of the control device 100. In addition, the resistor R3 connected in series as described above.
Between the resistor and the resistor R2 is called "connection point P1", and this connection point P
1 is connected to the voltage detection input terminal of the constant current source 122a.

FIG. 7 is a flow chart showing a processing procedure for carrying out the third 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. It This processing procedure is executed at regular intervals (for example, 1 millisecond) in parallel with the processing procedures shown in FIGS. 3 and 5. First, the output signal is turned off (step S50),
Wait until the rotation time required to rotate the shaft of the pulse motor 140 by a predetermined angle elapses (step S5).
2). When 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 continuously locked (step S58). After that, the output signal is turned off (step S60), and this processing procedure ends.

In the example shown in FIG. 4, the signal 182 for locking the axis of the pulse motor 140 is obtained by the above processing procedure.
From time t14 to time t16, the output signal (signal 190 in the figure) becomes high level (H), and otherwise becomes low level (L). For this reason, the detected voltage detected at the voltage detection input terminal (signal 192 in the figure)
Has a potential V1 from time t14 to time t16, and has a potential V2 at other times. Here, the magnitude of the potential is V2>V1> 0, and its specific value is as shown in the following formula. V1 = (potential of the connection point P2) / 2 V2 = (potential of the connection point P2-the above-mentioned high level potential)
/ 2 Therefore, while the shaft of the pulse motor 140 is locked, the potential V2 is reduced to the potential V1 as described above, and the drive current is also reduced. Therefore, the current required for the constant current source 122a to output also decreases, so that the constant current source 122a
It is possible to suppress heat generation of itself and also suppress heat generated from the pulse motor 140.

Next, a fourth embodiment will be described. FIG. 8 is a block diagram showing the structure of a drive motor control device for carrying out the fourth embodiment, and shows the minimum structure necessary for carrying out the present invention, similar to FIG. The same elements as those in FIG. 2 are designated by the same reference numerals and the description thereof will be omitted.
Here, the difference from the configuration shown in FIG.
P and NPN type transistor Q and resistors R10 and R1
1 and R12 are newly provided in the drive 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 the coils L1 and L2 of the pulse motor 140.
Are connected to their respective midpoints. The other ends of the excitation circuits 124, 126, 128, 130 are combined into one (hereinafter, referred to as "connection point P10") and the resistance R is set.
It is connected to the ground through 10 and is also connected 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 also 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 constitutes 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 are the same, and the pulse motor 140 is accordingly driven. The drive current supplied is also controlled. Therefore, when the potential of the connection point P10 becomes higher, the potential of the positive-phase input terminal (+) of the operational amplifier OP also becomes higher, so that the drive current temporarily increases.
Since the potential of the negative-phase input terminal (-) of becomes even higher,
Eventually the drive current becomes smaller. Therefore, the drive current can be controlled to be constant. Therefore,
By appropriately setting the ratio of 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 suppressed low. 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, etc. can be suppressed as a whole.

Although one embodiment of the drive motor control device in the pachinko machine has been described above, the structure, shape, size, material, number, arrangement and operating conditions of other parts in the drive motor control device in the pachinko machine are described. Also, the present invention is not limited to this embodiment. For example, although a two-phase hybrid type 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 type motor or a variable reluctance type (Vari) type motor.
able Reluctance Type), Permanent Magn
A motor of et Type) may be applied.

The pulse motor 140 is a bifilar wound coil, but may be a unifilar wound coil. In this case, the drive device 1
The excitation circuits 124, 126, 128, and 130 in 20 must be configured by bipolar excitation circuits, and the signals sent from the control device 100 to these circuits must be for bipolar excitation (bipolar drive). Further, although the pulse motor 140 is applied to the drive motor 30, other motors that can be drive-controlled according to a continuous excitation signal (that is, a pulse signal) or an intermittent excitation signal output from the control device 100 are also applicable. It can also be applied. Note that the same can be applied to a servo motor and a linear motor.
A drive motor most suitable for a pachinko machine may be selected from these motors, and the same effect as that of the above embodiment can be obtained. This increases the degree of freedom in selecting the drive motor 30.

[0035]

As described above, according to the first aspect of the invention, the shaft of the drive motor is rotated by the continuous excitation signal output from the control means, and the shaft of the drive motor is locked by the intermittent excitation signal. With this configuration, the current required to lock the shaft of the drive motor can be kept low. Therefore, the heat generated from the drive motor is also suppressed to a low level, so that a radiator is not required. In addition, since the amount of current flowing is low, the power consumed can also be kept low.

Further, according to the second aspect of the invention, since the drive motor is constituted by the pulse motor, the open loop control becomes possible, so that the necessary motor control circuit can be simplified. Therefore, the cost can be kept low. Moreover, since the rotation angle of the shaft can be controlled with high accuracy, the number of commanded prize balls can be accurately paid out.

Further, in the invention of claim 3, when the shaft rotates due to the low current for locking the shaft of the drive motor, the rotation is detected by the detecting means. When the detection signal output from this detection means is received by the signal modulation means, the pulse width of the intermittent excitation signal is modulated and controlled so that the shaft of the drive motor is securely locked. The current required to lock is minimized. Therefore, the heat generated from the drive motor is also suppressed to a minimum according to the weight of the game ball on the shaft of the drive motor, so that the heat generated is also minimized.

[Brief description of 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 showing a configuration of a drive motor control device.

FIG. 3 is a first flowchart showing a processing procedure for carrying out the present invention.

FIG. 4 is a time chart showing changes in each signal in time series.

FIG. 5 is a second flowchart showing a processing procedure for implementing the present invention.

FIG. 6 is a second block diagram showing the configuration of a drive motor control device.

FIG. 7 is a third flowchart showing a processing procedure for carrying out the present invention.

FIG. 8 is a third block diagram showing the configuration of a drive motor control device.

FIG. 9 is a diagram showing a configuration of a substrate attached to the back surface of the game board.

[Explanation of symbols]

 10 control means 20 drive means 30 drive motor

Claims (3)

[Claims] 1. A control means for outputting a continuous excitation signal while rotating the shaft of the drive motor, and outputting an intermittent excitation signal while stopping the shaft of the drive motor, and the continuous excitation. A drive means for receiving a signal or the intermittent excitation signal to output a drive signal for driving the drive motor, and a drive motor control device for a pachinko machine. 2. The drive motor control device for a pachinko machine according to claim 1, wherein the drive motor is a pulse motor. 3. The drive motor comprises detection means for detecting rotation of a shaft of the drive motor, and the control means comprises signal modulation means for modulating and controlling a pulse width of the intermittent excitation signal. The signal modulating means receives a detection signal output from the detecting means when the shaft of the drive motor is stopped, and the rotation of the shaft of the drive motor is locked by feedback control. A drive motor control device for a pachinko machine according to claim 1.