JPH09201084A - Linear-motor drive apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a linear-motor drive apparatus in which the position and the phase of a linear motor can be controlled only by the pulse signal of an encoder. SOLUTION: In a linear-motor drive apparatus, the number of pulses of a pulse signal generated by a pulse generation means due to the relative movement of a moving body 12 with reference to a stator 11 is counted by a pulse counting means 31. The position of the moving body is detected by a position detection means 22 on the basis of the number of counted pulses. The operating phase mode of a linear motor is decided, and the moving body is driven. Consequently, the moving body 12 can be driven and controlled only by the pulse signal of the pulse generation means 30, magnetic-pole position sensors whose number corresponds to the number of pulses of a polyphase power supply used to detect the position of magnetic poles in conventional cases are not required, and a circuit configuration can be simplified.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear motor drive device.

[0002]

2. Description of the Related Art Generally, an opening / closing drive mechanism for an automatic door or an elevator door is as shown in FIG. This figure 2
The door opening / closing drive mechanism shown in 5 relates to an elevator door, but uses the DC rotary motor 1 as a drive force source, and transmits the rotary force of the rotary motor 1 to the crank mechanism 4 by the wire 2 and the gear 3. The left side door 6L in the figure is linked by the link mechanism 5 connected to the crank mechanism 4.
To open and close. The right door 6R is moved by the wire 7 and the pulley 8 in the direction opposite to the operation direction of the left door 6L, and as a result, the left and right doors 6L and 6R are opened and closed.

However, when such a rotary motor is used, the rotary motor 1 is installed above the elevator doors 6L and 6R.
And wire 2, gear 3, crank mechanism 4, link mechanism 5
However, there is a problem that the drive mechanism occupies a large space because it requires a gantry 9 for housing.

Therefore, in recent years, a linear motor 10 has been used as a drive mechanism.
An elevator door opening / closing mechanism as shown in FIG. The door opening / closing mechanism using the linear motor 10 is an elevator door 6L,
The stator 11 of the linear motor 10 is installed on the pedestal on the upper side of the 6R, and the moving body 12 of the linear motor 10 is connected to the upper end of the right door 6R in FIG. 26 to move the moving body 12 to open and close the right door 6R. At the same time, the left door 6L is driven by the wire 7 and the pulley 8 in the direction opposite to the operation direction of the right door 6R, and as a result, the left and right doors 6L and 6R are opened and closed.

In the case of an elevator door opening / closing mechanism using the linear motor 10 as a drive unit, a pulley for a weight is used to forcefully close the door for the purpose of ensuring passenger safety when power is lost, that is, failsafe. By suspending the weight 15 by means of the weight wire 13 and the weight wire 14, a force for pulling the right door 6R in the fully closed direction is always urged, and the left door 6L is also reversed from the operation direction of the right door 6R by the wire 7 and the pulley 8. The force is applied in the direction, that is, the closing direction.

The elevator door opening / closing mechanism using the linear motor 10 as described above can reduce the machine installation space above the door as compared with the elevator door opening / closing mechanism using the rotary motor 1 shown in FIG. In recent years, it is a drive mechanism that has received a great deal of attention.

Next, a position control system of the linear motor 10 used in the opening / closing mechanism of the elevator door and the automatic door in this way will be described. 27 and 28 show the structure of a general linear motor 10. The linear motor 10 is a permanent magnet type linear motor and a moving coil type linear motor in which a coil moves as a moving body 12.

As shown in FIG. 27, the moving body 12 of the permanent magnet type moving coil type linear motor 10 has an iron core 12 as shown in FIG.
1, the coil 122, the position sensor 123 mounting plate 124
It is a structure attached to. On the other hand, as shown in FIG. 28, the stator 11 of the linear motor 10 includes a large number of permanent magnets 111.
Are arranged in a row on a mounting plate 112 that also serves as a yoke. In order to control the position of the moving body 12, the stator 11
Linear encoder 114 with slit 113 on the side
Is provided along the moving direction of the moving body 12, and the detecting element 125 of the linear encoder 114 is attached to the moving body 12.

When the moving body 12 is moved on the stator 11, the position control shown in the timing chart of FIG. 29 using the linear encoder 114 is performed. That is,
The position sensor 123 of a magnetoelectric conversion element such as a Hall element provided on the moving body 12 detects the magnetic pole position of the permanent magnet 111, and the moving distance of the moving body 12 is measured by the linear encoder 1.
It is the structure which is detected by 14.

As shown in FIG. 27, the position sensor 123 is mechanically attached to the coils 122 of U, V and W three-phase coils by mounting them in the vicinity of the coils 122 of U, V and W three-phase coils. The physical relationship is fixed. Therefore, as shown in FIG. 29, the output of the position sensor 123 with respect to the position of the coil 122 of each of the U, V and W phases is high and S poles when the N pole of the permanent magnet 111 is detected by the movement of the moving body 12. When it detects "," it becomes low, and it can be divided into 6 modes by the combination of high and low of the position sensor 123 of each phase. The linear motor drives the moving body 12 by sliding it on the stator 11 by sequentially repeating the modes 1 to 6, so that the linear motor can be driven based on the output of the position sensor 123. .

Next, the linear encoder 114 uses A, B,
It outputs three types of Z-phase pulse signals. That is, the detection element 125 on the moving body 12 side outputs the A-phase sensor output signal by the slit 113 as the moving body 12 moves, and also outputs the B-phase sensor output signal 90 ° out of phase with this. This phase shift is used to determine the moving direction of the linear motor 10, and is used to detect whether it is forward rotation (right direction) or reverse rotation (left direction). Further electrical angle 360 °
The detection element 125 outputs the Z-phase signal once every 1 time, and performs pulse counting of the A-phase and the B-phase with reference to the Z-phase signal.

In the linear motor 10, these three types of A
The moving distance and speed of the moving body 12 are detected based on the three types of pulse signals of the phase, the B phase, and the Z phase. Therefore, when the linear motor 10 is used as an opening / closing mechanism for an elevator door or an automatic door, the door position and the door opening / closing speed are detected by these pulse signals.

A linear motor driving device using the position sensor 123 and the linear encoder 114 has a structure shown in FIG. 30, and has U, V, W phases by the position sensor 123 attached to the moving body 12 of the linear motor 10. A, B, Z by the signal and the linear encoder 114 on the side of the stator 11
The signal of each phase is input to the motor drive circuit 22 connected to the power supply circuit 21, and the coil 123 of each phase is energized to sequentially repeat the energization state of the 6 modes shown in FIG. It is moved on the stator 11.

[0014]

However, in such a conventional linear motor drive device, when it is used as an opening / closing mechanism of an elevator door or an automatic door, three position sensors are required to detect the magnetic pole position. In addition, a linear encoder is required to detect the position and speed of the moving body, and there is a problem that the number of sensors increases.

In particular, the linear encoder is much more expensive than the rotary encoder in terms of cost, and it is very difficult to install the slit in a straight line even at the time of manufacturing, and the detecting element on the moving body side has the slit. There is a problem that the detection accuracy cannot be made sufficiently high because the gap of the detection element needs to be larger than the thickness of the slit in order to move while sandwiching.

The present invention has been made in view of the above conventional problems, and it is an object of the present invention to provide a linear motor drive device capable of controlling the drive of a linear motor with a simple structure in which the number of sensors is reduced. To aim.

Another object of the present invention is to provide a linear motor driving device which can be manufactured at low cost by using a rotary encoder instead of the linear encoder.

[0018]

According to a first aspect of the present invention, there is provided a linear motor drive device for controlling reciprocal movement of a moving body with respect to a linear stator having a predetermined length, the linear motor driving apparatus including the moving body and the stator. Pulse generating means for generating a pulse signal having a pulse number proportional to the relative moving distance between them, pulse counting means for counting pulse signals generated by the pulse generating means, and a moving body based on the number of pulses counted by the pulse counting means Position detecting means for determining the position of the linear motor, and operating mode determining means for determining the operating mode of the linear motor based on the number of pulses counted by the pulse counting means.

In the linear motor drive device of the present invention, the pulse count means counts the number of pulses of the pulse signal generated by the pulse generation means by the relative movement of the moving body with respect to the stator, and based on this pulse count number. The position detecting means detects the position of the moving body, and the operation mode determining means determines the operation phase mode of the linear motor to drive the moving body.

Therefore, the drive control of the moving body can be performed only by the pulse signal of the pulse generating means,
The number of position sensors corresponding to the number of phases of the multi-phase power source for detecting the magnetic pole position in the related art is not required, and the circuit configuration can be simplified.

According to a second aspect of the present invention, in the linear motor drive device according to the first aspect, the pulse detecting means for generating two pulse signals of A phase and B phase whose predetermined angular phases are forward and backward is used. Either the forward path or the backward path is detected by counting the B-phase pulse signal following the A-phase pulse signal, and the forward path is detected by counting the A-phase pulse signal following the B-phase pulse signal. The position of either the return path or the other path is detected.

In the linear motor drive device according to the second aspect of the present invention, the position detection of the moving body and the position control of the moving body are performed more accurately by detecting the position of the moving body in each of the forward and backward paths by using the two pulse generating means. Can be done.

According to a third aspect of the present invention, in the linear motor drive device according to the first aspect, the moving end arrival detecting means for detecting that the moving body has reached the moving end of the stator, and the moving end arrival detecting means are the moving bodies. When the arrival of the moving end is detected, the pulse counting means forcibly corrects the number of pulses counted by the pulse counting means to the preset pulse number corresponding to the moving end. .

In the linear motor drive device according to the third aspect of the present invention, when the moving end arrival detecting means detects that the moving body has reached the moving end, the pulse number correcting means counts the pulses counted by the pulse counting means. The number is forcibly corrected to the preset number of pulses corresponding to the moving end.

As a result, the pulse count error is not accumulated by the reciprocating movement of the moving body with respect to the stator, and the position of the moving body can be accurately associated with the pulse count number. The drive control can be performed more accurately.

According to a fourth aspect of the present invention, in the linear motor drive device according to any one of the first to third aspects, the pulse generator generates a pulse signal by rolling with respect to the fixed member as the moving body moves. It uses a sensor.

In the linear motor drive device according to the present invention of claim 4, when the moving body moves relative to the stator, the rotary sensor generates a number of pulse signals proportional to the moving distance as pulse generating means, The position of the moving body can be detected by counting the pulse signals, and the position detection mechanism can be simplified as compared with the case of using a linear encoder.

According to a fifth aspect of the present invention, in the linear motor drive device according to the fourth aspect, one end is coupled to the moving body,
A pulley is attached to a fixed member for guiding a linear member to be pulled by the movement of the movable body, and a rotary sensor is attached so as to rotate in synchronization with the pulley.

In the linear motor drive device according to the fifth aspect of the present invention, when the moving body relatively moves with respect to the stator, the linear body is also moved by being pulled by this moving body and attached to the fixing member at a proper position. The pulley is rotated according to the moving direction and the moving distance of the moving body, and the rotary sensor is also rotated in synchronization with the pulley. Therefore, with a simple mechanism, the moving distance of the moving body can be determined by counting the pulse signals generated by the rotary sensor.

According to a sixth aspect of the present invention, in the linear motor drive device according to the fourth aspect of the present invention, the rotary sensor is attached to the fixed member, and the rotary portion of the rotary sensor is linearly moved by the moving body or the moving body. It is adapted to come into contact with the moving member to roll.

In the linear motor drive device according to the sixth aspect of the present invention, contrary to the fifth aspect of the invention, the moving body or the moving body is moved by the rotary sensor mounted on the fixed member side as the moving body moves. A moving member that moves together with the body makes contact with the rotary sensor to generate a pulse signal with a pulse number proportional to the moving distance of the moving body. It becomes possible to make the determination by counting the pulse signals generated by the rotary sensor.

According to a seventh aspect of the present invention, the linear motor driving device according to any one of the first to sixth aspects is used as an opening / closing driving device for an elevator door or an automatic door.

According to the invention of claim 7, an opening / closing mechanism for an elevator door or an automatic door is realized by using the linear motor driving device of the present invention, which has a simple structure and can accurately control the opening / closing position of the door. can do.

[0034]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows the principle of the linear motor drive device of the present invention, which has the same structure as the general permanent magnet type or moving coil type linear motor 10 shown in FIGS. That is, the stator 11 has a structure in which a large number of permanent magnets 111 are arranged in a row on the mounting plate 112 so that their N poles and S poles appear alternately, and the moving body 12 is shown in FIG.
As shown in FIG. 5, the iron core 121 and the coil 122 are attached to the attachment plate 124. However, the position sensor 123 is not provided in the moving body 12 shown in FIG. 27 because it is not necessary.

For use in elevator doors and automatic doors,
The stator 11 of the linear motor 10 according to this embodiment has a finite length, and in FIG. 1, the door is fully closed when the moving body 12 moves to the leftmost end, and the moving body 12 moves to the rightmost end. It is assumed that the moving distance is adjusted so that the door is fully opened in this state. Mobile unit 1
The position of the right end of the position 2 in the fully closed state is set to the starting position ST, and the position of the right end of the moving body 12 in the position of the fully open position is set to the turning point RT.

Therefore, when it is used as an opening / closing mechanism of an elevator door or an automatic door, when the moving body 12 starts moving from the starting position ST and reaches the turning point RT as shown in FIG. ), Followed by Figure 1
As shown in (c), when the vehicle starts moving in the opposite direction from the turning point RT and reaches the starting position ST, the door is fully closed (return path).

Next, based on FIGS. 2 and 3, the moving body 1
The pulse signal (A-phase sensor output signal, B
3 shows the relationship between the phase sensor output signal) and the operation modes of the U, V, W three-phase coils 121.

As shown in FIG. 26, when the linear motor 10 is used for the opening / closing drive mechanism of the elevator door,
The moving body 12 of the linear motor 10 starts moving in the outward direction from the starting position ST in response to a door opening / closing command, and when it reaches the turnaround point RT, stops for a preset time period to fully open the elevator door. After that, the moving body 12 starts moving on the return path, and when returning to the starting position ST, it stops at the moving position ST until the next opening / closing command is given, and keeps the door in the fully closed state. In addition, as described in the conventional example, in the case of the elevator door opening / closing drive mechanism, the door must be closed for safety even when the power is cut off due to a power failure or an accident. A weight 15 is attached to the.

Therefore, the moving body 1 of the linear motor 10
No. 2 is always in the starting position ST when the power is turned on, and the opening and closing span of the door is fixed in advance, so
The position of the turning point RT of the moving body 12 is also a fixed position, and the moving body 12 repeatedly reciprocates within a predetermined distance D between the starting position ST and the turning point RT.

Since the above-mentioned encoder 114 generates a number of pulse signals proportional to the moving distance of the moving body 12, the number of pulses of each of the A-phase sensor output signal and the B-phase sensor output signal of the encoder and the moving body 12 is increased. The position of the moving body 12 can be indexed by the pulse count number by setting the pulse number of the moving position ST to 0 and starting the pulse counting from there.

For example, when the moving body 12 is at the starting position ST, the electrical angle of the power source is 0 °, and when it is at the turning point RT, the electrical angle is 600 °. When the pulse starts counting from the starting position ST, when the pulse count of the B-phase sensor output signal is performed, the count value becomes 30 at the turning point RT in the example of FIG. If the number of pulses is subtracted and counted on the return path from the turning point RT, the pulse count value should be 0 when returning to the starting position ST. Therefore, the position of the moving body 12 can be grasped by monitoring the pulse count value of the A-phase sensor output signal or the B-phase sensor output signal output from the encoder, and the pulse count value and the electrical angle of the power supply can be determined. Since there is a one-to-one correspondence, the operation mode of the linear motor can be grasped based on the pulse count value as shown in FIG. 3, and this pulse is used as a substitute signal for the conventional U, V, W phase magnetic pole position sensor 123. It is also possible to use the count value.

The linear motor driving device of the present invention based on such a principle has a structure as shown in FIG. The linear motor drive device shown in FIG. 4 supplies a drive current to the three-phase power supply circuit 21 similar to the conventional one and the coils 123 of the three-phase U, V and W phases of the linear motor 10 according to a predetermined operation mode. The motor drive circuit 22, the linear encoder 30 similar to the conventional one, and the A-phase sensor output signal and the B-phase sensor output signal output by the linear encoder 30 are input and based on the operation principle shown in FIGS. 2 and 3. The operation mode is determined from these pulse signals, and phase signals of U, V, and W phases (signals corresponding to sensor output signals of U, V, and W phases in FIG. 29) are generated, and the motor drive circuit 22 It is composed of a pulse / phase conversion circuit 31 which is applied together with the pulse signal.

Therefore, according to the linear motor drive device of this embodiment, when the motor drive circuit 22 drives the linear motor 10 in response to a start command from the outside, the encoder 30 is moved by the encoder 30 as shown in FIG. The pulse signals as the A-phase sensor output signal and the B-phase sensor output signal shown in are generated and input to the pulse / phase conversion circuit 31.

In the pulse / phase conversion circuit 31, this A
When the B-phase pulse is input for the first time after receiving the A-phase pulse and the B-phase pulse signal, counting starts every time the B-phase pulse is input, and the pulse signal itself is output. The phase signals of U, V, and W phases given to the motor drive circuit 22 and based on the comparison table of the pulse count value of the B-phase sensor and the operation mode shown in FIG. 3 (U, V, W phases in FIG. 29). Signal corresponding to the sensor output signal of the motor drive circuit 2
Give to 2.

The motor drive circuit 22 receives this phase signal and controls the phase of each phase of U, V, W, and supplies power to the coil 123 of each phase of the linear motor 10 to move the mobile unit 12.
Drive. At the same time, the motor drive circuit 22 counts the pulse signals, and performs speed switching control when the count value reaches a preset count value corresponding to the position of the moving body 12. For example, in FIG. 2, the vehicle travels from the starting position ST up to the count value 28 at the normal speed, and when the count value 28 is reached, the speed is reduced to a slight speed and the count value 30 is reached.
Drive at a slow speed until it becomes and stop. After this, after returning for a fixed time, for example, 10 seconds, the movement of the return path is started
Every time the B-phase pulse is input after the A-phase pulse, the countdown is performed. When the pulse count value becomes 3, the pulse count value is reduced to a fine speed and driven at a fine speed until the count reaches 0, and stopped when the count reaches 0.

The elevator door which is opened and closed by this linear motor drive device starts to open at a normal speed from the fully closed state, and when it is close to the full open, it becomes a fine speed and opens to the fully open state.
Opening and closing control is realized in which it is left open for a predetermined period of time, here 10 seconds, and then starts to close at normal speed, then closes to full speed and closes again until it reaches a fully closed state. Become.

As described above, according to the first embodiment, magnetic pole positions corresponding to U, V, and W phases are provided on the moving body 12 side as in the drive control of the conventional linear motor shown in FIG. The position drive control of the moving body 12 can be performed only by the pulse signal of the linear encoder 30 without attaching the sensor 123, and the sensor signal line can be reduced and the circuit configuration can be simplified.

Although the pulse signal of the encoder 30 is counted down on the return path in the first embodiment, the counting method is not particularly limited. Further, the correspondence table between the pulse count value and the operation mode and the correspondence relationship between the moving distance of the moving body 12 and the pulse count value are not particularly limited and can be arbitrarily changed depending on the size of the door opening / closing span.

Next, a second embodiment of the present invention will be described with reference to FIGS. Encoder 30
Generates a number of pulse signals according to the moving amount of the moving body 12, counts the pulse signals to determine the operation mode of the linear motor, and detects the phase, the start position ST
Although there is a possibility that one or more B-phase sensor output signals may be lost as shown in FIG. 5 due to some influence during the movement from the turning point to the turning point RT, for example, mixing of noise or malfunction of the encoder. In such a case, the place where the pulse count value at the turning point RT should be 30 becomes 29. When the driving operation is further continued in such a state, the lack of the pulse number is accumulated, and the correspondence between the original count value and the driving mode becomes far apart, and the driving control of the linear motor becomes difficult.

In order to avoid this, in the linear motor drive device of the second embodiment, as shown in FIG. 6, the opening operation start command 3 given to the motor drive circuit 22 from the outside is given.
2ST, a closing operation start command 32RT are input, and a command to reset the pulse count value to 0 is given to the pulse / phase conversion circuit 31 by the opening operation command 32ST, and the closing operation command 3
A moving pulse number reset circuit 33 for giving a command to forcibly set the pulse count value to 30 by 2RT is provided to the pulse / phase conversion circuit 31. The other components are common to those of the first embodiment shown in FIG. 4, and are designated by the same reference numerals.

In the case of the second embodiment, as shown in FIG. 5, one pulse of the B-phase sensor output signal is lost on the outward path of the moving body 12 and the pulse count value is 29 even when the turning point RT is reached. In such a case, when the motor drive circuit 22 receives a closing operation start command 32RT from the outside while the moving body 12 is stopped at the turning point RT, the movement pulse number reset circuit 33 receives the same signal 32RT. Sends a command to set the pulse count value to 30 in the pulse / phase conversion circuit 31.
Then, the pulse / phase conversion circuit 31 corrects the pulse count value corresponding to the turning point RT from 29 to 30, and starts the pulse countdown operation on the return path from the correct initial value.

Similarly, there is a missing pulse signal on the return path from the turning point RT, and while counting down, the starting position
Even if the pulse count value is not 0 even after reaching ST, when the motor drive circuit 22 next receives an opening operation command 32ST from the outside, the movement pulse number reset circuit 33 issues a 0 reset command by the same signal 32ST. This is given to the pulse / phase conversion circuit 31, and the pulse / phase conversion circuit 31 resets the pulse count value to zero.

As described above, according to the second embodiment, even if the count value of the pulse signal of the encoder 30 is missing or has a remainder, if the start position ST or the turning point RT is reached, the normal count is forcibly performed. The value can be corrected, and stable position control and phase control can be performed.

In the second embodiment, the pulse count value is corrected at both the starting position ST and the turning point RT, but it is only reset by receiving the opening operation command 32ST. , Or a movement pulse number reset circuit for setting a predetermined pulse count value, here 30 in response to the closing operation command 32RT, when the movement body reaches the starting position ST or when the movement body reaches the turning point RT. It is also possible to forcibly correct the pulse count value to a predetermined value only when the pulse count value is reached.

Next, a third embodiment of the present invention will be described with reference to FIG. The third embodiment is similar to the above-described second embodiment in the moving pulse number reset circuit 33.
Using the opening operation command 32ST and the closing operation command 32RT externally given to the motor drive circuit 22 as the starting position arrival detection signal and the turning point arrival detection signal to the movement pulse number reset circuit 33, the forward opening operation command The time count starts at the moment when 32ST is given, and the time Trt (= T1 + δ1) which is the time T1 required for the door that is driven to open / close by the linear motor 10 to be in the fully open state plus a small margin time δ1 is counted up. When the return point RT arrival signal is given at the same time, and conversely, the time count is started at the moment when the return movement closing operation command 32RT is given, the time T2 required for the linear motor 10 to change the door from the fully open state to the fully closed state And a little margin time δ2, the timer that gives the start position ST arrival signal when the time Tst (= T2 + δ2) is counted up. 34 is provided. Other components are the same as those in the second embodiment shown in FIG.

In the case of the third embodiment, the moving body 12
In the forward path of No. 3, the timer 34 starts time counting at the timing when the moving body 12 starts to move from the starting position ST, and when the preset time Trt has elapsed, the moving pulse number reset circuit 33 is returned to the return point RT arrival signal. The moving pulse number reset circuit 33 gives a command to the pulse / phase conversion circuit 31 to set the pulse count value to 30.

On the contrary, the timer 34 starts time counting when the moving body 12 is at the turnaround point RT and starts moving in the returning path, and when the preset time Tst has passed, the moving pulse number reset circuit is started. Start position 33
The ST arrival signal is given, and the moving pulse number reset circuit 33 gives a command to the pulse / phase conversion circuit 31 to reset the pulse count value to zero.

As a result, the time required to open / close the elevator door or the time required to open / close the automatic door and the time required to stop the door in the fully open state are normally set in advance. If the time that seems to be certain has passed, the moving body 1
It is considered that 2 also reached the turnaround point RT and stopped, forcibly set the pulse count value to 30, and also when closing from the fully open state, the door seems to be fully closed. It is considered that the moving body 12 has also reached the starting position ST and has stopped after a lapse of time, and by resetting the pulse count value to 0, the pulse signal of the encoder 30 may be missing or extraly added due to some influence. However, it is possible to accurately detect the position and control the phase of the linear motor 10.

Even in the third embodiment,
When the moving body 12 starts to move from the starting position ST on the outward path and a predetermined time Trt has passed and is measured by the timer 34, the pulse count value is forcibly set to 30 as if the moving body 12 has reached the turning point RT. Just do
On the contrary, on the return trip, the moving body 12 returns to the turning point RT.
The timer 3 indicates that the predetermined time Tst has elapsed after the movement started from
It is also possible to adopt a configuration having a pulse number correction function of only one of resetting the pulse count value to 0 assuming that the moving body 12 has returned to the starting position ST as measured by 4.

Next, a fourth embodiment of the present invention will be described with reference to FIG. The feature of the fourth embodiment is that when the elevator 12 or the automatic door is driven to open and close by the moving body 12, the speed pattern of the opening and closing operation of the door is fast at first and slowed down near full opening or full closing. Is done. Therefore, a position detector 36o such as a photoelectric sensor or limit switch for detecting that the door has reached a point where the speed needs to be switched from high speed to low speed,
36c is installed, and when a detection signal is input from the position detector 36o or the position detector 36c,
A predetermined pulse count number, for example,
Immediately before the end of the opening operation of the door, the moving pulse reset circuit 35 gives a command for setting the count value to 28 to the pulse / phase conversion circuit 31 in response to the detection signal from the position detector 36o. Conversely, when closing the door from the fully open state,
Upon receiving the detection signal from the position detector 36c, the moving pulse number reset circuit 35 gives a command to the pulse / phase conversion circuit 31 to set the pulse count value to 3 pulses.

As a result, in the fourth embodiment, accurate position detection can be performed especially in a traveling section that requires strict speed control and position control of the moving body 12, and the reliability of the door opening / closing drive can be improved. Will be able to.

Next, the configuration of the fifth embodiment of the present invention will be described with reference to FIG. In the above fourth embodiment, the predetermined pulse count value is set when the position detecting means detects that the moving body 12 or the door driven by the moving body 12 reaches a certain position. In the fifth embodiment, the speed is detected from the cycle of the pulse signal output from the encoder 30, and when the moving body 12 exceeds a predetermined speed, the detection signal is given to the moving pulse number reset circuit 35 to change the moving pulse number. Reset circuit 35
As in the fourth embodiment, the pulse / phase conversion circuit 31 receives a predetermined pulse count number, for example, a speed detection signal immediately before the end of the door opening operation.
A command to set the count value to 27 pulses is given to.
Conversely, when closing the door from the fully open state, the speed sensor 3
In response to the speed detection signal from 7, the moving pulse number reset circuit 35 gives the pulse / phase conversion circuit 31 a command to set the pulse count value to, for example, 3 pulses.

As a result, in the fifth embodiment as well, similar to the fourth embodiment, accurate position detection can be performed especially in a traveling section that requires strict speed control and position control of the moving body 12. It is possible to improve the reliability of the door opening and closing drive.

Next, a sixth embodiment of the present invention will be described with reference to FIG.
It will be described based on. In the sixth embodiment, the current pulse supplied from the motor drive circuit 22 to the linear motor 10 is detected by the current detector 38, and the moving pulse number reset circuit is detected when it is detected that the value becomes a predetermined value or more. Three
5 provides the pulse / phase conversion circuit 31 with a predetermined pulse count value. Also in this case, similarly to the fourth and fifth embodiments, the moving body 12 is forcibly set to a predetermined pulse count value at the timing of switching from low speed to high speed. Accurate position control and phase control.

Next, a seventh embodiment of the present invention will be described with reference to FIG. In the seventh embodiment, when the moving body 12 of the linear motor 10 is at the starting position ST and when it reaches the turning point RT, a limit switch, a photoelectric sensor, and other external position detectors 39 for detecting the position thereof. , Or a start position by receiving a detection signal from a position switch such as a limit switch, photoelectric sensor or other position detector that detects the fully closed position of the elevator door or the automatic door itself that is opened and closed by being driven by the moving body 12 or the automatic door itself.
A command to reset the pulse count value to 0 by the ST detection signal is given to the pulse / phase conversion circuit 31, and the return point RT
The moving pulse number reset circuit 33 is provided to give a command for forcibly setting the pulse count value to 30 by the detection signal to the pulse / phase conversion circuit 31. Therefore, the other components are common to those shown in FIG. 6 and are designated by the same reference numerals.

In the seventh embodiment, as in the second embodiment shown in FIG. 6, as shown in FIG.
When one pulse of the B-phase sensor output signal is missing on the outward path of 2 and the pulse count value is 29 even when reaching the turning point RT, the turning point RT arrival detection signal from the external position detector 39 is output. In response, the moving pulse number reset circuit 33 gives a command to set the pulse count value to 30 to the pulse / phase conversion circuit 31, and the pulse / phase conversion circuit 31 corrects the pulse count value corresponding to the turning point RT from 29 to 30. To do. Similarly, when the pulse signal is missing on the return path from the turning point RT and the pulse count value is not 0 even when the start position ST is reached while counting down,
Upon receiving the start position ST arrival detection signal from the external position detector 39, the moving pulse number reset circuit 33 gives a 0 reset command to the pulse / phase conversion circuit 31, and the pulse / phase conversion circuit 31 resets the pulse count value to 0.

As described above, according to the seventh embodiment, even if the count value of the pulse signal of the encoder 30 is missing or has a remainder, if the start position ST or the turning point RT is reached, the normal count is forcibly performed. The value can be corrected, and stable position control and phase control can be performed.

FIG. 12 shows an eighth embodiment of the present invention. The eighth embodiment has a configuration in which all of the above-described third embodiment shown in FIG. 7 to the seventh embodiment shown in FIG. 11 are combined. Therefore, the moving pulse number reset circuit 40 resets the pulse / phase conversion circuit 31 to 0 by the external position detector 39 which detects that the moving body 12 has reached the starting position ST or the turning point RT, and a predetermined pulse count value, For example, when a set signal of 30 is given, and a predetermined time has passed after the start of the moving body 12, when the moving body 12 passes a preset position, when the moving body 12 reaches a predetermined speed, or when a motor is used. Pulse / phase conversion circuit 3 when the current reaches a specified value
The pulse count value of 1 is forcibly set to a preset value.

In the case of this embodiment, if these detection signals are set to the elapsed time, the number of pulses, the speed or the current value detected when the moving body 12 reaches the same one position, the combination of these signals is used. The pulse count value can be corrected and position control and phase control can be performed more accurately.

Next, a ninth embodiment of the present invention will be described with reference to FIG.
It will be described based on. In each of the above first to eighth embodiments, a rotary encoder as shown in FIG. 13 may be used instead of the conventional linear encoder as the encoder 30 that generates a pulse signal in accordance with the movement of the moving body 12. it can. In the case of this rotary encoder 30, as the moving body 12 moves, it rotates while contacting with the stator 11 to generate a pulse signal. And this encoder 30
Pulse signal of FIG. 4 and FIG. 6 to FIG. 12 pulse /
It will be input to the phase conversion circuit 31.

In the case of this rotary encoder, the number of pulses with respect to the moving distance can be increased as compared with the linear encoder, and more accurate position control and phase control can be performed.

Next, a tenth embodiment of the present invention will be described with reference to FIGS. 14 (a) and 14 (b). This first
In the 0th embodiment, the linear motor 1 of the present invention is used as a drive mechanism for an elevator door as in the conventional example shown in FIG.
0, the moving body 12 is always returned to the starting position even when the power is lost, and the weight 15 is hung and moved by the wire 14 connected to the moving body 12 so as to maintain the elevator doors 6L and 6R in the fully closed state. The wire 14 is moved by the movement of the body 12.
A pulley 13 serving as a guide for raising and lowering the weight 15 and the weight 15 is fixed to a fixing member, and the rotary encoder 30 is attached to the pulley 13 so as to rotate in synchronization with the pulley 13. The rotary encoder 3
The pulse signal generated by 0 has a circuit configuration in which it is input to the pulse / phase conversion circuit 31 in the first to eighth embodiments.

According to this tenth embodiment, FIG.
As shown in (a), the moving body 12 is opened from the starting position ST and stopped when reaching the turning point RT, whereby the elevator doors 6L and 6R are opened to the fully open state, and conversely shown in (b) of the same figure. From the state (turnback point RT) to the moving body 12
Is closed to return to the starting position ST, whereby the elevator doors 6L and 6R are fully closed.

In the case of the tenth embodiment shown in FIG. 14, the pulley 13 that rotates in synchronization with the rotary encoder 30.
Since the angle of contact between the wire 14 and the wire 14 is as narrow as about 90 °, there is a high possibility that slip will occur between the wire 14 and the pulley 13. Therefore, as shown in FIG. 15, by providing a tensioning wheel 13 ′ to the wire 14 in order to increase the contact angle between the pulley 14 and the wire 14, the wire 14 and the pulley 1 are provided.
It is possible to suppress the occurrence of the slip between the rotary encoder 30 and the rotary encoder 3, and thereby the rotary encoder 30 can generate the pulse signal more accurately with respect to the movement of the moving body 12. Further, as shown in FIG. 16, if more tension wheels 13 ″ are provided to more reliably suppress the occurrence of slip between the wire 14 and the pulley 13, the rotary encoder 30 is generated. It is possible to improve the accuracy of position control and phase control of the moving body 12 based on the pulse signal.

In order to suppress the slip between the wire 14 and the pulley 13, instead of the flat wire 14 as shown in FIGS. 17 (a) and 17 (b), a stranded wire 14 'is used.
Can be adopted. As shown in FIG. 18, a chain 14C is used instead of the wire 14 shown in FIG. 14, a sprocket 13G is used instead of the pulley 13, and the rotary encoder 30 is rotated in synchronization with the sprocket 13G. By using the timing belt 14B instead of the wire 14 or the timing pulley 13B instead of the pulley 13, as shown in FIG.
By configuring the rotary encoder 30 to rotate in synchronization with the timing pulley 13B, the occurrence of slip can be more reliably prevented, and the position control and phase control of the moving body 12 can be accurately performed.

Next, an eleventh embodiment of the present invention will be described with reference to FIG.
Description will be made based on 0. A feature of the eleventh embodiment resides in the mounting structure of the rotary encoder 30. The support wheel 52 supported by the support legs 51 is mounted on the moving body 12 of the linear motor 10, and the support wheel 52 serves as the stator 11. The edge portion of is rotated and the rotary encoder 30 that rotates in synchronization with it is attached to one of the support wheels 52.

Also in the eleventh embodiment, the pulse signal generated by the rotary encoder 30 is shown in FIGS. 4 and 6 to 12.
By inputting to the pulse / phase conversion circuit 31 in the respective embodiments shown, the rotary encoder 30
Position control of the moving body 12 by the pulse signal generated by
A circuit configuration for performing phase control can be used.

In the eleventh embodiment as well, the support wheel 52 may idle when the moving body 12 moves. Therefore, as shown in FIG. 21, the moving body 1 is provided separately from the support wheels 52.
The support leg 54 is attached to the arm 53 extending from 2, and the support wheel 55 is attached to the support leg 54.
Push down the spring 56 so that it contacts the stator 11 securely.
Can be attached to the support leg 54, and the rotary encoder 30 can be attached so as to rotate in synchronization with the support wheel 55.

Next, a twelfth embodiment of the present invention will be described with reference to FIG. The feature of this twelfth embodiment lies in the mounting position of the rotary encoder 30, and the rotary encoder 30 is mounted at an appropriate place on the elevator doors 6L and 6R driven by the linear motor 10. When the elevator doors 6L and 6R are opened and closed by driving the moving body 12, the rotary encoder 30 rolls with respect to the fixed member to generate a pulse signal, which is shown in FIGS. 4 and 6 to 13, respectively. The pulse / phase conversion circuit 31 is also input.

As a result, the position control and the phase control of the linear motor 10 can be performed by using the pulse signals corresponding to the moving positions of the elevator doors 6L and 6R which are the objects to be driven by the linear motor 10.

Even in the twelfth embodiment, the mounting position of the rotary encoder 30 is not particularly limited. For example, as shown in FIG.
6R is mounted so as to rotate in synchronization with a pulley 8 that guides a drive wire 7 that connects a moving body 12 of a linear motor 10 and doors 6L and 6R.
The pulse signal may be generated when the pulley 8 is rotated by the movement of L and 6R. Further, as shown in FIG. 24, the rotary encoder 30 may be attached to an appropriate position of the fixing member so that the wire 7 pulled by the movement of the moving body 12 of the linear motor 10 comes into contact with the wire 7 to rotate.

In each of the above-described embodiments, the pulse count values at the starting position ST and the turning point RT of the moving body 12 of the linear motor 10 are not particularly limited, and the reciprocating movable distance D of the linear motor 10 is not limited. Length, encoder 30
It is arbitrarily set according to the installation location of the linear motor 10 according to the performance and specifications.

[0083]

As described above, according to the invention of claim 1,
The pulse counting means counts the number of pulses of the pulse signal generated by the pulse generating means due to the relative movement of the moving body with respect to the stator, and the position detecting means detects the position of the moving body based on this pulse count number, and the operation mode. Since the deciding means decides the operation phase mode of the linear motor and drives the moving body, the driving control of the moving body can be performed only by the pulse signal of the pulse generating means. The number of magnetic pole position sensors corresponding to the number of phases of the multi-phase power supply for detection is not required, and the circuit configuration can be simplified.

According to the second aspect of the invention, in the linear motor drive device of the first aspect of the invention, the pulse signals are counted by using the two pulse generating means and utilizing the difference in the generation timing of the two pulses. Since the position detection is performed on the forward and return paths of the moving body,
The position detection and position control of the moving body can be performed more accurately.

According to the invention of claim 3, in the linear motor drive device of the invention of claim 1, when the moving end arrival detecting means detects that the moving body has reached the moving end, the pulse number correcting means outputs a pulse. Since the number of pulses counted by the counting means is forcibly corrected to the preset number of pulses corresponding to the moving end, the position of the moving body must be accurately associated with the pulse count number. The position control and drive control can be performed more accurately.

According to the invention of claim 4, in the linear motor drive device of any of claims 1 to 3, when the moving body moves relative to the stator, the rotary sensor moves as pulse generating means. Since the number of pulse signals proportional to the distance is generated and the position of the moving body is detected by counting the pulse signals, the position detection mechanism can be simplified as compared with the case of using a linear encoder. .

According to the invention of claim 5, in the linear motor driving device of the invention of claim 4, the movement of the linear member pulled by the moving body when the moving body relatively moves with respect to the stator. , The pulley attached to the fixed member in place is rotated according to the moving direction and the moving distance of the moving body, and the rotary sensor is also rotated in synchronization with this pulley. The moving distance of the moving body can be determined by counting the pulse signals generated by the rotary sensor.

According to the invention of claim 6, in the linear motor drive device of the invention of claim 4, the rotary sensor is attached to the fixed member, and the rotary part of the rotary sensor is moved linearly by the moving body or the moving body. Since the rolling member is brought into contact with the movable member to be rolled, the moving distance of the moving body can be determined by counting the pulse signals generated by the rotary sensor with a simple mechanism as in the invention of claim 5. You can decide.

According to the invention of claim 7, since the linear motor drive device of any one of claims 1 to 6 is used as an opening / closing drive device for an elevator door or an automatic door, the linear motor drive device of the present invention is used. It is possible to realize an opening / closing mechanism for an elevator door or an automatic door that can accurately control the opening / closing position of the door by using the simple structure.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing an operation principle of a first embodiment of the present invention.

FIG. 2 is a timing chart showing the operating principle of the first embodiment of the present invention.

FIG. 3 is a table showing a correspondence relationship between the number of pulses of the encoder and the operation mode according to the first embodiment of the present invention.

FIG. 4 is a functional block diagram of the first embodiment of the present invention.

FIG. 5 is a timing chart showing the operating principle of the second embodiment of the present invention.

FIG. 6 is a functional block diagram of a second embodiment of the present invention.

FIG. 7 is a functional block diagram according to a third embodiment of the present invention.

FIG. 8 is a functional block diagram of a fourth embodiment of the present invention.

FIG. 9 is a functional block diagram of a fifth embodiment of the present invention.

FIG. 10 is a functional block diagram of a sixth embodiment of the present invention.

FIG. 11 is a functional block diagram of a seventh embodiment of the present invention.

FIG. 12 is a functional block diagram of an eighth embodiment of the present invention.

FIG. 13 is an explanatory diagram showing a linear motor and a rotary encoder used in a ninth embodiment of the present invention.

FIG. 14 is an explanatory diagram showing a linear motor and a rotary encoder according to a tenth embodiment of the present invention.

FIG. 15 is an explanatory diagram showing a modified example of the tenth embodiment.

FIG. 16 is an explanatory diagram showing another modification of the tenth embodiment.

FIG. 17 is an explanatory diagram showing still another modified example of the tenth embodiment.

FIG. 18 is an explanatory diagram showing still another modification of the tenth embodiment.

FIG. 19 is an explanatory diagram showing still another modification of the tenth embodiment.

FIG. 20 is an explanatory diagram showing a linear motor and a rotary encoder according to an eleventh embodiment of the present invention.

FIG. 21 is an explanatory diagram showing a modified example of the eleventh embodiment.

FIG. 22 is an explanatory diagram showing a linear motor, an elevator door, and a rotary encoder according to a twelfth embodiment of the present invention.

FIG. 23 is an explanatory diagram showing a modified example of the twelfth embodiment.

FIG. 24 is an explanatory diagram showing another modification of the twelfth embodiment described above.

FIG. 25 is an explanatory view showing an opening / closing mechanism of an elevator door using a conventional rotary motor.

FIG. 26 is an explanatory diagram of an elevator door opening / closing mechanism using a conventional linear motor.

FIG. 27 is a perspective view showing a structure of a moving body of a conventional linear motor.

FIG. 28 is a perspective view of a conventional linear motor.

FIG. 29 is a timing chart showing drive control of a conventional linear motor.

FIG. 30 is a functional block diagram of a conventional linear motor drive device.

[Explanation of symbols]

 6L, 6R Elevator door 7 Wire 8 Pulley 10 Linear motor 11 Stator 111 Permanent magnet 112 Mounting plate 12 Moving body 121 Coil 122 Yoke 124 Mounting plate 13 Pulley 13 ', 13 "Tension wheel 13G sprocket 13B Timing pulley 14 Wire 14' Twist Line 14C Chain 14B Timing belt 15 Weight 21 Power supply circuit 22 Motor drive circuit 30 Encoder 31 Pulse / phase conversion circuit 32ST Start position start signal 32RT Return point start signal 33 Moving pulse number reset circuit 34 Timer 35 Moving pulse number reset circuit 36o, 36c Position detector 37 Speed sensor 38 Current detector 39 External position detector 40 Moving pulse number reset circuit 51 Support leg 52 Support wheel 53 Arm 54 Support leg 55 Support wheel 56 Push Lower spring

Front Page Continuation (72) Inventor Sadaaki Kobayashi 2121 Nawao, Asahi-machi, Mie-gun, Mie Prefecture Toshiba Corporation Mie Plant

Claims (7)

[Claims] 1. A permanent magnet type linear motor drive device for controlling reciprocating movement of a moving body with respect to a linear stator having a predetermined length, wherein a relative moving distance between the moving body and the stator is changed. A pulse generating unit that generates a pulse signal having a proportional number of pulses, a pulse counting unit that counts pulse signals generated by the pulse generating unit, and a position of the moving body based on the number of pulses counted by the pulse counting unit. A linear motor drive device comprising: a position detecting means for determining; and an operation mode determining means for determining an operation mode of the linear motor based on the number of pulses counted by the pulse counting means. 2. The pulse generating means for generating two pulse signals of A phase and B phase whose predetermined angular phases are forward and backward is used, and the position detecting means follows B pulse signal of the A phase.
Either the forward path or the return path position is detected by counting the phase pulse signals, and the forward path or the return path position is determined by counting the A phase pulse signal that follows the B phase pulse signal. The linear motor drive device according to claim 1, wherein 3. A moving end arrival detecting means for detecting that the moving body has arrived at a moving end of the stator, and the moving end arrival detecting means for detecting the arrival of the moving end of the moving body, 2. The linear motor control device according to claim 1, further comprising pulse number correcting means for forcibly correcting the number of pulses counted by the pulse counting means to a preset number of pulses corresponding to the moving end. 4. A rotary sensor that generates a pulse signal by rolling with respect to a fixed member as the moving body moves, as the pulse generating means.
The linear motor drive device according to any one of 3 to 3. 5. A rotary wheel, one end of which is coupled to the movable body, which guides a linear body pulled by the movement of the movable body is attached to a fixed member, and the rotary sensor is configured to rotate in synchronization with the pulley. The linear motor drive device according to claim 4, wherein the linear motor drive device is attached. 6. The rotary sensor is attached to a fixed member,
5. The linear motor drive device according to claim 4, wherein the rotating portion of the rotary sensor is configured to come into contact with the moving body or a moving member that is linearly moved by the moving body to roll. 7. The linear motor drive device according to claim 1, which is used as an opening / closing drive device for an elevator door or an automatic door.