JPS5831835B2 - Pulse motor control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is a pulse motor control method suitable for a pulse motor that causes a driven body used for a post-throttle operation in a bulk automatic teller machine to reciprocate at high speed. It is related to.

Generally, in a bulk automatic teller machine, a process is performed in which banknotes inserted through a banknote slot and conveyed are stored in a banknote accommodating section from a banknote conveyance path by a so-called folding operation.

A mechanism that performs this type of dusting operation includes a driven body that presses down the edge of the banknote, and a solenoid that is excited in response to an input pulse.The solenoid is turned on and turned on to 10FF to move the driven body at high speed. I am trying to make it move back and forth.

However, since the banknotes are only flicked at the ends, they are not stored neatly in a predetermined storage area and are difficult to take out from the storage area.

SUMMARY OF THE INVENTION The present invention aims to solve the above-mentioned problems, and aims to make it possible to store banknotes in a uniform manner and at a low cost.

Therefore, the pulse motor control method of the present invention includes a pulse motor whose rotational speed changes according to the cycle of input pulses and a driven body driven by the pulse motor, and alternately accelerates the pulse motor. - In a pulse motor control method that decelerates and causes the driven body to reciprocate at high speed, there is a memory section in which the time of the next pulse to be generated is stored in advance, and a pulse read out from the memory section. a pulse generator that generates a pulse at a generation time and supplies the generated pulse to the pulse motor;
and an addressing section that performs an addressing operation for the storage section based on the pulses output from the pulse generation section, and the storage section performs an addressing operation for the storage section for 1/4 cycle of the pulse frequency curve to be supplied to the pulse motor. The pulse generation time corresponding to each pulse period is sequentially stored in each address, and the address designation section includes an up/down counter that sends an address to the storage section;
an instruction circuit that detects the upper and lower limits of the output count value of the up/down counter and instructs the up/down counter to perform count-up and count-down operations; and the up/run counter detected by the instruction circuit. and a phase rotation control circuit that controls the rotational direction of the pulse motor based on a lower limit detection signal of the output count value, and reads out the same address in the memory twice back and forth, and supplies the same address from the memory to the pulse motor. It is characterized in that it is configured to output the generation time of the pulse to be generated.

This will be explained below with reference to the drawings.

FIG. 1 is a diagram showing an overview of a bulk automatic teller machine, which is an example of the field of application of the present invention, and FIG. 2 is a diagram showing an overview of its main parts.
Figure 3 shows one reciprocating motion of the driven body shown in Figure 2 and the pulse
FIG. 4, which is a diagram showing the relationship with the speed curve of the motor, shows the configuration of an embodiment of the pulse motor control system according to the present invention.

In Fig. 1, 1 is a bill slot, 2 is a door, 3 and 4 are take-in belts, 5 to 9 are feed rollers, 10 to 13 are feeding rollers, 14 and 15 are conveyor belts, 16 is a direction switching gate, 1T 18 is a storage belt, 18 is a banknote placement belt, 19 to 22 are return belts, 23 is a return door, 2
4 is a driven body, that is, a pressing rod, 25 is a pressing plate, 26 is a banknote placement plate, PS12 PS13, PS14, PS15, P
S16, PS23, PS25, and PS42 are photo sensors, that is, medium detectors, BDId banknote discrimination section, Bff1 banknote, S
1 indicates a primary storage section, and SL indicates a secondary storage section.

In a bulk type automatic deposit machine, when a deposit button is pressed, a door 1 is opened, and the banknotes inserted in a batch from an input slot 1 are taken into the deposit machine by taking belts 3 and 4.

The banknotes taken into the deposit machine are fed out by rollers 5 to 9.
The cards are fed out one by one.

The dispensed banknotes are fed into the discrimination section BD through conveyance rollers 10.11.

The discrimination unit BD discriminates whether a banknote is a normal banknote or a defective banknote.

The banknotes sent out from the discrimination section BD are passed through the rollers 12 and 13.
It passes between the conveyor belts 14 and 15 and is conveyed while being pinched between the conveyor belts 14 and 15.

The banknotes conveyed between the conveyor belts 14 and 15 are cut into rightward or leftward direction by a direction switching gate 16.

Normal banknotes are switched to the left and placed on the banknote placement plate 26 by the storage belt 17.

When one bill BL is placed on the bill placement plate 26, the pressing rod 24 is pushed down, and the bill BL is placed on the bill placement belt 18.
stacked on top.

In other words, a so-called flying motion is performed.

Here, the pressing operation of the press rod 24 is such that, for example, the terminal end of the banknote BL is in the photo position YPS4! It can be considered that the process starts from the point when the process passes through .

Note that the banknote placement plate 26 is composed of two plates arranged in parallel, and opens to the left and right when the press rod 24 is pushed down.

Further, the banknote placement belt 18 rotates in the return direction when the customer presses the return button.

The defective banknotes are switched to the right, placed on the return belt 19, and conveyed to the return slot by belts 20 to 23.

At this time, it is natural that the door is open.

By pressing the press rod 24, the banknotes BL in the secondary storage section S1 are pushed into the secondary storage section S2.

Figure 2 shows the automatic teller machine in Figure 1 as described above.
A diagram showing an overview of a mechanism that performs a tacking operation is shown.

In the figure, 24.25.26. Sl. Sl and BL are the first
27 is a pulse motor whose rotational speed changes according to the cycle of input pulses, and 28 is a motor drive device corresponding to the reference numerals in the figure.

Pulse motor 27 is driven by pulses from motor drive 28.

The driven body, that is, the pressing rod 24 is made to reciprocate according to the direction of rotation of the pulse motor 27. For example, when the pulse motor 27 rotates in the normal direction, it moves in the direction of the arrow a shown in the figure, that is, it moves downward, while when it rotates in the reverse direction, it moves in the direction of the arrow a shown in the figure. movement in the direction of

Further, the moving speed of the pressing rod 24 is controlled by the pulse motor 2.
It is made to be proportional to the rotation speed of 7.

An example of the taki operation will be explained below.

When the terminal end of the banknote BL passes the photosensor PS42 (FIG. 1), the motor drive device 28 is activated, and the motor drive device 28 starts supplying pulse signals to the pulse motor 27.

Therefore, the pulse motor 27 starts rotating and the pressing rod 24
starts moving in the direction of arrow a shown in the figure.

That is, the pressing rod 24 begins its downward movement.

When the banknote BL that has passed through the photo sensor vPS 42 (FIG. 1) is conveyed onto the banknote placement plate 26 as shown in FIG. Press down.

At the same time, the banknote placement plate 26 is opened in the direction of arrow C in the figure by the pressing force of the pressing plate 25, and the banknotes BL are stacked in the primary storage section S1.

Then, the pulse motor 27 starts rotating in reverse by the motor drive device 28, and the pressing rod 24 starts moving in the direction indicated by the arrow in the figure.

That is, the pressing rod 24 starts an upward movement.

When the press rod 24 returns to the movement start position in the direction of the arrow a shown above, the press rod 24 stops its upward movement.

Note that the banknote placement plate 26 is formed of, for example, a spring body, and is automatically returned to its original position after being opened to the left and right by the pressing force of the suppression plate 25 as described above.

The above-mentioned dusting operation is performed when the banknote BIJ is placed on the banknote placement plate 26.
″-This is performed each time one sheet is conveyed.

Then, when a predetermined number of banknotes are accumulated in the secondary storage section S1, the movement stroke of the pressing rod 24 is increased compared to the case of the above-mentioned fluttering operation, and the banknotes BL in the primary storage section S1 are pressed. Then, a process of stacking them in the secondary storage section 32 is performed.

In this process, the bottom surface of the -order storage section S1 is pushed open in the direction of arrow d in the figure.

FIG. 3 is a diagram showing the relationship between one reciprocating motion of the driven body, that is, the push rod 24 shown in FIG. 2, and the speed curve of the pulse motor 27.

The motor drive device 28 is configured to give the pulse motor 27 a speed characteristic as shown in the lower part of FIG. 3 when the pressing rod 24 is moved along a movement curve as shown in the upper part of FIG. 3, for example. do.

That is, the pulse motor 27 performs an acceleration/deceleration operation in the forward rotation direction in response to the downward movement of the press rod 24, and then performs an acceleration/deceleration operation in the reverse rotation direction in response to the upward movement. be made into

FIG. 4 shows an embodiment of the pulse motor control system according to the present invention, which provides the pulse motor 27 with speed characteristics as shown in the lower part of FIG.

In the figure, 27 is a pulse motor, 29 is a storage section in which pulse frequency information as described above is stored in advance,
Reference numeral 30 denotes a pulse generator, which is composed of, for example, a binary counter and generates a pulse having a period specified by the pulse frequency information read out from the storage unit 29;
Reference numeral 31 denotes an address specifying section which performs address specifying operations for the storage section 29, and 32 a motor drive section which drives the pulse motor 27 based on the output of the pulse generating section 30. , 33 are address upper/lower limit detection units, and the address designation unit 31 is
34 is an up-down instruction section which detects the upper and lower limits of the address information outputted from the address information section 310. In response to the detection signal from the okara, the address specification section 310 performs a count-up operation and a count-down operation. 35 is a phase rotation control section which outputs a phase rotation instruction signal based on the detection signal from the detection section 33, and 36 is a delay circuit.

In the case of the present invention, the storage unit 29 stores information (pulse frequency information) regarding the speed curve 1/N (N: an integer of 2 or more) cycles of the pulse motor 27 as shown in the lower part of FIG.
be stored in advance.

The circuit operation in the case where, for example, pulse frequency information for 1/4 cycle is stored will be described below.

Here, the storage unit 29 stores, for example, the time t shown in the speed curve shown in FIG. 3 from the lower address position to the upper address position.

It is assumed that information regarding the portion from the time point t1 to the time point t1 shown in the figure is stored.

(1) As mentioned above in Fig. 2, the photo sensor P
When the detection signal is output from S42, the address specifying section 3
1 accesses the storage unit 29 sequentially.

In this case, the address specifying section 31 is configured to sequentially access the upper address position from the lower address position in the storage section 29 based on the up operation instruction signal from the up-down instruction section 34.

The pulse generating section 30 outputs a pulse having a period specified by the information from the storage section 29, and the pulse generating section 3
The pulse output from 0 is at the start of the above address specification (
FIG. 3 shows t.

) has a relatively large period, and the addressing section 3
As the number of accesses by 1 increases, the period becomes smaller.

That is, the rotational speed of the pulse motor 27 increases.

(2) Then, when the address specifying section 31 begins to output address information corresponding to the upper address position of the storage section 29, that is, at time t1 shown in FIG. 3, the address upper/lower limit detecting section 33 detects this is detected and outputs an upper limit detection signal to the up/down instruction section 34.

The up/down instruction section 34 instructs the address designation section 31 to perform a countdown operation based on the upper limit detection signal.

That is, the up/turn instruction section 34 now outputs a down operation instruction signal.

(3) Upon receiving the down operation instruction signal, the address specifying unit 31 now sequentially accesses the lower address positions from the upper address position in the storage unit 29.

Therefore, the period of the pulses output from the pulse generator 30 increases as the number of accesses increases.

That is, the rotational speed of the pulse motor 27 decreases.

(4) Then, when the address specifying section 31 begins to output address information corresponding to the lower address position of the storage section 29, that is, at time t2 shown in FIG.
The lower limit detection section 33 detects this and outputs a lower limit detection signal to the up/down instruction section 34.

Based on the lower limit detection signal, the up/down instruction section 34 instructs the address designation section 31 to perform a count-up operation this time.

That is, the up/down instruction section 34 now outputs an up operation instruction signal.

(5) During the operation of (1) or 4) above, the phase rotation control section 35 outputs a forward rotation instruction signal and the pulse motor 2
7 should be rotated in the forward rotation direction.

Then, when the address upper/lower limit detection section 33 starts outputting a lower limit detection signal, the phase rotation control section 35 outputs a pulse/lower limit detection signal.
A reverse rotation instruction signal is now output to cause the motor 27 to rotate in the reverse direction.

(6) When the up/down instruction section 34 starts outputting the up operation instruction signal, the address specification section 31 again sequentially accesses the upper address positions from the lower address positions in the storage section 29.

Then, operations similar to those in (1) to 4) above are performed, and the pulse motor 27 is accelerated from the time when the up operation instruction signal is output (t2 shown in FIG. 3), and the pulse motor 27 is accelerated from the time point t2 shown in FIG. 3. Then, the speed is reduced, and the third
At time t4 shown in the figure, the rotation stops.

During this time, the pulse motor 27 is rotated in the reverse rotation direction in response to the reverse rotation instruction signal mentioned above in (5).

As explained above, in the present invention, part of the information regarding the speed curve of the pulse motor is stored in the storage section.

Therefore, it is possible to obtain the effect that the capacity of the storage section is small and the cost is low.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing an overview of a bulk automatic teller machine, which is an example of the field of application of the present invention, and FIG. 2 is a diagram showing an overview of its main parts.
Figure 3 shows one reciprocating motion of the driven body shown in Figure 2 and the pulse
FIG. 4, a diagram showing the relationship with the speed curve of the motor, shows the configuration of an embodiment of the pulse motor control system according to the present invention. In the figure, 27 represents a pulse motor, 29 a storage section, 30 a pulse generation section, and 31 an address designation section.

Claims (1)

[Claims] 1. A pulse motor whose rotational speed changes according to the cycle of human power pulses and a driven object driven by the pulse motor are provided, and the pulse motor is alternately accelerated to drive the driven object at high speed. In a pulse motor control system for reciprocating motion, there is a memory section in which the time of the next pulse to be generated is stored in advance, and a pulse is generated at the pulse generation time read out from the memory section, and the pulse is generated at the pulse generation time read out from the memory section. It has a pulse generating section that supplies pulses to the pulse motor, and an addressing section that performs an addressing operation for the storage section based on the pulses output from the pulse generating section, and the storage section is configured to supply pulses to the pulse motor. The address specifying section is configured to sequentially store pulse generation times corresponding to each pulse period of 1/4 cit of the pulse frequency curve to be supplied to the hook address, and the address specifying section is configured to send an address to the storage section. /down counter and
an instruction circuit that detects the upper and lower limits of the output count value of the up/down counter and instructs the up/rerun counter to perform a count-up warning and a count-up operation; , /a phase rotation control circuit for controlling the rotational direction of the pulse motor based on the lower limit detection signal of the output count value of the down counter, and reads the same address of the storage unit twice back and forth, and reads the same address from the storage unit to the A pulse motor control method characterized in that the pulse motor is configured to output the generation time of a pulse to be supplied to the pulse motor.