WO2006112189A1

WO2006112189A1 - Movable body drive unit and automatic drawer device using the same

Info

Publication number: WO2006112189A1
Application number: PCT/JP2006/304347
Authority: WO
Inventors: Atsushi Nakazato; Soichi Sasaki; Jun Furukawa; Yoshifumi Nagato
Original assignee: Cleanup Corporation; Thk Co., Ltd.
Priority date: 2005-03-31
Filing date: 2006-03-07
Publication date: 2006-10-26
Also published as: EP1870000A4; JP5059606B2; EP1870000A1; EP1870000B1; JPWO2006112189A1

Abstract

An automatic drawer device in which advancing and receding of a drawer (3) is stopped when the drawer is in contact with an obstruction and in which safety of a user etc. is sufficiently secured. The automatic drawer device is constructed from a fixed frame body (2); the drawer (3) capable of being advanced and receded relative to the fixed frame body (2); and a movable body drive unit (10) causing the drawer (3) to be advanced and receded relative to the fixed frame body (2). The movable body drive unit (10) has a conveyance roller (11) for moving the drawer (3); a drive means (16) for rotatingly driving the conveyance roller (11); a control means (6) for generating a drive signal of the drive means (16); and obstruction detection means (5, 6) for determining whether there is an obstacle for advancing and receding of the drawer (3) and, when it is determined that there is an obstacle, issuing a command to the control means (6) to stop the drive means (16).

Description

Specification

Mobile body drive unit and automatic drawer device using the same

Technical field

[0001] The present invention is provided between a pair of members that reciprocate relatively along a predetermined direction, such as sliding doors in joinery and drawers in furniture, and the like, for relatively moving these members back and forth. The present invention relates to a moving body drive unit and an automatic drawer using the same.

Background art

[0002] Conventionally, devices that open and close movable members such as drawers in furniture and a system kitchen according to a user's switch operation have been proposed (JP 2003-189955 A, JP 2003-334120 A, etc.) . Specifically, a movable member such as a drawer is arranged so as to be able to advance and retract with respect to a fixed frame body such as furniture, and a rack is provided on the movable member along the advancing and retreating direction, and the gear meshes with this rack. Is provided on the fixed frame body, and the gear is rotated in accordance with a user's switch operation, so that advancing and retreating movement according to the rotation direction of the gear is given to the drawer. In addition, as with manually opening and closing the drawer, a measuring device that detects the direction and magnitude of force is attached to the grip of the bow I that the user grips so that the user can operate the switch intuitively. The gear is rotated in accordance with the output signal of the powerful measuring device, and the drawer can be automatically opened and closed.

Patent Document 1: Japanese Unexamined Patent Publication No. 2003-189955

Patent Document 2: Japanese Patent Laid-Open No. 2003-334120

Disclosure of the invention

Problems to be solved by the invention

[0003] However, when there is an obstacle in the advance / retreat path of the drawer, if the user performs a switch operation without noticing it, the powerful drawer will advance and retreat regardless of the obstacle. There was a concern that the obstacle would be damaged by colliding with the obstacle and pushing down the obstacle. There is also a concern that the user himself or another person may accidentally pinch his / her finger between the fixed frame and the drawer. there were.

Means for solving the problem

[0004] The present invention has been made in view of such problems, and an object thereof is a moving body drive unit for moving a movable member such as a drawer along a predetermined advancing / retreating path, Even if there is an obstacle on the advancing / retreating path of the powerful movable member, the moving / recessing movement immediately stops when the movable member collides with the obstacle, and the obstacle or the movable member itself is damaged. It is an object of the present invention to provide a moving body drive unit capable of preventing the occurrence of problems and ensuring sufficient safety for users and the like.

[0005] Further, another object of the present invention is an automatic drawer device that opens and closes a drawer using the moving body drive unit. When the drawer comes into contact with an obstacle, the drawer is immediately advanced or retracted. An object of the present invention is to provide an automatic drawer device that stops and prevents damage to obstacles and the drawer itself, and can sufficiently ensure the safety of users and the like.

That is, according to the present invention, the second member that is attached to the second member that is supported so as to be reciprocally movable relative to the first member, The present invention relates to a mobile drive unit that moves forward and backward. Here, since the movable body drive unit moves the second member forward and backward relative to the first member, the movable body drive unit moves forward and backward together with the second member with the first member as a fixed side. Alternatively, the second member may be the fixed side, and the moving body drive unit may advance or retract only the first member relative to the second member.

[0007] Further, the moving body drive unit includes a transport roller that presses against a running surface provided on the first member, a drive unit that rotationally drives the transport roller in a forward direction or a reverse direction, and the drive unit. User input means for instructing advancement / retraction of the second member, control means for generating a drive signal of the drive means in response to an input signal of the user input means, and the first member and the second member It is provided with failure detection means for determining whether or not a failure has occurred in the relative advance and retreat, and instructing the control means to stop the drive means when it is determined that there is a failure.

[0008] For example, when the first member side is the fixed side and the second member moves forward and backward with respect to the first member together with the moving body drive unit, there is an obstacle on the path of the second member. According to the second When the member is prevented from advancing, the failure detection means detects this, and if it is determined that there is a failure, it instructs the control means to stop the drive means. As a result, the driving means is stopped regardless of the input signal of the user input means, the rotation of the transport roller is stopped, and the movement of the second member relative to the first member is stopped. As a result, damage to these members due to contact between the second member and the obstacle can be prevented. In addition, when the first member is a fixed frame body such as furniture and the second member is a drawer that advances and retreats relative to the fixed frame body, a finger is accidentally pinched between the drawer and the fixed frame body. However, since the drawer stops immediately, it is possible to prevent the stubborn finger pinching from becoming important.

[0009] Here, as the failure detection means, any device capable of determining whether or not a failure has occurred in the relative advance and retreat of the first member and the second member is acceptable. If there is a speed detection means for detecting the advance / retreat speed of the second member relative to the other member, and the output signal force of the applied speed detection means is also judged to be faulty when it is determined that the advance / retreat speed of the second member has significantly decreased. Can be configured to judge. In this case, as the speed detection means, a rotary encoder that rotates according to the advance / retreat amount of the second member, a linear encoder that reads the magnetic scale attached to the first member as the second member moves, etc. The output signal force of these encoders can also grasp the advance / retreat speed of the second member. As another example of the failure detection means, when the drive means is an electric motor, the occurrence of a failure may be detected from fluctuations in the current value flowing through the motor. Further, as another example of the obstacle detection means, in order to directly detect contact with an obstacle, a pressure sensor is provided before and after the second member in the advancing / retreating direction. A measure to determine the presence or absence of a failure from the change in the signal can be considered.

[0010] On the other hand, when the obstacle detection means determines that there is an obstacle and instructs the control means to stop the driving means, the first member or the second member hits the obstacle. If it stops in a state where it is in a state where it is difficult to remove obstacles, it will be difficult. In particular, in a case where a finger is sandwiched between the fixed frame as the first member and the drawer as the second member, if the movement of the drawer stops with the finger sandwiched, The state of being sandwiched will continue, leading to unexpected injuries. Therefore, the obstacle In order to facilitate the removal work, when the obstacle detecting means determines that there is an obstacle and the driving means stops, the first member or the second member is immediately put on the obstacle after the hard stop. Force separation is preferred. However, if the conveying roller is intentionally reversed in order to separate the first member or the second member from the obstacle force, the configuration of the control unit that generates the drive signal of the drive means is the result of performing the above control. It becomes complicated.

[0011] Therefore, from such a viewpoint, after the first member or the second member hits an obstacle and the movement is locked, the drive unit is stopped until the driving unit is stopped. Driving means force Absorbs at least a part of the rotational force transmitted to the transport roller and uses the reaction force of the absorbed rotational force to stop the first member or the second member as an obstacle as the driving means stops. It is preferable to provide an absorption repulsion means for separating from the distance. As the absorption repulsion means, for example, it is conceivable to cover the surface of the conveying roller with a soft elastic layer, or to provide an elastic joint in the power transmission path from the driving means to the conveying roller. If such an absorption repulsion means is provided, after the first member or the second member hits the obstacle and is locked, the absorption means is stopped when the driving means is stopped by a command from the obstacle detection means. Since the rotational force absorbed by the repulsion means is released as a reaction force, the first member or the second member that has been hitting the obstacle is slightly retracted in the direction of separating the obstacle force. become. This makes it possible to eliminate the state where the first member or the second member hits an obstacle without performing any special control on the driving means. For example, it seems that a finger is caught. Even in this case, it is possible to release the finger immediately.

[0012] In addition, if the first member or the second member is moved backward by the reaction force generated by the absorption repulsion means in this way, the drive means force is included in the transmission path of the rotational power reaching the conveying roller. Preferably, an electromagnetic clutch is provided, and the control means is configured so that the conveying roller is also disconnected from the driving means simultaneously with the stop of the driving means. According to such a configuration, it is possible to reduce the load accompanying the reversal of the conveyance port roller, and to smoothly retract the obstacle force of the first member or the second member by the absorption repulsion means. Is possible.

In addition, if the electromagnetic clutch cuts off the connection between the conveying roller and the driving means when the driving means is stopped, the user can manually use the first member without using the moving body driving unit of the present invention. Can be moved relative to the second member, contributing to convenience. It becomes possible to do.

[0014] By using the moving body drive unit of the present invention configured as described above, an automatic drawer device that can open and close various drawers such as a system kitchen and furniture by a switch operation can be easily configured. In such an automatic drawer device, when there is an obstacle that obstructs the opening / closing operation of the drawer, the opening / closing operation is automatically stopped, the obstacle or the drawer itself is damaged, or the user's finger Troubles such as pinching can be avoided.

Brief Description of Drawings

FIG. 1 is a plan view showing an example of an automatic drawer equipped with a moving body drive unit of the present invention.

2 is a side sectional view of the automatic drawer shown in FIG.

FIG. 3 is a cross-sectional view showing details of a moving body drive unit.

FIG. 4 is a schematic diagram showing a configuration of a position switch mounted on a moving body drive unit.

FIG. 5 is an enlarged cross-sectional view showing an example of speed detection means mounted on the moving body drive unit.

6 is a cross-sectional view showing a rotary encoder in the speed detecting means shown in FIG.

FIG. 7 is a block diagram showing a control system of a mobile unit drive unit.

FIG. 8 is a flowchart showing a processing procedure for drawer stop control.

FIG. 9 is a block diagram showing another example of the control system of the moving body drive unit.

Explanation of symbols

[0016] 1 ... Automatic drawer device, 2 ... Fixed frame, 3 ... Drawer, 5 ... Speed detecting means, 11 ... Transport roller, 14 ... Switch panel, 16 ... Electric motor, 17 ... Gear train, 18 ... Electromagnetic clutch, 19… Soft elastic layer, 51 ··· Rotary encoder

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, a mobile unit drive unit and an automatic drawer using the same according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 and FIG. 2 are a plan view and a side sectional view showing an automatic drawer 1 to which a moving body drive unit of the present invention is attached. This automatic drawer device 1 is a solid formed in a box shape. From the fixed frame 2, the drawer 3 that is inserted into and removed from the fixed frame 2 in the horizontal direction of the paper, and the movable body drive unit 10 that moves the bow I protrusion 3 forward and backward relative to the fixed frame 2. It is configured so that the powerful mobile drive unit 10 moves the drawer 3 forward and backward according to the switch operation.

The drawer 3 is supported on the fixed frame 2 via a pair of slide devices 4a and 4b. The slide devices 4a and 4b include, for example, an outer rail fixed to the fixed frame 2 side, an inner rail fixed to the drawer 3 side, and a large number of balls that roll while applying a load between these rails. The drawer 3 can be freely advanced and retracted with respect to the fixed frame 2 with an extremely light force. The slide devices 4a and 4b can be used by appropriately selecting a configuration of a known slide device.

On the other hand, the movable body drive unit 10 is fixed to the back plate 3 a of the drawer 3 and has a transport roller 11 that runs on the bottom plate 2 a of the fixed frame 2, and rotates the transport roller 11. By being driven, the movable body drive unit 10 is configured so as to automatically run on the bottom plate 2 a of the fixed frame 2 together with the drawer 3. In order to prevent the conveyance roller 11 from slipping with respect to the bottom plate 2a of the fixed frame 2, a non-slip sheet 12 having a roughened surface is attached to the traveling region of the conveyance roller 11 on the bottom plate 2a.

In addition, a power cord 13 extends from the back plate 2 b of the fixed frame 2 to the moving body drive unit 10, and power is supplied to the moving body drive unit 10. As the power cord 13, a curl cord is used, and the power cord 13 is configured to expand and contract in accordance with opening and closing of the drawer 3. Further, the front panel 3b of the drawer 3 is provided with a switch panel 14 as a user input means, and an operation command is given to the moving body drive unit 10 by operating the powerful switch panel 14. It has become. Note that the switch panel 14 may be provided with a push button corresponding to each operation of opening, closing and stopping of the drawer 3, or input a drawing operation according to the number of times of pressing. It may be the type to obtain. The switch panel 14 does not necessarily need to be attached to the front plate 3b of the drawer 3. According to the arrangement of the drawer 3 to be operated, the switch panel 14 is provided on the fixed frame 2 side connected to the drawer 3 side as a moving body. Also good. In addition, the switch panel 14 may be configured as a foot switch operated with the tip of a foot. Foot switch If this is the case, the drawer 3 can be opened even when the article to be stored in the drawer 3 is held with both hands, which is excellent in convenience.

FIG. 3 is a front sectional view showing an example of the moving body drive unit 10. This unit 10 includes a casing 15 fixed to the back plate 3a of the drawer 3, a transport roller 11 rotatably supported with respect to the casing 15, and an electric motor as a driving means fixed to the casing 15. A motor 16 and a plurality of gears 17a, 17b, 17c, and a gear train 17 that transmits the rotational output of the electric motor 16 to the transport roller 11, and between the electric motor 16 and the gear train 17 An electromagnetic clutch 18 interposed, and by energizing the electromagnetic clutch 18, the electric motor 16 and the gear train 17 are connected to transmit the rotational force of the electric motor 16 to the transport roller 11. Now that you can! A DC motor is used as the electric motor 16. When the voltage application direction to the electric motor 16 is changed, the rotation direction of the electric motor 16 is reversed and the rotation direction of the conveying roller 11 is switched. be able to.

The electromagnetic clutch 18 is interposed in the power transmission path from the electric motor 16 to the transport roller 11 in this way when the user manually opens and closes the drawer 3 without using the moving body drive unit 10. In order to reduce the operational feeling. If the electric motor 16 and the transport roller 11 are directly connected via the gear train 17 without the electromagnetic clutch 18, the transport roller can be opened and closed manually without turning on the electric motor 16. 11 rotates the electric motor 16 and the opening and closing of the drawer 3 becomes heavy.

[0024] The surface of the transport roller 11 is provided with a soft elastic body layer 19 such as urethane rubber. When the transport roller 11 is pressed against the bottom plate 2a of the fixed frame 2, the soft elastic body layer 19 is slightly By being pushed, slip between the conveying roller 11 and the bottom plate 2a is prevented. In FIG. 3, the rotation of the conveying roller 11 is directly supported by the casing 15. However, a saddle plate supported by a spring is provided for the casing 15, and the conveying roller 11 is supported by this saddle plate. You may do it. That is, with the configuration using such a saddle plate, even when the conveyance roller 11 is inclined with respect to the bottom plate 2a of the fixed frame 2, the conveyance roller 11 is made to expand and contract by the expansion and contraction of the spring. Between the transport roller 11 and the bottom plate 2a. It is possible to more reliably prevent the occurrence of slip.

[0025] Further, the moving body drive unit 10 has a terminal position when the drawer 3 is advanced and retracted, that is, a state in which the drawer 3 is completely stored in the fixed frame 2, and is completely pulled out from the fixed frame 2. A pair of position switches 20a, 20b for detecting the contact state are provided before and after the moving direction of the drawer. Figure 4 shows the details of these position switches. Movable blocks 2 la and 21 b are respectively provided on the front surfaces of the actuators of the position switches 20 a and 20 b, and these movable blocks 21 a and 21 b are held so as to be movable up and down with respect to the casing 15. On the other hand, switch dogs 22a and 22b are fixed to the bottom plate 2a of the fixed frame 2 corresponding to both ends of the forward / backward stroke of the drawer 3, and when the drawer 3 is completely closed, the movable block 21a is moved to the switch dog. The movable block 21b rides on the switch dog 22b when the drawer 3 is fully opened. As a result, when the drawer 3 is pulled out from the fixed frame body 2 and reaches the end position of the open state, the movable block 21b is pushed up, the actuator of the position switch 20b is pressed, and the output signal of the position switch 20b changes. It is becoming like that. When the drawer 3 is housed in the fixed frame 2 and reaches the fully closed state, the movable block 21a is pushed up to press the actuator of the position switch 20a and the output signal of the position switch 20a. Is changing. That is, when the drawer 3 reaches either end of the forward / backward stroke, the output signal of the position switch 20a or 20b changes, and it becomes possible to determine which end position the drawer 3 has reached. RU

Furthermore, the moving body drive unit 10 is provided with speed detecting means 5 for detecting the moving speed of the drawer 3. As shown in FIG. 5, the speed detection means 5 includes a detection roller 50 rotatably supported by the casing 15, and a rotary encoder 51 that outputs a signal corresponding to the rotation speed of the detection roller 50. It is composed of The single encoder 51 includes a transmission type photosensor 52 in which a light emitting element and a light receiving element are opposed to each other with a detection space 52a interposed therebetween, and a gap between the light emitting element and the light receiving element inserted in the detection space 52a. The disc dog 53 is configured to block the optical path, and the disc dog 53 is fixed to the rotation shaft 50 a of the detection roller 50. As shown in Figure 6, the disk dog 53 has many The slits 53a are radially formed at equal intervals, and each time these slits 53a pass through the detection space 52a of the photosensor 52, an optical path is formed between the light emitting element and the light receiving element. The output signal of the photo sensor 52 changes every time. Accordingly, when the drawer 3 is moved back and forth with respect to the fixed frame 2, the detection roller 50 travels on the bottom plate 2 a of the fixed frame 2 and the output of the photosensor 52 is output at a speed corresponding to the rotation speed of the detection roller 50. The on / off state of the signal will change.

In the speed detection means 5, the detection roller 50 is not necessarily provided. The drawer 3 detects the advancing / retreating speed of the drawer 3 with respect to the fixed frame 2, and the disk dog 53 is also provided with a viewpoint power. You may make it fix directly with respect to the rotating shaft of the conveyance roller 11. FIG. However, the transport roller 11 is supplied with rotational torque for causing the drawer 3 to advance and retreat from the electric motor 16, and the transport roller 11 may slip against the bottom plate 2a of the fixed frame 2. Therefore, from the viewpoint of more accurately grasping the moving speed of the drawer 3, it is preferable to provide the detection roller 50 separately from the transport roller 11 as described above, and fix the disc dog 53 to the detection roller 50. In order to prevent the detection roller 50 from slipping against the bottom plate 2a, the surface of the detection roller 50 is preferably covered with a material having a high friction coefficient such as rubber. Further, in the moving body drive unit 10 in FIG. 3, a similar output signal can be obtained even if a force linear encoder using a rotary encoder 51 is used as the speed detecting means 5. In that case, linear scales with physical marks at regular intervals are affixed to the bottom plate 2a of the fixed frame 2, and the read head fixed to the casing 15 reads the linear scale marks as the drawer 3 moves. If you make up,

FIG. 7 is a block diagram showing a control system of the moving body drive unit 10. A control unit 6 in the drawing includes an LSI as a microcomputer, and controls the rotation of the electric motor 16 in accordance with output signals from the switch panel 14, position switches 20a and 20b, and the rotary encoder 51, and the electromagnetic clutch. 18 operations are controlled. The control unit 6 is supplied with power from the power source 7 via the power cord 13! RU

[0029] When the opening or closing of the drawer 3 is input from the switch panel 14 to the control unit 6, the control unit 6 applies a voltage according to the direction to the electric motor 16 to rotate the electric motor 16, and to the electromagnetic clutch 18 The electric motor 16 and the gear train 17 are coupled by applying a voltage. This Thus, the transport roller 11 of the movable body drive unit 10 rotates, and the drawer 3 moves relative to the fixed frame 2. Further, when the stop of the drawer 3 is input from the switch panel 14, the control unit 6 stops applying the voltage to the electric motor 16, and then stops applying the voltage to the electromagnetic clutch 18. Disconnect gear train 17. As a result, the transport roller 11 stops rotating, the advancement / retraction of the drawer 3 with respect to the fixed frame 2 is stopped, and the drawer 3 can be manually advanced / retreated thereafter. The control unit 6 can grasp whether the drawer 3 is in the open state or the closed state by checking the input signals of the pair of position switches 2 Oa and 20b. Nevertheless, when an opening instruction is input from the switch panel 14, no voltage is applied to the electric motor 16 and the electromagnetic clutch 18, and the stopped state is maintained as it is. The same applies when a blockage instruction is input from the switch panel 14 despite the blockage.

[0030] On the other hand, the control unit 6 counts the number of output signals of the rotary encoder 51 per unit time, and when the powerful count value becomes a predetermined value or less, regardless of the input state by the switch panel 14, Stop applying voltage to the electric motor 16 and the electromagnetic clutch 18. Since the rotary encoder 51 outputs a pulse signal at a speed corresponding to the moving speed of the drawer 3, the number of output signals of the rotary encoder 51 per unit time has changed below a predetermined value. Means that the drawer 3 is extremely lowered, and problems such as the drawer 3 being locked by an obstacle are expected. Therefore, in this case, the voltage application to the electric motor 16 and the electromagnetic clutch 18 is immediately stopped, and the rotation of the transport roller 11 is stopped. That is, in this moving body drive unit 10, the speed detection means 5 and the control unit 6 constitute a failure detection means that is one configuration of the present invention.

FIG. 8 is a flowchart showing a control procedure regarding the stop of the conveying roller 11, and while the control unit 6 is applying a voltage to the electric motor 16, it is always regardless of the moving direction of the drawer 3. Perform this procedure. When application of voltage to the electric motor 16 starts, the control shown in this flowchart is started in the control unit 6, and first, by checking the input signal of the rotary encoder 51, the moving speed of the drawer 3 is predetermined. Check if the force drops below the speed (ST1). This predetermined speed is determined by the rotation of the transport roller 11. It is set to be low with a margin for the movement speed of the I feedout 3 that occurs. Whether or not the moving speed drops below a predetermined speed is determined by counting the number of signal outputs per unit time of the rotary encoder 51 as described above, and comparing whether or not this count is less than the predetermined value. To find out.

[0032] If it is determined from the check result in ST1 that the moving speed of the drawer 3 is equal to or lower than the predetermined speed, it is expected that the drawer 3 hits an obstacle. Then, the application of voltage to the electric motor 16 is immediately stopped, and subsequently, the application of voltage to the electromagnetic clutch 18 is stopped (ST3). As a result, the drawer 3 stops.

[0033] On the other hand, if it is determined in ST1 that the moving speed of the drawer 3 has not decreased below the predetermined speed, it is checked whether the output signals of the position switches 20a and 20b are turned on. (ST2). Here, when the output signal of the position switch changes to ON, it is considered that the drawer 3 has moved to the end of the open position or the closed position, so in this case as well, the voltage is immediately applied to the electric motor 16. Next, the voltage application to the electromagnetic clutch 18 is stopped (ST3). The control procedure is terminated when the drawer 3 is stopped.

[0034] As described with reference to the flowchart of FIG. 8, when the application of the voltage to the electric motor 16 is stopped due to the drawer 3 hitting an obstacle, the conveyance roller 11 stops rotating. Naturally, the force that the drawer 3 stops with respect to the fixed frame 2 When the moving body drive unit 10 shown in FIG. 3 is used, the movement of the drawer 3 is locked in an obstacle. When the application of voltage to the electric motor 16 and the electromagnetic clutch 18 is stopped, the bow I protrusion 3 moves slightly in the direction opposite to the previous movement direction and is automatically separated from the obstacle. This is because the surface of the transport roller 11 is covered with a flexible layer 19 and the movement of the drawer 3 is locked by an obstacle and the electric motor 16 stops until the electric motor 16 stops. This is because a part of the rotational force transmitted to 11 is accumulated as strain in the flexible layer 19. When the application of voltage to the electric motor 16 and the electromagnetic clutch 18 is stopped, the conveyance roller 11 is free to rotate. Therefore, the strain accumulated in the flexible layer 19 is released as a reaction force and is released. The previous direction of rotation The rotational force in the opposite direction acts slightly. As a result, the drawer 3 automatically retracts away from the obstacle.

[0035] Therefore, in this moving body drive unit 10, when the movement of the drawer 3 is forcibly locked by an obstacle and the drive of the electric motor 16 is stopped by detecting this, the drawer 3 has been pushed up to that point. You will be automatically separated from the obstacle you hit. For this reason, the state in which the drawer 3 hits the obstacle can be resolved immediately, and the user has the trouble of manually retracting the drawer 3 to remove the powerful obstacle. It has become a thing. Even if the user accidentally puts a finger between the fixed frame 2 and the drawer 3, the drawer 3 is automatically retracted immediately after the electric motor 16 stops. It is possible to immediately eliminate the state of the pinch and prevent inadvertent injury.

That is, in the moving body drive unit 10 shown in FIG. 3, the soft elastic layer 19 that covers the surface of the transport roller 11 constitutes the absorption repulsion means of the present invention. In this case, the retraction amount of the drawer 3 depends on the amount of strain generated in the soft elastic layer 19. For example, if the soft elastic layer 19 becomes thicker, the soft elastic layer 19 generates more strain accordingly. Therefore, the retraction amount of the drawer 3 when the distortion is released increases. Further, this absorption repulsion means is not necessarily limited to the flexible layer 19 that covers the transport roller 11, and for example, an elastic joint is interposed between the gear 17 c and the transport roller 11 to pull out by an obstacle. At the time of locking, a part of the rotational force of the electric motor 16 may be absorbed by elastic deformation of the resilient elastic joint.

[0037] In the example described above, a method of using speed detection means such as the rotary encoder 51 to detect a state in which the drawer 3 hits an obstacle and the movement thereof is locked has been described. For example, the presence / absence of an obstacle may be ascertained from the fluctuation of the current value flowing while the electric motor 16 is driven. Figure 9 is a block diagram showing the control system in that case. An ammeter 8 is provided between the control unit 6 and the electric motor 16, and the output signal of the ammeter 8 is compared with a predetermined value in the control unit 6. When the drawer hits an obstacle, the torque of the electric motor increases and the current value flowing through the electric motor also increases.Therefore, when the output signal of the ammeter 8 exceeds the predetermined value, the control unit 6 , Drawer 3 is an obstacle The application of voltage to the electric motor 16 and the electromagnetic clutch 18 is stopped. Even with such a configuration, it is possible to detect the force or the force with which the drawer hits an obstacle.

In the above description, an example has been described in which the mobile body drive unit of the present invention is applied to a drawer to configure an automatic drawer device. However, such a mobile body drive unit can be applied to various transport devices. By fixing to an object, it is possible to achieve a self-propelled vehicle in the straight line of a powerful conveyed object. Therefore, application to an automatic drawer device is just one example.

Claims

The scope of the claims

[1] The second member (3), which is attached to the second member (3) supported so as to be reciprocally movable relative to the first member (2), is applied to the first member (2). A movable body drive unit (10) that moves forward and backward relative to the member (2),

A transport roller (11) that presses against a running surface provided on the first member (2), and a drive means (16, 17) that rotationally drives the transport roller (11) in the forward or reverse direction. User input means (14) for instructing the drive means (16, 17) to advance and retreat the second member (3), and the drive means according to an input signal of the user input means (14) The control means (6) for generating the drive signal of (16, 17), and whether or not the force that has caused a failure in the relative advance and retreat of the first member (2) and the second member (3) is determined. And a failure detection means (5, 6) for instructing the control means (6) to stop the drive means (16, 17) when it is determined that there is a failure. Body drive unit.

[2] The failure detection means (5, 6) has speed detection means (5) for detecting the advance / retreat speed of the second member (3), and the output signal force of the speed detection means (5) The moving body drive unit according to claim 1, wherein the presence or absence of an obstacle to the advance and retreat of the member (3) is determined.

[3] The moving body drive unit according to claim 2, wherein the speed detecting means (5) is a rotary encoder (51) that rotates in accordance with an advance / retreat amount of the second member (3).

[4] The failure detection means (6) has an ammeter for measuring the current value of the drive means (16), and the measured value force of the applied ammeter is an obstacle to the advance and retreat of the second member (3). The moving body drive unit according to claim 1, wherein the presence or absence of is determined.

[5] The drive between the first member (2) and the second member (3) until the drive means (16, 17) stops due to a failure in relative advancement and retraction of the first member (2) and the second member (3). Absorbs at least a part of the rotational force transmitted from the means (16, 17) to the conveying roller (11), and with the stop of the driving means (16, 17), the reaction force of the absorbed rotational force The moving body drive unit according to claim 1, further comprising absorption repulsion means (19) for separating the first member (2) or the second member (3) from an obstacle. .

6. The moving body drive unit according to claim 5, wherein the absorption repulsion means (19) is a soft elastic layer that covers the surface of the transport roller (11). [7] The drive means is composed of a motor (16) and a gear train (17) for transmitting rotational power from the motor (16) to the transport roller (11), and the control means (6) is used to stop the drive means. 6. The moving body drive unit according to claim 5, wherein the power supply to the motor (16) is cut off.

[8] The gear train (17) includes an electromagnetic clutch (18), and the electromagnetic clutch (18) shuts off power transmission in the gear train (17) when the drive means is stopped. The moving body drive unit according to claim 7, characterized by:

[9] Position switches (20a, 20b) for detecting the arrival of the second member (3) are provided at both ends of the advance / retreat stroke of the second member (3) with respect to the first member (2). 8. The moving body drive unit according to claim 7, wherein the control means (6) cuts off the power supply to the motor (16) in accordance with an output signal of the position switch (20a, 20b).

[10] A fixed frame (2), a drawer (3) that can be moved forward and backward with respect to the fixed frame (2), and fixed to either the fixed frame (2) or the drawer (3), In an automatic drawer device (1) comprising a movable body drive unit (10) for moving the drawer (3) forward and backward with respect to the fixed frame (2),

The movable body drive unit (10) includes a transport roller (11) for moving the drawer (3), and drive means (16, 17) for rotationally driving the transport roller (11) in the forward direction or the reverse direction. A user input means (14) for instructing the drive means (16, 17) to advance or retract the drawer (3), and the drive means (16, 17) according to an input signal of the user input means (14). Control means (6) for generating a drive signal of (2), and whether or not a failure has occurred in the advance / retreat of the drawer (3). (16, 17) An automatic withdrawal device comprising failure detection means (5, 6) for instructing stoppage.

[11] The failure detection means (5, 6) has speed detection means (5) for detecting the advancing / retreating speed of the drawer (3), and the output signal force of the urging speed detection means (5) The drawer (3) 11. The automatic drawer device according to claim 10, wherein presence / absence of an obstacle to the advance / retreat of the vehicle is determined.

[12] The speed detecting means (5) is a rotary encoder that rotates according to the amount of advancement and retraction of the drawer (3).

11. The automatic drawer device according to claim 10, which is (51). [13] The failure detection means (5, 6) has an ammeter for measuring the current value of the drive means (16), and the measured value force of the powerful ammeter. 11. The automatic drawer device according to claim 10, wherein:

[14] The force of the rotational force transmitted to the driving means (16) force conveying roller (11) until the driving means (16) is stopped until a failure occurs in the advance / retreat of the drawer (3). Absorption repulsion means (19) is provided that absorbs at least a part and separates the drawer (3) by using the reaction force of the rotational force absorbed when the drive means (16) is stopped. 11. The automatic drawer device according to claim 10, wherein

15. The automatic drawer device according to claim 14, wherein the absorption repulsion means (19) is a soft elastic layer that covers a surface of the transport roller (11).

[16] The drive means is composed of a motor (16) and a gear train (17) for transmitting rotational power from the motor (16) to the transport roller (11), and the control means (6) stops the drive means. 15. The automatic drawer device according to claim 14, wherein energization to the motor (16) is interrupted.

[17] The gear train (17) includes an electromagnetic clutch (18). When the drive means (16) is stopped, the electromagnetic clutch (18) transmits power in the gear train (17). 17. The automatic drawer device according to claim 16, wherein the automatic drawer device is cut off.

[18] Position switches (20a, 20b) that detect the arrival of the powerful drawer (3) are provided at both ends of the forward / backward stroke of the drawer (3), and the output signals of this position switch (20a, 20b) 17. The automatic drawer according to claim 16, wherein the control means (6) cuts off the power supply to the motor (16) according to the above.

19. The automatic drawer device according to claim 10, wherein the user input means (14) is a foot switch provided in front of the drawer corresponding to a user's foot.