WO2016125898A1 - Motorized roller, controller for motorized roller, motorized roller system, and geared motor - Google Patents

Abstract

The present invention addresses the problem of developing a motorized roller and a controller for a motorized roller, the motorized roller requiring a smaller number of wires in comparison to the prior art. In the invention, a motorized roller has a cylindrical roller main body, and has a motor 12 and a decelerator built into the inside thereof. A voltage signal forming circuit 56 is constructed within the roller main body. The voltage signal forming circuit 56 is configured by magnetic pole-corresponding switching elements Q1, Q2, Q3 for switching ON and OFF according to output from magnetic pole detection means H1, H2, H3, a temperature-dependent switching element Q4 for switching ON and OFF according to output from an abnormal temperature detection means 57, and a plurality of resistors R1-R7. The voltage signal forming circuit generates voltage according to the detection condition of the magnetic pole detection means H1, H2, H3, and the detection condition of the abnormal temperature detection means 57.

Description

Motor built-in roller, motor built-in roller controller, motor built-in roller system, and guarded motor

The present invention relates to a motor built-in roller, and particularly to a motor built-in roller incorporating a brushless motor. The present invention also relates to a controller for controlling a motor built-in roller. The present invention also relates to a motor built-in roller system in which a motor built-in roller and a controller are combined. The present invention also relates to a geared motor.

A motor built-in roller is known as a component part of a roller conveyor device or the like. The motor built-in roller has a motor and a speed reducer built in the roller body, and rotates the outer roller body by driving the internal motor.
The motor built-in roller is driven by receiving power supply from a controller provided outside the roller body.

In the motor built-in roller disclosed in Patent Document 1, a brushless motor is employed as a built-in motor. The brushless motor disclosed in Patent Document 1 includes a stator configured by winding a conductive wire around an iron core, a rotor having magnetic poles, and a Hall IC.
The brushless motor disclosed in Patent Document 1 is a three-phase four-pole brushless motor, and the stator is constituted by three windings. In Patent Document 1, three Hall ICs are provided in accordance with the number of windings.
The detection signals of the three Hall ICs are taken out of the roller body through signal lines and input to the controller.
The controller has a drive circuit that supplies power to the windings. The drive circuit of the controller and the winding in the roller body are connected by a power line.

In the roller with a built-in motor disclosed in Patent Document 1, the rotation position of the rotor is detected by a Hall IC, and this detection signal is input to an external controller through a signal line.
The controller switches the drive circuit in accordance with the detection signal of the Hall IC, sequentially supplies power to the windings of the stator, forms a rotating magnetic field, and maintains the rotation of the rotor.

JP 2007-68393 A

The motor built-in roller is connected to an external controller and driven as described above. However, the conventional motor built-in roller system has the number of lines connecting the motor built-in roller and the controller (total of signal lines and power lines). ) Was a complaint.
For example, the motor built-in roller disclosed in Patent Document 1 requires nine lines connecting the motor built-in roller and the controller.
That is, in the motor built-in roller disclosed in Patent Document 1, three Hall ICs are built in, and the signals of each Hall IC are input to the controller through individual signal lines. A line is needed.
Further, in the motor built-in roller disclosed in Patent Document 1, the stator is configured by three windings, and it is necessary to supply power to each winding, so three wires are necessary as power lines.

Further, two power lines (two positive and negative lines) for driving the Hall IC described above and a signal line for detecting an abnormal temperature rise inside when an overcurrent flows are necessary.
For this reason, the roller with a built-in motor disclosed in Patent Document 1 requires three signal lines for Hall IC, three power lines, and three other lines, for a total of nine lines. For this reason, the roller with a built-in motor of the prior art has to have a thick bundle of electric wires, and it has been difficult to route the electric wires such as passing the bundle of electric wires through the holes in the conveyor frame.
Moreover, when assembling the motor built-in roller, there are many wire connection points such as soldering, and the assembly is troublesome.

Therefore, the present invention focuses on the above-described problems of the prior art, and an object thereof is to develop a motor built-in roller and a controller for the motor built-in roller that require fewer wires than conventional ones. Another object of the present invention is to develop a motor built-in roller system in which the number of lines connecting the motor built-in roller and the controller is small.

In an aspect for solving the above-described problem, at least a motor is built in the roller main body, and in the motor built-in roller in which the rotational force of the motor is transmitted to the roller main body to rotate the roller main body, electric power and signals are transferred to the inside and outside of the roller main body. The motor has a stator constituted by a plurality of windings, a rotor, and a plurality of magnetic pole detection means, and a roller according to the rotational position of the rotor. A brushless motor that switches a winding to be supplied with power outside the main body, and includes a magnetic pole corresponding switching element that turns on and off at least according to the output from the magnetic pole detection means in the roller main body, and a voltage constituted by a plurality of resistors A signal forming circuit is built in, and the combined resistance of the voltage signal forming circuit has a different resistance value depending on the combination of the magnetic pole detecting means that detects the magnetic pole. , The voltage signal forming circuit, a motorized roller, characterized in that output different voltages depending on the combination of the magnetic pole detecting means detects the magnetic poles to the input-output unit.

In the motor built-in roller of this aspect, a voltage signal forming circuit is built in the roller body. The voltage signal forming circuit outputs different voltages to the input / output unit depending on the combination of magnetic pole detection means that have detected the magnetic poles. Therefore, if the voltage signal is analyzed on the controller side, it is possible to know which magnetic pole detection means has detected the magnetic pole, and it is possible to appropriately select the winding to which power is to be supplied. Moreover, since this aspect transmits the information which magnetic pole detection means detected the magnetic pole by the magnitude of voltage to the controller side, one signal line is enough. For this reason, the number of lines connecting the roller with built-in motor and the controller is smaller than in the prior art.
Further, since the inside of the roller body is a closed space and the stator generates heat when energized, the temperature inside the roller body rises and falls.
Although the current flowing through each part changes due to the internal temperature change, the voltage is not easily affected by the temperature change.
This aspect pays attention to this point, and converts the detection state of the magnetic pole detection means into a change in voltage and outputs it to the output unit. For this reason, according to this aspect, the detection status of the magnetic pole detection means is rarely erroneously detected.

In the above aspect, the abnormal temperature detecting means for detecting the abnormally high temperature and the temperature corresponding switching element that turns on / off according to the output from the abnormal temperature detecting means are incorporated in the voltage signal forming circuit, and the abnormal temperature detecting means is abnormal. When a high temperature is detected, it is desirable that the combined resistance of the voltage signal forming circuit be in a resistance value region different from normal.

In the motor built-in roller of this aspect, the circuit for detecting the abnormal temperature is also incorporated in the voltage signal forming circuit. Therefore, in addition to the information on which magnetic pole detection means has detected the magnetic pole, the information detected by the abnormal temperature detection means can be transmitted to the controller side with a single signal line.

In the aspect described above, the input / output unit has a plurality of power supply lines that supply power to each winding, and the magnetic pole detection means is a Hall IC that includes a power supply voltage input unit, a signal voltage output unit, and a ground unit. It is desirable that the ground portions of the magnetic pole detection means are connected to each other and connected to a plurality of power supply lines via rectifiers.

The motor built-in roller of this aspect has a plurality of power supply lines for supplying power to each winding. Here, since the brushless motor supplies power to the plurality of windings sequentially, the plurality of power supply lines are sequentially on the positive electrode side and sequentially on the negative electrode (ground) side. For this reason, at least one of the plurality of power supply lines has a timing on the negative electrode (ground) side.
In this aspect, since the ground portions of the magnetic pole detection means are connected to each other and are connected to the plurality of power supply lines via the rectifiers, the ground portions are connected via any rectifier at all times. Thus, the magnetic pole detection means is energized by connecting to the negative electrode (ground) side.

In the above aspect, the voltage signal forming circuit is preferably a ladder-type resistor circuit or a part of a ladder-type resistor circuit.

In the aspect described above, there are a plurality of the magnetic pole corresponding switching elements, and the plurality of resistors include a first resistor and a second resistor, and each of the magnetic pole corresponding switching elements has the same or different resistance value. Are connected in series, and each magnetic pole corresponding switching element and the first resistor corresponding to the magnetic pole corresponding switching element constitute a magnetic pole corresponding switching part, and the magnetic pole corresponding switching parts are connected in parallel. It is desirable that at least one second resistor is provided at least between the magnetic pole corresponding switching units.

In the aspect described above, it is desirable that the resistance value of the second resistor is smaller than the resistance value of each of the first resistors.

In the above aspect, it is desirable that the resistance values of the first resistors are different.

In the above aspect, the abnormal temperature detecting means for detecting the abnormally high temperature and the temperature corresponding switching element that turns on / off according to the output from the abnormal temperature detecting means are incorporated in the voltage signal forming circuit, and the abnormal temperature detecting means is abnormal. When a high temperature is detected, the combined resistance of the voltage signal forming circuit becomes a resistance value region different from normal, the plurality of resistors further include a third resistor, and the third resistor is connected in series to the temperature corresponding switching element. A temperature-corresponding switching unit is composed of the temperature-corresponding switching element and the third resistor, and the temperature-corresponding switching unit is connected in parallel with each of the magnetic pole-corresponding switching units, and the third resistor It is desirable that the resistance value is smaller than the resistance value of the first resistor and the resistance value of the second resistor.

Another aspect of the present invention is a motor controller for a roller with a built-in motor that supplies power to a motor in the roller body outside the roller body, and supplies power to the windings while switching the winding to be supplied with power. A motor built-in roller, comprising: a driving circuit that performs power control, and a voltage signal analyzing unit, wherein the voltage signal analyzing unit controls the driving circuit in accordance with the input voltage signal and selects a winding for supplying power. Controller.

The controller for a roller with a built-in motor of this aspect has voltage signal analysis means, controls the drive circuit according to the input voltage signal, and selects the winding for supplying power.

Another aspect of the present invention is a motor-integrated roller system constituted by a motor-integrated roller and a controller. The motor-integrated roller includes at least a motor in the roller body, and the rotational force of the motor is transmitted to the roller body. The roller with a built-in motor has an input / output unit that inputs and outputs power and signals inside and outside the roller body, and the motor has a stator composed of a plurality of windings. A brushless motor having a rotor and a plurality of magnetic pole detection means, and switching a winding for supplying electric power to the outside of the roller body in accordance with the rotational position of the rotor. A voltage signal composed of a magnetic pole corresponding switching element that turns on and off at least according to the output from the magnetic pole detection means, and a plurality of resistors The combined resistance of the voltage signal forming circuit has a different resistance value depending on the combination of the magnetic pole detection means detecting the magnetic pole, and the voltage signal forming circuit generates different voltages depending on the combination of the magnetic pole detection means detecting the magnetic pole. The controller outputs to the input / output unit, the controller supplies power to a motor in the roller body outside the roller body, a switching circuit for switching a winding to be supplied with power, and a voltage signal The voltage signal analyzing means is a roller system with a built-in motor, wherein the voltage signal analyzing means controls the switching circuit according to the input voltage signal and selects a winding for supplying power.

According to this aspect, the number of lines connecting the roller with built-in motor and the controller can be reduced as compared with the conventional case.

In the above-described aspect, it is desirable to select a winding for supplying power by inputting a different voltage depending on the combination of the magnetic pole detection means that has detected the magnetic pole from the voltage signal forming circuit to the voltage signal analysis means.

Another aspect of the present invention is a geared motor in which a motor and a speed reducer are built in a housing, and the rotational force of the motor is decelerated by the speed reducer and is output. The motor includes an output unit, and the motor includes a stator constituted by a plurality of windings, a rotor, and a plurality of magnetic pole detection means. Is a geared motor that switches a winding to be supplied with a magnetic pole corresponding switching element that is turned on and off according to an output from at least the magnetic pole detection means, and a voltage signal forming circuit configured by a plurality of resistors. The combined resistance of the voltage signal forming circuit has a different resistance value depending on the combination of the magnetic pole detection means detecting the magnetic pole, and the voltage signal forming circuit is a combination of the magnetic pole detection means detecting the magnetic pole. By a geared motor, characterized in that output different voltages to the output unit.

The roller with a built-in motor of the present invention has a smaller number of lines for connecting to the controller than in the prior art. For this reason, there is little trouble in assembling the motor built-in roller itself or in incorporating the motor built-in roller into the conveyor device or the like.
The same applies to the geared motor of the present invention.
In addition, the motor built-in roller, the motor built-in roller controller, and the motor built-in roller system according to the present invention have an effect of reducing the number of lines connecting the motor built-in roller and the controller.

It is a front view of the motor built-in roller and controller for motor built-in roller of the embodiment of the present invention. It is sectional drawing of the roller with a built-in motor of FIG. It is a disassembled perspective view of the roller with a built-in motor of FIG. It is sectional drawing of the motor unit incorporated in the roller with a built-in motor of FIG. It is a circuit diagram of the roller with a built-in motor of FIG. FIG. 2 is a part of the circuit diagram of the motor built-in roller in FIG. 1 and a circuit diagram of a power feeding portion to the Hall IC. FIG. 2 is a circuit diagram of the motor built-in roller controller in FIG. 1. It is a graph which shows the relationship between the detection condition of Hall IC in the roller with a built-in motor of FIG. 1, and the voltage output from a voltage signal formation circuit. It is a circuit diagram of the roller with a built-in motor of other embodiments of the present invention. It is a front view of the guard motor of the embodiment of the present invention. It is a top view of the guard motor of the embodiment of the present invention. It is sectional drawing of the geared motor of embodiment of this invention. It is a circuit diagram of the roller with a built-in motor concerning other embodiments of the present invention. It is a circuit diagram of the roller with a built-in motor concerning other embodiments of the present invention. It is a circuit diagram of the controller for motor built-in rollers concerning other embodiments of the present invention. It is a circuit diagram of the roller with a built-in motor concerning other embodiments of the present invention.

Embodiments of the present invention will be further described below. The motor built-in roller system 100 of the present invention includes a motor built-in roller 3 and a motor built-in roller controller (hereinafter referred to as controller) 50.
The motor built-in roller 3 and the controller 50 according to the present embodiment are characterized by an internal circuit. Prior to these descriptions, their basic structures will be described.

FIG. 1 shows a roller 3 with a built-in motor according to an embodiment of the present invention. The motor built-in roller of this embodiment has a cylindrical roller main body 11 and a motor 12 and a speed reducer 13 are built in the same, as is well known. However, the motor built-in roller 3 of the present embodiment has a motor 12, a speed reducer 13, and a circuit board 15 as a unit. That is, the motor built-in roller 3 of the present embodiment is a roller body 11 in which a motor unit for motor with built-in roller (hereinafter simply referred to as a motor unit) 1 is built. As shown in FIG. 4, the motor unit 1 includes a motor 12, a speed reducer 13, and a circuit board 15 housed in a cylindrical case 2.

The motor unit 1 is a kind of geared motor, and a motor 12 and a speed reducer 13 are built in a housing (case 2), and the rotational force of the motor 12 is decelerated by the speed reducer to output shaft (drive side shaft 8). Is output from
As shown in FIG. 4, the motor unit 1 of the present embodiment includes a case 2, a fixed short shaft 4 protruding from the case 2, a drive unit 5 and a circuit board 15 built in the case 2, and a drive unit 5. The driving side shaft 8 is rotated by receiving power and protrudes from the case 2.
That is, the motor unit 1 of the present embodiment is covered with the cylindrical case 2. A drive unit 5 is housed inside the case 2. The drive unit 5 is specifically a motor 12 and a speed reducer 13.

The drive side shaft 8 is exposed at one end of the case 2, and the fixed short shaft 4 is exposed at the other end.
The drive side shaft 8 and the fixed side short shaft 4 described above are attached to the end of the case 2 by a drive side shaft holder 7 and a fixed shaft holder 10, respectively.
The drive side shaft holder 7 has a bearing 14 inside.

The fixed short shaft 4 is an end of the motor unit 1 and is provided on the central shaft, and is fixed to the case 2 integrally by a fixed shaft holder 10. The fixed short shaft 4 is hollow inside, and a cable 26 is inserted into the inside. The motor unit 1 inside side of the cable 26 is connected to the circuit board 15 via the lead wire 31, and power is supplied from the circuit board 15 to the motor 12.
A motor-side connector piece (input / output unit) 25 is connected to the tip of the other end of the cable 26 (outside of the motor unit 1).
Therefore, the motor side connector piece (input / output unit) 25 is connected to the circuit board 15 via the cable 26 and the lead wire 31.

The drive unit 5 is composed of the motor 12 and the speed reducer 13 as described above. The motor 12 is a brushless motor including a stator 18 and a rotor 19. In the present embodiment, the stator 18 is integrally fixed to the inner surface of the case 2. A rotor 19 of the motor is rotatably held at the center of the stator 18.

In the present embodiment, a permanent magnet is used for the rotor 19. The stator 18 is a three-system (U-phase, V-phase, W-phase) coil (winding).
That is, the motor employed in this embodiment is a brushless motor, and the stator 18 has three coils (U phase, V phase, W phase) as shown in the circuit diagram of FIG. In addition, magnetic pole detection means H1, H2, and H3 for detecting the rotational position of the permanent magnet as the rotor 19 are provided. The magnetic pole detection means H1, H2, and H3 are specifically Hall ICs.
The Hall IC is configured by integrating all or part of the Hall element and the power switching circuit. More specifically, the Hall IC includes a Hall element that detects the magnitude of the magnetic field, an amplifier that amplifies a minute signal detected by the Hall element, and a Schmitt trigger that shapes the signal amplified by the amplifier into a square wave. A circuit, a stabilized power supply circuit, and a temperature compensation circuit. In this embodiment, an example in which a Hall IC is employed to detect the position of the magnetic pole has been shown. However, the present invention is not limited to this, and a photo interrupter type using a light emitting diode and a photo sensor or a magnetic saturation element is used. Any type of magnetic pole position detection means such as an inductance type may be employed.

The stator 18 is formed by connecting three coils (U phase, V phase, W phase) in a Y shape as shown in the circuit diagram of FIG. That is, one end of each coil (U phase, V phase, W phase) is connected to each other. The other end of each coil (U-phase, V-phase, W-phase) is connected to a second terminal and a third terminal of the motor-side connector piece 25 as an input / output unit as shown in FIG. 5 via a power line (power supply line). The terminal is connected to the fourth terminal.

The speed reducer 13 is located between the motor 12 and the drive side shaft 8 and is used to reduce the rotational speed of the motor 12 and transmit it to the drive side shaft 8.

The layout of each member in the case 2 is as shown in FIG. 4. The fixed short shaft 4 is fixed to one end of the case 2 by the fixed shaft holder 10, and the fixed short shaft 4 is at the end of the case 2. It is interrupted and does not enter the back of case 2.
A circuit board 15 is disposed behind the fixed shaft holder 10. Further, a motor 12 and a speed reducer 13 are provided in the back of the circuit board 15. The output shaft of the speed reducer 13 protrudes from the other end side of the case 2 as the drive side shaft 8.

The motor unit 1 has been described above. Next, the motor built-in roller 3 in which the motor unit 1 is incorporated will be described.
In addition to the motor unit 1 described above, the motor built-in roller 3 includes a roller body 11, a roller inner shaft support member 23, and lid members 16 and 17 (FIG. 3).

Here, the roller body 11 is a cylinder having both ends opened. The roller inner shaft support member 23 is integrally provided inside the roller main body 11 as shown in FIG. 3, and a hexagonal opening 34 is provided at the center.
One lid member 16 is formed by integrating a cylindrical roller body fitting member 52, two bearings 54, and a body-side short shaft member 53 as shown at the left end of FIG. The other lid member 17 has a structure as shown at the right end of FIG. 2, in which the roller body fitting member 55 and the bearing 22 are integrated.

In the motor built-in roller 3 of the present embodiment, the motor unit 1 is inserted into the roller body 11, and the drive side shaft 8 of the motor unit 1 is engaged with the opening 34 of the roller inner shaft support member 23. In the motor built-in roller 3 of the present embodiment, lid members 16 and 17 are attached to both ends of the roller body 11.
In the present embodiment, the distal end side of the fixed short shaft 4 protruding from the roller body 11 constitutes one fixed shaft 20 of the motor built-in roller 3 itself.

On the other hand, on the other end side of the roller body 11, a roller body fitting member 52, a lid member 16 in which a bearing 54 and a body-side short shaft member 53 are integrated are attached.
In the present embodiment, the main body side short shaft member 53 of the lid member 16 constitutes the other fixed shaft 21 of the motor built-in roller 3 itself.

In the motor built-in roller 3, as shown in FIGS. 2 and 3, the fixed shaft (fixed-side short shaft) 20 on the motor unit 1 side is hollow, and a cable 26 connected to the motor-side connector piece 25 is incorporated therein. ing.
The motor-side connector piece 25 is an input / output unit that inputs and outputs power and signals to and from the roller body 11 and is a female-side connector having five terminals.
The motor-side connector piece 25 is a piece of a waterproof round connector, and has five built-in terminals.
Of the five terminals, the first terminal functions as a power input terminal for driving a transistor or the like as shown in the circuit diagram of FIG.
The second terminal to the fourth terminal function as power input terminals for supplying power to the coils (windings) (U phase, V phase, W phase) of the stator 18. The fifth terminal functions as a voltage signal output terminal that outputs a voltage signal.

In the roller body 11, a lead wire 31 connected to the rear end of the motor-side connector piece 25 is connected to the circuit board 15, and power is supplied from the circuit board 15 to the motor 12.

Next, an outline of the controller 50 will be described.
The controller 50 includes five terminals corresponding to the first to fifth terminals of the motor-side connector piece 25 on the motor built-in roller 3 side. The five terminals are connected to an external connector piece 33. The connector piece 33 is connected to the motor-side connector piece 25 on the motor built-in roller 3 side.
The first terminal of the controller 50 serves as a power source for driving a transistor or the like on the motor built-in roller 3 side.
The second terminal to the fourth terminal function as power output terminals for supplying power to the coils (U phase, V phase, W phase) U, V, W of the stator 18 on the motor built-in roller 3 side. The fifth terminal functions as a voltage signal input terminal for inputting a voltage signal.

As described above, the motor 12 built in the roller body 11 is a brushless motor, and the stator 18 has three coils (U phase, V phase, W phase) as shown in the circuit diagram of FIG. is doing. Further, magnetic pole detection means (Hall ICs) H1, H2, and H3 for detecting the rotational position of the permanent magnet as the rotor 19 are provided.
In order to generate a rotating magnetic field internally by the coils (U phase, V phase, W phase), a drive circuit 43 that supplies current to each coil (U phase, V phase, W phase) in order is required. The drive circuit 43 is accommodated in the controller 50. The drive circuit 43 includes a circuit that drives a current and a switching circuit that obtains a switching signal.
As shown in FIG. 7, the drive circuit 43 in the controller 50 includes an upper arm control unit 41 and a lower arm control unit 42.

The upper arm control unit 41 is a circuit extending from the second terminal to the motor built-in roller 3 side via the fourth terminal via the switching elements T1, T2, and T3 formed of FETs. The lower arm control unit 42 is a circuit that reaches the ground potential (negative power supply side) via the switching elements T4, T5, and T6.
The drive circuit 43 includes signal input units 45 and 46, Uu, Vu, and Wu terminals connected to the switching elements T1, T2, and T3 of the upper arm control unit 41, and the switching element T4 of the lower arm control unit 42. There are UL, VL and WL terminals connected to T5 and T6.
Then, by inputting signals to the Uu, Vu, Wu terminals and the UL, VL, WL terminals, the switching elements T1, T2, T3 of the upper arm control unit 41 are sequentially turned on, and the lower arm control unit 42 is turned on. The switching elements T4, T5, and T6 are sequentially turned on, and the U, V, and W phase coils of the brushless motor 12 are sequentially switched and energized to rotate the motor 12.

Next, a characteristic configuration of the present embodiment will be described. In the motor built-in roller 3 of this embodiment, a voltage signal forming circuit 56 is constructed on the circuit board 15 in the roller body 11.
The voltage signal forming circuit 56 is as shown in FIG. 5, and the magnetic pole corresponding switching elements Q 1, Q 2, and Q 3 that are turned on and off according to the outputs from the magnetic pole detection means H 1, H 2, and H 3, It is composed of a temperature-compatible switching element Q4 that is turned on and off in response to this and a plurality of resistors R1 to R7.
The magnetic pole corresponding switching elements Q1, Q2, Q3 and the temperature corresponding switching element Q4 are specifically NPN transistors. Specifically, the abnormal temperature detection means 57 is a thermal relay that detects when an overcurrent flows, and the resistance value extremely increases when a high temperature is detected.

The output lines of the magnetic pole detection means (Hall ICs) H1, H2, and H3 are connected to the bases of the NPN transistors that are the magnetic pole corresponding switching elements Q1, Q2, and Q3. A power supply line is connected to the collectors of the magnetic pole corresponding switching elements Q1, Q2, and Q3.
The power supply line is a line connected to the first terminal among the five terminals of the motor-side connector piece 25 described above.
The power supply line is divided by the resistor R7 and the abnormal temperature detecting means 57, and an intermediate point between the resistor R7 and the abnormal temperature detecting means 57 is connected to the base of the NPN transistor which is the temperature corresponding switching element Q4. A power supply line is connected to the collector of the temperature corresponding switching element Q4.

The emitters of the magnetic pole corresponding switching elements Q1, Q2, Q3 and the temperature corresponding switching element Q4 are resistors R1 (first resistance), R2 (first resistance), R3 (first resistance), R4 (second resistance), R5 ( 2nd resistor) and R6 (third resistor). Further, the magnetic pole corresponding switching unit SW1 is configured by R1 and Q1. R2 and Q2 constitute a magnetic pole corresponding switching unit SW2. R3 and Q3 constitute a magnetic pole corresponding switching unit SW3. R6 and Q4 constitute a temperature corresponding switching unit SW4.
The resistors R1 to R6 constitute a ladder type resistor circuit together with a resistor R8 described later.
That is, one ends of the resistors R1, R2, and R3 are connected to the emitters of the magnetic pole corresponding switching elements Q1, Q2, and Q3, respectively.
Further, one end of the resistor R6 is connected to the temperature corresponding switching element Q4.
Further, the other ends of the resistors R1 to R3 and the resistor R6 are connected in series with the resistors R4 and R5 interposed therebetween, and are connected to the fifth terminal of the motor-side connector piece 25.
That is, the resistor R6 connected to the temperature corresponding switching element Q4 is connected to the resistor R1 connected to the magnetic pole corresponding switching element Q1, and the resistor R1 is further connected to the magnetic pole corresponding switching element Q2 across the resistor R4. Further, the resistor R2 is connected to the resistor R3 connected to the switching element Q3 across the resistor R5, and the terminal is connected to the fifth terminal of the motor side connector piece 25 via the lead wire 31 and the cable 26. Yes.

The resistors R1 to R6 have different resistance values. Each of the resistors R1 to R6 constitutes a part of a ladder type anti-circuit.
The relationship between the resistance values is as follows.

R6 <R5 ≦ R4 <R3 <R2 <R1

In the above formula, the ratios of R3, R2, and R1 are all about twice.
The ratio of the resistance value of R6 and the resistance values of R3, R2, and R1 is 8 times or more, which is extremely large.

In addition, the ground terminals of the magnetic pole detection means (Hall ICs) H1, H2, and H3 are connected to each coil (U phase, V phase, W phase) and a power input terminal (second phase) through rectifiers as shown in FIG. Terminal to the fourth terminal).
The magnetic pole detection means H1, H2, and H3 incorporate Hall elements, and have a power supply voltage input terminal (VCC), an output terminal (OUT), and a ground terminal (GND). The ground terminals H1, H2 and H3 are connected to each other, thereby forming a ground line. The power supply line is connected to the power supply voltage input terminal (VCC), and the output terminal (OUT) is connected to the bases of the magnetic pole corresponding switching elements Q1, Q2, and Q3 as described above.
The ground terminals of the magnetic pole detection means (Hall ICs) H1, H2, H3 are connected to the power lines of the coils (U phase, V phase, W phase) via rectifiers. The direction of the rectifier is a direction that allows energization from the magnetic pole detection means (Hall IC) H1, H2, H3 side to the power supply line side and prevents the reverse.

In the present embodiment, each U, V, and W phase coil of the motor 12 is sequentially switched and energized to rotate the motor 12. That is, each coil (U phase, V phase, W phase) is supplied with current by three power lines, but at least one of the coils (U phase, V phase, W phase) is energized. One power line must be in the ground state. In the present embodiment, the ground terminals of the magnetic pole detection means (Hall ICs) H1, H2, and H3 are connected to the power lines of the respective coils (U phase, V phase, and W phase) through rectifiers, and H1, H2 , H3 ground terminals are connected to each other, thereby forming a ground line. The direction of the rectifier allows the energization from the magnetic pole detection means (Hall ICs) H1, H2, H3 side to the power line side. Since the reverse direction is to be prevented, a current flows from the ground terminals of the magnetic pole detection means (Hall ICs) H1, H2, and H3 to the power line in the ground state. Therefore, power is supplied to the magnetic pole detection means (Hall ICs) H1, H2, and H3, and the magnetic pole detection means (Hall ICs) H1, H2, and H3 function.

Next, characteristic circuits of the controller 50 will be described.
The controller 50 includes the drive circuit 43 as described above, and is provided with the voltage signal analysis means 60. As shown in FIG. 7, the voltage signal analyzing means 60 has one input terminal 61 and six output terminals 62, and selectively generates voltages at the six output terminals 62 according to the input voltage. Circuit.
In the present embodiment, the fifth terminal (voltage signal input terminal) of the controller 50 is connected to the input terminal 61 of the voltage signal analyzing means 60. One end of a voltage dividing resistor R8 is connected to the fifth terminal and the input terminal 61. The other end of the resistor R8 is grounded.
Therefore, the voltage divided by the resistor R8 is applied to the input terminal 61 of the voltage signal analyzing means 60.

Next, functions of the motor built-in roller system 100 according to the present embodiment will be described. The motor built-in roller 3 and the controller 50 are electrically connected by connecting the male connector piece 33 on the controller 50 side to the motor side connector piece 25 on the motor built-in roller 3 side.
Therefore, electric power for driving the transistor and the like is supplied from the first terminal on the controller 50 side into the motor built-in roller 3.
A predetermined voltage signal is input from the voltage signal forming circuit 56 to the controller 50 side from the motor built-in roller 3 side.
In the present embodiment, a ladder-type resistor circuit is configured by the voltage signal forming circuit 56 and the voltage dividing resistor R8 in the controller 50. The voltage signal generated between the voltage signal forming circuit 56 and the voltage dividing resistor R8 is analyzed by the voltage signal analyzing means 60 of the controller 50. Then, the drive circuit 43 is controlled so that current is sequentially supplied to each coil (U phase, V phase, W phase) on the motor built-in roller 3 side, the motor 12 rotates, and the roller body 11 of the motor built-in roller 3. Rotates.

In other words, the roller 3 with built-in motor of this embodiment is provided with a voltage signal forming circuit 56 inside the roller body 11, and the voltage signal forming circuit 56 detects the magnetic pole detection means (Hall ICs) H1, H2, H3. Then, a voltage corresponding to the detection status of the abnormal temperature detection means 57 is generated at the input terminal 61 of the voltage signal analysis means 60.
That is, the combined resistance of the voltage signal forming circuit 56 changes according to the detection status of the magnetic pole detection means (Hall ICs) H1, H2, and H3, and is divided by the combined resistance and the voltage dividing resistor R8 in the controller 50. The voltage input to the input terminal 61 changes.
In the present embodiment, the rotation angle of the rotor 19 of the motor 12 and the on / off states of the three magnetic pole detection means H1, H2, and H3 are as shown in the upper graph of FIG.

The magnetic pole detection means H1 and H3 are turned on and the magnetic pole detection means H2 is turned off between 0 degrees and 30 degrees with reference to an appropriate rotation angle.
For the subsequent 30 to 60 degrees, only the magnetic pole detection means H1 is turned on, and the magnetic pole detection means H2 and H3 are turned off. During the subsequent 60 to 90 degrees, the magnetic pole detection means H1 and H2 are turned on and the magnetic pole detection means H3 is turned off. During the subsequent 90 degrees to 120 degrees, the magnetic pole detection means H2 is turned on, and the magnetic pole detection means H1 and H3 are turned off. During the subsequent 120 to 150 degrees, the magnetic pole detection means H2 and H3 are in the on state, and the magnetic pole detection means H1 is in the off state. During the subsequent 150 to 180 degrees, the magnetic pole detection means H3 is turned on and the magnetic pole detection means H1 and H2 are turned off. In the subsequent half-round from 180 degrees to 360 degrees, the state from 0 degrees to 180 degrees is repeated.
The graph exemplifies a case where the temperature corresponding switching element (thermal relay) Q4 is turned on when the rotation angle is between 180 degrees and 360 degrees.

Here, assuming that the abnormal temperature detecting means 57 is not functioning, only the magnetic pole detecting means H1 is turned on and the magnetic pole detecting means H2 and H3 are turned off between 30 degrees and 60 degrees. Only the magnetic pole corresponding switching element Q1 is turned on, and the 12-volt voltage supplied to the magnetic pole corresponding switching element Q1 is decompressed by the resistors R1, R4, R5 and output from the voltage signal forming circuit 56.
In the subsequent 60 to 90 degrees, the magnetic pole detection means H1 and H2 are turned on and H3 is turned off, so that the magnetic pole corresponding switching elements Q1 and Q2 are turned on. Therefore, the voltage derived from the magnetic pole corresponding switching element Q1 and the voltage derived from the magnetic pole corresponding switching element Q2 are combined with the voltage of 12 volts supplied to the magnetic pole corresponding switching element Q1, and the voltage is reduced by the resistors R1, R4, and R5. 56.

In this way, the combination of the magnetic pole detection means (Hall ICs) H1, H2, and H3 detecting the magnetic poles is changed according to the rotation angle of the rotor 19 of the motor 12, and the voltage signal forming circuit 56 is changed accordingly. A specific voltage is generated between the voltage dividing resistor R8 in the controller 50. Specifically, the following voltage shown in FIG. 8 is generated between the voltage signal forming circuit 56 and the voltage dividing resistor R8 in accordance with the combination in which the magnetic pole detection means (Hall ICs) H1, H2, and H3 detect the magnetic pole. To do. This voltage signal is input to the input terminal 61 of the voltage signal analyzing means 60 of the controller 50.

In the controller 50, a signal from the voltage signal forming circuit 56 is input from one input terminal 61. In the controller 50, the signal from the voltage signal forming circuit 56 is divided with the voltage dividing resistor R 8 to generate a specific voltage, and the voltage signal is input to the voltage signal analyzing means 60. The voltage signal analyzing means 60 selectively generates voltages at the six output terminals 62 according to the input voltage. That is, the six output terminals 62 are turned on and off so that the drive circuit 43 can be switched so that the rotor 19 of the motor 12 continues to rotate. As a result, the energized coils (U phase, V phase, W phase) are switched according to the rotation angle of the rotor 19.

Further, when a situation in which an overcurrent flows through the motor 12 and the abnormal temperature detecting means 57 functions, the temperature corresponding switching element Q4 is turned on. Therefore, the voltage derived from the temperature corresponding switching element Q4 is added and output from the voltage signal forming circuit 56.
Here, in the present embodiment, the resistance value of the resistor R6 connected to the temperature-corresponding switching element Q4 is lower than other resistors, so that the voltage derived from the temperature-corresponding switching element Q4 (from the voltage signal forming circuit 56 in the controller 50). Voltage generated by voltage division between the voltage signal and the voltage dividing resistor R8 is higher than voltages derived from the other magnetic pole corresponding switching elements Q1, Q2, and Q3.
That is, since the resistance value of the resistor R6 connected to the temperature corresponding switching element Q4 is lower than other resistors, the combined resistance of the voltage signal forming circuit 56 is lowered, and the voltage divided by the voltage dividing resistor R8 is raised. To do.
Therefore, when the abnormal temperature detection means 57 functions, a clearly high voltage is input to the voltage signal analysis means 60 as shown in FIG.
That is, when the abnormal temperature detecting means 57 functions (when an abnormality occurs), the divided voltage (voltage) based on the signal output from the voltage signal forming circuit 56 is equal to or greater than a certain threshold value, and the abnormal temperature detecting means 57 functions. The voltage division (voltage) based on the signal output from the voltage signal forming circuit 56 when it is not (normal time) is less than a certain threshold. Thus, the voltage output from the voltage signal forming circuit 56 when the abnormal temperature detecting means 57 functions is a voltage in a voltage region different from the normal case.
When the voltage signal analyzing means 60 of the controller 50 receives this high voltage signal, an emergency stop circuit (not shown) is activated to stop the motor 12.

In the motor built-in roller system 100 of the present embodiment, the motor side connector piece 25 on the motor built-in roller 3 side and the connector piece 33 on the controller 50 side are one piece of a waterproof round connector. In general, waterproof connectors have a small number of terminals, and those having nine terminals are not practically commercialized. For this reason, it has been difficult to employ a waterproof connector in the conventional motor built-in roller, but in this embodiment, since the number of terminals is sufficient, it is possible to employ a waterproof connector. It became.

In this embodiment, different resistances are used for the first resistors R1, R2, and R3, but the same values may be used. Further, in the present embodiment, resistors having values smaller than those of the first resistors R1, R2, and R3 are used for the second resistors R4 and R5, but may be the same value or a larger value.

In the embodiment of FIG. 5, the outputs of the magnetic pole detection means H1, H2, and H3 are assumed to be “high level” outputs in the on state. However, the present invention is not limited to this, and a Hall IC that outputs “low level” in the on state may be used. That is, as shown in FIG. 13, it is possible to cope with this by using PNP transistors for the magnetic pole corresponding switching elements Q1 ′, Q2 ′, Q3 ′. In FIG. 13, the temperature corresponding switching element Q4 ′ is also a PNP type, and the collector side output voltage in the on state of Q4 ′ is set to the same level as the collector side output level in the on state of the magnetic pole corresponding switching elements Q1 ′ to Q3 · ′. It is trying to become. For this reason, the temperature corresponding switching element has a two-stage configuration of Q4 ′ and Q5, and when the resistance value of the abnormal temperature detecting means 57 becomes extremely large, Q5 is turned on, and accordingly Q4 ′ is turned on. However, as in FIG. 5, only Q4 may be used, and a temperature-compatible switching configuration in which an NPN transistor is used for Q4 may be used.

Also, the output of the voltage forming circuit 76 can be superimposed on the first terminal as shown in FIG. In this case, the fifth terminal is not necessary, and four terminals are sufficient. As shown in FIG. 15, in the controller with a built-in motor, the first terminal is connected to + 12V (power supply line) via a resistor r having a small resistance value. From the voltage fluctuation across the resistor, the detection state of the magnetic pole detection means H1, H2, H3 and the detection state of the abnormal temperature detection means can be known. Furthermore, instead of the voltage forming circuit 76 of FIG. 14, the voltage forming circuit 86 of FIG. 16 (a circuit that does not use R4 and R5 in FIG. 14) may be used.

The motor built-in roller 3 described above is a roller body 11 in which a motor 12 and a speed reducer 13 are built, but the speed reducer 13 is not necessarily required.

In the above-described embodiment, the first terminal of the motor-side connector piece 25 or the like is used as a power input terminal for driving a transistor or the like. However, the power source for driving the transistor or the like may be branched from a power line that supplies power to the stator 18. .

Each of the switching elements Q1, Q2, Q3, Q4, T1, T2, T3, T4, T5, and T6 described above includes an output signal from the Hall IC, a resistor R7, and an abnormal temperature detecting means 57 directly on the base. It is turned on and off by inputting a divided voltage signal or the like. For example, a signal output from the Hall IC or a signal voltage generated by the resistor R7 and the abnormal temperature detection means 57 is input to another buffer transistor or the like. The output of the buffer transistor may be input to the switching elements Q1, Q2, Q3, Q4, T1, T2, T3, T4, T5, and T6.

In the embodiment described above, the voltage signal forming circuit 56 is made separately from the Hall IC (magnetic pole detection means H1, H2, H3). However, the voltage signal formation is performed by incorporating a switching circuit built in the Hall IC. The circuit 70 may be configured.
That is, since the Hall IC is configured by integrating all or part of the Hall element and the power switching circuit, the Hall IC has a switching circuit therein.
FIG. 9 is a circuit diagram in the case where the voltage signal forming circuit 70 is configured by taking in the switching elements q1, q2, and q3 built in the Hall ICs (H1, H2, and H3). In addition, the same number is attached | subjected to the member same as above-described embodiment.
In the figure, h1, h2, and h3 are Hall elements provided in the Hall ICs (H1, H2, and H3).

When the Hall element h1 detects the magnetic pole and becomes energized, the voltage derived from the magnetic pole detection means H1 disappears. Similarly, when the Hall element h2 detects the magnetic pole and enters the energized state, the voltage derived from the magnetic pole detecting means H2 disappears. When the Hall element h3 detects the magnetic pole and enters the energized state, the voltage derived from the magnetic pole detecting means H3 disappears. To do.
In this way, the combination of the magnetic pole detection means (Hall elements h1, h2, h3) in the Hall IC detecting the magnetic poles is changed according to the rotation angle of the rotor 19 of the motor 12, and the voltage signal is changed accordingly. A unique voltage is generated in the forming circuit 70. Specifically, different voltages are generated according to combinations in which the magnetic pole detection means H1, H2, and H3 detect the magnetic poles. This voltage signal is input to the controller 50.

The motor unit 1 employed in the above-described embodiment is a kind of guard motor as described above, and the present invention can also be applied to a guard motor.
Further, the present invention is not limited to the one built in the roller 3 with built-in roller motor, and can also be applied to a normal guard motor.
10, FIG. 11 and FIG. 12 show a guarded motor 71 according to an embodiment of the present invention. In addition, the same number is attached | subjected to the member same as above-described embodiment.
As shown in FIG. 13, the geared motor 71 includes a motor 12 and a speed reducer 13 built in a housing 72, and the rotational force of the motor 12 is decelerated by the speed reducer and output from the output shaft (drive side shaft 8). is there. The geared motor 71 according to this embodiment is rotated by receiving power from the housing 72, the fixed short shaft 4 protruding from the housing 72, the drive unit 5 and the circuit board 15 built in the case 2, and the drive unit 5. The drive side shaft 8 protrudes from the case 2.
The voltage signal forming circuits 56, 66, 70, 76 and 86 are constructed on the circuit board 15.

1 Motor unit (Gard motor)
3 Motor built-in roller 11 Roller body 12 Motor 13 Reducer 15 Circuit board 18 Stator 19 Rotor 25 Motor side connector piece (input / output unit)
43 drive circuit 50 controller for motor built-in roller 56 voltage signal forming circuit 57 abnormal temperature detecting means 60 voltage signal analyzing means 70 voltage signal forming circuit 71 geared motor 72 housing 100 motor built-in roller system Q1, Q2, Q3 magnetic pole corresponding switching element Q1 ′ , Q2 ', Q3' Magnetic pole corresponding switching element Q4, Q4 'Temperature corresponding switching element H1, H2, H3 Magnetic pole detection means (Hall IC)
R1 resistor, first resistor R2 resistor, first resistor R3 resistor, first resistor R4 resistor, second resistor R5 resistor, second resistor R6 resistor, third resistor SW1, SW2, SW3 magnetic pole corresponding switching unit SW4 temperature corresponding switching unit h1, h2, h3 magnetic pole detection means

Claims (12)

1. At least a motor is built in the roller body, and the motor built-in roller that rotates the roller body by transmitting the rotational force of the motor to the roller body.
   It has an input / output unit that inputs and outputs power and signals inside and outside the roller body,
   The motor has a stator constituted by a plurality of windings, a rotor, and a plurality of magnetic pole detection means, and is an object to supply electric power outside the roller body in accordance with the rotational position of the rotor. A brushless motor that switches windings,
   The roller body incorporates a magnetic pole corresponding switching element that turns on and off at least according to the output from the magnetic pole detection means, and a voltage signal forming circuit constituted by a plurality of resistors. The combined resistance of the voltage signal forming circuit detects the magnetic pole. Depending on the combination of magnetic pole detection means
   The motor built-in roller, wherein the voltage signal forming circuit outputs a different voltage to the input / output unit depending on the combination of the magnetic pole detection means that detects the magnetic pole.
2. An abnormal temperature detecting means for detecting an abnormally high temperature and a temperature-compatible switching element that is turned on / off in response to an output from the abnormal temperature detecting means are incorporated in the voltage signal forming circuit. The motor built-in roller according to claim 1, wherein the combined resistance of the forming circuit is a resistance value region different from a normal value.
3. The input / output unit has a plurality of power supply lines for supplying power to each winding, and the magnetic pole detection means is a Hall IC having a power supply voltage input unit, a signal voltage output unit, and a ground unit,
   The roller with a built-in motor according to claim 1 or 2, wherein the ground portions of the magnetic pole detecting means are connected to each other and are connected to a plurality of power supply lines via rectifiers.
4. The roller with built-in motor according to any one of claims 1 to 3, wherein the voltage signal forming circuit is a ladder-type resistor circuit or a part of a ladder-type resistor circuit.
5. There are a plurality of the magnetic pole corresponding switching elements,
   The plurality of resistors includes a first resistor and a second resistor,
   A first resistor having the same or different resistance value is connected in series to each magnetic pole corresponding switching element,
   A magnetic pole corresponding switching unit is configured by each magnetic pole corresponding switching element and the first resistor corresponding to the magnetic pole corresponding switching element,
   The magnetic pole corresponding switching parts are connected in parallel,
   The controller for a roller with a built-in motor according to any one of claims 1 to 4, wherein at least one second resistor is provided at least between the magnetic pole corresponding switching units.
6. The motor-integrated roller controller according to claim 5, wherein a resistance value of the second resistor is smaller than a resistance value of each of the first resistors.
7. The motor built-in roller controller according to claim 5 or 6, wherein each of the first resistors has a different resistance value.
8. An abnormal temperature detecting means for detecting an abnormally high temperature and a temperature-compatible switching element that is turned on / off in response to an output from the abnormal temperature detecting means are incorporated in the voltage signal forming circuit. The combined resistance of the forming circuit becomes a different resistance value region,
   The plurality of resistors further includes a third resistor,
   The third resistor is connected in series to the temperature-compatible switching element,
   A temperature-compatible switching unit is configured by the temperature-compatible switching element and the third resistor,
   The temperature-compatible switching unit is connected in parallel with the magnetic pole-compatible switching unit,
   The controller for a roller with a built-in motor according to any one of claims 5 to 7, wherein a resistance value of the third resistor is smaller than a resistance value of the first resistor and a resistance value of the second resistor.
9. In a controller for a motor built-in roller that supplies power to the motor in the roller body outside the roller body, a drive circuit that supplies power to the winding while switching the winding to be supplied with power, and voltage signal analysis And a voltage signal analyzing means for controlling the drive circuit in accordance with the input voltage signal and selecting a winding for supplying electric power.
10. In the motor built-in roller system composed of the motor built-in roller and the controller,
    The roller with a built-in motor has at least a motor built in the roller body, and the rotational force of the motor is transmitted to the roller body to rotate the roller body.
    The motor built-in roller has an input / output unit for inputting and outputting power and signals inside and outside the roller body,
    The motor has a stator constituted by a plurality of windings, a rotor, and a plurality of magnetic pole detection means, and has a winding for supplying electric power outside the roller body according to the rotational position of the rotor. A brushless motor to switch,
    The roller with a built-in motor includes a magnetic pole corresponding switching element that is turned on and off at least according to an output from the magnetic pole detection means in the roller body, and a voltage signal forming circuit configured by a plurality of resistors. The resistance varies depending on the combination of magnetic pole detection means that detected the magnetic pole,
    The voltage signal forming circuit outputs a different voltage to the input / output unit depending on the combination of the magnetic pole detection means that has detected the magnetic pole,
    The controller supplies power to a motor in the roller body outside the roller body, and includes a switching circuit that switches a winding to be supplied with power and voltage signal analysis means, and a voltage signal The analyzing means controls the switching circuit according to the input voltage signal, and selects a winding for supplying electric power.
11. 11. The motor built-in roller according to claim 10, wherein different voltages are input to the voltage signal analyzing means depending on the combination of the magnetic pole detecting means that has detected the magnetic pole from the voltage signal forming circuit, and a winding for supplying electric power is selected. system.
12. In a geared motor in which a motor and a speed reducer are built in the housing, and the rotational force of the motor is reduced by the speed reducer and output,
    Has an input / output unit to input and output power and signals inside and outside the housing,
    The motor has a stator composed of a plurality of windings, a rotor, and a plurality of magnetic pole detection means, and is an object to supply power outside the housing in accordance with the rotational position of the rotor. A geared motor that switches windings,
    A magnetic pole corresponding switching element that is turned on and off at least according to the output from the magnetic pole detection means and a voltage signal forming circuit composed of a plurality of resistors are built in the housing, and the combined resistance of the voltage signal forming circuit detects the magnetic pole The resistance value varies depending on the combination of magnetic pole detection means.
    The guard motor, wherein the voltage signal forming circuit outputs a different voltage to the input / output unit depending on the combination of the magnetic pole detecting means that detects the magnetic pole.

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