JP3883992B2 - A one-stroke linear stepping motor and a hit object launching apparatus using the same. - Google Patents

Description

  The present invention relates to a technical field of a linear motor and a hit object launching device (pachinko ball launching device) using the linear motor.

  As a conventional linear motor, a linear motor 70 shown in FIG. 7 has been proposed (Patent Document 1). The linear motor 70 is mounted on the slider 71 and the slider 71, and is disposed on the moving path 73, the fixed magnetic pole 72 having N poles and S poles alternately arranged along the arrow direction of the moving path 73, and A plurality of coil pairs 74 including coils 74a and 74b that are connected in series so that the generated magnetic field is in the opposite direction and connected to the controller 76, and the coil 74a and the coil 74b that are disposed at the junctions. The hall element 75 detects the approach of the fixed magnetic pole 72.

  The operation of the conventional linear motor 70 will be described. When the controller 76 supplies an exciting current to the coil pair 74 based on the detection signal output from the Hall element 75, the coils 74a and 74b are alternately different from the N pole and the S pole along the movement path 73. A magnetic field is generated, and the fixed magnetic pole 72 disposed on the slider 71 receives an attractive force or a repulsive force from the coils 74a and 74b and moves in the direction of the arrow of the movement path 73.

  In addition, a linear drive type ultrasonic actuator has also been proposed (Patent Document 2). The linear drive type ultrasonic actuator has a plate-like elastic body that generates longitudinal vibration and bending vibration, and a relative motion that makes pressure contact with the elastic body. An ultrasonic actuator comprising a member. FIG. 8 shows a conventional embodiment in which the linear drive type ultrasonic actuator is applied to a hit object launching apparatus.

  The hit object launching device (pachinko ball launching device) 80 shown in FIG. 8 includes a hitting unit 81, an operation unit 82, and a control unit 83. The hitting unit 81 includes a hitting ball striking 81b and the hitting ball hitting device. A vibration actuator 81 a for driving the rod 81 b is provided, and the ball hitting rod 81 b includes a ball protrusion 81 e that protrudes from a pachinko ball 85 mounted at a predetermined position on the firing rail 84. Further, guide rollers 88a and 88b are arranged on the lower end surface 81d of the base portion 81c of the hitting ball hitting 81b, guide the base portion 81c in the direction of the double arrow in FIG. 8, and further, the hitting hitting rod Detectors 87a and 87b for detecting the end of the movement range of the base part 81c of 81b are installed, and the detected signal is output to the control part 83 as base part position information.

The player's operation unit 82 includes a handle 82a installed on the front surface of the pachinko machine, and a spring 86 for adjusting the handle holding force when the handle 82a is operated. The handle 82a is biased in one direction by connecting a part of the rotating portion to the spring 86. A rotation angle detection unit 82b of the handle 82a is installed at a part of the rotation unit of the handle 82a. Also input as handle position information.

  The control unit 83 includes a motor control circuit 83a that calculates and outputs a drive voltage applied to the vibration actuator 81a from the base portion position information and the handle position information.

  The operation of the pachinko ball launcher 80 will be described below. Before the player operates the handle 82a, the handle 82a stops at a predetermined position, and the hitting ball 81b waits at a position where the end portion of the base portion 81c coincides with the detection portion 87a, and the pachinko ball 85 When the player turns the handle 82a to give an arbitrary rotation angle from the state where it is mounted at a predetermined position on the launch rail 54, the handle position information and the base portion position information are input to the motor control circuit 83a. When the motor control circuit 83a performs arithmetic processing, the drive voltage to be applied to the vibration actuator 81a is determined, and the vibration actuator 81a is driven, the ball protrusion 81e is driven rightward and the pachinko ball 85 is launched. . Since the end of the base portion 81c exists at the installation position of the detection portion 87b when the launch of the pachinko ball 85 is completed, the base portion position information is output from the detection portion 87b to the motor control circuit 83a, and the motor control circuit The drive voltage output from 83a is switched, the vibration actuator 81a is driven leftward, and the end of the base portion 81c stops at a position that coincides with the installation position of the detection portion 87a. Thereafter, the pachinko ball 85 is continuously fired by repeating this series of operations according to the player's handle operation.

JP 6-69285 JP-A-9-215822

  First, when the conventional linear motor 70 shown in FIG. 7 is used for the hitting part of the pachinko ball launching device, the reciprocating motion of the slider 71 can be performed in a plurality of steps. Although it is easy, on the other hand, since a plurality of fixed magnetic poles 72, a plurality of coil pairs 74, and the controller 76 are required, there is a problem that the hitting unit cost is increased.

  On the other hand, in the hit object launching apparatus using the linear drive type ultrasonic actuator shown in FIG. 8, the manufacturing yield of the linear drive type ultrasonic actuator is low. Since the vibration actuator 81a is pressed against the hitting ball 81b and the hitting ball 81b is driven by the frictional force, the driving force is not deteriorated due to wear of the press contact portion due to the frictional force. There was a problem.

A cylindrical two-pole permanent magnet fixed to the slider shaft and magnetized in the axial direction, and two slider cores fixed to both ends of the permanent magnet and each having two ring-shaped slider core magnetic pole teeth A stator having two stator cores each composed of two ring-shaped stator core magnetic pole teeth, which are magnetically coupled to the permanent magnet via the two slider cores, and each of the two stator cores. Ri Do of two excitation coils arranged ring-like between the stator core magnetic pole teeth has a home rest position and one stroke rest position the slider comes to rest by the detent force, the excitation current to the two excitation coils in one stroke linear stepping motor for reciprocating the rest position of the two said by the driving force generated by the supply, before The two ring-shaped slider core magnetic pole teeth are arranged so as to face the stator core magnetic pole teeth in the axial direction, one of which is fitted so as to cover the outer side of the permanent magnet end, and the other is the end of the permanent magnet Further, in the hit object launching apparatus that protrudes in the axial direction and uses the one-stroke linear stepping motor, the firing speed of the hitting object increases the excitation current supplied to the two excitation coils provided in the handle . Is adjusted by a potentiometer.

  One-stroke linear stepping with a simple structure and easy drive control can be provided at low cost for hitting a hitting object launching device.

A cylindrical two-pole permanent magnet fixed to the slider shaft and magnetized in the axial direction, and two slider cores fixed to both ends of the permanent magnet and each having two ring-shaped slider core magnetic pole teeth A stator having two stator cores each composed of two ring-shaped stator core magnetic pole teeth, which are magnetically coupled to the permanent magnet via the two slider cores, and each of the two stator cores. Ri Do of two excitation coils arranged ring-like between the stator core magnetic pole teeth has a home rest position and one stroke rest position the slider comes to rest by the detent force, the excitation current to the two excitation coils in one stroke linear stepping motor for reciprocating the rest position of the two said by the driving force generated by the supply, before The two ring-shaped slider core magnetic pole teeth are arranged so as to face the stator core magnetic pole teeth in the axial direction, one of which is fitted so as to cover the outer side of the permanent magnet end, and the other is the end of the permanent magnet Further, in the hit object launching apparatus that protrudes in the axial direction and uses the one-stroke linear stepping motor, the firing speed of the hitting object increases the excitation current supplied to the two excitation coils provided in the handle . Is adjusted by a potentiometer.

FIG. 1 shows a first longitudinal sectional view (first home stationary position of the slider) of the one-stroke linear stepping motor of the present invention. A one-stroke linear stepping motor 1 is fixed to a slider shaft 3a, and is a cylindrical two-pole permanent magnet 3b magnetized in the axial direction, fixed to both ends of the permanent magnet 3b, and stator core magnetic pole teeth 600a in the axial direction. 600b, 601a and 601b are arranged so as to be opposed to each other so as to cover the outer sides of the slider core magnetic pole teeth 400a and the permanent magnet 3b that protrude in the axial direction from the ends of two ring-shaped permanent magnets 3b. The fitted slider core magnetic pole tooth 400b , the slider core magnetic pole tooth 401a fitted so as to cover the outer end of the permanent magnet 3b, and the slider core magnetic pole tooth 401b protruding in the axial direction from the end of the permanent magnet 3b. The slider 3 is composed of slider cores 4a and 4b, and the permanent magnet 3b is magnetically coupled via the slider cores 4a and 4b. The stator 5 having the stator cores 6a and 6b composed of two ring-shaped stator core magnetic pole teeth 600a and 600b and 601a and 601b, respectively, between the stator core magnetic pole teeth 600a and 600b of the stator core 6a, and the stator core of the stator core 6b A one-stroke linear stepping motor 1 comprising a ring-shaped exciting coil 8a and an exciting coil 8b disposed between magnetic pole teeth 601a and 601b. The one-stroke linear stepping motor 1 is a slider core 4a of a slider 3 by a detent force. 4b has a home stationary position (P2, P4) where the center is stationary and a one-stroke stationary position (P1, P3) (FIG. 1 is a first longitudinal sectional view of a one-stroke linear stepping motor of the present invention (slider Is the first home stationary position The slider 3 is stationary at the home stationary position (P2, P4), and FIG. 2 is a second longitudinal sectional view of the one-stroke linear stepping motor of the present invention (the slider is the second one-stroke). The slider 3 is stationary at the one-stroke stationary position (P1, P3)), and the slider 3 is driven by the driving force generated by the excitation current supplied to the excitation coil 8a or the excitation coil 8b. Reciprocates between the home stationary position (P2, P4) and the one-stroke stationary position (P1, P3). It should be noted that when the slider 3 escapes beyond the attraction force due to detent force or driving force due to external impact, the slider core 4a is attached to the caps 7a, 7b in which the bearings 9a, 9b of the slider shaft 3a are incorporated. In order to prevent the end portions of the slider core magnetic pole teeth 400a and 401b of 4b from colliding and damaging the end portions of the slider core magnetic pole teeth 400a and 401b to cause deterioration of the motor performance, the slider shaft 3a Are provided with stoppers 10a and 10b.

  That is, the stator core magnetic pole of the stator core 6a is supplied by supplying an exciting current to the exciting coil 8a and the exciting coil 8b while the slider 3 is stationary at the first home stationary position (P2, P4) by detent force. The teeth 600a and 600b are excited to the S pole and the N pole, respectively. Similarly, the stator core magnetic pole teeth 601a and 601b of the stator core 6b are excited to the N pole and the S pole, respectively, and the slider 3 is attracted forward. The slider 3 is finally moved to the second one-stroke stationary position (P1, P3) by the detent force by moving toward the second one-stroke stationary position (P1, P3).

  Similarly, the stator core magnetic pole teeth 600a of the stator core 6a from the second one-stroke stationary position (P1, P3) of the slider 3 shown in FIG. 2 to the first home stationary position (P2, P4) of the slider 3 shown in FIG. 1 and 600b are excited to the N pole and the S pole, respectively, and similarly, the stator core magnetic pole teeth 601a and 601b of the stator core 6b are excited to the S pole and the N pole, respectively, and the slider 3 is attracted backward, as shown in FIG. The slider 3 is finally moved to the first home stationary position (P2, P4) by a detent force by moving toward the first home stationary position (P2, P4).

  The first cross-sectional view of the one-stroke linear stepping motor of the present invention shown in FIG. 3 is a cross-sectional view taken along line AA, BB, CC, or DD shown in FIG. In order to generate detent torque around the shaft 3a and to fix the slider shaft 3a at a predetermined angular position, the stator core magnetic pole teeth 600a and 600b of the stator core 6a and the outer periphery of the stator core magnetic pole teeth 601a and 601b of the stator core 6b are projected. Protrusions 31a and 31b, slider core magnetic pole teeth 400a and 400b of the slider core 4a, and protrusions 32a and 32b are provided on the outer periphery of the slider core magnetic pole teeth 401a and 401b of the slurder core 4b. 31b and the protrusions 32a and 32b are at an angular position where the sliders 3 are opposed to each other, and the slider 3 is stationary. By setting the detent torque optimally, at the time of movement of the slider 3, it is possible to avoid unnecessary rotation movement about the slider 3a of the slider 3.

  FIG. 4 is a first exploded longitudinal sectional view of a one-stroke linear stepping motor according to the present invention. The one-stroke linear stepping motor first includes a cylindrical stator core member 41a having stator core magnetic pole teeth 600b and 601a, respectively. 41b is overlapped in the axial direction, and then, the stator core members 42a and 42b having the stator core magnetic pole teeth 600a and the stator core magnetic pole teeth 601b, respectively, are assembled with the exciting coils 8a and 8b. The permanent magnet 3b is fixed to the slider shaft 3a, the slider cores 4a and 4b are attached, the slider 3 with the stoppers 10a and 10b fixed to the slider shaft 3a is inserted from the axial direction, and the bearings 9a and 9b of the slider shaft 3a are incorporated. The caps 7a and 7b are overlapped and fitted in the axial direction. Set assembly, the magnetizer by a, is completed by magnetizing the permanent magnets 3b in the axial direction.

  The second cross-sectional view of the one-stroke linear stepping motor of the present invention shown in FIG. 5 is the AA, BB, CC, DD sectional view shown in FIG. 1 or FIG. Correspondingly, in order to generate a detent torque around the slider 3a and fix the slider shaft 3a in a predetermined position, the stator core magnetic pole teeth 600a and 600b of the stator core 6a and the stator core magnetic pole teeth 601a and 601b of the stator core 6b are fixed. Notches 51a and 51b are provided on the outer peripheries of the corresponding magnetic pole teeth, slider core magnetic pole teeth 400a and 400b of the slider core 4a, and protrusions 32a and 32b are provided on the outer periphery of the slider core magnetic pole teeth 401a and 401b of the slider core 4b. Angular positions where two intermediate points between the notches 51a and 51b and the protrusions 32a and 32b face each other. As in the first embodiment, the slider 3 is stationary, and by setting the detent torque optimally, unnecessary rotational motion of the slider 3 around the slider 3a can be avoided when the slider 3 is moved. it can.

  FIG. 6 shows a block diagram of a hit object launching device using the one-stroke linear stepping motor of the present invention. The hit subject launching device (pachinko ball launching device) 60 includes a hitting unit 61 and an operation unit. 62 and a control unit 63. The striking unit 61 is mounted on the slider shaft 3a of the one-stroke linear stepping motor 2 shown in FIG. 61b and 61c are connected to the exciting coils 8a and 8b of the one-stroke linear stepping motor 2 from the driver 63c of the motor control circuit 63a of the control unit 63.

The player's operation section 62 includes a handle 62a installed on the front surface of the pachinko machine and a spring 66 for adjusting the handle holding force when the handle 62a is operated. The handle 62 a is urged in one direction by connecting a part of the rotating portion to the spring 66. A potentiometer 62b and a photo interrupter or photo reflector type optical sensor 62c are installed in a part of the rotating portion of the handle 62a, and an optical sensor output signal corresponding to the rotation angle of the handle 62a is sent to the motor of the control unit 63. The potentiometer 62b is connected to the gate of the NMOS T94 of the driver 90 shown in FIG. 9 and VSS (ground), and the handle position information is input to the driver 63c of the motor control circuit 63a. (90).

  The control unit 63 includes a motor control circuit 63a including a driver 63c that supplies an excitation current to the one-stroke linear stepping motor 1 from the handle position information, and a driving pulse generation unit 63b that outputs a driving pulse to the driver 63c. Yes.

  Next, the configuration of the driver 63c (90) of the motor control circuit 63a will be described with reference to FIG. The driver 90 is a push-pull type driver composed of PMOST91, PMOST92 (P-channel MOS transistor), NMOST93 and NMOST94 (N-channel MOS transistor), and the sources of the PMOST91 and PMOST92 are connected to VDD (power supply). The sources of NMOST93 and NMOST94 are connected to VSS (ground), the drain of PMOST91 and the drain of NMOST93 are connected, the drain of PMOST92 and the drain of NMOST94 are connected, and both ends of excitation coil 8a and excitation coil 8b are PMOST91. Are connected to the drains of the PMOST92, and the gates of the PMOST91 and NMOST93 are output from the drive pulse generating means 63b through the inverter 99a. Dynamic pulse A97 is input, through an inverter 99b to the gates of PMOST92 and NMOST94, likewise, the drive pulse B98 is input is output from the drive pulse generating means 63 b. When the drive pulse A is at the H level and the drive pulse B is at the L level, the PMOST 91 and the NMOS T94 are turned on, the excitation current 90a is supplied to the excitation coils 8a and 8b, the drive pulse A is at the L level, and the drive pulse B is at the H level. At this time, the PMOST 92 and the NMOS T93 are turned on, and the exciting current 90b is supplied to the exciting coils 8a and 8b.

  The operation of the control unit 63 will be described using each signal of the present invention shown in FIG. When the handle 62a rotates to a predetermined angular position, the handle 62a outputs an optical sensor output signal 101, which is one piece of handle position information, to the motor control circuit 63a. Immediately thereafter, the MON signal (motor rotation at H level, motor non-rotation at L level) becomes H level in synchronization with the rising of the optical sensor signal 101, and the drive pulse generating means 63 b outputs the drive pulse A 104 to the driver 90. Thereafter, the cycle in which the drive pulse B105 is output after Δt time is repeated. When the handle 62a is returned to the predetermined angular position, the optical sensor output signal 102 is output to the motor control circuit 63a, and the MON signal becomes L level at the rising edge, and the drive pulse generating means 63b outputs the drive pulse A and the drive pulse B. Output to the driver 90 is stopped. As described above, the motor control of the control unit 63 of the motor control circuit 63a is open control without a feedback signal.

  The operation of the pachinko ball launcher 60 will be described below. Before the player operates the handle 62a, the handle 62a stops at a predetermined position, and the one-stroke linear stepping motor 1 stops at the first home stationary position (P2, P4). Correspondingly, it is at a predetermined position away from the pachinko ball 65. Next, when the player turns the handle 62a to give a predetermined rotation angle from a state where the pachinko ball 65 is mounted at a predetermined position on the firing rail 54, the optical sensor 62c causes the motor control circuit 63a to drive pulses. The optical sensor output signal is output to the generating means 63b, the MON signal reaches the H level, the driving pulse generating means 63b outputs the driving pulse A to the driver 63c, and the driver 63c connects the exciting current 90a shown in FIG. , 61c and supplied to the one-stroke linear stepping motor 1. Then, the one-stroke linear stepping motor 1 is moved from the home stationary position (P2, P4) toward the one-stroke stationary position (P1, P3) of the one-stroke linear stepping motor 2 by the driving force. 61a hits and fires a pachinko ball 65. The drive pulse B is output to the driver 63c after Δt time after the supply of the excitation current 90a is stopped (at least after the slider 3 is stopped at the one-stroke stationary position (P1, P3) by the detent force), and the excitation current 90b shown in FIG. Is supplied to the one-stroke linear stepping motor 2, and the one-stroke linear stepping motor 2 is moved from the one-stroke stationary position (P1, P3) to the home stationary position (P2, P4) of the one-stroke linear stepping motor 1 by the driving force. After the supply of the excitation current 90b is stopped, it stops at the home stationary position (P2, P4) by the detent force.

  The above operation is a firing operation of one pachinko sphere 65, and continuous operation of the pachinko sphere 65 can be realized by continuously performing this operation. The player further turns the handle 62a to change the resistance value of the potentiometer 62b connected to the gate of the NMOS T94 and VSS (ground) of the driver 90, and the gate voltage increases. Correspondingly, the exciting current 90a is increased and the pachinko ball 65 is fired at a higher speed, so that the player can easily adjust the position of the handle 62 by observing the movement of the fired pachinko ball 65.

  The one-stroke linear stepping motor of the present invention can be provided as a low-cost vibration actuator with a simple structure and open drive for hitting and firing a pachinko ball of a pachinko ball launching device.

1 shows a first longitudinal sectional view of a one-stroke linear stepping motor of the present invention (the slider is in a first home stationary position). FIG. Example 1 The 2nd longitudinal cross-sectional view (The slider is in the 2nd 1 stroke rest position) of the 1 stroke linear stepping motor of this invention is shown. Example 1 1 shows a first cross-sectional view of a one-stroke linear stepping motor of the present invention. Example 1 1 shows a first exploded longitudinal sectional view of a one-stroke linear stepping motor of the present invention. Example 1 The 2nd cross-sectional view of the 1 stroke linear stepping motor of this invention is shown. (Example 2) The block explanatory drawing of the hit object launching device using the 1 stroke linear stepping motor of the present invention is shown. The perspective view of the conventional linear motor is shown. The block explanatory drawing of the hit object launching device using the conventional vibration actuator is shown. It is explanatory drawing of the driver in connection with this invention. It is a time change of each signal and drive pulse concerning this invention.

Explanation of symbols

1, 2 1-stroke linear stepping motor 3 Slider 3a Slider shaft 3b Permanent magnets 31a, 31b, 32a, 32b Protruding portions 4a, 4b Slider cores 41a, 41b, 42a, 42b Stator core members 5a, 6a, 6b Stator cores 51a, 51b Notches 62b , 96 Potentiometer 62c Optical sensor 7a, 7b Cap 9a, 9b Slider bearing 8a, 8b Excitation coil 10a, 10b Stopper

Claims (4)

A cylindrical two-pole permanent magnet fixed to the slider shaft and magnetized in the axial direction, and two slider cores fixed to both ends of the permanent magnet and each having two ring-shaped slider core magnetic pole teeth A stator having two stator cores each composed of two ring-shaped stator core magnetic pole teeth, which are magnetically coupled to the permanent magnet via the two slider cores, and each of the two stator cores. Ri Do of two excitation coils arranged ring-like between the stator core magnetic pole teeth has a home rest position and one stroke rest position the slider comes to rest by the detent force, the excitation current to the two excitation coils in one stroke linear stepping motor for reciprocating the rest position of the two said by the driving force generated by the supply, before The two ring-shaped slider core magnetic pole teeth are arranged so as to face the stator core magnetic pole teeth in the axial direction, one of which is fitted so as to cover the outer side of the permanent magnet end, and the other is the end of the permanent magnet A one-stroke linear stepping motor characterized by protruding in the axial direction . In order to hold the slider at a predetermined angular position around the slider axis, the slider core magnetic pole teeth of the two slider cores have radial protrusions, and the stator core magnetic pole teeth of the two stator cores are The one-stroke linear stepping motor according to claim 1, further comprising a protruding portion or a notch in a radial direction. 3. The one-stroke linear stepping motor according to claim 1, wherein the stator is assembled by stacking four stator members each having one ring-shaped magnetic pole tooth in the radial direction. 4. A hit object launching apparatus using the one-stroke linear stepping motor according to claim 1 , wherein a handle for adjusting a firing speed of the hit object increases an exciting current supplied to the two exciting coils. A hitting object launching device comprising a potentiometer.