JP6820065B2 - Solenoid drive mechanism and solenoid drive method - Google Patents

Description

The present invention relates to a solenoid drive mechanism using a solenoid, and in particular, a solenoid drive mechanism and a solenoid capable of reducing an operation sound (impact sound) generated at the time of suction (adsorption; operation) or return (release) of the solenoid. Regarding the driving method.

In a solenoid drive mechanism using this type of solenoid, a predetermined excitation voltage is generally applied to the solenoid at the time of suction (adsorption) of the solenoid to operate the operating range at once. Therefore, there is a problem that the impact at the time of suction (adsorption) is large and the solenoid drive mechanism easily vibrates.

Further, in the solenoid drive mechanism, the application of a predetermined exciting voltage to the solenoid is stopped, the excitation to the solenoid is cut, and the suction (adsorption) thereof is released. At that time, the solenoid drive mechanism is made to collide with the stopper by the returning (release) force of the urging means such as the spring to specify the position. At this time, the impact of the solenoid drive mechanism colliding with the stopper causes the solenoid drive mechanism to vibrate or generate a loud collision noise.

Further, there is a problem that the stopper is easily damaged by repeating the suction (adsorption) and return (release) operations.

In order to prevent the stopper from being damaged, it is conceivable to take measures to improve the strength of the stopper by increasing the thickness of the stopper member. In addition, in order to prevent collision noise, it is conceivable to attach a cushioning material to the stopper. However, if such measures are taken, there is a problem that the parts price and man-hours increase. Further, depending on the structure of the solenoid drive mechanism, it may not be possible to attach a cushioning material to the stopper.

Various solenoid drive mechanisms have been proposed to solve the above-mentioned problems.

For example, Patent Document 1 discloses an "electromagnetic solenoid driving method" for obtaining an operation noise prevention and vibration isolation effect at the time of suction and return. In Patent Document 1, the voltage applied to the solenoid is gradually increased and then decreased with time to prevent suction, operation noise at the time of recovery, and vibration isolation.

Further, Patent Document 2 discloses an "actuator" capable of reducing an impact sound generated at the time of locking or unlocking by applying a minimum operating voltage to each solenoid to operate a lever.

In Patent Document 2, the actuator for moving the lever is a plunger that moves by exciting a solenoid with an external power source and a lever that operates directly (so-called "interlocking") with the plunger in response to the movement of the plunger (so-called "interlocking"). It is equipped with an interlocking member) and a regulating member that stops the movement of the lever when it hits.

In the actuator control circuit of Patent Document 2, the voltage gradually increases during the locking energizing time, which is the energizing time required to switch to the locked state by PWM (pulse width modulation) control, during the operating voltage detection time. It is controlled so that it becomes large. The voltage may be controlled to gradually increase at a constant rate at regular intervals. When unlocking, there is less demand for impact noise than when locking, so during the energizing time during unlocking, which is the energizing time required to switch to the unlocked state, the voltage is set to a predetermined voltage higher than the minimum operating time. The corresponding operating voltage is set. As in the case of lock operation, control may be performed so as to gradually increase the energization time from a voltage lower than the minimum operating voltage.

Further, Patent Document 3 discloses a "solenoid control device" capable of suppressing the speed of a plunger at the time of a collision to prevent sound generation and friction.

In Patent Document 3, the main part of the solenoid valve is composed of a plunger, a rod, an electric coil, a core, a valve seat, a compression coil spring and a sleeve. The plunger and the rod attached to the plunger are slidably supported in the vertical direction and are pushed downward by the force of the spring. Therefore, when the electric coil is not energized, the tip of the rod comes into contact with the valve seat and the valve is closed. When the electric coil is energized, a magnetic attraction is generated between the plunger and the core, and the plunger rises so that the tip of the rod separates from the valve seat and the valve opens.

In the solenoid valve disclosed in Patent Document 3, when the energized state is switched to the non-energized state, the tip of the rod and the valve seat collide with each other. Therefore, the solenoid control device switches the energization on / off, and then reverses the energization on / off again for the period T2 before the collision between the plunger and the valve seat (when T1 has passed). Control the signal. Different times are set for T1 and T2 when the valve is opened to closed and when the valve is opened to open, and the time T1 is automatically set according to the power supply voltage, master cylinder pressure (M / C pressure) and temperature. It is controlled so that the speed at the time of collision does not fluctuate significantly.

Japanese Unexamined Patent Publication No. 58-127304 Japanese Unexamined Patent Publication No. 2014-09921 Japanese Unexamined Patent Publication No. 06-14238

However, Patent Documents 1 to 3 have the following problems.

In Patent Document 1, since the voltage applied to the solenoid during suction is gradually increased with time, it is possible to prevent operating noise and vibration isolation. However, in Patent Document 1, since the voltage applied to the solenoid is gradually lowered with time at the time of recovery, there is a problem that recovery takes time.

Also in Patent Document 2, the minimum operating voltage is applied to the solenoid, or the voltage is applied so as to gradually increase to reduce the impact noise generated during operation. However, in Patent Document 2, when unlocked (when restored; when released), an operating voltage corresponding to a predetermined voltage higher than the minimum operating voltage is set, or a voltage lower than the minimum operating voltage is applied to the energization time. It is controlled to raise the voltage step by step. With such control, it becomes difficult to prevent the impact of colliding with the stopper.

In Patent Document 3, when the solenoid is switched from the energized state to the non-energized state, the energization is switched on / off in order to prevent the generation of the sound of collision between the plunger and the sleeve and the wear. However, in Patent Document 3, it is necessary to adjust the time T1 according to changes in voltage, pressure, and temperature. Such a method has a problem that it is not versatile and it takes time to set data because all the parameters are different depending on the change of the device.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a solenoid drive mechanism and a solenoid drive method which are versatile and can set data in a short time.

In order to achieve the above object, as one aspect of the present invention, the solenoid drive mechanism uses an urging means to urge the plunger in the release direction, and the plunger is excited by the exciting voltage to urge the plunger. A solenoid that drives in a suction direction opposite to the release direction against the urging force of the above, a stopper that urges and stops the plunger by the urging force of the urging means when the solenoid is not excited, and the above. A solenoid drive mechanism including a control unit that controls the excitation voltage supplied to the solenoid, and the control unit gradually increases the excitation voltage to a predetermined excitation voltage when the solenoid is attracted. Controlled so that when the solenoid is released, the predetermined excitation voltage is turned off for the OFF time (S1), then turned on for the ON time (S2), and then turned off again, and the ON time (S2). ) Is determined based on the adsorption completion time (T1) from the excitation of the solenoid with the predetermined excitation voltage to the completion of the adsorption of the plunger, which is measured at the time of the initial operation, and is determined based on the OFF time (S1). Is determined based on the release completion time (T2) from turning off the predetermined exciting voltage supplied to the solenoid to releasing the plunger, which is measured at the time of the initial operation.

As another aspect of the present invention, in the solenoid driving method, the plunger is urged in the release direction by the urging means and the plunger is excited by the exciting voltage to counter the urging force of the urging means. A solenoid driving method of a solenoid driving mechanism including a solenoid that drives in a suction direction opposite to the releasing direction and a stopper that urges and stops the plunger by the urging force of the spring when the solenoid is not excited. Therefore, when the solenoid is attracted, the exciting voltage is controlled to be gradually increased to a predetermined exciting voltage, and when the solenoid is released, the predetermined exciting voltage is turned off for an OFF time (S1). Therefore, it is controlled to turn on for only the ON time (S2) and then to turn off again, and the ON time (S2) is the plunger after exciting the solenoid with the predetermined excitation voltage measured at the initial operation. The OFF time (S1) is determined based on the adsorption completion time (T1) until the adsorption of the solenoid is completed, and the OFF time (S1) is determined by turning off the predetermined exciting voltage supplied to the solenoid, which is measured during the initial operation. It is determined based on the release completion time (T2) from the release to the release of the solenoid.

According to the present invention, there is versatility and data setting can be performed in a short time.

It is a circuit diagram which shows the structure of the solenoid and the control part which controls the exciting voltage applied to the solenoid. It is a graph for demonstrating the solenoid driving method which concerns on one Embodiment of this invention. It is a figure which shows the timing which performs the suction / release of a solenoid outside the actual operation such as the initial operation of a solenoid drive mechanism, and periodically. It is a figure which shows the drive current and time measured by the control unit shown in FIG. 1 when suction / release of a solenoid is performed at the timing shown in FIG. It is a left side view which shows the schematic structure of the solenoid drive mechanism which concerns on one Embodiment of this invention in the state which the solenoid is not excited. FIG. 5 is a left side view showing a schematic configuration of the solenoid drive mechanism of FIG. 5 in a state where the solenoid is excited. FIG. 5 is a left side view showing a schematic configuration of the solenoid drive mechanism of FIG. 5 in a state where the stacker is temporarily stopped before the plunger is attracted. FIG. 5 is a cross-sectional view of FIG. It is sectional drawing in the case of storing a transport card in a stacker.

An embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a circuit diagram showing a configuration of a solenoid 3 and a control unit 20 that controls an exciting voltage applied to the solenoid 3. A detailed configuration example of the solenoid drive mechanism will be described later with reference to the drawings, but the solenoid drive mechanism includes a plunger 4 and a stopper 7 (see FIG. 5).

The control unit 20 includes a CPU (central processing unit) 21, a switch 22, a current detection unit 23, a DC power supply 24, and a diode 25. The CPU 21 controls the exciting voltage applied to the solenoid 3. The current detection unit 23 detects the drive current generated by the excitation of the solenoid 3.

FIG. 2 is a graph for explaining a solenoid driving method according to an embodiment of the present invention. That is, FIG. 2 is a graph showing the excitation of the solenoid 3 and the operation of the solenoid drive mechanism. In FIG. 2, the vertical axis represents the exciting voltage and the horizontal axis represents the time.

First, the operation of the solenoid 3 at the time of adsorption will be described.

When the excitation of the solenoid 3 is turned on, as shown in FIG. 2, the excitation voltage is controlled to be gradually increased like V3, V2, V1 and V0 (V3 <V2 <V1 <V0). Here, V0 is a predetermined exciting voltage. In other words, the CPU 21 gradually increases the exciting voltage to a predetermined exciting voltage V0 when the solenoid 3 is attracted.

As a result, the solenoid drive mechanism is moved step by step, and the impact when the solenoid 3 is attracted is limited to the amount of movement in the range shown in P1 of FIG. 2, and the collision force is alleviated and the generation of vibration is reduced. ..

Next, the operation when the solenoid 3 is released will be described.

When releasing the solenoid 3, the predetermined excitation voltage V0 is turned off, and when the OFF time S1 elapses before the solenoid drive mechanism collides with the stopper 7 (see FIG. 5), the predetermined excitation voltage V0 is turned ON again for the ON time S2. Only turn on. As a result, a suction force is generated so that the return operation of the solenoid drive mechanism is weakened. After that, the predetermined excitation voltage V0 is turned off. As a result, the restoring force of the solenoid drive mechanism collides with the stopper 7 from a small position. As a result, the energy at the time of collision with the stopper 7 is reduced, and the impact and collision noise can be reduced.

However, in this control, the timing of re-excitation ON may change due to fluctuations in the load of the solenoid drive mechanism.

Therefore, in the present embodiment, the solenoid 3 is attracted / released by the operation shown in FIG. 3 at a timing other than the actual operation such as the initial operation of the solenoid drive mechanism and at a timing of periodic operation, as described below. Make various measurements.

As shown in FIG. 4, the current detection unit 23 (FIG. 1) detects the first and second back electromotive forces B1 and B2 generated when the adsorption / release of the solenoid 3 is completed. The CPU 21 (FIG. 1) has a suction completion time T1 from exciting the solenoid 3 with a predetermined excitation voltage V0 until the adsorption of the plunger 4 (see FIG. 5) is completed, and after turning off the predetermined excitation voltage V0. The release completion time T2 until the plunger 4 is released is measured.

Then, the CPU 21 feeds back and sets S1 = T2 × n1 and S2 = T1 × n2 based on the adsorption completion time T1 and the release completion time T2. Here, n1 and n2 are first and second constants smaller than 1, respectively. As a result, it is possible to respond to changes in the load of the solenoid drive mechanism, and it is possible to use it for various solenoid drive mechanisms.

Next, a specific configuration example of the solenoid drive mechanism to which the present embodiment is applied will be described. In the following description, the directions will be described using terms of front, back, up, down, left, and right, but these are used for explanation and are not intended to limit the present invention.

Here, the Cartesian coordinate system (X, Y, Z) is used. In the Cartesian coordinate system (X, Y, Z), the X-axis direction is the front-back direction (depth direction), the Y-axis direction is the left-right direction (width direction), and the Z-axis direction is the up-down direction (height direction). is there.

First, the terms used in the present specification will be briefly described. "Biasing" means being urged.

FIG. 5 is a left side view showing a schematic configuration of a solenoid drive mechanism according to an embodiment of the present invention. FIG. 5 shows a state in which the solenoid 3 is not excited.

The illustrated solenoid drive mechanism includes a stacker 1, a link 2, a solenoid 3, a plunger 4, a rotation center 5, a spring 6, a stopper 7, and a control unit 20 (see FIG. 1). The spring 6 has a tensile force. Therefore, the spring 6 acts as an urging means having a tensile force as an urging force.

The stacker 1 is supported by the rotation center 5 and is arranged so as to abut against the stopper 7 due to the tensile force of the spring 6. Further, the stacker 1 is connected to the solenoid 3 and the plunger 4 via the link 2. Therefore, the plunger 4 is pulled (urged) in the release direction (forward direction) by the spring 6. By being excited by the exciting voltage, the solenoid 3 drives the plunger 4 in the suction direction (rear direction) in the direction opposite to the release direction against the tensile force (biasing force) of the spring 6.

In the illustrated example, a collection box 10 is provided below the stacker 1. Two pairs of transfer rollers 8 and transfer guides 9 are provided behind the stacker 1. The two pairs of transport rollers 8 are rotationally driven by a roller drive unit (not shown).

When the solenoid 3 is excited in the state of FIG. 5, the solenoid 3 attracts the plunger 4 in the R direction (backward direction) of the arrow in the figure of FIG. 5, and as shown in FIG. 6, the stacker 1 is via the link 2. Rotates counterclockwise by an angle θ1 minutes around the center of rotation 5.

8 and 9 are cross-sectional views of FIGS. 5 and 6, respectively.

As shown in FIG. 8, the stacker 1 has a storage unit 1a inside the stacker 1 that operates in an arrow V with a linear drive unit (not shown).

The operation of this embodiment will be described below.

First, the initial operation of the solenoid drive mechanism will be described.

From the state of FIG. 5, as shown in FIG. 3, the solenoid 3 is excited with a predetermined exciting voltage V0, the plunger 4 is attracted in the arrow R direction (rear direction) in FIG. 5, and the stacker is in the state of FIG. Move 1. After a lapse of a certain period of time, as shown in FIG. 3, the predetermined exciting voltage V0 applied to the solenoid 3 is turned off, and the stacker 1 is returned to the state where the stacker 1 abuts on the stopper 7 in FIG.

When the drive current is detected by the current detection unit 23 shown in FIG. 1 when the operation shown in FIG. 3 is performed, the state shown in FIG. 4 is obtained.

As described above, the current detection unit detects the first and second back electromotive forces B1 and B2 generated when the adsorption and release of the solenoid 3 are completed, and the CPU 21 causes the solenoid 3 to have a predetermined excitation voltage V0. The adsorption completion time T1 from the excitation with the above to the completion of the adsorption of the plunger 4 and the release completion time T2 from the turning off of the predetermined excitation voltage V0 to the release of the plunger 4 are measured.

Based on the adsorption completion time T1 and the release completion time end T2 measured here, the CPU 21 sets the OFF time S1 and the ON time S2 in FIG. 2 to S1 = T2 × n1 and S2 = T1 × n2 (n1, n2). Set by the first and second constants).

Next, the operation of the actual solenoid drive mechanism during operation will be described.

As shown in FIG. 5, the transport card Ta is sandwiched between the transport rollers 8 rotated by a roller drive unit (not shown), transported in the direction of arrow P (forward direction) in the figure, and collected in the collection box 10.

Suppose you want to store the transport card Ta in the stacker 1. In this case, by exciting the solenoid 3 as shown in FIG. 2 and attracting the plunger 4 in the R direction (backward direction) of the arrow in FIG. 5, the stacker 1 via the link 2 is as shown in FIG. , Rotates counterclockwise by an angle θ1 minutes around the center of rotation 5.

During this period, as shown in FIG. 2, the CPU 21 gradually raises the excitation voltage from V3 to a predetermined excitation voltage V0 from the excitation ON. As a result, before the plunger 4 is attracted, the stacker 1 is temporarily stopped at the position shown in FIG. 7, and the excitation at the position indicated by the arrow P1 in FIG. 2 causes the movement by the angle θ2 shown in FIG. As a result, the impact when the plunger 4 is attracted is reduced, and the solenoid drive mechanism can be operated without the stacker 1 vibrating significantly.

FIG. 9 is a cross-sectional view when the transport card Ta is stored in the stacker 1.

First, the storage unit 1a is operated by the linear drive unit in the direction of arrow V1 in the drawing, and the transfer card Ta is conveyed by the transfer roller 8. After that, the storage unit 1a is moved by the linear drive unit in the direction of arrow V2 in the drawing, and the transport card Ta is stored in the stacker 1.

After storing the transport card Ta in the stacker 1, the excitation of the solenoid 3 in FIG. 6 is turned off, the stacker 1 is pulled by the spring 6, and the stacker 1 is moved around the center of rotation 5 until the stacker 1 hits the stopper 7. Rotate clockwise by an angle θ1 minute to obtain the state shown in FIG.

At this time, as shown in FIG. 2, after the predetermined exciting voltage V0 applied to the solenoid 3 is turned off and the OFF time S1 elapses, the predetermined exciting voltage V0 applied to the solenoid 3 is applied again during the ON time S2. Turn on. As a result, the impact can be mitigated and the operating noise can be reduced by reducing the amount of movement when the stacker 1 collides with the stopper 7.

As described above, the solenoid drive mechanism of the present embodiment has the following two features, and is used when the solenoid 3 is attracted / released without ensuring the strength or adding a sound deadening member to the solenoid drive mechanism. Collision force, vibration, and operating noise can be reduced.

The first feature is that the exciting voltage applied to the solenoid 3 is gradually increased when the solenoid 3 is attracted, and the position of the solenoid drive mechanism is changed stepwise, so that the amount of movement of the solenoid 3 during adsorption is achieved. To reduce the impact when the solenoid 3 is attracted.

The second feature is that when releasing the adsorption of the solenoid 3, the exciting voltage applied to the solenoid 3 is turned on again just before the solenoid drive mechanism hits the stopper 7, and the solenoid drive mechanism collides with the stopper 7. To reduce the amount and speed of movement of the solenoid drive mechanism.

Although the embodiments of the present invention have been described above, the present invention is not limited thereto. For example, the present invention also includes a form in which a part or all of the embodiments described above are appropriately combined, and a form in which the embodiment is appropriately modified.

For example, in the above embodiment, the case where the urging means is a spring 6 is taken as an example, but the present invention may use a urging means other than the spring.

1 Stacker 1a Storage part 2 Link 3 Solenoid 4 Plunger 5 Rotation center 6 Spring (Aggression means)
7 Stopper 8 Conveyor roller 9 Conveyance guide 10 Collection box 20 Control unit 21 CPU
22 Switch 23 Current detector 24 DC power supply 25 Diode Ta Conveyor card Tb Recovery card

Claims (6)

Plungers that are urged in the release direction by urging means,
A solenoid that drives the plunger in the suction direction opposite to the release direction against the urging force of the urging means by being excited by the exciting voltage.
A stopper that urges and stops the plunger with the urging force of the urging means when the solenoid is not excited.
A control unit that controls the exciting voltage supplied to the solenoid, and
It is a solenoid drive mechanism equipped with
The control unit
At the time of adsorption of the solenoid, the exciting voltage is controlled to be gradually increased to a predetermined exciting voltage.
When the solenoid is released, the predetermined exciting voltage is turned off for the OFF time (S1), then turned on for the ON time (S2), and then turned off again.
The ON time (S2) is determined based on the adsorption completion time (T1) from the excitation of the solenoid with the predetermined excitation voltage to the completion of the adsorption of the plunger, which is measured during the initial operation.
The OFF time (S1) is determined based on the release completion time (T2) from when the predetermined exciting voltage supplied to the solenoid is turned off to when the plunger is released, which is measured during the initial operation. ,
A solenoid drive mechanism characterized by this. When the first and second constants are n1 and n2 smaller than 1, respectively, the OFF time (S1) and the ON time (S2) are expressed by the following equations.
S1 = T2 × n1,
S2 = T1 × n2
The solenoid drive mechanism according to claim 1. The solenoid drive mechanism according to claim 1 or 2, wherein the urging means comprises a spring having a tensile force as the urging force. Plungers that are urged in the release direction by urging means,
A solenoid that drives the plunger in the suction direction opposite to the release direction against the urging force of the urging means by being excited by the exciting voltage.
A stopper that urges and stops the plunger with the urging force of the spring when the solenoid is not excited.
It is a solenoid drive method of a solenoid drive mechanism provided with.
At the time of adsorption of the solenoid, the exciting voltage is controlled to be gradually increased to a predetermined exciting voltage.
When the solenoid is released, the predetermined exciting voltage is turned off for the OFF time (S1), then turned on for the ON time (S2), and then turned off again.
The ON time (S2) is determined based on the adsorption completion time (T1) from the excitation of the solenoid with the predetermined excitation voltage to the completion of the adsorption of the plunger, which is measured during the initial operation.
The OFF time (S1) is determined based on the release completion time (T2) from when the predetermined exciting voltage supplied to the solenoid is turned off to when the plunger is released, which is measured during the initial operation. ,
A solenoid drive method characterized by that. When the first and second constants are n1 and n2 smaller than 1, respectively, the OFF time (S1) and the ON time (S2) are expressed by the following equations.
S1 = T2 × n1,
S2 = T1 × n2
The solenoid driving method according to claim 4, wherein the solenoid is driven. The solenoid driving method according to claim 4 or 5, wherein the urging means comprises a spring having a tensile force as the urging force.

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