JP2002218780A - Controller of motor in massage machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller which properly controls the rotational speed of a motor used for a massage machine or the like, by computing the rotational speed on the unit of one rotation or plural rotations, regarding the revolution control of the motor. SOLUTION: A magnetic pole detection element 12, provided in the motor 9, detects the rotating magnetic field of the motor and outputs a position signal SP, is inputted into a waveform synthesizing circuit 14, outputs a positional speed direction signal, and is inputted to a speed control circuit 15 and to an arithmetic circuit 16. The arithmetic circuit measures a single rotation portion time, with the amount of one rotation of the motor as being one unit, and computes the rotational speed form that measurement value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device used in, for example, a chair-type massage machine.

[0002]

2. Description of the Related Art Conventionally, a chair-type massage machine in which a patient receives a massage operation while sitting down has been used.
In such a massage machine, a drive mechanism for performing a massage operation is stored in a back portion of a chair, and the drive mechanism is provided with a pair of treatment elements. By driving a kneading motor or a hitting motor provided in the drive mechanism, the pair of treatment elements are configured to perform a massage operation such as a kneading operation or a hitting operation.

In such a massage machine, a massage operation such as a beating operation or a kneading operation, and an operation of adjusting a distance between a pair of treatment elements and a mutual interval are performed.
Alternatively, a plurality of motors are used. In such a motor, the rotation speed of the motor may need to be adjusted, for example, when switching between a high-speed hitting operation and a low-speed hitting operation is performed.

[0004] In the massage machine, in the conventional technology, when the rotation speed of the motor is detected by a rotation speed detector (such as a Hall element), from the rise of the voltage of the rotation speed detection waveform to the next fall, or By measuring a local time from one rise to the next rise, the number of rotations at a local position is obtained, and the rotation speed of the motor is calculated.

[0005]

According to the above method,
This is directly affected by the accuracy of the rotation speed detector itself. More specifically, when the rotation speed is detected by the magnetic pole plate and the Hall element, the degree of equalization of the magnetization of the magnetic pole plate and the mounting position of the Hall element affect the accuracy of the detection of the rotation speed. In other words, if the equivalence of the magnetization of the magnetic pole plates and the mounting position of the Hall element are incorrect, the accuracy of the rotation speed detection will be deviated, and the difference between the actual rotation speed and the calculated rotation speed will occur. There is a possibility that a malfunction occurs in the control of the rotation speed, resulting in a rotation operation failure. However, it is difficult to maintain the accuracy of the rotation speed detector so that these effects are not affected, and there is a disadvantage that a high cost is required.

The present invention has been made to solve the above-mentioned technical problem, and an object of the present invention is to measure a rotation time in units of one rotation or a plurality of rotations of a motor and to determine a rotation speed of the motor. An object of the present invention is to provide a control device that appropriately calculates the rotation speed of a motor used in a massage machine by calculating the rotation speed.

[0007]

According to the present invention, there is provided a control device for a motor in a massage machine, comprising: a motor which is supplied with a drive signal and is driven to rotate; a rotational speed detecting means for detecting the rotational speed of the motor; And calculating means for measuring a rotation time of one unit rotation speed with one rotation or a plurality of rotations detected by the number detection means as one unit, and calculating a rotation speed of the motor from the measured value.

[0008]

The motor having the above-described control device is driven to rotate by being supplied with a drive signal, and the control device is provided with rotation speed detecting means for detecting the rotation speed of the motor. The control means is
The rotation time of one unit rotation is measured using one or a plurality of rotations of the motor rotation detected by the rotation number detecting means as one unit, and the rotation speed is calculated from the measured value by the calculating means.

As described above, according to the present invention, the rotation time of one unit rotation is measured using one or a plurality of rotations of the motor rotation detected by the rotation detecting means as one unit. It is not affected by the deviation of the accuracy of the detector itself. Therefore, the rotation speed detection accuracy can be improved at low cost without adding a separate device. Also, if such a control device is used, the speed change becomes smooth because the detection is slightly delayed with respect to the speed change. Therefore, if the control device of the motor is used for a massage machine, a comfortable massage feeling can be obtained, and the operation quality of the massage machine can be improved.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 is a cross-sectional view of the massage machine 1, FIG. 2 is a block diagram showing an electric configuration of the massage machine 1 of the present invention, and FIG. 3 is a perspective view of a rotation speed detector used in the massage machine 1. FIG. 4 is a timing chart for explaining the operation of the present embodiment, and FIGS. 5 and 6 are timing charts showing an example when the rotation speed changes.

Hereinafter, the mechanical structure of the massage machine 1 will be described with reference to FIG. The massage machine 1 has a chair shape, and includes a seat 2 on which a patient sits and a backrest 3 on which the patient leans. A frame 5 having a rack 4 is fixed inside the backrest 3, and a pair of pinions 7 arranged on a drive mechanism 6 that performs a massage operation such as a hitting operation or a kneading operation are engaged with the rack 4.

The rotation of the motor for raising and lowering the drive mechanism 6 provided in the drive mechanism 6 is rotated in the direction of the rotation axis through an operation conversion mechanism using a helical gear, a worm gear, or the like.
Is converted from the left-right direction to a direction perpendicular to the paper of FIG. When the pinion 7 is rotated in one of the two directions by the motor, the drive mechanism 6 is driven up and down by the backrest 3 of the chair 2 due to the engagement between the pinion 7 and the rack 4. The drive mechanism 6 is configured such that a pair of massage treatment elements 8 provided for the drive mechanism 6 face the back of the patient leaning against the backrest 3 while being attached to the backrest 3.

The rotation of the motor 9 for driving the treatment element 8 to perform a massage operation on the patient is performed by the operation conversion mechanism 1.
By 0, the operation is converted into a massage operation such as a beating operation or a kneading operation of the treatment element 8 on the patient, and the massage operation is performed on the patient.

Next, an electrical configuration of the massage machine 1 will be described with reference to FIG. The motor 9 includes the control device 1
1 is driven by the drive signal from The motor 9 is provided with, for example, a magnetic pole detecting element 12 composed of a hole element or the like, detects the rotating magnetic field of the motor 9, and outputs a position signal SP. The control device 11 includes an inverter circuit 13 for supplying the drive signal to the motor 9.

The position signal SP from the magnetic pole detecting element 12
Is input to the waveform synthesizing circuit 14, and the position signal S for each phase is
The P waveform is synthesized and a position / velocity direction signal is output. This makes it possible to determine the phase and period of the position signal SP for each phase, and the phase difference and the traveling direction of the phase, that is, the rotational position, rotational speed and rotational direction of the motor 9. The position / speed direction signal from the waveform synthesizing circuit 14 is input to a speed control circuit 15 and an arithmetic circuit 16 including a microcomputer or the like as control means.

Here, the arithmetic circuit 16 measures the rotation time of one input rotation of the motor 9 for one rotation or a plurality of rotations, for example, one rotation for one rotation, and calculates the rotation time from the measured value. Calculate the rotation speed.

A speed command signal corresponding to the reference speed is separately input to the arithmetic circuit 16, and a control signal based on the speed command signal is input to the logic circuit 17 together with the signal from the speed control circuit 15, and In the circuit 17, a control signal for turning on / off the transistor of the inverter circuit 13 is generated and output to the inverter circuit 13.
A DC power supply is connected to the inverter circuit 13, and a voltage / current from the DC power supply is modulated by the inverter circuit 13 and supplied to the motor 9. The level of the drive current supplied to the motor 9 from the inverter circuit 13 is input to the speed control circuit 15 as a feedback signal. Thus, the motor 9 is controlled to rotate at the reference speed based on the speed command signal.

Referring now to FIG. 3, a description will be given of a rotation speed detector 21 as rotation speed detecting means provided near the rotation shaft 20 of the motor 9. A disk-shaped magnetic pole plate 22 is fixed to the rotating shaft 20. When the motor 9 rotates, the magnetic pole plate 22 rotates. This pole plate 22
Are magnetized such that N poles and S poles of the magnet are alternately arranged at appropriate intervals. A Hall element 23 having magnetism (corresponding to the magnetic pole detection element in the electrical configuration described with reference to FIG. 2) is provided on the outer periphery thereof.
It is detected as P, which is extracted as a pulse wave by the waveform synthesizing circuit 14, and is output to the arithmetic circuit as a position / velocity direction signal, whereby the number of rotations of the magnetic pole plate 22 per unit time can be determined. ing.

The operation of the present embodiment will be described below with reference to FIGS. When the motor 9 is rotating, the Hall element 23 outputs the position signal SP to the waveform synthesizing circuit 14 each time the magnetic pole plate 22 fixed to the rotating shaft 20 switches between the N pole and the S pole as described above. Output to Here, the magnetic pole plate 22 is such that three N poles and three S poles are alternately magnetized with an equal area, and the combination of the N pole and the S pole in the first rotation is A1, B1 respectively. , C1 and the combinations of the N pole and the S pole in the second rotation are A2 and B, respectively.
2, C2..., A1 + B1 + C1, A
The magnetic pole plate 22, that is, the rotating shaft 20 of the motor makes one rotation with 2 + B2 + C2 as one unit. FIG. 4 shows the position signal SP as a pulse waveform.

Here, A1, B1, C1, A2, B2, C
2 each rotation, ie rotation time for every 1/3 rotation
And T_A1= Α₁, T_B1= Α₂, T_C1= Α
₃, T_A2= Α₄, T_B2= Α₅, T_C2= Α₆To be
And the rotation speed is V_{A 1}= 1 / 3α₁, V_B1=
1 / 3α₂, V_C1= 1 / 3α₃, V_A2= 1/3
α ₄, V_B2= 1 / 3α₅, V_C2= 1 / 3α₆Tona
You. Then, one rotation of the motor is regarded as one unit, and
A1 in one rotation from the rise to the rise of A2
Rotation from the start to the start of A2 after one rotation
Time T_A1-A2= Α ₁+ Α₂+ Α₃And rotation speed
V_A1-A2Is 1 / T_A1-A2Is 1 / α₁+ Α₂+
α₃It becomes. Next, B after one rotation from the rise of B1
B1 rise in one rotation up to 2 rise
Rotation time T from the start to the rise of B2 after one rotation
_B1-B2Is α₂+ Α₃+ Α₄And the rotation speed V
_B1-B2Is 1 / T_B1-B2= 1 / α₂+ Α₃+ Α
₄It becomes. Also, the rise of C2 from the rise of C1
From the rise of C1 to the rise of C2 in one rotation
Rotation time T until rising_C1-C2Is α₃+ Α₄+ Α
₅And the rotation speed V_C1-C2Is 1 / T_C1-C2
= 1 / α₃+ Α₄+ Α₅It becomes.

Here, suppose that A1, B1,.
Assume that C1 has not been divided into three equal parts, and that an error has occurred, such as 1: 2: 1. In reality, such a large error does not occur, but it is assumed that such a large error has occurred for the sake of calculation and to clarify its influence.

If the rotation speed is calculated by measuring the rotation time from one rise to the next rise as in the prior art, as shown in FIG. 5A, T _A1 = α ₁ ,
_{T B 1 = α 2 = 2α} 1, T C1 = α 3 = α 1, T A2 =
α ₄ = α ₁ , T _B2 = α ₅ = 2α ₁ , TC ₂ = α ₆ = α
₁ and the calculated rotational speeds are respectively _VA1 = 1/3.
α ₁ , V _B1 = 1 / 3α ₂ = 1 / 6α ₁ , V _C1 = 1 /
3α ₃ = 1 / 3α ₁ , V _A2 = 1 / 3α ₄ = 1/3
α ₁ , V _B2 = 1 / 3α ₅ = 1 / 6α ₁ , V _C2 = 1 /
3α ₆ = 1 / 3α ₁ , and the calculation indicates that the rotation speed at the points B1 and B2 has been reduced by half. This means
Even if the actual rotation is performed at a constant speed, the calculated rotation speed changes when the uniformity of the magnetization of the magnetic pole plate 22 is deviated as described above, and the speed control is performed by this rotation speed. Because it is performed, it will be greatly affected by that.

Next, as in this embodiment, one rotation of the motor is
When measured as a unit, as shown in FIG.
One unit rotation from the rise of 1 to the rise of A2
Time T_A1-A2Is α₁+ Α₂+ Α₃= Α₁+ 2α₁+
α₁= 4α₁And after one rotation from the rise of A1
Rotational speed V until A2 rises_A1-A2Is 1 /
T_A1-A2= 1 / 4α₁It becomes. Then rise of B1
One unit rotation from the beam to the rise of B2 after one rotation
Time T_B1-B2Is α₂+ Α₃+ Α₄= 2α₁+ Α₁+
α₁= 4α₁And after one rotation from the rise of B1
Rotational speed V until the rise of B2_B1-B2Is 1 /
T_B1-B2= 1 / 4α₁It becomes. Also, the rise of C1
One unit rotation time T from the beam to the rise of C2
_C1-C2Is α₃+ Α₄+ Α₅= Α₁+ Α₁+ 2α₁=
4α₁From the rise of C1 to the rise of C2
Rotation speed V up to_C1-C2Is 1 / T_C1-C2= 1
/ 4α ₁It becomes. This means that the actual rotation is at a constant speed.
If this is the case, the calculated rotational speed will also be constant speed.
are doing. Therefore, the magnetization of the magnetic pole plate 22 is equally distributed.
Even in the case where an error occurs, the rotation of each rotation is performed as in this embodiment.
By measuring the rotation time and calculating the rotation speed,
You will not be affected by the above-mentioned disorder. What
Please measure multiple rotations as one unit instead of one rotation
Obviously, the same result can be obtained.

FIG. 6 shows an example when the speed changes.
These are shown in (1) and (2). In this example, the first 1
A1, B1, and C1 for each 1/3 of the rotation
Rotation time T_A1, T_B1, T_C1Is α₁And the following 1
A2, B2, C2, A every 1/3 rotation after rotation
3, each rotation time T_A2, T_B2,
T_C2, T_A3Is the rotation time α₂Is
α₁Twice, that is, α₂= 2α ₁Suppose that it is rotated.

FIG. 6 (1) shows a conventional example from the rising edge.
When measured every 1/3 rotation until the next rise
The rotation time and rotation speed are shown in a time chart.
It is. As shown here, the rotation speed V_A1, V
_B1, V_C1Are each 1 / 3α₁And V_A2, V
_B2, V_C2, V_A3Are each 1 / 3α₂= 1 / 6α
₁It becomes.

FIG. 6 (2) shows the measurement with one rotation as one unit.
When the rotation speed is calculated, A1 stands.
One unit rotation time T from rising to rising of A2
_{A1- A2}Is α₁+ Α₁+ Α₁= 3α₁And during that time
Rotation speed V_A1-A2Is 1 / 3α₁It becomes. Standing in B1
One unit rotation time T from rising to rising of B2
_B1-B2Is α₁+ Α₁+ Α₂= 4α₁And during that
Average rotation speed V_{B1- B2}Is 1 / 4α₁It becomes. C1
One unit rotation from the rise of C2 to the rise of C2
Interval T_C1-C2Is α₁+ Α₂+ Α₂= 5α₁Become
Average rotation speed V during_C1-C2Is 1 / 5α₁It becomes.
One unit time from the rise of A2 to the rise of A3
Turn time T_A2-A3Is α₂+ Α₂+ Α₂= 6α₁Tona
Average rotational speed V_A2-A3Is 1 / 6α₁When
Become.

[0027] Thus, while the rotational speed in the conventional measurement method is reduced once from 1 / 3.alpha. ₁ to 1 / 6.alpha. ₁ shown in (1) in FIG. 6, according to the measuring method according to the present embodiment, the first Rotational speed 1 / 3α ₁ to 1 / 4α ₁ , 1/5
The speed is reduced to α ₁ and 1 / 6α ₁ three times, and halved. As described above, when the rotation speed of the motor 9 changes, the rotation speed changes gradually with a delay, so that the speed change is performed smoothly, and the operation quality can be improved by using the control device in the massage machine. As described above, according to the present embodiment, it is possible to prevent the occurrence of a problem that the rotation speed of the motor 9 suddenly changes to cause a rotation operation failure as in the related art.

The present invention is not limited to the above embodiments but includes a wide range of modifications without departing from the spirit of the present invention.

[0029]

As described above, the motor control device in the massage machine according to the present invention comprises: a motor to which a drive signal is supplied and driven to rotate; a rotation speed detecting means for detecting the rotation speed of the motor; A calculating means for measuring a rotation time of one unit rotation speed with one rotation or a plurality of rotations detected by the rotation speed detection means as one unit, and calculating a rotation speed of the motor from the measured value; Therefore, the motor having the control device is rotated by being supplied with a drive signal, and the rotation speed detecting means provided in the control device detects the rotation speed of the motor and detects one or more rotations of the motor. Is used as one unit to measure the rotation time of one unit rotation speed, and the calculating means calculates the rotation speed from the measurement value detected by the rotation speed detecting means, so that the calculation is not affected by the inaccuracy of the rotation speed detector itself. Therefore, the speed detection accuracy can be improved at low cost without adding a separate device.

When such a control device is used,
Since the speed detection is slightly delayed with respect to the speed change, the speed change becomes smooth. Therefore, a massage machine using this motor control device can obtain a comfortable massage feeling, and can improve the operation quality of the massage machine.

[Brief description of the drawings]

FIG. 1 is a sectional view of a massage machine 1 of the present embodiment.

FIG. 2 is a block diagram showing an electrical configuration of the massage machine 1 according to one embodiment of the present invention.

FIG. 3 is a perspective view of a rotation speed detector of the present embodiment.

FIG. 4 is a timing chart illustrating a rotation operation of the motor according to the present embodiment.

FIG. 5 is a timing chart for explaining an example of a case where the magnetic pole plate is out of order, wherein (1) is a conventional measurement method, and (2) is a measurement method according to the present embodiment.

FIG. 6 is a timing chart for explaining an example in the case where the rotation speed of the motor changes, (1) is a conventional measurement method, and (2) is a measurement method according to the present embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Massager 8 Treatment element 9 Motor 11 Controller 12 Magnetic pole detection element 13 Inverter circuit 15 Speed control circuit 16 Arithmetic circuit 20 Rotating shaft 21 Rotation speed detector 22 Magnetic pole plate 23 Hall element T Rotation time V Rotation speed

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 4C074 AA04 BB05 CC11 CC17 DD01 GG03 HH02 4C100 AD11 AD21 AF14 BA05 BB03 BC04 CA06 DA05 DA06 EA12 5H550 AA20 BB08 BB10 CC01 GG03 GG05 HA07 HB07 JJ03 LL05 BB12 BB12 BB11 DB02 DC06 DC12 DC20 EB01 RR10 SS01 TT15 UA02 XA02 XA04

Claims (1)

[Claims] 1. A motor that is driven to rotate by being supplied with a drive signal, rotation speed detection means for detecting the rotation speed of the motor, and one or more rotations of the rotation detected by the rotation speed detection means. A control device for a motor in a massage machine, comprising: a calculating unit that measures a rotation time of one unit rotation speed with one unit as a unit and calculates a rotation speed from the measured value.