CN115492491A

CN115492491A - Door opening/closing device, door control method, program, and recording medium

Info

Publication number: CN115492491A
Application number: CN202210677399.1A
Authority: CN
Inventors: 木上昭吾; 松田泰幸; 樱井京子
Original assignee: Nabtesco Corp
Current assignee: Nabtesco Corp
Priority date: 2021-06-17
Filing date: 2022-06-15
Publication date: 2022-12-20
Also published as: EP4112860A1; JP2023000191A

Abstract

The invention provides a door opening and closing device, a door control method, a program and a recording medium, wherein the door opening and closing device comprises: a drive unit for driving a door for opening and closing the entrance; a locking pin which receives a driving force from the driving part to move together with the door; an upper lock portion that is movable between a locked position at which the upper lock portion is locked by engagement with the lock pin at a fully closed position of the door and an unlocked position at which the upper lock portion is not engaged with the lock pin; a DCS for acquiring a position signal representing a position of the door; a DLS for acquiring a locking signal indicating that a locked portion is located at a locked position; and a determination unit that determines whether or not a specific condition is satisfied in which the position signal indicates that the door is not at the fully closed position and the lock signal indicates that the upper lock portion is at the lock position.

Description

Door opening/closing device, door control method, program, and recording medium

Technical Field

The present invention relates to a door opening/closing device, a door control method, a program, and a computer-readable recording medium.

Background

Conventionally, a door opening/closing device capable of opening/closing a door is known. For example, patent document 1 discloses a configuration including: an upper rail guiding the door; a rack connected with the upper part of the door; and a gear engaged with the rack and rotated by a motor to move the door. A door closing switch for detecting that the door is closed is provided on a lower surface of a central portion of the upper rail. A door lock switch for detecting that the door has been locked is provided near above the rack. In patent document 1, conditions are set that are supposed to be mounted on the door closing switch and the door lock switch, for example, shifted in position. The door opening and closing operations are repeated to collect data on the door position and the motor drive current value. An anomaly associated with the fault is detected by processing the collected data.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 2020-82993

Disclosure of Invention

Problems to be solved by the invention

Further, when the grease runs out, the locked portion is jammed, or the like, the door may not be moved to the fully closed position when the motor is controlled to move the door in the closing direction. Therefore, it is required to grasp the state of the door that is not moved due to exhaustion of the grease, jamming of the locking portion, or the like.

The present invention has been made to solve the above-described problems, and an object of the present invention is to grasp a state in which a door is not moved due to exhaustion of grease, jamming of a locking portion, or the like.

Means for solving the problems

As a solution to the above problem, the present invention has the following configuration.

(1) A door opening/closing device according to an aspect of the present invention includes: a drive unit for driving a door for opening and closing the entrance; an engaging portion that receives a driving force from the driving portion and moves together with the door; an upper lock portion movable between a locked position for locking the upper lock portion by engaging with the engaging portion at a fully closed position of the door and an unlocked position for not engaging with the engaging portion; a position signal acquisition section for acquiring a position signal indicating a position of the door; a lock signal acquiring unit configured to acquire a lock signal indicating that the lock unit is located at the locked position; and a determination unit configured to determine whether or not a specific condition is satisfied that the position signal indicates that the door is not located at the fully closed position and that the locking signal indicates that the locked portion is located at the locking position.

In a normal state, when the door is moved in the closing direction, the position signal indicates that the door is at the fully closed position, and the lock signal indicates that the upper lock portion is at the lock position. However, when the grease runs out, the locked portion is jammed, or the like, the door may not be moved to the fully closed position when the door is moved in the closing direction. According to this configuration, it is possible to determine whether or not the door is in the unmoved state by determining whether or not a specific condition (indicating that the door is not in the fully closed position and indicating that the locked portion is in the locked position) is satisfied. Therefore, the state in which the door is not moved due to the exhaustion of the grease, the jamming of the locking portion, or the like can be grasped.

(2) In the door opening and closing device described in (1), the upper lock portion may be moved from the unlock position to the lock position by a driving force from the driving portion when the door is stopped after the door is moved in the closing direction, and the determination portion may determine whether or not the upper lock portion has moved to the lock position although not engaged with the engagement portion by determining whether or not the specific condition is satisfied when the door is stopped.

(3) In the door opening and closing device according to the above (1) or (2), the upper lock portion may include a rotation shaft extending in a vertical direction, and a rotation member that rotates about the rotation shaft between the unlock position and the lock position, the driving portion may include a rack and pinion mechanism including a rack to which the door is attached and a pinion that meshes with the rack, the rotation shaft may be located below the rack in the vertical direction, and the determination portion may determine whether or not the rotation member is jammed by determining whether or not the specific condition is satisfied.

(4) In the door opening and closing device according to the above (3), the driving unit may include: an actuator; and a planetary gear mechanism to which a driving force of the actuator is input, the planetary gear mechanism having: a first output unit that outputs a driving force to the gear; and a second output unit that outputs a driving force for moving the upper lock between the unlock position and the lock position when the door is stopped, the upper lock further including: a lock slider that moves by receiving a driving force from the second output unit; and a link mechanism that presses the rotating member to rotate the rotating member in accordance with movement of the lock slider.

(5) A door control device according to an aspect of the present invention includes: an actuator control unit that controls an actuator to supply power to a drive unit to move a door to open and close the door when a travel resistance of the door is smaller than a predetermined travel resistance, and to supply power to a lock unit to lock the door at a fully closed position when the travel resistance of the door is equal to or greater than the predetermined travel resistance; a position signal acquisition section for acquiring a position signal indicating a position of the door; a lock signal acquisition unit configured to acquire a lock signal indicating that the upper lock unit is located at a lock position for locking the door; and a determination unit configured to determine whether or not a specific condition is satisfied that the position signal indicates that the door is not located at the fully closed position and that the locking signal indicates that the locked portion is located at the locking position when the actuator is controlled to move the door in the closing direction.

In a normal state, when the actuator is controlled to move the door in the closing direction, the position signal indicates that the door is at the fully closed position, and the lock signal indicates that the upper lock portion is at the locked position. However, when the grease runs out or the locking portion is jammed, the door may not be moved to the fully closed position when the actuator is controlled to move the door in the closing direction. According to this configuration, it is possible to determine whether or not the door is in the unmoved state by determining whether or not a specific condition (indicating that the door is not at the fully closed position and indicating that the locked portion is at the locked position) is satisfied. Therefore, it is possible to grasp the state in which the door is not moved due to the grease run-out, the locked portion being stuck, or the like.

(6) The door control device according to (5) above may further include a door jam determination unit that determines whether a door jam has occurred at an entrance where the door opens and closes, based on the operation signal of the drive unit, and when it is determined that the door jam has occurred, the determination unit may determine whether the specific condition is satisfied.

(7) In the door control device according to (6), when the door jam occurs, the actuator control unit may control the actuator differently between a case where the specific condition is not satisfied and a case where the specific condition is satisfied.

(8) In the door control device according to any one of (5) to (7) above, when it is determined that the specific condition is satisfied, the actuator control unit may drive the actuator so as to move the upper lock portion located at the locked position to the unlocked position.

(9) The door control device according to any one of (5) to (8) above may further include an estimation unit that estimates a deterioration state of the upper lock unit based on the number of times the specific condition is satisfied or an occurrence frequency of an event that satisfies the specific condition.

(10) In the door control device according to (9) above, the estimating unit may estimate the deterioration state of the upper lock unit based on environmental information including at least one of weather, humidity, air temperature, and a traveling point of the vehicle at which the entrance/exit is opened/closed by the door.

(11) The door control device according to any one of (5) to (10) above may further include a notification unit configured to notify information on a determination result to the outside when it is determined that the specific condition is satisfied.

(12) In the gate control device according to the above (11), the notification unit may notify the information on the determination result to the outside when the number of times the specific condition is satisfied or the frequency of occurrence of an event that satisfies the specific condition is equal to or greater than a predetermined value.

(13) A door control method according to an aspect of the present invention includes: an actuator control step of supplying power to a drive unit to move a door to open and close the door when a travel resistance of the door is smaller than a predetermined travel resistance, and supplying power to an upper lock unit to lock the door at a fully closed position when the travel resistance of the door is equal to or greater than the predetermined travel resistance; a position signal acquisition step of acquiring a position signal indicating a position of the door; a locking signal acquisition step of acquiring a locking signal indicating that the upper lock portion is located at a locking position for locking the door; and a determination step of determining whether or not a specific condition is satisfied in which the position signal indicates that the door is not located at the fully closed position and the lock signal indicates that the locked portion is located at the locked position when the actuator is controlled to move the door in the closing direction.

In a normal state, when the actuator is controlled to move the door in the closing direction, the position signal indicates that the door is at the fully closed position, and the lock signal indicates that the upper lock portion is at the lock position. However, when the grease runs out, the locked portion is jammed, or the like, the door may not be moved to the fully closed position when the actuator is controlled to move the door in the closing direction. According to this configuration, it is possible to determine whether or not the door is in the unmoved state by determining whether or not a specific condition (indicating that the door is not in the fully closed position and indicating that the locked portion is in the locked position) is satisfied. Therefore, the state in which the door is not moved due to the exhaustion of the grease, the jamming of the locking portion, or the like can be grasped.

(14) A program according to an aspect of the present invention causes a computer to execute: supplying power to a driving part to move a door to open and close the door when a travel resistance of the door is less than a predetermined travel resistance, and supplying power to a lock part to lock the door at a fully closed position when the travel resistance of the door is greater than or equal to the predetermined travel resistance, wherein the program is configured to cause the computer to execute: acquiring a position signal indicative of a position of the door; acquiring a locking signal indicating that the upper lock portion is located at a locking position for locking the door; and determining whether or not a specific condition is satisfied in which the position signal indicates that the door is not located at the fully closed position and the locking signal indicates that the locked portion is located at the locking position when the door is moved in the closing direction.

In a normal state, when the actuator is controlled to move the door in the closing direction, the position signal indicates that the door is at the fully closed position, and the lock signal indicates that the upper lock portion is at the locked position. However, when the grease runs out or the locking portion is jammed, the door may not be moved to the fully closed position when the actuator is controlled to move the door in the closing direction. According to this configuration, it is possible to determine whether or not the door is in the unmoved state by determining whether or not a specific condition (indicating that the door is not in the fully closed position and indicating that the locked portion is in the locked position) is satisfied. Therefore, it is possible to grasp the state in which the door is not moved due to the grease run-out, the locked portion being stuck, or the like.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, it is possible to provide a door opening and closing device, a door control method, and a program that can grasp a state in which a door is not moved due to grease run-out, jamming of a locking portion, or the like.

Drawings

Fig. 1 is a front view of a door opening and closing device according to an embodiment.

Fig. 2 is a front view showing a locked state of the door opening and closing device according to the embodiment.

Fig. 3 is a cross-sectional view of a part including the upper lock portion when the door opening and closing device according to the embodiment is viewed from the side.

Fig. 4 is a bottom view showing an unlocked state of the upper lock portion of the embodiment.

Fig. 5 is a bottom view illustrating a locked state of the upper lock portion according to the embodiment.

Fig. 6 is a bottom view illustrating a jammed state of the upper lock portion of the embodiment.

Fig. 7 is a block diagram of a door control device of the embodiment.

Fig. 8 is a flowchart of a normal door opening operation.

Fig. 9 is a flowchart of the door closing operation in the normal state.

Fig. 10 is a flowchart of the door opening operation in the case where the rotary member is in the half-open state.

Fig. 11 is a flowchart of the door closing operation in the case of jamming.

Fig. 12 is a flowchart of gate control according to the embodiment.

Detailed Description

Embodiments of the present invention will be described below with reference to the drawings. In the following embodiments, an example of a vehicle opening/closing door provided in a railway vehicle (vehicle) will be described as a door opening/closing device. In the following description, expressions such as "parallel" or "orthogonal", "central" and "coaxial" indicating relative or absolute arrangements mean not only such arrangements strictly, but also a state in which the relative displacements occur within tolerances, angles and distances to the extent that the same functions can be obtained. In the drawings used in the following description, the scale of each member is appropriately changed in order to make each member a recognizable size.

< door opening/closing device >

As shown in fig. 1, the door opening/closing device 2 is provided in the opening/closing door 1 for a vehicle. The vehicle opening/closing door 1 is configured as a door that can open and close an entrance 8 formed in a side wall of a vehicle. The opening/closing door 1 for a vehicle includes a pair of right and left push-

pull type doors

11A and 11B of two doors. The door opening/closing device 2 opens and closes the

doors

11A and 11B between the fully open position and the fully closed position. The door opening and closing device 2 locks the

doors

11A, 11B when the

doors

11A, 11B are at the fully closed position. Fig. 1 shows a state in which the pair of left and

right doors

11A and 11B are located at the fully closed position.

As shown in fig. 2, the door opening/closing device 2 includes a drive unit 19, lock pins 14A and 14B (an example of an engagement unit), a locking unit 60, a door closing detection switch 51 (an example of a position signal acquisition unit), a door lock detection switch 52 (an example of a locking signal acquisition unit), and a control unit 110 (an example of an actuator control unit, see fig. 1). In the door opening and closing device 2, the motor 90 constituting the driving unit 19 is driven based on various commands from the control unit 110. This opens and closes the

doors

11A and 11B, locks (locks) the

doors

11A and 11B, and unlocks (unlocks) the

doors

11A and 11B.

As shown in fig. 1, a guide rail 16 extending in the left-right direction is provided above the entrance 8. The

doors

11A, 11B are provided so as to be capable of reciprocating along the guide rail 16. The

doors

11A and 11B include a door 11r and

door hangers

3A and 3B connected to an upper edge of the door 11 r. The door 11r has a thickness in the depth direction of the drawing. The

door hangers

3A and 3B are supported on the guide rail 16 so as to be movable in the left-right direction with respect to the guide rail 16. For example, the

door hangers

3A and 3B are provided with door pulleys 4 that can rotate on the guide rails 16.

< Driving part >

As shown in fig. 2, the driving unit 19 includes a motor 90 (an example of an actuator), a rack and pinion mechanism 10, and a planetary gear mechanism 20.

The motor 90 is disposed above the guide rail 16 near the center in the left-right direction of the entrance 8. The motor 90 has an output shaft 90a of a direct drive type capable of rotating forward and reverse. An output shaft 90a of the motor 90 extends in the depth direction of the paper.

The rack-and-pinion mechanism 10 includes a rack 7A for attaching the door 11A, a rack 7B for attaching the door 11B, and a pinion 9 that meshes with the

racks

7A, 7B.

2

racks

7A, 7B are provided. The

racks

7A, 7B extend in the left-right direction in parallel with the guide rail 16. A base 5 for supporting each member is fixed to a side wall of the vehicle above the entrance 8. A rack holder 6 for supporting the

racks

7A and 7B is fixed to the base 5. The

racks

7A and 7B are supported by the rack holder 6 so as to be movable in the left-right direction. The 2

racks

7A and 7B are arranged in parallel with each other at intervals in the vertical direction. The teeth of the 2

teeth

7A and 7B are arranged to face each other.

The gear 9 is disposed at a position sandwiched by the 2

racks

7A and 7B in the vertical direction (both sides in the vertical direction), and is disposed near the center in the horizontal direction of the entrance 8. The gear 9 simultaneously meshes with the respective teeth of the 2

racks

7A, 7B. The gear 9 is disposed to be rotatable about an axis in the depth direction of the paper.

As shown in fig. 1,

arm members

13A and 13B are provided at one end of each of the 2

racks

7A and 7B. The arm member 13A is fixed to the door hanger 3A via a coupling member 15a, and the arm member 13B is fixed to the door hanger 3B via a coupling member 15B. One end of the rack 7A is coupled to the corresponding door 11A via an arm member 13A, and one end of the rack 7B is coupled to the corresponding door 11B via an arm member 13B.

As shown in fig. 2, a rack and pinion mechanism 10 is constituted by 2

racks

7A, 7B and a pinion 9. The 2

doors

11A and 11B are driven to open and close by a rack-and-pinion mechanism 10. The rack and pinion mechanism 10 can move the

doors

11A and 11B to open and close symmetrically by coupling the pair of left and

right doors

11A and 11B to each other.

The

doors

11A, 11B can be moved in a closing direction a along the guide rail 16 toward each other _CLS 、B _CLS And mutually spaced opening directions A _OPN 、B _OPN And (4) moving. Opening direction A of one door 11A _OPN And the opening direction B of the other door 11B _OPN In opposite directions to each other. Closing direction A of one door 11A _CLS And the closing direction B of the other door 11B _CLS In opposite directions to each other.

In the closing direction A of the door 11A _CLS An elastic member 12A is provided at a side end (hereinafter also referred to as "door stopper of door 11A") in a closing direction B of door 11B _CLS The side end (hereinafter also referred to as "door stopper of the door 11B") is provided with an elastic member 12B.The elastic member 12A extends from the upper end to the lower end of the door 11A at the door stop of the door 11A, and the elastic member 12B extends from the upper end to the lower end of the door 11B at the door stop of the door 11B. When the

doors

11A, 11B are located at the fully closed position, the

elastic members

12A, 12B contact each other. Thereby, the gap in the left-right direction between the

doors

11A, 11B is filled. The

elastic members

12A and 12B contact each other, thereby cooperatively closing the entrance 8 where the

doors

11A and 11B are disposed.

The planetary gear mechanism 20 is supported by the base 5. The planetary gear mechanism 20 distributes the output of the motor 90 alternatively to the rack and pinion mechanism 10 or the locking portion 60. The planetary gear mechanism 20 includes a sun gear 21, an internal gear 22 (an example of a first output unit), a carrier 23 (an example of a second output unit), and a planetary gear 24.

The sun gear 21 is supported by a bearing or the like, not shown, so as to be rotatable about an axis extending in the depth direction of the drawing sheet.

A plurality of (e.g., 4) planetary gears 24 are disposed on the outer periphery of the sun gear 21. The planetary gear 24 is configured to be capable of rotating and revolving.

The internal gear 22 has internal teeth that mesh with the planetary gears 24.

The carrier 23 supports the planetary gears 24 so that the planetary gears 24 can rotate around the sun gear 21.

The sun gear 21, the internal gear 22, and the carrier 23 are disposed on the same axis as that of the gear 9. The sun gear 21, the internal gear 22, and the carrier 23 are disposed so as to be relatively rotatable between the members adjacent to each other (between the members meshing with each other).

The sun gear 21 is coupled to an output shaft 90a of the motor 90. The sun gear 21 is input to the output of the motor 90. The sun gear 21 and the output shaft 90a are not limited to being directly coupled to each other, and may be coupled via a speed reduction mechanism or the like.

The internal gear 22 is coupled to the gear 9 of the rack and pinion mechanism 10 by a fastening member such as a bolt. The internal gear 22 can transmit the output of the motor 90 to the gear 9. With the above-described configuration, the rack and pinion mechanism 10 can cause the door 11A to open in the opening direction a by the output of the motor 90 _OPN Move and open the door 11B in the opening direction B _OPN Moving and closing the door11A in a closing direction a _CLS Move and bring the door 11B in the closing direction B _CLS And (4) moving.

< locking Pin >

The locking pin 14A is fixed to the door hanger 3A, and the locking pin 14B is fixed to the door hanger 3B. The lock pin 14A extends upward in the vertical direction from the gantry 3A toward the rack 7A, and the lock pin 14B extends upward in the vertical direction from the gantry 3B toward the rack 7B. The lock pin 14A is movable integrally with the door 11A, and the lock pin 14B is movable integrally with the door 11B. The lock pin 14A is moved together with the door 11A by the driving force from the driving part 19, and the lock pin 14B is moved together with the door 11B by the driving force from the driving part 19. When the

doors

11A and 11B are at the fully closed position, the lock pins 14A and 14B are restrained by the lock portion 60. This allows the

doors

11A and 11B to move in the left-right direction (particularly, in the opening direction a) _OPN 、B _OPN Movement of) is locked.

< Upper Lock part >

The upper lock 60 is movable between a locked position at which the upper lock 60 is locked by being engaged with the lock pins 14A and 14B at the fully closed position of the

doors

11A and 11B, and an unlocked position at which the upper lock 60 is not engaged with the lock pins 14A and 14B. The upper lock portion 60 is configured to be operable by an output of the motor 90. The upper lock portion 60 serves to restrict the door 11A from opening in the opening direction A when the

doors

11A and 11B are at the fully closed position _OPN Moves and restricts the door 11B from opening in the direction B _OPN The moving locking mechanism functions. The upper lock portion 60 is disposed between the

doors

11A and 11B and the planetary gear mechanism 20 in the vertical direction.

As shown in fig. 4, the locking unit 60 includes:

rotation shafts

81A, 81B, the

rotation shafts

81A, 81B extending in the vertical direction; a rotating member 66A rotatable between an unlocked position and a locked position about a rotating shaft 81A as a rotation center; a rotating member 66B rotatable between an unlocked position and a locked position about a rotating shaft 81B as a rotation center; a lock slider 33 that moves by receiving a driving force from the carrier 23 (see fig. 2); and a link mechanism 61 that presses the

rotation members

66A and 66B to rotate the

rotation members

66A and 66B in accordance with the movement of the lock slider 33.

The

rotation shafts

81A and 81B are located below the

racks

7A and 7B in the vertical direction. The rotary member 66A is supported by the base 5 via a rotary shaft 81A, and the rotary member 66B is supported by the base 5 via a rotary shaft 81B. The rotary member 66A can pass through the opening direction A _OPN Or closing direction A _CLS The moving lock pin 14A is in contact with and rotates about the rotation shaft 81A, and the rotating member 66B can move in the opening direction B _OPN Or closing direction B _CLS The moving lock pin 14B is in contact with and rotates about the rotation shaft 81B as a rotation center. The rotary member 66A has a first concave portion 67A and a second concave portion 68A having a concave shape recessed inward (toward the rotary shaft 81A) from the outer peripheral edge of the rotary member 66A, and the rotary member 66B has a first concave portion 67B and a second concave portion 68B having a concave shape recessed inward (toward the rotary shaft 81B) from the outer peripheral edge of the rotary member 66B, when viewed in the vertical direction. The first recess 67A and the second recess 68A are open to the outside of the rotary member 66A, and the first recess 67B and the second recess 68B are open to the outside of the rotary member 66B, when viewed from the vertical direction. The first recess portion 67A and the second recess portion 68A are disposed at intervals in the circumferential direction of the rotary member 66A, and the first recess portion 67B and the second recess portion 68B are disposed at intervals in the circumferential direction of the rotary member 66B, when viewed from the vertical direction.

The rotating

members

66A, 66B include a first wall 66c and a second wall 66d, and when viewed in the vertical direction, the first wall 66c is provided between the first recess 67A and the second recess 68A in the circumferential direction of the rotating member 66A, between the first recess 67B and the second recess 68B in the circumferential direction of the rotating member 66B, and the second wall 66d is provided on the opposite side of the first wall 66c in the circumferential direction of the rotating member 66A with the first recess 67A interposed therebetween, and on the opposite side of the first wall 66c in the circumferential direction of the rotating member 66B with the first recess 67B interposed therebetween. The first wall portion 66c and the second wall portion 66d are curved outward of the

rotary members

66A, 66B when viewed from the vertical direction.

The rotating member 66A is provided with a bulging portion 69A functioning as a disengagement prevention portion of the lock pin 14A, and the rotating member 66B is provided with a bulging portion 69B functioning as a disengagement prevention portion of the lock pin 14B. The bulging portion 69A bulges in the vicinity of the second recess 68A of the first wall 66c in the direction in which the second recess 68A opens, and the bulging portion 69B bulges in the vicinity of the second recess 68B of the first wall 66c in the direction in which the second recess 68B opens.

A return spring 74A is provided on the rotating shaft 81A, and a return spring 74B is provided on the rotating shaft 81B, the return spring 74A causing elastic force to act on the rotating member 66A to orient the first recess 67A of the rotating member 66A in the opening direction a _OPN The return spring 74B applies an elastic force to the rotary member 66B to orient the first recess 67B of the rotary member 66B in the opening direction B _OPN And (3) side. For example, the return springs 74A, 74B are torsion springs. One end of the return spring 74A is attached to the base-side attachment projection 82A provided on the base 5, and one end of the return spring 74B is attached to the base-side attachment projection 82B provided on the base 5. The other end of the return spring 74A is attached to the rotation-side attachment projection 83A provided on the first wall portion 66c of the rotary member 66A, and the other end of the return spring 74B is attached to the rotation-side attachment projection 83B provided on the first wall portion 66c of the rotary member 66B.

In a state where the

rotary members

66A, 66B are not externally urged, the

rotary members

66A, 66B are held with the first recesses 67A facing the opening direction a due to the elastic force of the return springs 74A, 74B _OPN Laterally, with the first recess 67B facing in the opening direction B _OPN Laterally, with the second recess 68A facing in the closing direction A _CLS The second concave portion 68B faces the closing direction B _CLS The state of the side.

On the other hand, in the closing direction A due to the locking pin 14A _CLS Move, locking pin 14B in closing direction B _CLS When the rotation member 66A moves to reach the vicinity of the fully closed position, the first wall portion 66c (edge portion on the first recess 67A side) of the rotation member 66A is pressed by the lock pin 14A, and the first wall portion 66c (edge portion on the first recess 67B side) of the rotation member 66B is pressed by the lock pin 14B. Thereby, the rotary member 66A rotates in the arrow E1 direction about the rotary shaft 81A against the elastic force of the return spring 74A, and the rotary member 66B overcomes the return springThe spring 74B rotates in the direction of arrow E2 around the rotation shaft 81B as a rotation center by its elastic force. Then, the second recess 68A of the rotating member 66A and the second recess 68B of the rotating member 66B approach the link mechanism 61.

As shown in fig. 5, in a state where the

doors

11A and 11B are located at the fully closed position, the lock pin 14A enters the first recess 67A of the rotating member 66A, and the lock pin 14B enters the first recess 67B of the rotating member 66B. Thereby, the lock pin 14A and the rotation member 66A are engaged with each other, and the lock pin 14B and the rotation member 66B are engaged with each other.

As shown in fig. 2, the lock slider 33 moves by receiving a driving force from the carrier 23. The lock slider 33 is a member for switching between a locked state and an unlocked state of the

doors

11A and 11B. The carrier 23 is coupled to a traction member 70 that pulls the locking slider 33. The carrier 23 can transmit the output of the motor 90 to the link mechanism 61 via the traction member 70 and the lock slider 33.

The pulling member 70 and the lock slider 33 are movable along a guide shaft 72 extending in the left-right direction in parallel with the

racks

7A, 7B. Both ends of the guide shaft 72 in the left-right direction are fixed to the rack bracket 6. The pulling member 70 and the lock slider 33 are provided so as to be capable of reciprocating in the left-right direction along the guide shaft 72. The pulling member 70 and the lock slider 33 constitute a switching mechanism that switches between the locked state and the unlocked state. The traction member 70 is coupled to the carrier 23 so as to be movable in the locking direction C and the unlocking direction D in accordance with the rotation of the carrier 23.

The locking slider 33 includes

shaft attachment portions

33a and 33b attached to the guide shaft 72, a front surface portion 33c extending downward from the

shaft attachment portions

33a and 33b, a bottom surface portion 33d (see fig. 3) extending in the depth direction of the paper surface from the lower end of the downward extending portion, and a protruding shaft 33e (see fig. 4) protruding upward from the bottom surface portion 33 d.

A pair of left and right

shaft mounting portions

33a, 33b are provided at intervals with a traction member 70 interposed therebetween. The traction member 70 is attached to the guide shaft 72 at a position sandwiched by the pair of left and right

shaft attachment portions

33a, 33b.

The guide shaft 72 is provided with a lock spring 73, and the lock spring 73 applies an elastic force to the lock slider 33 to press one shaft attachment portion 33a of the lock slider 33 in the lock direction C. For example, the lock spring 73 is a compression coil spring. The lock spring 73 inhibits the lock slider 33 in the locked position from returning to the unlocked position.

As shown in fig. 4, the protruding shaft 33e of the lock slider 33 can contact the protrusion 62d of the link 62 a. For example, when the upper lock slider 33 moves in the unlocking direction D, the protruding shaft 33e changes the position of the link 62 a. As a result, the posture (position) of the link mechanism 61 changes. The roller may be rotatably attached to the protruding shaft 33e with the protruding shaft 33e as a rotation center.

An insertion hole (not shown) through which the coupling pin 63a supported by the base 5 is inserted is formed in the bottom surface portion 33d of the upper lock slider 33. The insertion hole is a long hole that is opened so that the upper lock slider 33 can move in the locking direction C and the unlocking direction D with respect to the coupling pin 63 a.

The link mechanism 61 is configured to: by deforming in the horizontal direction, the sheet can be deformed into a zigzag state (see fig. 4) in which the sheet is bent in a zigzag shape (zigzag shape) with respect to the left-right direction when viewed from the vertical direction, and a linear state (see fig. 5) extending in the left-right direction. The link mechanism 61 is formed by connecting a plurality of (for example, 3)

links

62a, 62b, and 62c. The central link 62a of the 3

links

62a, 62b, and 62c is coupled to a coupling pin 63 a. Thereby, the central link 62a is rotatable with respect to the base 5.

The central link 62a extends so as to straddle the connecting pin 63a when viewed in the vertical direction. A first pin 63b extending in the vertical direction is provided at one end side of the central link 62 a. A second pin 63c extending in the vertical direction is provided on the other end side of the central link 62 a. The central link 62a is provided with a projection 62d projecting outward of the central link 62a when viewed in the vertical direction. The protrusion 62d is provided in a portion between the connecting pin 63a and the first pin 63b of the link 62a at the center when viewed from the vertical direction.

The central link 62a is connected to 2

links

62b and 62c provided on the sides of the connecting pin 63a so as to be relatively rotatable. One link 62b of the 2

links

62b and 62c is relatively rotatably coupled to one end side of the center link 62a via a first pin 63b. The other link 62c of the 2

links

62b and 62c is relatively rotatably connected to the other end side of the center link 62a via a second pin 63c.

The one link 62b extends from the first pin 63b toward the one rotary member 66A when viewed from the vertical direction. A third pin 63d extending in the vertical direction is provided at a portion of the one link 62b on the one rotation member 66A side.

The other link 62c extends from the second pin 63c toward the other rotary member 66B when viewed from the vertical direction. A fourth pin 63e extending in the vertical direction is provided in a portion of the other link 62c on the other rotation member 66B side.

The third pin 63d and the fourth pin 63e are disposed on the end portion side of the link mechanism 61. The base 5 is formed with

guide grooves

80A and 80B extending in parallel to the locking direction C. A pair of

guide grooves

80A, 80B are provided at a spacing in the left-right direction.

The upper end of the third pin 63d is inserted into one of the guide grooves 80A. Thereby, the third pin 63d can move in the left-right direction along one of the guide grooves 80A.

The upper end of the fourth pin 63e is inserted into the other guide groove 80B. Thereby, the fourth pin 63e can move in the left-right direction along the other guide groove 80B.

With the above-described structure, the movement of the

pins

63d and 63e is guided by the

guide grooves

80A and 80B.

Further, rollers may be rotatably attached to upper ends of the

pins

63d and 63e (portions inserted into the

guide grooves

80A and 80B). This reduces the frictional resistance of the pin 63d against the inner wall of the guide groove 80A and the frictional resistance of the pin 63e against the inner wall of the guide groove 80B, and allows the

pins

63d and 63e to move smoothly.

Further, rollers may be rotatably attached to lower ends of the

pins

63d and 63e (portions in contact with the

rotary members

66A and 66B). This reduces the frictional resistance during the relative movement between the pin 63d and the rotary member 66A and the frictional resistance during the relative movement between the pin 63e and the rotary member 66B, thereby stabilizing the locking operation.

As shown in fig. 5, in a state where the

doors

11A and 11B are located at the fully closed position, the lock pin 14A enters the first recess 67A of the rotation member 66A, and the lock pin 14B enters the first recess 67B of the rotation member 66B, whereby the lock pin 14A and the rotation member 66A are engaged with each other, and the lock pin 14B and the rotation member 66B are engaged with each other. In addition, the opening direction a of the link 62B is set in the state where the

doors

11A, 11B are at the fully closed position _OPN The side end enters the second recess 68A of the rotary member 66A, and the link 62c is opened in the direction B _OPN The end portion on the side enters the second recess 68B of the rotary member 66B, whereby the link 62B and the rotary member 66A are engaged with each other, and the link 62c and the rotary member 66B are engaged with each other. At this time, the link mechanism 61 is in a straight line state in the left-right direction.

When the link mechanism 61 is in a linear state, it is opened in the opening direction A _OPN Force of (3) acts on the locking pin 14A in the opening direction B _OPN When the force of (3) acts on the lock pin 14B, the rotation of the

rotary members

66A, 66B is restricted as follows. Both end portions of the link mechanism 61 (opening direction a of the link 62 b) in the linear state _OPN Side end and opening direction B of link 62c _OPN The side end portions) are held so as to be sandwiched by the peripheral edge portions of the

second recesses

68A, 68B of the

rotary members

66A, 66B. For example, when the

rotary members

66A and 66B are to rotate in the directions of the arrows F1 and F2 when the link mechanism 61 is in the linear state, the bulging

portions

69A and 69B are formed in portions where the rotational force is transmitted from the links 62B and 62c to the

rotary members

66A and 66B. This makes it difficult for the links 62B and 62c to be disengaged from the

second recesses

68A and 68B of the

rotary members

66A and 66B. Therefore, the lock pin 14A engaged with the rotation member 66A moves in the opening direction a _OPN Is restricted by the first recess 67A of the rotary member 66A, and the lock pin 14B engaged with the rotary member 66B is opened in the opening direction B _OPN Is restricted by the first recess 67B of the rotary member 66B.

< door closure detection switch >

As shown in fig. 2, a door closing detection switch (hereinafter also referred to as "DCS 51") is disposed between the pair of left and

right doors

11A and 11B above the

doors

11A and 11B. The DCS 51 is provided to detect whether the

doors

11A and 11B are at the fully closed position. For example, the DCS 51 is configured to be turned on when the

doors

11A and 11B are at the fully closed position, and to be turned off when the

doors

11A and 11B are at the open position.

The DCS 51 functions as a position signal acquisition unit that acquires position signals indicating the positions of the

doors

11A and 11B by switching between the on state and the off state.

The door opening/closing device 2 may include a mechanism for acquiring the opening direction a in the left-right direction _OPN 、B _OPN Or closing direction A _CLS 、B _CLS A position sensor for detecting a position signal of any position of the moving

doors

11A and 11B, a stroke detection unit for detecting a moving amount (stroke) of the

doors

11A and 11B, and the like (an example of a position signal acquisition unit).

< door lock detection switch >

A door lock detection switch (hereinafter also referred to as "DLS 52") is fixed to the base 5. The DLS52 is provided to detect whether or not the locking of the

doors

11A and 11B by the locking unit 60 is completed. The DLS52 is configured to be switched between an on state and an off state by a permanent magnet fixed to the carrier 23. Namely, the structure is as follows: the permanent magnet moves with the rotation of the carrier 23, and the DLS52 provided on the base 5 side is switched. DLS52 functions as a lock signal acquisition unit for acquiring a lock signal indicating that upper lock unit 60 is in the locked position.

The DLS52 is in the off state at the position of the carrier 23 when the

doors

11A and 11B are operated with normal running resistance (movement resistance) (when the running resistance of the

doors

11A and 11B is smaller than a predetermined running resistance). At this time, the carrier 23 is in a position where the traction member 70 is in contact with the

shaft mounting portions

33a, 33b.

On the other hand, when the output shaft 90a of the motor 90 further rotates in a state where the operation of the

doors

11A, 11B is stopped, the sun gear 21 rotates the planetary gear 24. As a result, the carrier 23 can rotate. When carrier 23 rotates by a predetermined amount, the positions of the permanent magnets fixed to carrier 23 change. Thus, DLS52 is turned on. That is, when the carrier 23 rotates by a predetermined amount with an increase in the travel resistance of the

doors

11A and 11B (when the travel resistance of the

doors

11A and 11B is equal to or greater than the predetermined travel resistance), the DLS52 is turned on.

< control section >

As shown in fig. 1, the control unit 110 is housed in the control box 40. As shown in fig. 2, the control section 110 controls switching of on and off of the drive of the motor 90, switching of the rotational direction of the output shaft 90a of the motor 90, and the driving force of the motor 90. When the traveling resistance of the

doors

11A and 11B is smaller than the predetermined traveling resistance, the control unit 110 supplies power to the driving unit 19 to move the

doors

11A and 11B to open and close. When the travel resistance of the

doors

11A and 11B is equal to or greater than the predetermined travel resistance, the control unit 110 supplies power to the upper lock unit 60 to cause the upper lock unit 60 to lock the

doors

11A and 11B at the fully closed position. The control unit 110 includes a CPU that operates according to a predetermined program, and a storage unit such as a RAM (Random Access Memory) in which the predetermined program is stored. As shown in fig. 7, the control unit 110 constitutes the controller 101 of the door control device 100.

< door control device >

The door control device 100 includes: a controller 101; the DCS 51 and DLS52 described above; a manual release detection unit 53 as a limit switch that detects whether or not the

doors

11A and 11B can be manually released from locking; an environmental information acquisition unit 54 (for example, a thermometer, a hygrometer, a timer, an imaging device, etc.) that acquires environmental information; a motor monitor unit 55 that acquires various information of the motor 90; a stroke detection unit 56 that detects the amount of movement (stroke) of the

doors

11A and 11B; and a notification unit 57 including a doorbell 57a and a display lamp 57B for notifying the opening or closing of the

doors

11A, 11B.

The controller 101 includes: a control unit 110; a signal input section 120 including a signal input circuit for inputting a signal from the signal line 102 to the control section 110; a transmission unit 121 as an interface for performing data communication (transmission and reception) with a communication line 103 extending from a communication terminal; a driver section 122 including a motor drive circuit for supplying drive power to the motor 90; and a power supply unit 123 for converting the power (voltage) supplied from the power supply line 104 to generate a voltage to be supplied to each unit.

The controller 101 is connected to the motor 90 via a relay 105. In a state where the relay 105 is closed (a state where the controller 101 is electrically connected to the motor 90), the controller 101 can control the motor 90. The relay 105 performs opening and closing control according to an instruction from the controller 101.

The motor 90 includes a motor coil 91 and a hall element 92. The motor coil 91 is connected to the driver unit 122 via the relay 105. The rotation direction and rotation speed of the motor 90 are controlled by the driver unit 122. The hall element 92 is provided to detect rotation information of the motor 90 (for example, the rotation speed of the motor 90). The output from the hall element 92 is input to the control unit 110.

The control unit 110 is connected to the DCS 51, DLS52, manual release detection unit 53, environmental information acquisition unit 54, and motor monitor unit 55. The outputs from the DCS 51, DLS52, manual release detection unit 53, environmental information acquisition unit 54, motor monitor unit 55, and stroke detection unit 56 are input to the control unit 110.

For example, the motor monitor unit 55 includes a motor current detector that detects a motor current and a motor voltage detector that detects an applied voltage applied to the motor 90.

The control section 110 is connected to a notification section 57 including a doorbell 57a and a display lamp 57b. The control unit 110 controls the notification by the doorbell 57a and the display lamp 57b.

The control unit 110 includes a determination unit 111, a position determination unit 112, a door jam determination unit 113, an estimation unit 114, and a storage unit 115.

The determination unit 111 determines whether or not a specific condition is satisfied based on the acquisition information (position signals of the

doors

11A and 11B) of the DCS 51 and the acquisition information (lock signal) of the DLS 52. Here, the specific condition is a condition that satisfies both the following condition (S1) and condition (S2).

The (S1) position signal indicates that the

doors

11A and 11B are not located at the fully closed position (DCS off).

(S2) the lock signal indicates that the upper lock portion 60 is in the lock position (DLS on).

The determination unit 111 determines whether or not a specific condition is satisfied that the position signal indicates that the

doors

11A and 11B are not at the fully closed position and the lock signal indicates that the upper lock portion 60 is at the locked position. In the present embodiment, the motor 90 is controlled to move the door 11A in the closing direction a _CLS Move and turn the door 11B in the closing direction B _CLS During the movement, the determination unit 111 determines whether or not the above-described specific conditions (S1 and S2) are satisfied.

The upper lock portion 60 is provided in the closing direction A of the door 11A _CLS Moving the door 11B in a closing direction B _CLS When the

doors

11A and 11B stop after the movement, the doors move from the unlock position to the unlock position by receiving the driving force from the driving unit 19. The determination unit 111 determines whether or not the specific condition is satisfied when the

doors

11A and 11B are stopped, thereby determining whether or not the upper lock portion 60 has moved to the locked position although not engaged with the lock pins 14A and 14B.

The determination section 111 determines whether or not the

rotation members

66A, 66B are jammed by determining whether or not a specific condition is satisfied.

The position determining unit 112 determines the closing direction a of the

doors

11A and 11B based on the movement speed and movement distance of the

doors

11A and 11B and the movement direction a of the

doors

11A and 11B during the closing operation of the

doors

11A and 11B _CLS 、B _CLS Determines whether the

doors

11A and 11B have reached a predetermined position based on the door information of at least one of the travel times. The position determination unit 112 determines whether or not the

doors

11A and 11B are located at positions close to the fully closed position. For example, the predetermined position is set to a position at the front of about several centimeters from the fully closed position.

The door jam determining unit 113 determines whether or not a door jam has occurred at the entrance 8 where the

doors

11A and 11B are opened and closed, based on the operation signal of the driving unit 19. For example, when it is determined that a door jam has occurred, the determination unit 111 determines whether or not a specific condition is satisfied.

For example, when a door jam occurs, the control unit 110 controls the motor 90 in different manners when a specific condition is not satisfied and when a specific condition is satisfied. For example, when a door jam occurs, the control unit 110 performs control such that at least one of the rotation speed of the motor 90, the rotation direction of the motor 90, and the rotation amount of the motor 90 is different between the case where the specific condition is not satisfied and the case where the specific condition is satisfied. Thus, when the door jam occurs, at least one of the moving speed of the

doors

11A and 11B, the moving direction of the

doors

11A and 11B, and the moving amount (stroke) of the

doors

11A and 11B can be made different from each other when the specific condition is not satisfied and when the specific condition is satisfied.

For example, the door jam determining unit 113 detects a door jam based on the moving speed of the

doors

11A and 11B (hereinafter also referred to as "door speed"), the current flowing through the motor 90 (hereinafter also referred to as "motor current"), the rotation speed of the motor 90 (hereinafter also referred to as "motor speed"), and the like.

In the case of detecting a door jam using the door speed, the door speed becomes 0 when the door jam occurs, and therefore, it is determined that the door jam has occurred if the door speed becomes 0.

When the door jam is detected using the motor current, the motor current abruptly increases when the door jam occurs, and therefore, it is determined that the door jam has occurred when the motor current exceeds a predetermined threshold value.

When the door jam is detected using the motor speed, the motor speed is suddenly reduced when the door jam occurs, and therefore, it is determined that the door jam has occurred when the motor speed is less than a predetermined threshold value.

For example, the door jam determining unit 113 preferably detects a door jam based on the door speed and the motor current. As described above, since the elastic member 12A is provided at the door stopper of the door 11A and the elastic member 12B is provided at the door stopper of the door 11B, even if an obstacle such as a person or an object comes into contact with the

elastic members

12A and 12B, the

doors

11A and 11B continue to move while the

elastic members

12A and 12B can contract. Therefore, it may not be possible to quickly and accurately detect the door jam using only the door speed. Therefore, in the present embodiment, the occurrence of the door jam can be detected quickly and accurately by detecting the door jam so as to include not only the door speed but also the motor current.

For example, the door clamp determining unit 113 may determine whether or not door clamps have occurred in the

doors

11A and 11B based on the motor current during a period from when it is determined that the

doors

11A and 11B have reached the predetermined positions to when the

doors

11A and 11B have reached the fully closed positions.

For example, when determining that the specific condition is satisfied, the control unit 110 drives the motor 90 so as to move the locking unit 60 located at the locking position to the unlocking position.

For example, when determining that the specific condition is satisfied a predetermined number of times or more (for example, 1 time or more), the determination unit 111 determines that the locking unit 60 is malfunctioning.

The estimating section 114 estimates the deterioration state of the upper lock section 60 based on the number of times a specific condition is satisfied or the occurrence frequency of events satisfying the specific condition. For example, when the number of times that the specific condition is satisfied is equal to or greater than a predetermined number of times, estimation unit 114 estimates that upper lock unit 60 has deteriorated.

The estimation unit 114 estimates the deterioration state of the upper lock portion 60 based on environmental information including at least one of weather, humidity, air temperature, and a travel point of the vehicle at which the entrance 8 is opened and closed by the

doors

11A and 11B. For example, the estimation unit 114 may determine the threshold value of the occurrence frequency of the event that satisfies the specific condition based on the acquisition information (weather, humidity, temperature, travel point) of the environment information acquisition unit 54.

When determining that the specific condition is satisfied, the notification unit 57 notifies information on the determination result to the outside. For example, in a case where it is determined that the specific condition is satisfied, the doorbell 57a sounds information about the determination result in a voice or the like. For example, when it is determined that the specific condition is satisfied, the display lamp 57b displays information related to the determination result in the form of characters or the like. For example, when it is determined that the specific condition is satisfied, information on the determination result is output from the transmission unit 121 to a higher-level device (for example, a train central device that communicates with the control unit 110, the brake control device, the air conditioner, and the like) in a communication manner.

When the number of times that the specific condition is satisfied or the frequency of occurrence of an event that satisfies the specific condition is equal to or greater than a predetermined value, the notification unit 57 notifies information on the determination result to the outside. For example, when the number of times that the specific condition is satisfied is equal to or greater than a predetermined number of times, or when the frequency of occurrence of an event that satisfies the specific condition is equal to or greater than a predetermined frequency, the notification unit 57 notifies information about the determination result to the outside.

< operation of each section in unlocked State >

As shown in fig. 4, in the unlocked state, the link mechanism 61 is bent in a zigzag (zigzag) shape with respect to the left-right direction.

As shown in fig. 2, for example, when the sun gear 21 of the planetary gear mechanism 20 is driven by the motor 90 in the unlocked state, the driving force input to the sun gear 21 is transmitted as follows. The driving force input to the sun gear 21 is transmitted to the gear 9 via the internal gear 22, or the planetary gears 24 are revolved to rotate the carrier 23. With the carrier 23 rotated, the pulling member 70 moves in the lock-up direction C.

When the

doors

11A and 11B perform a normal closing operation, the planetary gear 24 rotates along with the rotation of the sun gear 21 of the planetary gear mechanism 20. Thereby, the driving force of the sun gear 21 is transmitted to the gear 9 via the internal gear 22, and the gear 9 is rotated. The rack 7A is opened in the opening direction a by the rotation of the gear 9 _OPN Move and open the rack 7B _OPN Moving, or bringing the rack 7A in the closing direction A _CLS Moves and causes the rack 7B to turn to the closing direction B _CLS And (4) moving. This drives the

doors

11A and 11B to open and close.

< mechanical operation when door closing operation >

For example, the operation of moving the

doors

11A and 11B from the fully open position to the fully closed position and locking the

doors

11A and 11B by the upper lock portion 60 is performed as follows. First, the output shaft 90a of the motor 90 is rotated in one direction to move the

doors

11A and 11B from the fully open position to the fully closed position. Thereby, the driving force of the motor 90 is transmitted to the sun gear 21, the planetary gears 24, and the internal gear 22 in order. The driving force transmitted to the internal gear 22 rotates the gear 9. By the rotation of the gear 9, the rack 7A and the door 11A coupled to the rack 7A are moved in the closing direction a _CLS Moves the rack 7B and the door 11B connected to the rack 7B in the closing direction B _CLS And (4) moving.

When the

doors

11A, 11B are closed in the closing direction A _CLS 、B _CLS When moved, the locking pins 14A, 14B also move in the closing direction A _CLS 、B _CLS And (4) moving. Then, as shown in fig. 4, the lock pin 14A rotates the rotary member 66A in the arrow E1 direction about the rotary shaft 81A against the elastic force of the return spring 74A, and the lock pin 14B rotates the rotary member 66B in the arrow E2 direction about the rotary shaft 81B against the elastic force of the return spring 74B. Thereby, the lock pin 14A enters the first recess 67A of the rotary member 66A, and the lock pin 14B enters the first recess 67B of the rotary member 66B.

Then, the lock pin 14A reaches the fully closed position together with the door 11A, and the lock pin 14B reaches the fully closed position together with the door 11B. As shown in fig. 5, in the fully closed position of the

doors

11A and 11B, the lock pin 14A enters the first recess 67A of the rotation member 66A to engage with the rotation member 66A, and the lock pin 14B enters the first recess 67B of the rotation member 66B to engage with the rotation member 66B. At the fully closed position of the

doors

11A, 11B, both end portions in the left-right direction of the link mechanism 61 (the opening direction a of the link 62B) in a linear state _OPN Side end and opening direction B of link 62c _OPN The side end portions) enter the second

concave portions

68A, 68B of the

rotary members

66A, 66B, and thereby engage with the

rotary members

66A, 66B.

Both end portions of the link mechanism 61 in the linear state are held so as to be sandwiched by the peripheral edge portions of the

second recesses

68A, 68B of the

rotary members

66A, 66B. For example, when the

rotary members

66A and 66B are to be rotated in the directions of the arrows F1 and F2 by the elastic force of the return springs 74A and 74B, the bulging

portions

rotary members

66A and 66B. Thereby, the links 62B, 62c become difficult to disengage from the

second recesses

68A, 68B of the

rotating members

66A, 66B. Therefore, the lock pin 14A engaged with the rotation member 66A moves in the opening direction a _OPN Is restricted by the first recess 67A of the rotary member 66A, and the lock pin 14B engaged with the rotary member 66B moves in the opening direction B _OPN Is restricted by the first recess 67B of the rotary member 66B. That is, the

doors

11A, 11B are locked.

As described above, after the

doors

11A and 11B are moved to the fully closed position by the output of the motor 90, the locking unit 60 is operated by the output of the motor 90. Thereby, the

doors

11A, 11B are locked. Therefore, locking in conjunction with the closing operation of the

doors

11A and 11B can be achieved by driving the sun gear 21 of the planetary gear mechanism 20 with only the single motor 90.

In addition to this, in the locked state, the lock can be doubly applied by two kinds of locks: the lock that restricts the rotation of the

rotation members

66A, 66B by the link mechanism 61, and the lock that restricts the deformation of the link mechanism 61 from the linear state to the bent state by the lock slider 33. Thus, even when the motor 90 has a power failure due to a power failure or a trouble of the vehicle, for example, and the output shaft 90a of the motor 90 is not rotated, the

doors

11A and 11B can be prevented from being opened extremely reliably by the double locking. For example, even if a power failure or the like occurs in the vehicle, the

doors

11A and 11B can be prevented from being opened accidentally by wind pressure or the like.

< mechanical operation when door opens >

For example, the operation of releasing the locking of the

doors

11A and 11B by the upper lock portion 60 and moving the

doors

11A and 11B from the fully closed position to the fully open position is performed as follows. As shown in fig. 2, in order to move the

doors

11A and 11B from the fully closed position to the fully open position, the output shaft 90a of the motor 90 is rotated in the other direction (the direction opposite to the closing operation). When the output shaft 90a of the motor 90 is rotated in the other direction in the locked state of the

doors

11A and 11B, the carrier 23 rotates in the clockwise direction (right-hand direction in the drawing) in fig. 2. Thereby, the pulling member 70 and the lock slider 33 move in the unlocking direction D against the elastic force of the lock spring 73.

At this time, the protruding shaft 33e (see fig. 5) of the lock slider 33 moves in the unlock direction D. Then, the link 62a at the center of the link mechanism 61 rotates about the connecting pin 63 a. Thereby, the link mechanism 61 is shifted from the linear state of fig. 5 to the bent state of fig. 4. Then, the pin 63d at one end of the link mechanism 61 is disengaged from the second recess 68A of the rotary member 66A to release the engagement with the rotary member 66A, and the pin 63e at the other end of the link mechanism 61 is disengaged from the second recess 68B of the rotary member 66B to release the engagement with the rotary member 66B. Therefore, the

rotation members

66A, 66B are allowed to rotate to release the locking of the

doors

11A, 11B. The rotary member 66A is pressed in the direction of the arrow F1 around the rotation shaft 81A by the elastic force of the return spring 74A, and the rotary member 66B is pressed in the direction of the arrow F2 around the rotation shaft 81B by the elastic force of the return spring 74B.

As shown in fig. 2, for example, when the rotation amount of the carrier 23 reaches a predetermined amount, the movement of the lock slider 33 in the unlocking direction D is restricted by the deformation limit of the lock spring 73. The movement of the lock slider 33 in the unlocking direction D is not limited to the case where the lock spring 73 compressed to the deformation limit is used. For example, the movement of the lock slider 33 in the unlock direction D may be regulated by the carrier 23 abutting the base 5 at a predetermined position. For example, the movement of the lock slider 33 in the unlocking direction D may be regulated as follows: by changing the lengths of the

guide grooves

80A, 80B into which the

pins

63d, 63e of the link mechanism 61 are inserted, the movement of the

pins

63d, 63e is regulated by the wall portions of the

guide grooves

80A, 80B.

For example, when the movement of the upper lock slider 33 in the unlocking direction D is restricted, the driving force of the sun gear 21 is transmitted to the inner gear 22. The driving force transmitted to the internal gear 22 rotates the gear 9. By the rotation of the gear 9, the rack 7A and the door 11A coupled to the rack 7A are opened in the opening direction a _OPN Moves the rack 7B and the door 11B connected to the rack 7B in the opening direction B _OPN And (4) moving. Thereby, the

doors

11A and 11B move to the fully open position.

The door opening/closing device 2 may include a lock slider 33, a lever provided at a position usable from the inside or outside of the vehicle, and a coupling member such as a wire (wire) for connecting the lock slider 33 and the lever. Thus, for example, in an emergency, the lock slider 33 can be moved in the unlocking direction D by a person operating the lever, and after the lock is released, the

doors

11A and 11B can be manually opened.

Further, the lever may be directly fixed to the locking slider 33. This eliminates the need for a connecting member such as a wire, and thus a simpler configuration can be achieved.

< mechanical action when locked part is jammed >

The door opening/closing device 2 may run out of grease, jam of the locking portion 60, or the like. Here, the jamming means a state in which a movable portion such as a rotating portion is fixed and the smooth operation thereof is inhibited. For example, the cause of the seizure includes generation of rust, adhesion of dust and oil, and the like. When the grease runs out or the locking portion 60 is jammed, the motor 90 is controlled to move the door 11A in the closing direction a _CLS Move and turn the door 11B in the closing direction B _CLS When moving, the

doors

11A and 11B may not move to the fully closed position.

As shown in fig. 6, for example, the

rotary members

66A, 66B of the upper lock portion 60 may be jammed with respect to the

rotary shafts

81A, 81B. In this case, the

rotary members

66A and 66B are not rotated in the directions of the arrows F1 and F2 around the

rotary shafts

81A and 81B, but held at fixed positions, even when receiving the elastic force of the return springs 74A and 74B. In the example of fig. 6, the

rotary members

66A, 66B in the half-opened state are shown by two-dot chain lines. The half-opened rotary member 66A has the second recess 68A facing the closing direction A _CLS And the outer edge portion of the second wall portion 66d faces the opening direction a _OPN In the state of (1), the rotary member 66B in the half-open state has the second recess 68B facing the closing direction B _CLS And the outer edge portion of the second wall portion 66d faces the opening direction B _OPN The state of (c).

When the

rotary members

66A, 66B are held in the half-open state of fig. 6, the motor 90 is controlled to move the door 11A in the closing direction a _CLS Move and turn the door 11B in the closing direction B _CLS When moving, the

doors

11A and 11B may not be moved to the fully closed position. For example, the door 11A is moved from the fully open position to the closing direction A together with the door _CLS The moving lock pin 14A contacts the outer edge of the second wall 66d of the rotary member 66A in the half-open state, and is fully opened together with the door 11BPosition toward closing direction B _CLS The moving lock pin 14B contacts an outer edge portion of the second wall portion 66d of the rotation member 66B in the half open state. Therefore, the lock pin 14A cannot enter the first recess 67A of the rotary member 66A, and the lock pin 14B cannot enter the first recess 67B of the rotary member 66B. Therefore, the

doors

11A and 11B stop halfway from the fully open position toward the fully closed position and before reaching the fully closed position.

Even when the

rotary members

66A, 66B are held in the half-open state of fig. 6, the door 11A is moved in the closing direction a depending on the degree of jamming (in the case where the jamming can be eliminated) _CLS Move and turn the door 11B in the closing direction B _CLS During the movement, the

rotary members

66A and 66B may perform a rotational movement. In the example of fig. 6, the rotating member 66A in a state where the locking pin 14A does not reach the fully-closed position together with the door 11A and the rotating member 66B in a state where the locking pin 14B does not reach the fully-closed position together with the door 11B are shown by solid lines. In a state where the lock pin 14A does not reach the fully closed position together with the door 11A, the lock pin is moved in the closing direction a _CLS The moving lock pin 14A presses the outer edge portion of the second wall portion 66d of the rotation member 66A in the half-open state, rotates the rotation member 66A in the arrow E1 direction about the rotation shaft 81A against the elastic force of the return spring 74A, and moves the lock pin 14A in the closing direction B in a state where the lock pin 14B does not reach the fully-closed position together with the door 11B _CLS The moving lock pin 14B presses the outer edge portion of the second wall portion 66d of the rotary member 66B in the half-open state, and rotates the rotary member 66B in the arrow E2 direction about the rotary shaft 81B against the elastic force of the return spring 74B. The lock pins 14A, 14B are in a state of contacting the outer edge portions of the second wall portions 66d of the

rotating members

66A, 66B (the state shown by the solid lines in fig. 6) without reaching the fully closed position together with the

doors

11A, 11B. In the state shown by the solid line in fig. 6, the lock pin 14A is not housed in the first recess 67A of the rotary member 66A and the lock pin 14B is not housed in the first recess 67B of the rotary member 66B due to malfunction of the

rotary members

66A, 66B.

In the example of fig. 6, the right and left sides of the link mechanism 61 in the linear stateBoth ends upward (opening direction a of link 62 b) _OPN Side end and opening direction B of link 62c _OPN Side end portions) enter the

second recesses

68A, 68B of the

rotary members

66A, 66B, and thereby engage with the

rotary members

66A, 66B.

< door opening operation at normal time >

The normal door opening operation will be described with reference to the flowchart of fig. 8. Here, the normal state refers to a state in which the

doors

11A and 11B can move normally without grease running out or jamming of the upper lock portion 60.

First, an open instruction is input by the communication terminal (step S101). For example, in step S101, a door open button of the communication terminal is turned on. After step S101, the process proceeds to step S102.

In step S102, the locking unit 60 is operated. For example, in step S102, the output shaft 90a of the motor 90 is rotated in the other direction by the on operation of the door opening button. This allows the rotation of the

rotary members

66A, 66B as described above, and releases the locking of the

doors

11A, 11B. After step S102, the process proceeds to step S103.

In step S103, DLS52 is turned off. That is, the locking of the

doors

11A and 11B by the locking unit 60 is released. After step S103, the process proceeds to step S104.

In step S104, the door 11A is opened in the opening direction a _OPN Moving the door 11B in the opening direction B _OPN And (4) moving. The

doors

11A, 11B move toward the fully open position. After step S104, the process proceeds to step S105.

In step S105, the DCS 51 is turned off. That is, the

doors

11A and 11B are shown in the open position. After step S105, the process proceeds to step S106.

In step S106, it is recognized that the

doors

11A and 11B are in the fully open position.

According to the above, the normal door opening operation is completed.

< door closing operation at normal time >

The normal door closing operation will be described with reference to the flowchart of fig. 9.

First, a close command is input by the communication terminal (step S201). For example, in step S201, the door close button of the communication terminal is turned on. After step S201, the process proceeds to step S202.

In step S202, the door 11A is turned in the closing direction a _CLS Move the door 11B in the closing direction B _CLS And (4) moving. The

doors

11A, 11B move toward the fully closed position. After step S202, the process proceeds to step S203.

In step S203, the DCS 51 is turned on. That is, the

doors

11A and 11B are at the fully closed position. After step S203, the process proceeds to step S204.

In step S204, the locking unit 60 is operated. For example, in step S204, the output shaft 90a of the motor 90 rotates in one direction. Thus, the locking pins 14A, 14B and the like engage with the

rotary members

66A, 66B as described above, thereby locking the

doors

11A, 11B. After step S204, the process proceeds to step S205.

In step S205, DLS52 is turned on. That is, the upper lock portion 60 is used to lock the

doors

11A and 11B. After step S205, the process proceeds to step S206.

In step S206, it is recognized that the

doors

11A and 11B are located at the fully closed position. In step S206, when the door is viewed alone, it is recognized that all the closing operations are completed (locking is completed).

As described above, the normal door closing operation is completed.

< door opening operation in case of half-open state of rotating member >

The door opening operation in the case where the

rotary members

66A, 66B are in the half-open state will be described with reference to the flowchart of fig. 10. Here, the case where the

rotary members

66A, 66B are in the half-open state refers to the case where: although the

rotary members

66A, 66B can be unlocked without being fully opened during the opening operation due to deterioration of the upper lock portion 60 or the like, the

rotary members

66A, 66B are opened in a half-way stop state that causes a problem at the next locking.

First, an open instruction is input by the communication terminal (step S301). For example, in step S301, a door open button of the communication terminal is turned on. After step S301, the process proceeds to step S302.

In step S302, the locking unit 60 is operated. For example, in step S302, the output shaft 90a of the motor 90 is rotated in the other direction by the on operation of the door opening button. This allows the rotation of the

rotary members

66A, 66B as described above, and releases the locking of the

doors

11A, 11B. However, in step S302, the

rotary members

66A and 66B are not fully opened but are in a half-opened state due to deterioration of the upper lock portion 60 or the like. After step S302, the process proceeds to step S303.

In step S303, DLS52 is turned off. That is, the locking of the

doors

11A and 11B by the locking unit 60 is released. After step S303, the process proceeds to step S304. Since steps S304 to S306 are the same as steps S104 to S106 described above, description thereof will be omitted.

< door closing action at jamming >

The door closing operation in the case of jamming will be described with reference to the flowchart of fig. 11.

First, a closing instruction is input by the communication terminal (step S401). For example, in step S401, the door close button of the communication terminal is turned on. After step S401, the process proceeds to step S402.

In step S402, the door 11A is turned in the closing direction a _CLS Move the door 11B in the closing direction B _CLS And (4) moving. The

doors

11A, 11B move toward the fully closed position. After step S402, the process proceeds to step S403.

In step S403, the DCS 51 does not operate as in the normal state. For example, the

rotary members

66A and 66B may be fixed in a half-opened state due to the jamming of the upper lock portion 60. In this case, as described above, the door 11A is moved from the fully open position to the closing direction a together with the door _CLS The moving lock pin 14A contacts the outer edge of the second wall 66d of the rotary member 66A, and moves together with the door 11B from the fully open position in the closing direction B _CLS The moving locking pin 14B contacts an outer edge portion of the second wall portion 66d of the rotating member 66B. Therefore, the lock pin 14A cannot enter the first recess 67A of the rotary member 66A, and is lockedThe pin 14B cannot enter the first recess 67B of the rotary member 66B. Therefore, the

doors

11A and 11B stop before reaching the fully closed position halfway from the fully open position to the fully closed position. After step S403, the process proceeds to step S404.

In step S404, the locking unit 60 is operated. For example, in step S404, the output shaft 90a of the motor 90 rotates in one direction. Thereby, the link mechanism 61 engages with the

rotary members

66A, 66B as described above. After step S404, the process proceeds to step S405.

In step S405, DLS52 is turned on. As described above, in the door closing operation at the time of jamming, the lock pin 14A contacts the outer edge portion of the second wall portion 66d of the rotating member 66A, and the lock pin 14B contacts the outer edge portion of the second wall portion 66d of the rotating member 66B, so that the

doors

11A, 11B stop before reaching the fully closed position. When the output shaft 90a of the motor 90 further rotates in a state where the operation of the

doors

11A and 11B is stopped, the carrier 23 can rotate. When carrier 23 rotates by a predetermined amount, the position of the permanent magnet fixed to carrier 23 changes, and DLS52 is turned on. After step S405, the process proceeds to step S406.

In step S406, it is recognized that the

doors

11A and 11B are located at the fully closed position. Specifically, the full close is considered to be detected when the stroke of the

doors

11A and 11B is smaller than a predetermined distance and the DLS52 is in the on state.

According to the above, the door closing operation in the jamming is completed.

< door control >

An example of gate control according to the embodiment will be described with reference to a flowchart of fig. 12.

The flow of fig. 12 is repeatedly executed periodically during the closing action of the door.

First, the door clamp determination unit 113 determines whether or not a door clamp has occurred based on the operation signal during the closing operation (step S501). For example, in step S501, it is determined whether or not the door jam has occurred by determining whether or not the door speed or the motor current exceeds a predetermined threshold value. If it is determined that a door jam has occurred (step S501: YES), the process proceeds to step S502.

In step S502, it is determined whether the upper lock portion 60 is jammed. For example, in step S502, it is determined whether the

rotary members

66A, 66B are jammed by determining whether the above-described specific condition is satisfied. If it is determined that the

rotary members

66A, 66B are not jammed (step S502: NO), the process proceeds to step S503.

In step S503, normal door clamp control is performed. Here, the normal door jam refers to a door jam whose cause is not the jam of the upper lock portion 60 (for example, an obstacle such as a person or an object is caught when the

doors

11A and 11B are closed). In the case of a normal door clamp, DCS is turned off and DLS is turned off, and therefore, in the case where a door clamp is detected and DLS is turned off, normal door clamp control is performed.

For example, in a normal door clamp control,: after the

doors

11A and 11B are pressed in the closing direction for a predetermined time (closing operation is performed), the

doors

11A and 11B are stopped for a predetermined time (motor braking), and the motors are not driven for a predetermined time. During the period when the motor is not driven, the

doors

11A and 11B can be opened manually. Subsequently, the following door jam control is repeated for a predetermined time: the re-closing operation of the

doors

11A, 11B is performed, and the obstacle is detected again.

On the other hand, if it is determined that the

rotary members

66A, 66B are jammed (step S502: YES), the process proceeds to step S504. In step S504, the recording and notification of jam information (for example, DCS off and DLS on) are performed. For example, the jam information is recorded in the storage section 115 of the control section 110. For example, the notification of the jam information is notified to the train center or the outside by the notification unit 57 (e.g., the doorbell 57a and the display lamp 57 b). After step S504, the process proceeds to step S505.

In step S505, the opening operation is performed up to the unlock position where the lock is released. For example, in step S505, the motor 90 is driven so as to move the locking unit 60 located at the locking position to the unlocking position. For example, the end position of the opening operation in step S505 may be calculated from the rotation angle of the motor 90 or the like, and may be set to a value different from that of the normal door clamp control. In addition, the end of the opening actionThe end position may also be adjusted by moving the motor 90 in the opening direction a _OPN 、B _OPN The rotation is performed for a predetermined time. After step S505, the process proceeds to step S506.

In step S506, it is determined whether the jam of the upper lock portion 60 has been eliminated. For example, in step S506, it is determined whether or not the above-described specific condition (e.g., whether DCS is off and DLS is on) is not satisfied, thereby determining whether or not the jam of upper lock portion 60 has been eliminated. If it is determined that the jam of the locking unit 60 has not been eliminated (no in step S506), the process proceeds to step S507.

In step S507, a failure notification is performed, and the closing operation of the

doors

11A and 11B is stopped. For example, the notification of the failure is notified to the train center or the outside by the notification unit 57 (e.g., a doorbell 57a, a display lamp 57 b).

On the other hand, if it is determined that the jamming of the locking unit 60 has been eliminated (step S506: YES), the process proceeds to step S508. In step S508, a reclosing operation is performed. For example, in step S508, the

doors

11A and 11B are again moved toward the fully closed position. After step S508, the process proceeds to step S509.

In step S509, it is determined whether or not a door jam has occurred. For example, in step S509, it is determined whether or not the door jam has occurred by determining whether or not the door speed or the motor current exceeds a predetermined threshold. If it is determined that a door jam has occurred (YES in step S509), the process returns to step S502.

On the other hand, if it is determined that no door jam has occurred (step S509: NO), the process proceeds to step S510. In step S510, full-close detection of the

doors

11A and 11B is performed. In step S510, DCS is turned on. After step S510, the process proceeds to step S511.

In step S511, it is determined whether or not the frequency of continuously detecting the jam is equal to or more than a predetermined frequency (for example, equal to or more than 1 time). If it is determined that the number of times of continuous detection of jamming is less than the predetermined number of times (step S511: NO), the process proceeds to step S512.

In step S512, it is determined whether the elapsed time from the last detection of jamming is less than a predetermined time (for example, less than 24 hours). If it is determined that the number of times of continuous detection of jamming is equal to or greater than the predetermined number of times (yes in step S511), or if it is determined that the elapsed time from the last detection of jamming is less than the predetermined time (yes in step S512), the routine proceeds to step S513.

In step S513, a notification is made that the possibility of occurrence of a failure is high (a failure precursor). For example, the warning of the failure is notified to the train center or the outside by the notification unit 57 (e.g., a doorbell 57a, a display lamp 57 b).

The condition for notifying the warning of the failure is not limited to both of S511 and S512. For example, the condition for notifying the sign of failure may include either one of S511 and S512. For example, after step S510, the process may proceed to step S512 without proceeding to step S511. For example, after the determination in step S511 is "no", the process may return to step S501 without going to step S512.

< Effect of action >

As described above, the door opening/closing device 2 according to the present embodiment includes: a drive unit 19 for driving the

doors

11A and 11B for opening and closing the entrance 8; lock pins 14A, 14B, the lock pin 14A moving with the door 11A by a driving force from the driving part 19, the lock pin 14B moving with the door 11B by a driving force from the driving part 19; an upper lock 60 that is movable between a locked position at which the upper lock 60 is locked by being engaged with the lock pins 14A and 14B at a fully closed position of the

doors

11A and 11B, and an unlocked position at which the upper lock 60 is not engaged with the lock pins 14A and 14B; a DCS 51 for acquiring position signals indicating the positions of the

doors

11A, 11B; a DLS52 for acquiring a lock signal indicating that the upper lock portion 60 is in the locked position; and a determination unit 111 that determines whether or not a specific condition is satisfied that the position signal indicates that the

doors

11A and 11B are not located at the fully closed position and that the lock signal indicates that the upper lock portion 60 is located at the locked position.

In normal operation, the door 11A is moved in the closing direction A _CLS Move and turn the door 11B in the closing direction B _CLS When moved, the position signal indicates that the

doors

11A and 11B are at the fully closed position, and the lock signal indicates that the upper lock portion 60 is at the locked position. However, when the grease runs out or the locking portion 60 is jammed, the door 11A is moved in the closing direction a _CLS Move and turn the door 11B to the closing direction B _CLS When moving, the

doors

11A and 11B may not move to the fully closed position. According to this configuration, it is possible to determine whether or not the

doors

11A and 11B are in the unmoved state by determining whether or not a specific condition (indicating that the

doors

11A and 11B are not in the fully closed position and indicating that the upper lock portion 60 is in the locked position) is satisfied. Therefore, it is possible to grasp the state in which the

doors

11A and 11B are not moved due to the grease run-out, the locked portion 60 being stuck, or the like.

In the closing direction A of the door 11A _CLS Moving the door 11B in a closing direction B _CLS When the

doors

11A and 11B stop after the movement, the locking unit 60 according to the present embodiment receives the driving force from the driving unit 19 and moves from the unlock position to the lock position. The determination unit 111 determines whether or not the specific condition is satisfied when the

doors

When the upper lock 60 is moved from the unlock position to the lock position by the driving force from the driving unit 19, the lock 60 may be engaged with the lock pins 14A and 14B at the fully closed position of the

doors

11A and 11B and moved to the lock position, or the upper lock 60 may be moved to the lock position in a state of not being engaged with the lock pins 14A and 14B. According to this configuration, it is possible to determine whether or not the upper lock portion 60 is located at the locked position although the upper lock portion 60 is not engaged with the lock pins 14A and 14B by determining whether or not a specific condition is satisfied when the

doors

11A and 11B are stopped. Therefore, it is possible to recognize the case where the locking portion 60 engages with the locking pins 14A and 14B at the fully closed position of the

doors

11A and 11B and moves to the locking position, and the case where the locking portion 60 moves to the locking position without engaging with the locking pins 14A and 14B.

The locking unit 60 according to the present embodiment includes

rotation shafts

81A and 81B extending in the vertical direction, a rotation member 66A that rotates between the unlock position and the lock position about the rotation shaft 81A, and a rotation member 66B that rotates between the unlock position and the lock position about the rotation shaft 81B. The driving unit 19 includes a rack-and-pinion mechanism 10, and the rack-and-pinion mechanism 10 includes a rack 7A for attaching the door 11A, a rack 7B for attaching the door 11B, and a pinion 9 engaged with the

racks

7A and 7B. The

rotation shafts

81A and 81B are located below the

racks

7A and 7B in the vertical direction. The determination section 111 determines whether or not the

rotary members

When the

rotating shafts

81A and 81B are located below the

racks

7A and 7B in the vertical direction, dust and abrasion powder accumulated in the

racks

7A and 7B easily accumulate in the

rotating shafts

81A and 81B by dropping down the

rotating shafts

81A and 81B. When dust and abrasion powder accumulate on the

rotating shafts

81A and 81B, the rotating

members

66A and 66B are liable to be jammed. According to the present configuration, by determining whether or not the

rotary members

66A, 66B are jammed by determining whether or not the specific condition is satisfied, it is possible to grasp that the jamming of the upper lock portion 60 is caused by the jamming of the

rotary members

66A, 66B. Therefore, when grasping the jam of the lock portion 60, the actual benefit is particularly great in grasping the jam of the

rotary members

66A, 66B.

The driving unit 19 according to the present embodiment includes: a motor 90; and a planetary gear mechanism 20 to which the driving force of the motor 90 is input. The planetary gear mechanism 20 includes: an internal gear 22 that outputs a driving force to the gear 9; and a carrier 23 that outputs a driving force for moving the locking portion 60 between the unlocked position and the locked position when the

doors

11A and 11B are stopped. The upper lock portion 60 has: a lock slider 33 that moves by receiving a driving force from the carrier 23; and a link mechanism 61 that presses the

rotation members

66A and 66B to rotate the

rotation members

66A and 66B in accordance with the movement of the lock slider 33.

According to this configuration, in the configuration in which the driving unit 19 includes the motor 90 and the planetary gear mechanism 20, and the locking unit 60 includes the lock slider 33 and the link mechanism 61, it is possible to grasp that the jamming of the locking unit 60 is caused by the jamming of the

rotary members

66A and 66B.

The door control device 100 according to the present embodiment includes: a control unit 110 for controlling the motor 90 to supply power to the drive unit 19 to move the

doors

11A and 11B to open and close when the travel resistance of the

doors

11A and 11B is smaller than a predetermined travel resistance, and to supply power to the upper lock unit 60 to lock the

doors

11A and 11B at the fully closed position when the travel resistance of the

doors

11A and 11B is equal to or greater than the predetermined travel resistance; a DCS 51 for acquiring position signals indicating the positions of the

doors

11A, 11B; a DLS52 for acquiring a lock signal indicating that the upper lock portion 60 is located at a lock position for locking the

doors

11A and 11B; and a determination unit 111 for controlling the motor 90 to turn the door 11A in the closing direction A _CLS Move and turn the door 11B to the closing direction B _CLS When the door is moved, the determination unit 111 determines whether or not a specific condition is satisfied that the position signal indicates that the

doors

11A and 11B are not located at the fully closed position and that the lock signal indicates that the upper lock portion 60 is located at the lock position.

In a normal state, the motor 90 is controlled to turn the door 11A in the closing direction A _CLS Move and turn the door 11B to the closing direction B _CLS When moved, the position signal indicates that the

doors

11A and 11B are at the fully closed position, and the lock signal indicates that the upper lock portion 60 is at the locked position. However, when the grease runs out or the locking portion 60 is jammed, the motor 90 is controlled to move the door 11A in the closing direction a _CLS Move and turn the door 11B to the closing direction B _CLS When moving, the

doors

11A and 11B are not moved due to the grease run out, the jamming of the locking portion 60, or the like.

The door control device 100 according to the present embodiment includes a door jam determination unit 113, and the door jam determination unit 113 determines whether or not a door jam has occurred at the entrance 8 where the

doors

11A and 11B are opened and closed, based on the operation signal of the driving unit 19. When it is determined that the door jam has occurred, the determination unit 111 determines whether or not a specific condition is satisfied.

The motor 90 is controlled to move the door 11A in the closing direction A _CLS Move and turn the door 11B to the closing direction B _CLS The cases where the

doors

11A and 11B do not move to the fully closed position during movement include the stop of movement of the

doors

11A and 11B due to exhaustion of grease, jamming of the locking portion 60, and the like, and the stop of movement of the

doors

11A and 11B due to trapping of the doors. According to this configuration, it is possible to determine whether or not the

doors

11A and 11B are in the unmoved state after the door jam is detected by determining whether or not the specific condition is satisfied when it is determined that the door jam has occurred. Therefore, it is possible to recognize the stop of the movement of the

doors

11A and 11B due to the grease run-out, the jamming of the locking portion 60, and the like, and the stop of the movement of the

doors

11A and 11B due to the door jam.

When a door jam occurs, the control unit 110 according to the present embodiment controls the motor 90 in different manners when the specific condition is not satisfied and when the specific condition is satisfied.

According to this configuration, when a door jam occurs, the movement modes of the

doors

11A and 11B can be made different between the case where the specific condition is not satisfied and the case where the specific condition is satisfied. For example, when a door jam occurs, the control is performed such that at least one of the rotation speed of the motor 90, the rotation direction of the motor 90, and the rotation amount of the motor 90 is different between the case where the specific condition is not satisfied and the case where the specific condition is satisfied. Thus, when a door jam occurs, at least one of the moving speed of the

doors

11A and 11B, the moving direction of the

doors

11A and 11B, and the moving amount of the

doors

When determining that the specific condition is satisfied, the control unit 110 according to the present embodiment drives the motor 90 so as to move the locking unit 60 located at the locking position to the unlocking position.

According to this configuration, when it is determined that the specific condition is satisfied, the motor 90 is driven in reverse to the unlock position of the upper lock portion 60, whereby the elimination operation of the state in which the

doors

11A and 11B are not moved due to the exhaustion of the grease, the jamming of the upper lock portion 60, or the like can be performed. For example, when the cancel operation is performed in a state where the

doors

11A and 11B are not moved, the opening of the

doors

11A and 11B and the passenger riding on the vehicle can be suppressed by performing the close operation of the

doors

11A and 11B after the start operation of the

doors

11A and 11B.

The door control device 100 according to the present embodiment includes an estimation unit 114, and the estimation unit 114 estimates the deterioration state of the upper lock portion 60 based on the number of times a specific condition is satisfied or the occurrence frequency of an event satisfying the specific condition.

According to this configuration, the number of times a specific condition is satisfied or the frequency of occurrence of an event satisfying the specific condition can be used to estimate the deterioration state of the upper lock portion 60.

The estimation unit 114 according to the present embodiment estimates the deterioration state of the upper lock portion 60 based on environmental information including at least one of weather, humidity, and temperature, and a travel point of the vehicle at which the entrance 8 is opened and closed by the

doors

11A and 11B.

According to this configuration, the reliability of the degradation estimation of the upper lock portion 60 can be improved, as compared with a case where the degradation state of the upper lock portion 60 is estimated based on only the occurrence frequency of events that satisfy the specific condition.

The door control device 100 according to the present embodiment includes the notification unit 57, and when it is determined that the specific condition is satisfied, the notification unit 57 notifies information about the determination result to the outside.

With this configuration, it is possible to know that the specific condition is satisfied by notifying information on the determination result to the outside.

The notification unit 57 according to the present embodiment notifies information on the determination result to the outside when the number of times the specific condition is satisfied or the frequency of occurrence of an event that satisfies the specific condition is equal to or greater than a predetermined value.

According to this configuration, the reliability of the notification of the determination result can be improved as compared with the case where the notification is performed when it is intermittently determined that the specific condition is satisfied.

< modification example >

The scope of the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.

In the above-described embodiment, the engaging portion that moves together with the door by receiving the driving force of the driving portion is described as an example of the lock pin, but the present invention is not limited to this. For example, the engaging portion may be a member other than the lock pin. For example, the engaging portion may not include a roller that can rotate around the lock pin. For example, the engaging portion may be a convex portion protruding upward from the door. For example, the form of the engaging portion can be changed according to a required specification.

In the above-described embodiment, the example in which the DCS is off when the position signal indicates that the door is not at the fully closed position has been described, but the present invention is not limited to this. For example, the position signal may indicate that the door is not located at the fully closed position, or may indicate that the stroke of the door is equal to or greater than a predetermined distance. For example, the manner in which the position signal indicates that the door is not located at the fully-closed position may be changed according to required specifications.

In the above-described embodiment, the example in which the locking portion receives the driving force from the driving portion and moves from the unlock position to the lock position when the door is stopped after moving in the closing direction has been described, but the present invention is not limited to this. For example, the locking unit may be moved from the unlocking position to the locking position by a driving force from a driving unit different from the driving unit. For example, the driving unit is not limited to a single motor, and may include a plurality of motors. For example, the door may be locked by operating the locking portion with an output of a second motor different from the first motor after the door is moved to the fully closed position with the output of the first motor. For example, the manner in which the upper lock portion moves from the unlocked position to the locked position may be changed according to the required specifications.

In the above-described embodiment, the example in which the determination unit determines whether or not the specific condition is satisfied when the door is stopped has been described, but the present invention is not limited to this. For example, the determination unit may determine whether or not the specific condition is satisfied before the door is stopped. For example, the manner (timing) in which the determination unit determines whether or not the specific condition is satisfied can be changed in accordance with the required specification.

In the above-described embodiment, the example in which the locking portion has the rotation axis extending in the vertical direction and the rotation member that rotates between the unlock position and the lock position around the rotation axis as the rotation center has been described, but the present invention is not limited to this. For example, the rotation axis may extend in a direction intersecting the vertical direction. For example, the locking unit is not limited to a rotary member that rotates about a rotary shaft between an unlocked position and a locked position, and may include a moving member that moves between the unlocked position and the locked position. For example, the configuration of the upper lock portion can be changed according to a required specification.

In the above-described embodiment, an example in which the driving portion has a rack gear mechanism including a rack to which the door is attached and a gear to which the rack is engaged has been described, but the present invention is not limited to this. For example, the driving unit is not limited to the rack and pinion mechanism, and may have a belt mechanism or a ball screw mechanism. For example, the door driving method is not limited to a method in which the door opening and closing device includes the rack-and-pinion mechanism described above and a motor is used to rotate a pinion to open and close a door attached to a rack, that is, a so-called rack-and-pinion method. For example, the door may be driven by a so-called belt-type method, in which a belt extending between a drive pulley and a driven pulley at positions separated from each other is connected to the door and the door is opened and closed by movement of the belt. For example, the door may be driven by a so-called screw type in which a screw shaft corresponding to a bolt is rotated by a motor to open and close a door mounted on a ball nut corresponding to a nut. For example, the driving method of the door can be changed according to the required specification. For example, the configuration of the driving unit can be changed according to the driving method of the door and the required specification.

In the above-described embodiment, an example in which the rotation axis is located below the rack in the vertical direction has been described, but the present invention is not limited to this. For example, the rotation axis may be located above the rack in the vertical direction. For example, the rotation axis may be present at a position overlapping the rack when viewed in the horizontal direction. For example, the arrangement of the rotating shaft can be changed according to a required specification.

In the above-described embodiment, the example in which the determination unit determines whether or not the rotation member is jammed by determining whether or not the specific condition is satisfied has been described, but the present invention is not limited to this. For example, the determination unit may determine whether or not a portion of the locking unit different from the rotation member is jammed by determining whether or not a specific condition is satisfied. For example, the method of determining the jam may be changed according to a required specification.

In the above-described embodiment, an example in which the driving section includes a motor (an example of an actuator) and a planetary gear mechanism to which the driving force of the motor is input is given, but the present invention is not limited to this. For example, the driving unit is not limited to the motor, and may include a solenoid. For example, the form of the actuator constituting the driving unit can be changed according to the required specification. For example, the driving unit is not limited to the planetary gear mechanism, and may include another power transmission mechanism such as a belt mechanism or a ball screw mechanism. For example, the configuration of the driving unit can be changed according to the required specification.

In the above-described embodiment, the planetary gear mechanism has an example in which the internal gear (first output unit) that outputs the driving force to the gear and the carrier (second output unit) that outputs the driving force for moving the locking unit between the unlocked position and the locked position when the door is stopped are provided, but the present invention is not limited to this. For example, the planetary gear mechanism is not limited to coupling the sun gear to the output shaft of the motor, coupling the internal gear to the gear, and coupling the carrier to the traction member, but may be configured to couple the sun gear to the gear and coupling the internal gear to the output shaft of the motor. For example, the form of the first output unit and the second output unit can be changed according to the structure and required specifications of the planetary gear mechanism.

In the above-described embodiment, the example in which the locking portion includes the lock slider that moves by receiving the driving force from the carrier and the link mechanism that rotates the rotating member by pressing the rotating member in accordance with the movement of the lock slider has been described, but the present invention is not limited to this. For example, the locking unit may not include a locking slider. For example, the link mechanism may press the rotation member to rotate the rotation member in accordance with the rotation of the carrier. For example, the link mechanism is not limited to having 3 links. For example, the link mechanism may include 2 links or 4 or more links. For example, the form of the link mechanism can be changed according to the form of the door and the required specification. For example, the configuration of the upper lock portion can be changed according to a required specification.

In the above-described embodiment, the example in which the door opening/closing device includes the pair of doors of the two-leaf push-pull type that opens and closes the entrance of the railway vehicle has been described, but the present invention is not limited to this. For example, the door opening/closing device may be installed in a vehicle other than a railway vehicle. For example, the door opening and closing device may be provided with a single sliding door.

In the above-described embodiments, the example of the vehicle opening/closing door provided as the door opening/closing device in the railway vehicle (vehicle) has been described, but the present invention is not limited thereto. For example, the door opening/closing device may be provided in a mobile body (for example, an aircraft or a ship) other than the vehicle, or a device or equipment fixed at a fixed position. For example, the installation mode of the door opening and closing device can be changed according to the required specification.

In the above-described embodiment, the door control device has been described as including the example of the door pinching determining unit that determines whether or not a door pinching occurs at the entrance where the door opens and closes based on the operation signal of the driving unit, but the door control device is not limited to this. For example, the door control device may not include the door jam determination unit. For example, the configuration of the door control device can be changed according to the required specifications.

In the above-described embodiment, the example in which the determination unit determines whether or not the specific condition is satisfied when it is determined that the door jam has occurred has been described, but the present invention is not limited to this. For example, the determination unit may determine whether or not the specific condition is satisfied when it is determined that the door jam has not occurred. For example, the determination unit may determine whether or not the specific condition is satisfied regardless of whether or not it is determined that the door jam has occurred. For example, the determination method of the determination unit can be changed according to a required specification.

In the above-described embodiment, the motor is controlled in different manners by the control unit when the specific condition is not satisfied and when the specific condition is satisfied when the door jam occurs, but the present invention is not limited to this. For example, when a door jam occurs, the control unit may control the motor in the same manner as each other when the specific condition is not satisfied and when the specific condition is satisfied. For example, when a door jam occurs, the control unit may control the motor speed, the motor rotation direction, and the motor rotation amount in the same manner when the specific condition is not satisfied and when the specific condition is satisfied. For example, the control method of the motor when the door jam occurs can be changed according to the required specification.

In the above-described embodiment, the motor is driven by the control unit so that the locking unit located at the locking position is moved to the unlocking position when it is determined that the specific condition is satisfied. For example, when it is determined that the specific condition is satisfied, the control unit may not drive the motor so as to move the locking unit located at the locking position to the unlocking position. For example, when it is determined that the specific condition is satisfied, the operation of eliminating the door not moving due to the grease run-out, the locked portion jam, or the like is not limited to the operation of reversely driving the motor to the unlocked position of the locked portion, and the door not moving state may be notified as a failure. For example, the control method in the case where it is determined that the specific condition is satisfied can be changed in accordance with the required specification.

In the above-described embodiment, the example in which the determination unit determines that the locking unit is malfunctioning when the number of times the determination unit determines that the specific condition is satisfied is equal to or more than the predetermined number of times has been described, but the present invention is not limited to this. For example, the control unit may determine that the failure occurs when intermittently determining that the specific condition is satisfied. For example, the determination unit may determine that the locking unit is malfunctioning when the number of times the determination unit determines that the specific condition is satisfied is 1 or more, or may determine that the locking unit is malfunctioning when the number of times the determination unit determines that the specific condition is satisfied is 2 or more. For example, the mode in which the determination unit determines that the locking unit is malfunctioning may be changed according to the required specification.

In the above-described embodiment, the door control device has been described as including the example of the estimating unit that estimates the deterioration state of the lock unit based on the number of times the specific condition is satisfied or the occurrence frequency of the event that satisfies the specific condition, but the present invention is not limited to this. For example, the door control device may not include the estimation unit. For example, the configuration of the door control device can be changed according to the required specifications.

In the above-described embodiment, the example in which the estimating unit estimates the deterioration state of the upper lock unit based on the environmental information including at least one of the weather, the humidity, the air temperature, and the travel point of the vehicle where the entrance/exit is opened/closed by the door has been described, but the present invention is not limited to this. For example, the estimation unit may estimate the deterioration state of the upper lock unit without using the environmental information. For example, the configuration of the estimating unit can be changed according to a required specification.

In the above-described embodiment, the example in which the door control device includes the notification unit that notifies the outside of the information on the determination result when it is determined that the specific condition is satisfied has been described, but the present invention is not limited to this. For example, the door control device may not include the notification unit. For example, the configuration of the door control device can be changed according to the required specifications.

In the above-described embodiment, the example in which the notification unit notifies the outside of the information on the determination result when the number of times the specific condition is satisfied or the frequency of occurrence of the event satisfying the specific condition is equal to or greater than the predetermined value has been described, but the present invention is not limited thereto. For example, the notification unit may perform notification when intermittently determining that the specific condition is satisfied. For example, the manner in which the notification unit notifies the outside of the information relating to the determination result may be changed in accordance with the required specification.

The present invention can also be applied to a door control method for controlling a door using at least a part of the door opening/closing device and the door control device described in the above embodiments. For example, the door control method may include the following steps: an actuator control step of controlling an actuator to supply power to a drive unit to move a door to open and close when a travel resistance of the door is smaller than a predetermined travel resistance, and to supply power to a lock unit to lock the door at a fully closed position when the travel resistance of the door is equal to or greater than the predetermined travel resistance; a position signal acquisition step of acquiring a position signal indicating a position of the door; a locking signal acquisition step of acquiring a locking signal indicating that the upper lock portion is located at a locking position for locking the door; and a determination step of determining whether or not a specific condition is satisfied in which the position signal indicates that the door is not located at the fully closed position and the locking signal indicates that the locked portion is located at the locked position when the actuator is controlled to move the door in the closing direction.

At least a part of the door opening/closing device and the door control device described in the above embodiments may be configured by hardware or software. In the case of being constituted by software, a program for realizing at least a part of the functions of the door opening/closing device and the door control device may be stored in a recording medium such as a flexible disk or a CD-ROM, and may be read and executed by a computer. For example, the recording medium is not limited to a removable recording medium such as a magnetic disk or an optical disk, and may be a fixed recording medium such as a hard disk device or a memory.

For example, a program that realizes at least a part of the functions of the door opening/closing device and the door control device may be configured to cause a computer to execute: supplying power to a driving part to move a door to open and close when a travel resistance of the door is less than a predetermined travel resistance, and supplying power to a lock part to lock the door at a fully closed position when the travel resistance of the door is equal to or more than the predetermined travel resistance, wherein the program is configured to cause the computer to execute: acquiring a position signal indicative of a position of the door; acquiring a locking signal indicating that the upper lock portion is located at a locking position for locking the door; and determining whether or not a specific condition is satisfied in which the position signal indicates that the door is not located at the fully closed position and the locking signal indicates that the locked portion is located at the locking position when the door is moved in the closing direction.

For example, a program for realizing at least a part of the functions of the door opening/closing device and the door control device may be distributed via a communication line (including a wired line and a wireless line) such as the internet. For example, the program may be distributed via a communication line such as the internet or may be stored in a recording medium in a state where the program is encrypted, modulated, or compressed.

In addition, the components in the above-described embodiments may be replaced with known components without departing from the scope of the present invention. Further, the above modifications may be combined.

In the embodiments disclosed in the present specification, a portion composed of a plurality of objects may integrate the plurality of objects, and conversely, a portion composed of one object may be divided into a plurality of objects. Whether integrated or not, may be configured to achieve the object of the present invention.

In the embodiments disclosed in the present specification, the portion where the plurality of functions are provided in a distributed manner may be provided so that part or all of the plurality of functions are concentrated, and conversely, the portion where the plurality of functions are concentrated may be provided so that part or all of the plurality of functions are distributed. The functions may be integrated or distributed, and the functions may be configured to achieve the object of the invention.

Description of the reference numerals

2: a door opening/closing device; 7A, 7B: a rack; 8: a lifting port; 9: a gear; 10: a rack and pinion mechanism; 11A, 11B: a door; 14A, 14B: a locking pin (engaging part); 19: a drive section; 20: a planetary gear mechanism; 22: an internal gear (first output portion); 23: planet carrier (second output)Section); 33: a locking slider; 51: a DCS (position signal acquisition unit); 52: DLS (lock signal acquisition unit); 57: a notification unit; 60: an upper lock portion; 61: a link mechanism; 66A, 66B: a rotating member; 81A and 81B: a rotating shaft; 90: a motor (actuator); 110: a control unit (actuator control unit); 111: a judgment section; 113: a door clamp judgment unit; 114: an estimation unit; a. The _CLS 、B _CLS : a closing direction.

Claims

1. A door opening/closing device is provided with:

a drive unit for driving a door for opening and closing the entrance;

an engaging portion that receives a driving force from the driving portion to move together with the door;

an upper lock portion movable between a locked position for locking the upper lock portion by engaging with the engaging portion at a fully closed position of the door and an unlocked position for not engaging with the engaging portion;

a position signal acquisition section for acquiring a position signal indicating a position of the door;

a lock signal acquiring unit configured to acquire a lock signal indicating that the lock unit is located at the locked position; and

and a determination unit configured to determine whether or not a specific condition is satisfied that the position signal indicates that the door is not located at the fully closed position and that the locking signal indicates that the locked portion is located at the locking position.

2. The door opening and closing apparatus according to claim 1,

when the door is stopped after the door is moved in the closing direction, the upper lock portion is moved from the unlock position to the lock position by the driving force from the driving portion,

the determination unit determines whether or not the upper lock unit has moved to the locked position although not engaged with the engagement unit by determining whether or not the specific condition is satisfied when the door has stopped.

3. The door opening and closing apparatus according to claim 1 or 2,

the upper lock portion includes a rotation shaft extending in a vertical direction and a rotation member that rotates about the rotation shaft between the unlock position and the lock position,

the drive unit has a rack-and-pinion mechanism having a rack for mounting the door and a pinion engaged with the rack,

the rotation axis is located below the rack in the vertical direction,

the determination section determines whether the rotating member is jammed by determining whether the specific condition is satisfied.

4. The door opening and closing apparatus according to claim 3,

the drive unit includes:

an actuator; and

a planetary gear mechanism to which a driving force of the actuator is input,

the planetary gear mechanism includes:

a first output unit that outputs a driving force to the gear; and

a second output unit that outputs a driving force for moving the upper lock between the unlock position and the lock position when the door is stopped,

the upper lock portion further has:

a lock slider that moves by receiving a driving force from the second output unit; and

and a link mechanism that presses the rotating member to rotate the rotating member in accordance with movement of the lock slider.

5. A door control device is provided with:

an actuator control unit that controls an actuator to supply power to a drive unit to move a door to open and close the door when a travel resistance of the door is smaller than a predetermined travel resistance, and to supply power to a lock unit to lock the door at a fully closed position when the travel resistance of the door is equal to or greater than the predetermined travel resistance;

a lock signal acquisition unit configured to acquire a lock signal indicating that the upper lock unit is located at a lock position for locking the door; and

and a determination unit configured to determine whether or not a specific condition is satisfied, the specific condition indicating that the position signal indicates that the door is not located at the fully closed position and the locked signal indicates that the locked portion is located at the locked position, when the actuator is controlled to move the door in the closing direction.

6. The door control apparatus of claim 5,

the door is also provided with a door clamping judging part which judges whether the door clamping occurs at the ascending and descending port where the door is opened and closed based on the action signal of the driving part,

when it is determined that the door jam has occurred, the determination unit determines whether or not the specific condition is satisfied.

7. The door control apparatus of claim 6,

when the door jam occurs, the actuator control unit controls the actuator in different manners when the specific condition is not satisfied and when the specific condition is satisfied.

8. The door control apparatus according to any one of claims 5 to 7,

when it is determined that the specific condition is satisfied, the actuator control unit drives the actuator so as to move the upper lock portion located at the locked position to the unlocked position.

9. The door control apparatus according to any one of claims 5 to 8,

the lock control device further includes an estimation unit that estimates a deterioration state of the upper lock portion based on the number of times the specific condition is satisfied or the frequency of occurrence of an event that satisfies the specific condition.

10. The door control device of claim 9,

the estimation unit estimates a deterioration state of the upper lock portion based on environmental information including at least one of weather, humidity, temperature, and a traveling point of the vehicle at which the entrance is opened and closed by the door.

11. The door control device according to any one of claims 5 to 10, further comprising:

the information processing apparatus further includes a notification unit configured to notify information on a determination result to the outside when it is determined that the specific condition is satisfied.

12. The door control device of claim 11,

the notification unit notifies the information on the determination result to the outside when the number of times the specific condition is satisfied or the frequency of occurrence of an event satisfying the specific condition is equal to or greater than a predetermined value.

13. A door control method, comprising:

an actuator control step of supplying power to a drive unit to move a door to open and close the door when a travel resistance of the door is smaller than a predetermined travel resistance, and supplying power to an upper lock unit to lock the door at a fully closed position when the travel resistance of the door is equal to or greater than the predetermined travel resistance;

a position signal acquisition step of acquiring a position signal indicating a position of the door;

a locking signal acquisition step of acquiring a locking signal indicating that the upper lock portion is located at a locking position for locking the door; and

and a determining step of determining whether or not a specific condition is satisfied in which the position signal indicates that the door is not located at the fully closed position and the lock signal indicates that the locked portion is located at the locked position when the actuator is controlled to move the door in the closing direction.

14. A program for causing a computer to execute: supplying power to a driving part to open and close the door when a travel resistance of the door is less than a predetermined travel resistance, and supplying power to a lock part to lock the door at a fully closed position when the travel resistance of the door is equal to or more than the predetermined travel resistance,

the program is for causing the computer to execute:

acquiring a position signal indicative of a position of the door;

acquiring a locking signal indicating that the upper lock portion is located at a locking position for locking the door; and

when the door is moved in a closing direction, it is determined whether or not a specific condition is satisfied that the position signal indicates that the door is not located at the fully closed position and the lock signal indicates that the locked portion is located at the lock position.

15. A computer-readable recording medium storing a computer program which, when executed by a computer, implements the door control method according to claim 13.