JP2000356069A - Door opening/closing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce an operator's discomfort when he or she operates a door opening/closing device having an actuator which imparts an assisting force to the operator's door opening or closing operation. SOLUTION: Operating switches SW1-SW4 each comprise an on/off switch to detect door opening and closing operations. A torque sensor 16 detects the magnitude of an operating force working on a door and detects whether the operating force is working in the opening or closing direction of the door. When the torque sensor 16 detects that the magnitude of the operating force is equal to or greater than a predetermined value while the operation detecting switches SW1-SW4 are detecting the door opening or closing operation, a controller 28 controls an actuator 6 so that an assisting force is imparted in the direction of application of the operating force according to the detection by the torque sensor 16, and so that the assisting force is varied depending on the magnitude of the operating force.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door opening / closing device, and more particularly to a door opening / closing device for applying an assisting force by an actuator to the opening and closing of a door by an operator.

[0002]

2. Description of the Related Art Conventionally, for example, JP-A-6-328940 discloses the above-mentioned door opening / closing device.

More specifically, a door is mounted on a vehicle body so as to be openable and closable (turnable) with a door hinge. One end of an assist force applying member is attached to the vehicle body at a position offset from a hinge axis of the door hinge so as to be rotatable by a bracket in the same direction as the opening and closing direction of the door.

An actuator using a motor as a driving source is provided inside the door panel. That is, in the motor, a gear fixed to the motor shaft is gear-coupled to the worm gear shaft via the reduction gear. The worm gear shaft is screw-coupled to a slider, and the slider is pin-coupled to the other end of the assisting force applying member. In such an actuator, the rotational motion of the motor is converted into a reciprocating motion of the slider on the worm gear shaft, and the reciprocating motion of the slider is converted into a door opening / closing motion by the assisting force applying member, that is, an assisting force applying motion.

[0005] The door is provided with an inner handle and an outer handle for manually opening and closing the door, and each handle is provided with an operation switch for detecting the operation. Switches similar to the operation switches provided on each handle are also provided at two places in the door trim. Further, the door is provided with a torque sensor for detecting a door opening / closing operation force and a rotation sensor for detecting a door opening / closing direction.

The control unit controls the torque of the motor based on each detection signal from each operation switch, torque sensor, and rotation sensor.

In the door opening / closing device configured as described above,
When the operator operates the operation switch of each handle or door trim to open or close the door, the operation switch outputs an operation detection signal to the control unit. The control unit, based on the operation detection signal and the detection signal that detects the opening and closing direction of the door from the rotation sensor,
Rotate the motor forward or backward. At this time, the control unit, based on the detection signal from the torque sensor,
Immediately, control is performed according to the control map so that the output torque of the motor is optimized. Then, the rotation output of such a motor is converted into an assisting force in the opening or closing direction of the door by the worm gear shaft, the slider and the assisting force applying member.

[0008]

However, in the above-described door opening / closing device, the control unit is configured to control the door in accordance with the control map as soon as the operation switch detects the opening or closing operation of the door. Therefore, the operator accidentally operates the operation switch, and thereafter, a relatively small external force due to, for example, wind or an increase in the weight of the door when the vehicle is tilted, is applied to the door in comparison with the operation force when the operator opens and closes the door. Even if it operates, the door may be opened and closed by the actuator under the control of the control unit. In such a case, the operator feels something uncomfortable because it is against the operator's intention.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a door opening / closing apparatus provided with an actuator for applying an assist force to the opening / closing of an operator's door. Another object of the present invention is to provide a door opening / closing device capable of reducing an uncomfortable feeling of an operator.

[0010]

According to a first aspect of the present invention, there is provided a door opening / closing apparatus for applying an assist force to an opening / closing of a door by an actuator using a motor as a drive source, wherein the door opening / closing operation is detected. An operation detection switch comprising an on / off switch, an operation direction detection means for detecting the direction of the operation force acting on the door, and an operation force detection means for detecting the magnitude of the operation force acting on the door. While detecting the opening and closing operation of the door with the operation detection switch, when the magnitude of the operation force becomes a predetermined value or more based on the detection of the operation force detection means, the operation direction detection means An assist force is applied in the direction in which the operating force acts based on the detection, and the assist force is changed according to the magnitude of the operating force based on the detection of the operating force detecting means. And summarized in that a control means for controlling including maintaining the actuator.

According to a second aspect of the present invention, in the door opening and closing apparatus according to the first aspect, the operation direction detecting means connects two points between the door side and the motor side with a torsion bar, The gist of the invention is that the torque sensor detects a direction of an operation force acting on the door based on a twisting direction of the torsion bar.

According to a third aspect of the present invention, in the door opening and closing apparatus according to the first aspect, the operating force detecting means connects two points between the door side and the motor side with a torsion bar, The gist of the present invention is that the torque sensor detects a magnitude of an operation force acting on the door based on a twist amount of the torsion bar.

According to a fourth aspect of the present invention, in the door opening and closing apparatus according to the first aspect, the operating force detecting means is configured to determine a magnitude of an operating force acting on the door based on a magnitude of a load current of the motor. The gist of the present invention is that the current detection circuit detects the current.

According to a fifth aspect of the present invention, in the door opening and closing apparatus according to the first aspect, the operation detection switch is provided on a handle for manually opening and closing the door.

According to a sixth aspect of the present invention, in the door opening / closing apparatus according to the first aspect, the actuator includes a clutch means for switching the door opening / closing operation to either manual operation or actuator operation. And

According to a seventh aspect of the present invention, in the door opening / closing apparatus according to the sixth aspect, the actuator includes a motor and a speed reduction mechanism for reducing the rotation of the motor. A worm fixed to the rotating shaft of the motor and a worm wheel meshed with the worm, wherein the clutch means makes the advance angle of the worm larger than the friction angle, and outputs the worm from the output side of the speed reduction mechanism. The gist is that the rotation shaft of the motor is configured to be rotatable.

According to an eighth aspect of the present invention, in the door opening / closing device according to the first aspect, the control means keeps the operating force acting on the door for a predetermined time or more based on the detection of the operating force detecting means. In this case, an automatic operation control means for operating the door to the fully opened or fully closed state by the actuator is provided.

According to a ninth aspect of the present invention, in the door opening and closing apparatus according to the first aspect, the control means performs a slow start operation when the operation of the actuator is started, and performs a slow stop operation when the operation is completed. The gist is that it is provided.

According to a tenth aspect of the present invention, in the door opening / closing apparatus according to the first aspect, the control means controls the operation force acting on the door within a predetermined time based on the detection of the operation force detection means. The gist of the present invention is to provide a stop control means for stopping the operation of the actuator when it suddenly changes so as to exceed a predetermined operating force.

According to an eleventh aspect of the present invention, in the door opening and closing device according to the first aspect, when the operation of the door is stopped or non-operated at a position other than the fully open position and the fully closed position of the door, the motor is opened. The gist of the present invention is to provide a holding force control unit for increasing the holding force.

According to a twelfth aspect of the present invention, in the door opening and closing apparatus according to the first aspect, the actuator is provided inside the door, and the actuator has a waterproof structure.

According to a thirteenth aspect of the present invention, in the door opening and closing device according to the first aspect, the door is supported so as to be rotatable with respect to a door mounting body, and the actuator is provided therein. , Is rotatably connected to the door mounting body, and meshes with the gear at the last stage of the actuator to convert the rotational motion of the gear by the operation of the motor into a linear motion. The gear and the teeth of the rack are oriented in a direction perpendicular to the opening and closing direction of the door, and at least one tooth surface of the gear and the rack is adjacent to each other. The gist of the present invention is to form a curved surface so as to be convex toward the tooth surface.

Therefore, according to the first aspect of the present invention,
The operation detection switch includes an on / off switch, and detects an opening / closing operation of the door. The operation direction detecting means detects whether the operation force acting on the door is acting in the opening direction or the closing direction of the door. The operating force detecting means detects the magnitude of the operating force acting on the door. The control means detects the operation direction detection means when the magnitude of the operation force exceeds a predetermined value based on the detection of the operation force detection means while the operation detection switch detects the opening and closing operation of the door. An assist force is applied in the direction in which the operating force acts on the basis of the operating force, and the actuator is controlled based on the detection of the operating force detecting means so as to change the assist force in accordance with the magnitude of the operating force. With this configuration, the assist operation of the door is performed based on the operator's intention, so that the operator's uncomfortable feeling can be reduced. In addition, when the magnitude of the operating force becomes equal to or greater than the predetermined value based on the detection of the operating force detecting means, an assist force corresponding to the operating force acting on the door is applied to the door. By accidentally activating the operation detection switch, compared to the operating force when the operator opens and closes the door,
For example, even if a relatively small external force such as wind acts on the door, the assist operation is not performed. Therefore, the door opening / closing operation by the actuator against the operator's intention can be reduced, and the operator's discomfort can be reduced.

According to the present invention, two points between the door side and the motor side provided in the actuator are connected by a torsion bar constituting a torque sensor.
Then, the direction of the operating force acting on the door is detected based on the twisting direction of the torsion bar. In addition, the operation force and the amount of twist of the torsion bar are almost proportional from the beginning of twist. Therefore, the torsion bar can be easily twisted without applying a large operating force at the beginning of twisting, so that the operator's uncomfortable feeling can be further reduced. According to the invention described in claim 3, two points between the door side and the motor side provided in the actuator are connected by the torsion bar constituting the torque sensor. Then, the magnitude of the operation force acting on the door is detected based on the amount of twist of the torsion bar. In addition, the operation force and the amount of twist of the torsion bar are almost proportional from the beginning of twist. Therefore, the torsion bar can be easily twisted without applying a large operating force at the beginning of twisting, so that the operator's uncomfortable feeling can be further reduced. According to the fourth aspect of the present invention, the current detection circuit detects the magnitude of the load current of the motor provided in the actuator. Then, the magnitude of the operating force acting on the door is detected based on the magnitude of the load current.

According to the fifth aspect of the present invention, the operation detection switch is provided on the handle for manually opening and closing the door. Therefore, the operation detection switch operates based on the operation of the handle, and the opening / closing operation of the door is detected.

According to the invention described in claim 6, the actuator is provided with a clutch means for switching the opening and closing of the door to either manual operation or operation by the actuator. Therefore, the opening and closing of the door can be selected to be either manual or operation by an actuator.

According to the seventh aspect of the present invention, the actuator is provided with the motor and the reduction mechanism for reducing the rotation of the motor. The speed reduction mechanism includes a worm fixed to a rotation shaft of a motor and a worm wheel meshed with the worm. The clutch means is configured such that the advance angle of the worm is greater than the friction angle, and the rotating shaft of the motor is rotatable from the output side of the speed reduction mechanism. Therefore, the rotation shaft of the motor can be rotated from the output side of the speed reduction mechanism, so that the door can be manually opened and closed when the motor does not operate. Therefore, since the clutch device can be configured without special provision, the device can be configured at low cost.

According to the eighth aspect of the present invention, when the operating force applied to the door continues for a predetermined time or more based on the detection of the operating force detecting means, the automatic operation control means fully opens the door with the actuator. Or, operate until fully closed.
Therefore, when the operator operates the door to the fully opened or fully closed state, the amount of operation can be reduced.

According to the ninth aspect, the speed adjustment control means performs a slow start operation when the operation of the actuator is started, and performs a slow stop operation when the operation is completed. Therefore, the operation feeling at the time of opening and closing the door can be improved.

According to the tenth aspect of the present invention, the stop control means, based on the detection of the operation force detection means, suddenly causes the operation force acting on the door to exceed the predetermined operation force within a predetermined time. When it fluctuates, the operation of the actuator is stopped. Therefore, when force acts on the door due to strong wind, etc.,
Unnecessary door opening / closing operation can be stopped to reduce operator discomfort.

According to the eleventh aspect of the present invention, the motor provided in the actuator is held by the holding force control means when the door is stopped or not operated at a position other than the fully opened position and the fully closed position of the door. Power increases. That is, idling of the motor is prevented, so that overrun of the door due to inertial force of the door can be prevented when the operation of the door is stopped. Further, when the door is not operated, the position of the door can be maintained.

According to the twelfth aspect, the actuator is provided inside the door, and the actuator has a waterproof structure. This is because rainwater or the like enters the inside of the door. Damage to the actuator can be prevented by making the actuator waterproof.

According to the thirteenth aspect of the present invention, the door is rotatably supported on the door mounting body so that the door is provided with an actuator. The rack is pivotally connected to the door mount. The rack meshes with the gear at the last stage of the actuator, converts the rotational motion of the gear by the operation of the motor into a linear motion, and opens and closes the door by the linear motion. Such gears and racks are curved so that their teeth are oriented in a direction orthogonal to the opening and closing direction of the door, and at least one tooth surface of the gears and the rack is convex toward an adjacent tooth surface. Formed. In this way, even when the rack swings with respect to the gear at the time of opening and closing the door, the tooth surface of the rack and the tooth surface of the gear always come into smooth contact. Therefore, rattling between the rack and the gear can be prevented, and uneven wear of both tooth surfaces can be prevented.

[0034]

DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) A first embodiment in which the present invention is embodied in an automobile door opening / closing apparatus will be described below with reference to FIGS.

1 to 4 show an automobile door opening / closing device 1. FIG. The door opening and closing device 1 is, for example, a door 2a of a driver's seat of a vehicle.
The door 2a is provided inside the vehicle body 2b so as to be openable and closable (rotatable) with an upper hinge 3a and a lower hinge 3b. A base plate 4 is fixed at a position offset from the hinge shaft 3c at an intermediate position between the hinges 3a, 3b of the vehicle body 2b. One end of a rack 5 is connected to the base plate 4 by a rotation pin 4a so as to be rotatable in the same direction as the opening and closing direction of the door 2a. The rack 5 is arranged so that its teeth 5a face downward (in a direction orthogonal to the opening and closing direction of the door 2a).

The door opening / closing device 1 is provided with a door opening / closing actuator 6 for applying an assist force to opening / closing of the door 2a. The door opening / closing actuator 6 includes a motor 7 and a speed reduction mechanism 8, and the motor 7 and the speed reduction mechanism 8 are integrally assembled to a case 6a. Case 6a
Has five attachment portions 6b at which the door 2
It is fixed to a mounting portion (not shown) formed on the panel a.

In the speed reduction mechanism 8, the worm 9 fixed to the rotating shaft of the motor 7 is engaged with a worm wheel 11 supported by a shaft 10. Shaft 10
A reduction gear 11a is supported so as to be able to rotate integrally with the worm wheel 11. The reduction gear 11 a meshes with a first spur gear 13 supported by the shaft 12. As shown in FIGS. 4 and 5, the first spur gear 13 is connected to the second spur gear 15 by a torsion bar 17 as an elastic member constituting the torque sensor 16. Second
The spur gear 15 is supported by the shaft portion 14 and meshes with the rack 5. The torsion bar 17 has an elastic force. Therefore, the spur gears 13 and 15 are connected to be relatively rotatable within a predetermined angle range.

When the motor 7 rotates forward, the first spur gear 13 rotates clockwise in FIG. 3 via the worm 9, the worm wheel 11, and the reduction gear 11a. Then, since the second spur gear 15 meshing with the rack 5 rotates together with the first spur gear 13 in the same direction, the second spur gear 15 moves in a direction away from the base plate 4. That is, the door 2a is rotated in the opening direction.

On the other hand, when the motor 7 rotates in the reverse direction, the first spur gear 13 rotates counterclockwise in FIG. 3 via the worm 9, the worm wheel 11, and the reduction gear 11a. Then, the rack 5 is moved together with the first spur gear 13.
Since the second spur gear 15 meshing with the second spur gear 15 rotates in the same direction, the second spur gear 15 moves in a direction approaching the base plate 4. That is, the door 2a is rotated in the closing direction.

As shown in FIG. 7A, in the present embodiment, the tooth surface 5b of the rack 5 is formed in a curved shape so as to protrude toward the adjacent tooth surface 5b. 5 is swingable with respect to the second spur gear 15. This is because when the door 2a is opened and closed, the rack 5
This is for slightly swinging with respect to 5. By forming the tooth surface 5b as described above, the tooth surface 5b of the rack 5 and the gear 15
Is always in smooth contact with the tooth surface 15a. Therefore, rattling between the rack 5 and the gear 15 can be prevented, and uneven wear of the tooth surfaces 5b and 15a can be prevented.

Incidentally, as shown in FIG. 7 (b), the tooth surface 15a of the second spur gear 15 may be formed in a curved shape as described above, or as shown in FIG. 7 (c). Both tooth surfaces 5b and 15a may be both curved surfaces.

The worm 9 is formed such that the inclination angle (lead angle) of the screw is larger than the friction angle. This means that the worm 9 can be rotated by the worm wheel 11. In the present embodiment, the worm 9 and the worm wheel 11 constitute clutch means. The worm wheel 1
The rotation torque for rotating the worm 9 at 1 is relatively large. This is because the spur gears 13, 1
This is to enable the torque sensor 16 configured between the five to operate effectively.

The torque sensor 16 will be described in detail. As shown in FIG. 5, the second spur gear 15 has a cylindrical portion 15b extending along the axial direction to the first spur gear 13 so as to cover the torsion bar 17. It is formed. A flange-shaped holder 19 is fixed to the tip of the cylindrical portion 15b so as to be integrally rotatable with the cylindrical portion 15b. A pair of pins 18 extending radially outward is provided on the outer peripheral portion of the holder 19.

On the other hand, a flange portion 20a extending to a position near the outer peripheral portion of the holder 19 is formed on the slider 20 fitted to the cylindrical portion 15b. Flange part 20
a has a spiral groove 20b through which the pin 18 is inserted.
Is formed. The spiral groove 20b extends from the second spur gear 15 to the first spur gear 13 as shown in FIG.
The groove extends spirally counterclockwise toward. A support portion 20c is formed on the flange portion 20a. The slider 20 is supported by the support portion 20c so as to be able to rotate integrally with the first spur gear 13 and to be movable only in the axial direction.

A spring 21 is interposed between the flange portion 20a and the holder 19, and the spring 21 keeps the pin 18 in contact with the inner peripheral surface of the spiral groove 20b by the urging force of the spring 21. I try not to get it. In the vicinity of the slider 20, a potentiometer 22 for detecting the position of the slider 20 in the axial direction is provided. When the slider 20 is located at the position (reference position) shown in FIG. 6B, the detection voltage output from the potentiometer 22 is 2.5 volts.

In the torque sensor 16 configured as described above, when an operating force acts on the door 2a in the opening direction, the rack 5
6A, a rotational force acts on the second spur gear 15 in the direction of the arrow shown in FIG. 6A. However, the first spur gear 13 does not rotate due to the rotational holding force of the motor 7, and the first spur gear 13 does not rotate. The spur gear 15 side is twisted, and the holder 19 is rotated together with the spur gear 15 in the same direction. Then, the slider 20 moves in a direction away from the first spur gear 13 from the reference position by the spiral groove 20b and the pin 18. By the movement of the slider 20, the potentiometer 22 outputs a detection voltage lower than 2.5 volts which is proportional to the position moved from the reference position.

On the other hand, when an operating force acts on the door 2a in the closing direction, the second spur gear 15 is moved by the rack 5 as shown in FIG.
Although the rotational force acts in the direction of the arrow shown in (c), the first spur gear 13 does not rotate due to the rotational holding force of the motor 7, and the second spur gear 15 side of the torsion bar 17 is twisted. The holder 19 is rotated together with the gear 15 in the same direction. Then, the slider 20 is moved from the reference position to the first spur gear 1 by the spiral groove 20b and the pin 18.
3 moves in the direction approaching. By the movement of the slider 20, the potentiometer 22 outputs a detection voltage higher than 2.5 volts, which is proportional to the position moved from the reference position.

As shown in FIG. 4, a rotation sensor 23 is mounted on the shaft 10 supporting the worm wheel 11. The rotation sensor 23 outputs a pulse signal synchronized with the rotation of the worm wheel 11. This pulse signal is used to detect the open / close position of the door 2a.

The inside of the panel of the door 2a is shown in FIG.
The door closer device 24 is provided as shown in FIG.
The door closer device 24 includes a closer actuator 25.
, The door 2a is forcibly pulled from the half latch state to the full latch state. The door closer device 24 includes a half latch detection switch 26 and a full latch detection switch 27. The half latch state of the door 2a is detected based on the operation of the half latch detection switch 26, and the full latch state of the door 2a is detected based on the operation of the full latch detection switch 27.

As shown in FIGS. 1 and 2, the door 2a is manually operated by an operator (passenger).
When opening and closing the door, there are provided an indoor handle 2c (shown by a broken line in FIG. 1) and an outdoor handle 2d (shown by a solid line in FIG. 1) which are gripped and operated by the operator.

FIGS. 8A and 8B show the interior handle 2c.
As shown in the figure, an indoor side opening operation switch SW1 is disposed at a part A1 operated when the passenger opens and closes the door 2a, and an indoor side closing operation switch SW2 is provided at a part A2 operated when the door 2a is closed. It is arranged.

On the other hand, FIG.
As shown in (b), an outdoor opening operation switch SW3 is provided at a portion A3 operated when the passenger opens and closes the door 2a, and an outdoor closing operation is performed at a site A4 operated when closing the door 2a. A switch SW4 is provided. That is, each of the switches SW1 to SW4 is provided at a position where the operator can easily open and close the door 2a.

Each of these switches SW1 to SW4 is
It consists of an on / off switch. Each switch SW1
To SW4, as shown in FIG.
One terminal of the switch SW4 is connected to each other, and a connection point thereof and a controller 28 described later are connected by a single wire. The other terminals of the switches SW1 to SW4 are grounded. These switches SW1 to SW4
Is turned on at each operation.

FIG. 10 shows the electrical configuration of the door opening / closing device 1 and the door closer device 24. The door opening / closing device 1 and the door closer device 24 are controlled by a controller 28 serving as control means, automatic operation control means, speed adjustment control means, and stop control means provided in the vehicle body 2b. The controller 28 is supplied with its driving power from a battery 29.

The controller 28 includes the rotation sensor 23
The counting operation is performed based on the pulse signal from the controller 2, and the open / close position of the door 2a is continuously detected based on the count value. That is, the controller 28 sets the count value to "0" when the door 2a is at the fully closed position, and adds the count value to the fully opened position of the door 2a by a pulse signal from the rotation sensor 23 based on the opening operation of the door 2a. I do. On the other hand, the controller 28 controls the rotation sensor 23 based on the closing operation of the door 2a.
The count value added when the door 2a is opened according to the pulse signal from is subtracted until the fully closed position of the door 2a, that is, the count value becomes "0".

The controller 28 controls the torque sensor 1
6 based on the detected voltage from the potentiometer 22
The opening / closing direction of the door 2a and the magnitude of an external force such as an opening / closing operation force of an operator acting on the door 2a are detected.

While any one of the operation switches SW1 to SW4 is on, the controller 28 uses the door opening / closing device 1 to provide an assist force corresponding to the magnitude of the external force to the opening / closing direction of the door 2a. Generate in the same direction. At this time, the controller 28 outputs a drive pulse to the motor 7 of the door opening / closing actuator 6,
Is rotated forward or backward, and the duty ratio of the drive pulse is changed to control the rotation speed of the motor 7. That is, the controller 28 controls the motor 7 by pulse width modulation (PWM) control. Each of the operation switches SW
When 1 to SW4 are off, even if the detection voltage from the potentiometer 22 changes, the controller 28 does not operate the motor 7 or stops the operation when the motor 7 is operating.

When a detection voltage lower than 2 volts is input from the potentiometer 22 as shown in FIG. 11, the controller 28 determines that a predetermined external force is acting on the door 2a in the opening direction and turns the motor 7 on. Rotate forward,
In order to generate an assist force according to the external force (detected voltage), the duty ratio of the drive pulse is changed to
To control the rotation speed of the.

When the detected voltage becomes 2 volts or less, the controller 28 starts the assist opening operation of the door 2a for a predetermined time t1 after the detected voltage becomes 2 volts or less. A slow start operation for gradually increasing the duty ratio from 0% according to the detected voltage is performed for 0.5 [sec]. Then, the controller 28
Drives the motor 7 by changing the duty ratio of the drive pulse within the range of 70 to 100% according to the detection voltage. Then, when the detected voltage becomes 2 volts or more, the controller 28 sets a predetermined time t2 after the detected voltage becomes 2 volts or more in order to end the assist opening operation of the door 2a. A slow stop operation is performed for [seconds] to gradually lower the duty ratio to 0% according to the detected voltage.

Further, as shown in FIG. 12, the controller 28 determines that a predetermined external force is applied for a predetermined time t3,
When the detection voltage has continued for more than [sec], that is, when 1 [sec] or more has elapsed since the detection voltage became 2 volts or less, the mode is switched to the “auto opening operation mode”. This automatic opening operation mode is a mode in which the door 2a is automatically opened to the fully opened position. That is, the controller 28 drives the motor 7 at a constant duty ratio of the drive pulse when 1 [sec] has elapsed, and opens the door 2a. Then, the controller 28
The rotation sensor 23 moves the door 2a to a predetermined open position P1.
When it reaches (the position immediately before the door 2a fully opened position), a slow stop operation for gradually lowering the duty ratio to 0% is performed. In the automatic opening operation mode, the controller 28
Ignores the on / off signals from the operation switches SW1 to SW4 and continues the automatic opening operation.

On the other hand, when a detection voltage higher than 3 volts is input from the potentiometer 22, the controller 28, as shown in FIG.
It is determined that a predetermined external force is acting in the closing direction on the motor 7 to reverse the motor 7 and change the duty ratio of the drive pulse to generate an assist force according to the external force (detection voltage). 7 is controlled.

When the detected voltage becomes 3 volts or more, the controller 28 starts the assist closing operation of the door 2a for a predetermined time t1 after the detected voltage becomes 3 volts or more. A slow start operation for gradually increasing the duty ratio from 0% according to the detected voltage is performed for 0.5 [sec]. Then, the motor 7 is driven by changing the duty ratio of the drive pulse within the range of 70 to 100% according to the detection voltage. When the detected voltage becomes 3 volts or less, the controller 28 sets the detected voltage to 3 volts so as to end the assist closing operation of the door 2a.
In this embodiment, a slow stop operation is performed in which the duty ratio is gradually reduced to 0% according to the detected voltage for a predetermined time t2, that is, for 0.5 [sec] after the voltage becomes equal to or less than volt.

Further, as shown in FIG. 12, the controller 28 sets the predetermined external force to a predetermined time t3,
When the detected voltage has continued for more than [sec], that is, when 1 [sec] or more has elapsed since the detection voltage became 3 volts or more, the mode is switched to the “auto close operation mode”. This automatic closing operation mode is a mode in which the door 2a is automatically closed until the door 2a is in the half latch state. That is, the controller 28
The motor 7 is driven at a constant duty ratio of the drive pulse after [sec] has elapsed, and the door 2a is closed. Then, when the rotation sensor 23 causes the door 2a to reach the predetermined closed position P2 (the position immediately before the half-latch position of the door 2a) by the rotation sensor 23, the controller 28 performs a slow stop operation to gradually lower the duty ratio to 0%. In the automatic closing operation mode, the controller 28 ignores the ON / OFF signals from the operation switches SW1 to SW4 and continues the automatic closing operation as in the automatic opening operation mode described above.

When the door 2a is in the half latch state, a half latch detection signal is input to the controller 28 from the half latch detection switch 26. Then, the controller 28 operates the closer actuator 25 based on the detection signal to pull the door 2a from the half-latched state to the fully-latched state (fully closed state). When the door 2a enters the full latch state, a full latch detection signal is input to the controller 28 from the full latch detection switch 27. The controller 28 stops the operation of the closer actuator 25 based on the detection signal.

Furthermore, when an external force is suddenly applied in the opening direction or the closing direction of the door 2a due to strong wind or the like, that is, when the detected voltage suddenly becomes 0.5 volts or less within a predetermined time t4, When the voltage exceeds 5 volts, the rotation of the motor 7 of the door opening / closing actuator 6 is prohibited.
That is, the controller 28 prohibits the assist opening / closing operation and the automatic opening / closing operation of the door 2a.

Next, the operation of the door opening / closing device 1 configured as described above will be described. The operation of the door opening and closing device 1 includes an assist opening and closing operation for assisting the opening and closing operation of the door 2a by the operator, and an automatic opening and closing operation for operating the door 2a until the door 2a is fully opened or fully closed.

[Assist opening / closing operation] First, the operator manually opens the door 2a while turning on one of the indoor or outdoor opening operation switches SW1 and SW3.
At this time, when the external force (operating force) acting on the door 2a is equal to or greater than a predetermined value, that is, the voltage detected by the torque sensor 16 from the potentiometer 22 is equal to or less than 2 volts, the controller 2
8 operates the door 2a for assist opening operation.

That is, when the detection voltage from the potentiometer 22 becomes 2 volts or less, the controller 28 outputs a drive pulse to the motor 7 of the door opening / closing actuator 6 to rotate the motor 7 forward to open the door 2a. Is started, the duty ratio of the drive pulse is gradually increased from 0% in accordance with the voltage value, and the rotation speed of the motor 7 is gradually increased for 0.5 [sec] from the start.
Then, the door 2a is slow-started by the door opening / closing actuator 6, and the assist force gradually increases.

When 0.5 [sec] has elapsed since the start of the assist opening operation of the door 2a, the controller 28 terminates the slow start operation and changes the duty ratio of the drive pulse to 70-100% in accordance with the detected voltage. The motor 7 is driven while being changed within the range. Then, the door opening / closing actuator 6 applies an assist force corresponding to the external force (opening operation force) to the door 2a.

When the external force (opening force) acting on the door 2a is equal to or less than a predetermined value, that is, the voltage detected by the torque sensor 16 from the potentiometer 22 becomes 2 volts or more, the controller 28 ends the assist opening operation of the door 2a. In order to perform the operation, the door 2a is slow-stopped.

That is, when the detected voltage from the potentiometer 22 becomes 2 volts or more, the controller 28 gradually reduces the duty ratio of the drive pulse to 0% according to the voltage value and detects the rotational speed of the motor 7. After the voltage becomes 2 volts or more, the speed is gradually reduced for 0.5 [sec].
Then, the door 2a is slow-stopped by the door opening / closing actuator 6, and the assist force gradually decreases.

When the operation switches SW1 and SW3 are turned off during the assist opening operation, the controller 2 is turned off.
8 stops the operation of the motor 7 and stops the assist opening operation of the door 2a.

Next, while the operator turns on one of the indoor side or outdoor side closing operation switches SW2 and SW4,
The door 2a is manually closed. At this time, when the external force (operating force) acting on the door 2a is equal to or more than a predetermined value, that is, the voltage detected by the torque sensor 16 from the potentiometer 22 is equal to or more than 3 volts, the controller 28 performs the assist closing operation of the door 2a.

That is, when the detected voltage from the potentiometer 22 becomes 3 volts or more, the controller 28 outputs a drive pulse to the motor 7 of the door opening / closing actuator 6 to rotate the motor 7 in reverse to close the assist of the door 2a. At the start, the duty ratio of the drive pulse is gradually increased from 0% according to the voltage value, and the rotation speed of the motor 7 is gradually increased for 0.5 [sec] from the start.
Then, the door 2a is slow-started by the door opening / closing actuator 6, and the assist force gradually increases.

When 0.5 [sec] has elapsed since the start of the assist closing operation of the door 2a, the controller 28 terminates the slow start operation and changes the duty ratio of the drive pulse to 70-100% in accordance with the detected voltage. The motor 7 is driven while being changed within the range. Then, the door opening / closing actuator 6 applies an assist force corresponding to the external force (opening operation force) to the door 2a.

When the external force (opening operation force) acting on the door 2a is equal to or less than a predetermined value, that is, the voltage detected by the potentiometer 22 of the torque sensor 16 is equal to or less than 3 volts, the controller 28 ends the assist closing operation of the door 2a. In order to perform the operation, the door 2a is slow-stopped.

That is, when the detected voltage from the potentiometer 22 becomes 3 volts or less, the controller 28 gradually reduces the duty ratio of the drive pulse to 0% according to the voltage value and detects the rotation speed of the motor 7. After the voltage becomes 3 volts or less, the speed is gradually reduced for 0.5 [sec].
Then, the door 2a is slow-stopped by the door opening / closing actuator 6, and the assist force gradually decreases.

When the operation switches SW2 and SW4 are turned off during the assist closing operation, the controller 2
8 stops the operation of the motor 7 and stops the assist closing operation of the door 2a similarly to the assist opening operation.

[Automatic Opening / Closing Operation] First, the operator manually opens the door 2a while turning on one of the indoor or outdoor opening operation switches SW1 and SW3. At this time, if the external force (operating force) acting on the door 2a is equal to or greater than a predetermined value, that is, the voltage detected by the torque sensor 16 from the potentiometer 22 is equal to or less than 2 volts, the controller 28
Opens the door 2a in the same manner as described above.

When the predetermined external force acting on the door 2a has continued for 1 second or more after the start of the assist opening operation of the door 2a, that is, when the detected voltage becomes 2 volts or less, the detected voltage becomes 2 volts or less. When one second or more has elapsed, the controller 28 automatically opens the door 2a to the fully open position. That is, the controller 28 drives the motor 7 at a constant duty ratio of the drive pulse when 1 [sec] has elapsed, and opens the door 2a. Then, the controller 28
When the rotation sensor 23 causes the door 2a to reach the predetermined open position P1, a slow stop operation for gradually reducing the duty ratio to 0% is performed.

Next, while the operator turns on one of the indoor side or outdoor side closing operation switches SW2 and SW4,
The door 2a is manually closed. At this time, when the external force (operating force) acting on the door 2a is equal to or greater than a predetermined value, that is, the detection voltage from the potentiometer 22 of the torque sensor 16 is equal to or greater than 3 volts, the controller 28 performs
The door 2a is operated to close the assist.

When the predetermined external force acting on the door 2a has continued for 1 second or more since the assist closing operation of the door 2a was started, that is, when the detected voltage became 3 volts or more, the detected voltage became 3 volts or more. When 1 second or more has elapsed, the controller 28 automatically opens the door 2a until the door 2a enters the half-latched state. That is, the controller 28
The motor 7 is driven at a constant duty ratio of the drive pulse after [sec] has elapsed, and the door 2a is closed. Then, when the rotation sensor 23 causes the door 2a to reach the predetermined closed position P2, the controller 28 performs a slow stop operation to gradually lower the duty ratio to 0%.

When the door 2a is in the half-latch state, a half-latch detection signal is input to the controller 28 from the half-latch detection switch 26. Then, the controller 28 operates the closer actuator 25 based on the detection signal to pull the door 2a from the half-latched state to the fully-latched state (fully closed state). When the door 2a enters the full latch state, a full latch detection signal is input to the controller 28 from the full latch detection switch 27. The controller 28 stops the operation of the closer actuator 25 based on the detection signal.

During the assist opening / closing operation of the door 2a or the automatic opening / closing operation, when an external force is suddenly applied in the opening or closing direction of the door 2a due to strong wind or the like, that is, the detection voltage is suddenly reduced within a predetermined time t4. When the voltage becomes 0.5 volts or less or 4.5 volts or more, the controller 28
Prohibits the rotation of the motor 7 of the door opening / closing actuator 6 and prohibits the assist opening / closing operation or the automatic opening / closing operation of the door 2a.

The worm 9 of the speed reduction mechanism 8 in the door opening / closing actuator 6 has a screw inclination angle (lead angle).
Is formed to be larger than the friction angle, the worm 9 can be rotated by the worm wheel 11. That is, the worm 9 and the worm wheel 11 constitute clutch means. Therefore, when the external force (operating force) acting on the door 2a when the operator opens and closes the door 2a is less than a predetermined value, that is, the detected voltage is in a range of 2 to 3 volts (not including 2 and 3 volts). In this case, the door opening / closing actuator 6 does not operate, so that the operator can open and close the door 2a only manually.

As described above, this embodiment has the following features. (1) The door opening and closing device 1 of the present embodiment is configured to perform the assist operation while the operator turns on any one of the operation switches SW1 to SW4. Therefore, the door 2a
The opening and closing of the assist is based on the intention of the operator, so that the operator's uncomfortable feeling can be reduced.

(2) When an external force (operating force) acting on the door 2a is less than a predetermined value when the operator opens and closes the door 2a, the detected voltage is 2-3 volts (including 2 and 3 volts). When it is within the range of (absent), the door open / close actuator 6 does not operate under the control of the controller 28. For this reason, the operator accidentally turns on the operation switches SW1 to SW4, and thereafter, compared to the operation force when the operator opens and closes the door 2a, for example, due to the wind or an increase in the weight of the door when the vehicle is tilted, a relatively large amount of operation is performed. Even if a small external force acts on the door 2a,
Assist does not work. Therefore, the opening / closing operation of the door 2a by the actuator 6 contrary to the operator's intention can be reduced, and the discomfort of the operator can be reduced.

(3) Each of the operation switches SW1 to SW4 is constituted by an inexpensive on / off switch. Therefore, an increase in the cost of the door opening / closing device 1 can be suppressed. (4) As shown in FIG. 10, one terminal of each of the operation switches SW1 to SW4 is connected to each other, and the connection point thereof and the controller 28 are connected by a single wire. Therefore, each of the operation switches SW1 to S
Wiring connecting W4 and controller 28 is connected to each switch SW.
Since there is no need to provide the door opening / closing device 1 for each
Cost can be suppressed.

(5) The torque sensor 16 outputs a detection voltage corresponding to the magnitude of the operation force applied to the door 2a by the potentiometer 22 and the operation force corresponding to the opening / closing direction of the door. The controller 28 sets the duty ratio of the drive pulse supplied to the motor 7 of the door opening / closing actuator 6 according to the direction in which the operating force acts and the assist force in accordance with the magnitude of the operating force, based on the detection voltage from the torque sensor 16. To change the rotation speed of the motor 7. Then
An assist force according to the operation force acting on the door 2a is applied. Therefore, an uncomfortable feeling of the operator can be reduced.

(6) In this embodiment, the first and second spur gears 13 and 15 are connected by a torsion bar 17,
The magnitude of the operating force acting on the door 2a and the operating force depend on the amount and direction of rotation of the first and second spur gears 13 and 15 when the first and second spur gears 13 and 15 are relatively rotated by the operating force acting on the door 2a. It is detected whether the door 2a is acting in the opening direction or the closing direction. Accordingly, since the torque sensor 16 is configured using a part of the members configuring the speed reduction mechanism 8, an increase in the number of components can be suppressed.

(7) The operation force and the amount of twist of the torsion bar 17 are almost proportional from the initial stage of twist. Therefore, the torsion bar 17 can be easily twisted without applying a large operating force at the beginning of twisting, so that the operator's uncomfortable feeling can be further reduced.

(8) In the present embodiment, the clutch is constituted by the worm 9 and the worm wheel 11 meshed with the worm 9 such that the advance angle of the worm 9 is larger than the friction angle. Further, when an external force (operating force) acting on the door 2a is smaller than a predetermined value when the door 2a is opened and closed by the operator under the control of the controller 28,
That is, when the detection voltage is in the range of 2 to 3 volts (excluding a few volts), the door opening / closing actuator 6
Was disabled. Then, when the operation force is less than the predetermined value, the door 2a can be manually opened and closed, and when the operation force becomes equal to or more than the predetermined value, the actuator 6 operates to apply an assist force to the opening and closing of the door 2a. Therefore, the opening and closing of the door 2a can be selected to be either manual operation or operation by the door opening / closing actuator 6.

(9) In addition, since the clutch device such as an electromagnetic clutch can be configured without specially provided, the door opening / closing device 1 can be configured at a low cost. (10) Based on the detection of the torque sensor 16, the controller 28 determines that the operating force acting on the door 2a has a predetermined time t3.
When the above operation is continued, the door 2a is operated by the door opening / closing actuator 6 until the door 2a is fully opened or fully closed. Therefore, when the operator operates the door 2a to the fully opened or fully closed state,
The amount of operation can be reduced.

(11) The controller 28 performs a slow start operation at the start of the operation of the door opening / closing actuator 6, and performs a slow stop operation at the end of the operation. Therefore, the operation feeling when the door 2a is opened and closed can be improved.

(12) When the operating force acting on the door 2a suddenly fluctuates to exceed the predetermined operating force within the predetermined time t4 based on the detection of the torque sensor 16, the controller 28 opens and closes the door. The operation of the actuator 6 is stopped. Therefore, when a force acts on the door 2a due to a strong wind or the like, the useless opening and closing operation of the door 2a is stopped, so that an uncomfortable feeling of the operator can be reduced.

(Second Embodiment) In this embodiment,
A mode different from the control of the assist opening / closing operation of the door shown in the first embodiment will be described. Therefore, in this form,
The same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

In the present embodiment, in addition to the detection voltage of the torque sensor 16, the load current of the motor 7 (averaged driving pulse) is detected. The assist operation of the door 2a is controlled based on the current. That is, the controller 28 of the present embodiment is provided with a current detection circuit 28a as operating force detecting means for detecting a load current of the motor 7 as a drive source of the door opening / closing actuator 6, as shown in FIG.

As shown in FIG. 15, for example, when the door 2a is closed, an external force (operating force) acting on the door 2a
Becomes larger, the load current of the motor 7 at that time becomes smaller, that is, the load current is inversely proportional to the external force (operating force) acting on the door 2a. That is, by detecting the magnitude of the load current of the motor 7 by the current detection circuit 28a, the magnitude of the external force (operating force) acting on the door 2a can be detected.

Therefore, in the present embodiment, the magnitude of the external force (operating force) acting on the door 2a can be detected without being affected by the torsion characteristics of the torsion bar 17. Therefore, for example, a torsion bar may be used, in which the torsion bar 17 easily returns to twist (torque can be detected more sensitively).

More specifically, during the assist operation, the motor 7 of the door opening / closing actuator 6 is rotated in the direction in which the torsion bar 17 constituting the torque sensor 16 is untwisted, and applies an assist force to the door 2a.

As described above, if the torsion bar 17
Is a torsion bar whose twist is easy to return (torque can be detected more sensitively), the torque of the motor 7 exceeds the torsion bar 17 when the external force (operating force) acting on the door 2a is small. In some cases, the operation of the motor 7 causes the torsion of the torsion bar 17 to return. Further, when the torque of the motor 7 is large, the torsion bar 17 may be twisted in the opposite direction. In such a case, the detection voltage from the torque sensor 16 changes as shown in FIG.

That is, an external force (operating force) is applied to the door 2a in the opening direction.
, The detection voltage of the torque sensor 16 drops from the reference value of 2.5 volts. And the detection voltage is 2
When the voltage becomes equal to or less than the bolt, the controller 28 rotates the motor 7 in a direction in which the torsion bar 17 is untwisted, and
a is given an assist force. However, as described above, when the torsion bar 17 is twisted in the reverse direction with the rotation of the motor 7, the detection voltage from the torque sensor 16 changes to the maximum value of 5 volts.

When an external force (operating force) acts on the door 2a in the closing direction, the voltage detected by the torque sensor 16 becomes equal to the reference value 2.
It rises from 5 volts. When the detected voltage becomes 3 volts or more, the controller 28 sets the torsion bar 1
The motor 7 is rotated in a direction in which the torsion 7 is released, and an assist force is applied to the door 2a. However, as described above, when the torsion bar 17 is twisted in the opposite direction with the rotation of the motor 7, the detection voltage from the torque sensor 16 changes to the minimum value of 0 volt.

Therefore, when the torsion bar 17 is used, in which the torsion easily returns (torque can be detected more sensitively), the controller 28 controls the motor 7 (controls the assist force) only by the detected voltage from the torque sensor 16. When the detected voltage becomes 2 volts or more or 3 volts or less due to the operation of the motor 7, the controller 28 determines that the assist force is not necessary, and ends the assist operation in the opening direction of the door 2a. Slow stop operation starts. Therefore, even when the assist force is required, there is a possibility that an unnatural operation in which the assist force cannot be obtained may be performed.

Therefore, in the present embodiment, the magnitude of the load current of the motor 7 is detected by the current detection circuit 28a after the operation of the motor 7, and the external force (operation) applied to the door 2a is determined based on the magnitude of the load current. Force) is detected. In this way, the magnitude of the external force (operating force) acting on the door 2a can be accurately detected without being affected by the torsion characteristics of the torsion bar 17.

When the external force (operating force) acting on the door 2a increases, the load current of the motor 7 increases as indicated by a1 in FIG.
→ a2 → a3 → a4. At this time, the detection voltage from the torque sensor 16 is b1 → b2 → b3 → b4
It becomes high in order of.

The controller 28 changes the duty ratio of the drive pulse supplied to the motor 7 in accordance with the control map shown in FIG. 15 so as to control the assist force based on the magnitude of the load current detected by the current detection circuit 28a. Let it. That is, the load current of the motor 7 changes from a1 to a2 in FIG.
When the duty ratio becomes smaller in the order of → a3 → a4, the duty ratio of the drive pulse is increased in the order of c1 → c2 → c3 → c4. That is, since the external force (operating force) acting on the door 2a is large when the load current is small, the controller 28 increases the duty ratio of the drive pulse to increase the rotation speed of the motor 7. Conversely, when the load current is large, the external force (operating force) acting on the door 2a is small.
Numeral 8 lowers the duty ratio of the drive pulse to lower the rotation speed of the motor 7.

When the door 2a is opened, only the rotation direction of the motor 7 is different from that when the door 2a is closed, and the magnitude of the load current depends on the magnitude of the external force (operating force) acting on the door 2a. Change similarly. Therefore, even when the door 2a is opened, the duty ratio of the drive pulse is controlled in accordance with the magnitude of the load current in the same manner as when the door 2a is closed.

In the above description, the duty ratio of the drive pulse is changed only by the magnitude of the load current detected by the current detection circuit 28a. However, the duty ratio of the drive pulse is changed in consideration of the detection voltage from the torque sensor 16. You may make it change.

Since the load current transiently increases at the start of operation of the motor 7, the controller 28 does not perform the duty ratio control based on the load current for a predetermined time t5 which is not adversely affected by the load current. Good. In this case, for example, the controller 28 rotates the motor 7 with a drive pulse having a predetermined duty ratio within the predetermined time t5.

In this way, the controller 28 of the present embodiment
When the detection voltage from the torque sensor 16 drops to 2 volts or less in a state where the ON operation signal is input from the indoor or outdoor open operation switches SW1 and SW3, an external force (operating force) is applied to the door 2a in the opening direction. It is determined that it is acting, and the motor 7 is normally rotated to apply an assist force to the door 2a in the opening direction. Thereafter, the controller 28 controls the current detection circuit 28
a, the magnitude of the external force (operating force) acting on the door 2a is recognized based on the magnitude of the load current of the motor 7 detected in step a.
The duty ratio of the drive pulse to be supplied to is controlled.

On the other hand, the indoor or outdoor close operation switch S
If the detection voltage from the torque sensor 16 rises to 3 volts or more while the ON operation signal is input from W2 and SW4, the controller 28 determines that an external force (operation force) is acting on the door 2a in the closing direction. Then, the motor 7 is reversed to apply an assist force to the door 2a in the closing direction. Thereafter, the controller 28 recognizes the magnitude of the external force (operating force) acting on the door 2a based on the magnitude of the load current of the motor 7 detected by the current detecting circuit 28a, and recognizes the external force (operating force).
The duty ratio of the drive pulse supplied to the motor 7 is controlled so as to obtain the assist force according to the above.

When the opening / closing operation of the door 2a is stopped (the operation switches SW1 to SW4 are turned off), no external force (operating force) acts on the door 2a, and the load current of the motor 7 becomes the maximum value. (At this time, the detected voltage from the torque sensor 16 has a minimum value of 0 volt during the closing operation and has a maximum value of 5 volt during the opening operation.) Then
The controller 28 reduces the duty ratio of the drive pulse to 0% to stop the application of the assisting force to the door 2a, and stops the rotation of the motor 7.

Here, the controller 28 of the present embodiment is provided with a case where the opening / closing operation of the door 2a is stopped at an intermediate position other than the fully open position or the fully closed position (when the operation is stopped). When the duty ratio of the drive pulse becomes 0%, a switching circuit 28b is provided as a holding force control unit that first opens the power terminals of the motor 7 for a predetermined time and then switches to the short state. This is because even when the inertia force of the door 2a is large and the duty ratio of the drive pulse becomes 0%, the motor 7 idles and the door 2a
This is to prevent the overrun from the position where it is desired to stop. Therefore, the controller 28 of the present embodiment applies a brake to the door 2a by utilizing the fact that a holding force is generated in the motor 7 when the power supply terminals of the motor 7 are opened or short-circuited. When the motor 7 is not operating, the controller 28 keeps the power supply terminals short-circuited to maintain the position of the door 2a.

The holding force of the motor 7 is greater when the power supply terminals of the motor 7 are short-circuited than when they are opened. Therefore, if the power supply terminals of the motor 7 are short-circuited for the first time, the idling of the motor 7 suddenly stops,
As a result, the door 2a stops suddenly. Then, a large reaction force acts on the door 2a having a large inertia force, and the door 2a may return in the opposite direction. Therefore, in order to prevent these, the switching circuit 28b first sets the power supply terminals of the motor 7 to the open state to open the door 2.
a is subjected to relatively weak braking, and then switched to a short state to increase the braking force.

By the way, the holding power of the motor 7 was obtained by setting the power supply terminals of the motor 7 to the open or short state.
In addition, since a holding force of the motor 7 can be obtained even when a minute current is supplied to the motor 7, a minute current may be supplied to the motor 7 to hold the position of the door 2a.

FIG. 16 shows an example of control by the controller 28 in the present embodiment. This is a case in which the door 2a is closed, in which the door 2a is first weakly operated, the operating force is increased in the middle, and then the operation is stopped in the middle of the door 2a closing operation.

First, when the operator closes the door 2a while turning on one of the indoor or outdoor closing switches SW2 and SW4, the external force (operating force) acting on the door 2a is not less than a predetermined value. That is, when the detection voltage from the torque sensor 16 becomes 3 volts or more, the controller 28 operates the motor 7 to apply an assisting force to the door 2a. Thereafter, the controller 28 sets the current detection circuit 28a
The magnitude of the load current of the motor 7 detected in the step (a). In this case, the load current is a1.
Is the duty ratio of the drive pulse supplied to c1.

Next, the operating force is increased and the load current is increased to a3
Is smaller, the controller 28 sets the duty ratio of the drive pulse to c3. Then, the rotation speed of the motor 7 increases, and the assisting force to the door 2a increases.

Next, when the operation of the door 2a is stopped in the middle of the closing operation (the closing operation switches SW2 and SW4 are turned off), the load current reaches the maximum value (excluding the transition period),
The controller 28 reduces the duty ratio of the drive pulse to 0%. When the duty ratio of the drive pulse is set to 0%, the controller 28 first sets the power supply terminals of the motor 7 to the open state for a predetermined time by the switching circuit 28b.
By switching to the short-circuit state, the motor 7 generates a holding force. Then, the door 2a is braked, and the displacement due to the inertia of the door 2a is suppressed.

As described above, in the present embodiment, even if the torque of the motor 7 exceeds the torsion force of the torsion bar 17, the controller 28 controls the load current of the motor 7 after the operation of the motor 7. Since the rotation is controlled based on the rotation, it is possible to prevent a malfunction due to a difference in the twisting force of the torsion bar 17.

(Third Embodiment) In the first embodiment, the door opening / closing device 1 for applying an assisting force to the door 2a rotatably mounted to the vehicle body 2b has been described. In the embodiment, the door opening / closing device 31 for applying the assisting force to the slide door 30 as shown in FIG. The same components as those in the above embodiments are denoted by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 17, the entrance 32a of the vehicle
The sliding door 30 that opens and closes is supported to be slidable in the front-rear direction with respect to the vehicle body 32b. A door opening / closing device 31 as shown in FIG. 18 is provided on the floor near the boarding port 32a of the vehicle body 32b. The door opening / closing device 31 is provided with a pulley 33 at a front end side of the boarding port 32a and a sprocket 34 at a rear end side of the boarding port 32a, respectively. An annular drive tape 35 that is connected to the slide door 30 and engages with the sprocket 34 is mounted between the pulley 33 and the sprocket 34. The sprocket 34 is rotated by a door opening / closing actuator 36.
When the sprocket 34 is rotated by the door opening / closing actuator 36, the slide door 30 slides in the opening direction or the closing direction.

As shown in FIG. 19, the door opening / closing actuator 36 includes a motor 37, a speed reduction mechanism 38, and a rotation sensor 3.
9 and a torque sensor 16 configured in the same manner as in the first embodiment. The rotation of the motor 37 is reduced by a reduction mechanism 38, and the reduced rotation is transmitted to the sprocket 34 via the torsion bar 17 constituting the torque sensor 16. That is, the worm wheel 38 a and the sprocket 34 that constitute the speed reduction mechanism 38 are connected to each other by the torsion bar 17. Incidentally, the cylindrical portion 15 of the torque sensor 16 in the first embodiment is described.
b and the cylindrical member 34a correspond to each other. Cylindrical member 34a
Is fixed to the sprocket 34, and the holder 19 is fixed to the distal end.

When an external force (operating force) is applied in the opening direction of the slide door 30, the potentiometer 22 of the torque sensor 16 twists the torsion bar 17, and outputs a detection voltage lower than 2.5 volts, which is inversely proportional to the external force. ,
1. When an external force (operating force) acts in the closing direction of the slide door 30, the torsion bar 17 is twisted, and is proportional to the external force.
Outputs a detection voltage higher than 5 volts.

The rotation sensor 39 is connected to the worm wheel 38a of the speed reduction mechanism 38. Rotation sensor 39
Outputs a pulse signal synchronized with the rotation of the worm wheel 38a. This pulse signal is input to a controller 40 described later to detect the open / close position of the slide door 30.

[0127] Inside the panel of the slide door 30,
A door closer device 24 configured in the same manner as in the first embodiment is provided. As shown in FIG. 17, when an operator (passenger) manually opens and closes the slide door 30, the slide door 30 has an indoor handle 30a which is gripped and operated by the operator (see FIG. 17). , And an outdoor handle 30b (shown by a solid line in FIG. 17).

The interior handle 30a is provided with an interior opening switch SW1 at a location where the passenger operates the sliding door 30 to open the sliding door 30, and a location at which the passenger operates when closing the sliding door 30 is located at the interior side. Close operation switch SW2
Are arranged. On the other hand, the outdoor handle 30b is provided with an outdoor opening switch SW3 at a position where the passenger operates the sliding door 30 to open the sliding door 30, and an outdoor closing switch SW3 at the position operated when the sliding door 30 is closed. An operation switch SW4 is provided.

FIG. 20 shows an electrical configuration of the door opening / closing device 31 and the door closer device 24. The electrical configuration of this embodiment is the same as that of the first embodiment, and the door opening / closing device 31 and the door closer device 24 include a vehicle body 32b.
In the same manner as in the first embodiment, the controller 40 as a control unit, an automatic operation control unit, a speed adjustment control unit, and a stop control unit provided in the control unit 40 is provided. That is, the controller 40 includes the rotation sensor 39 and the torque sensor 1
6. Based on various signals output from the half latch detection switch 26, the full latch detection switch 27, and the operation switches SW1 to SW4, the door opening / closing device 31 and the door closer device 24 are operated in the same manner as in the first embodiment. Control. Therefore, in this embodiment, a detailed description of the control of the controller 40 is omitted.

Thus, as described in the present embodiment, not only the door opening / closing device 1 for the door 2a rotatably mounted on the vehicle body 2b as in the first embodiment but also the vehicle body The same can be applied to the door opening / closing device 31 of the slide door 30 assembled slidably with respect to 32b.

Also in this embodiment, as shown in the second embodiment, a current detection circuit 28a is provided in the controller 40, and the load current of the motor 37 of the door opening / closing actuator 36 is detected by the circuit 28a. Alternatively, the assist force may be controlled based on the load current.
Further, a switching circuit 28b may be provided in the controller 40, and the circuit 28b may switch between the power supply terminals of the motor 37 to an open state or a short-circuit state in order to suppress the displacement of the slide door 30 due to inertia.

Note that the embodiment of the present invention may be modified as follows. In each of the above embodiments, the advance angle of the worm 9 is set to be larger than the friction angle, and the worm 9 and the worm wheel 11 meshed with the worm 9 constitute the clutch means. You may have.

In each of the above embodiments, the torque sensor 1
6, when the operating force acting on the door 2a continues for a predetermined time t3 or more based on the detection of the controller 6, the controller 28 automatically operates the door 2a to the fully opened or fully closed state by the door opening / closing actuator 6. The operation may not be performed.

In the above embodiments, the controller 2
In the case of the door opening / closing actuator 6, a slow start operation is performed at the start of the operation and a slow stop operation is performed at the end of the operation. However, the slow start and the slow stop operation may not be performed.

In the above embodiments, the torque sensor 1
6, when the operating force acting on the door 2a rapidly changes to exceed the predetermined operating force within the predetermined time t4, the controller 28
Is stopped, but this stop control may not be performed.

In each of the above embodiments, the torque sensor 1
Although the rotation sensor 6 and the rotation sensor 23 are integrally assembled with the door opening / closing actuator 6, they may be separate bodies. In each of the above embodiments, the door closer device 24 is provided, but may not be particularly provided.

In each of the above embodiments, the torque sensor 1
When the detected voltage from the motor 6 becomes 2 volts or less or 3 volts or more, the controller 28 (40)
(37) is activated, but the voltage value is not limited to this. Further, the motor 7 (37) may be controlled based on the amount of change from the reference voltage. Further, the range of the detection voltage is from the minimum value of 0 volts to the maximum value of 5 volts, but the range of the detection voltages may be other voltage ranges.

In each of the above embodiments, the door 2a (3
A portion relatively displaced in the rotational direction between two points between the 0) side and the motor 7 (37) side (in the first and second embodiments, between the respective spur gears 13 and 15 in the reduction mechanism 8, the third In the embodiment, the torsion bar 17 is assembled to the worm wheel 38a and the sprocket 34 in the speed reduction mechanism 38, and the torsion bar 17 is twisted to detect the torsion of the torsion bar 17.
Although the external force (operating force) in the opening and closing direction acting on a (30) is detected, other detecting means, for example, a resistance strain gauge is used. That is, the resistance strain gauge is
The door 2a (30) and the motor 7 (3
7) An external force (operating force) acting on the door 2a (30) may be detected by detecting a twist (distortion) in the direction of rotation relative to the side. If the external force (operating force) acting on the door 2a (30) can be detected, the torsion bar 17
A detection means such as a resistance gauge or a resistance strain gauge may be provided at a place other than the speed reduction mechanism 8 (38).

In each of the above-described embodiments, the torsion of the torsion bar 17 is converted into a linear motion of the slider 20, and the moving direction and the moving amount of the slider 20 are converted into an electric signal by the potentiometer 22. Although the controller 28 (40) detects the operating direction and the operating force of the door 2a (30) based on the controller 28 (40), the present invention is not limited to this. For example, a magnet that is multipolarly magnetized in the circumferential direction with respect to the outer peripheral surface of the torsion bar 17 is provided, and a magnetic detecting element such as a Hall element is provided near the magnet. The torsion bar 17 is converted into an electric signal according to the twist direction and the amount of twist by the magnetic detecting element, and the controller 28 (4) is converted based on the electric signal.
0), the operation direction and the operation force of the door 2a (30) may be detected.

In each of the above embodiments, the direction of the operating force acting on the door and the magnitude of the operating force are both detected by one detecting means such as a torque sensor. Detecting means may be provided, and the operating force acting on the door may be detected by each detecting means. Also, a dedicated detecting means for detecting the direction of the operating force acting on the door and a dedicated detecting means for detecting the magnitude of the operating force may be provided.

Further, each handle 2c, 2d (30a, 30
The direction of the operation force acting on the door 2a (30) may be detected by the operation switches SW1 to SW4 provided in b).

In each of the above embodiments, the door 2a (3
Operation switches SW1 to SW4 for detecting opening / closing operation 0)
To the handles 2c, 2d (30a, 30a,
30b), but the handles 2c, 2d (30a, 30
It may be provided in other places other than b).

The openings 6c and 6d for inserting the rack 5 formed in the case 6a of the door opening / closing actuator 6 in the first and second embodiments are waterproofed by synthetic rubber or the like as shown in FIG. You may make it hermetically sealed by the member 50a, 50b. That is, the waterproof member 50a is formed in a tubular shape, and is attached between the case 6a and the vehicle body 2b so as to cover the opening 6c with the rack 5 inserted. The waterproof member 50a is formed in a bellows shape so as to follow the movement of the actuator 6 and the rack 5 with respect to the vehicle body 2b by opening and closing the door 2a. On the other hand, the waterproof member 50b is formed in a cylindrical shape with one end closed, and is attached to the case 6a so as to cover the opening 6d so as to cover the tip of the rack 5. The waterproof member 50b is formed in a bellows shape similarly to the waterproof member 50a. Thus, the openings 6c and 6d of the case 6a are sealed,
The actuator 6 has a waterproof structure. This is because rainwater may enter inside the door 2a to which the actuator 6 is attached, so that the inside of the actuator 6 may be flooded. Therefore, by completely sealing the actuator 6, the inside of the actuator 6 and further the inside of the motor 7 is prevented from being immersed, thereby preventing the actuator 6 (motor 7) from being damaged.

In the first and second embodiments, FIG.
As shown in FIG. 5, a rotation sensor 23 is assembled to the shaft 10 supporting the worm wheel 11, and the open / close position of the door 2a is detected based on a pulse signal output from the sensor 23 and synchronized with the rotation of the worm wheel 11. However, the present invention is not limited to this configuration.

For example, at the position shown by the dashed line in FIG.
The rotation sensor 51 shown in FIG. FIG. 22 is a cross-sectional view in a direction orthogonal to the rotation shaft 7 a of the motor 7. An annular magnet 51a, which is multipolar magnetized at equal intervals in the circumferential direction, is fixed in a flange shape to the rotating shaft 7a of the motor 7, and two magnetism detecting elements (Hall element, A magnetoresistive element 51b is provided. By doing so, the rotating shaft 7a
At the same time, when the magnet 51a rotates, the magnetic field near the magnetic detection element 51b changes, so that a pulse signal can be output from each element 51b based on the change in the magnetic field. Then, based on the pulse signal, the open / close position of the door 2a can be detected in the same manner as described above.

Although not shown, the same may be applied to the motor 37 in the third embodiment. In the above embodiments, the present invention is applied to the doors 2a and 30 of the automobile, but may be applied to doors other than the automobile.

[0147]

As described in detail above, according to the present invention,
It is possible to provide a door opening / closing device including an actuator that applies an assist force to the opening / closing of an operator's door, which can reduce an uncomfortable feeling of the operator.

[Brief description of the drawings]

FIG. 1 is a schematic side view of a door having a door opening / closing device according to a first embodiment.

FIG. 2 is a sectional view taken along line XX in FIG.

FIG. 3 is a sectional view showing a door opening / closing device.

FIG. 4 is a sectional view taken along line YY in FIG. 3;

FIG. 5 is a sectional view showing a torque sensor.

FIG. 6 is an explanatory diagram for explaining the operation of the torque sensor.

FIG. 7 is a perspective view showing a rack and a second spur gear.

FIG. 8 is an enlarged view of a handle inside the vehicle.

FIG. 9 is an enlarged view of a handle outside the vehicle compartment.

FIG. 10 is a block diagram showing an electrical configuration of the door opening / closing device.

FIG. 11 is an explanatory diagram for explaining control of a controller.

FIG. 12 is an explanatory diagram for explaining control of a controller.

FIG. 13 is a block diagram illustrating an electrical configuration of a door opening and closing device according to a second embodiment.

FIG. 14 is an explanatory diagram for explaining a change in a detection voltage from a torque sensor.

FIG. 15 is an explanatory diagram for explaining control of a controller.

FIG. 16 is an explanatory diagram illustrating an example of control of a controller.

FIG. 17 is a schematic view of a vehicle equipped with a slide door and a door opening / closing device that opens and closes the door according to the third embodiment.

FIG. 18 is a sectional view of a door opening / closing device.

FIG. 19 is a sectional view of a door opening / closing actuator.

FIG. 20 is a block diagram showing an electrical configuration of the door opening and closing device.

FIG. 21 is a sectional view showing a door opening / closing device according to another example.

FIG. 22 is a sectional view showing a rotation sensor in another example.

[Description of Signs] 2a, 30 ... door, 2b ... body as door mounting body, 5
... Rack, 5b, 15a ... Tooth surface, 6, 36 ... Actuator, 7, 37 ... Motor, 8 ... Reduction mechanism, 9 ... Worm forming clutch means, 11 ... Worm wheel forming clutch means, 15 ... Gear A second spur gear, 16... Operating direction detecting means, torque sensor as operating force detecting means, 17... Torsion bar, 28, 40.
Control means, automatic operation control means, speed adjustment control means, controller as stop control means, 28a ... current detection circuit as operation force detection means, 28b ... switching circuit as holding force control means, t3, t4 ... predetermined time, SW1-SW
4. Operation switch as operation detection switch.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2E052 AA09 BA02 CA06 DA01 DA04 DA08 DB01 DB04 DB08 EA03 EA16 EB01 EC01 GA03 GA08 GA10 GB00 GB12 GB15 GC02 GC06 GC07 GD06 GD07 GD08 GD09 KA02 KA06 KA13 KA15 KA16

Claims (13)

[Claims] An actuator (6, 3) driven by a motor (7, 37) for opening and closing the door (2a, 30).
6) A door opening / closing device for applying an assist force in (6), wherein operation detection switches (SW1 to SW4) each comprising an on / off switch for detecting opening / closing operation of the door (2a, 30).
Operating direction detecting means (16) for detecting the direction of the operating force acting on the door (2a, 30); and detecting the magnitude of the operating force acting on the door (2a, 30). While the operation force detection means (16, 28a) and the opening / closing operation of the door (2a, 30) are detected by the operation detection switches (SW1 to SW4), the operation force detection means (16, 28a) When the magnitude of the operation force becomes equal to or greater than a predetermined value based on the detection, an assist force is applied in a direction in which the operation force acts based on the detection of the operation direction detection means (16), and Control means (28, 4) for controlling said actuators (6, 36) based on the detection of said detection means (16, 28a) to change the assist force according to the magnitude of said operation force;
(0). 2. The door opening / closing device according to claim 1, wherein the operation direction detecting means (16) is provided with the doors (2a, 3).
The two points between the 0) side and the motor (7, 37) side are connected by a torsion bar (17), and the torsion bar (17) is connected.
A door opening / closing device, which is a torque sensor that detects a direction of an operation force acting on the door (2a, 30) based on a twisting direction of the door. 3. The door opening / closing device according to claim 1, wherein said operating force detecting means (16) is provided with said door (2a, 3).
The two points between the 0) side and the motor (7, 37) side are connected by a torsion bar (17), and the torsion bar (17) is connected.
A door opening / closing device, which is a torque sensor for detecting a magnitude of an operation force acting on the door (2a, 30) based on a twist amount of the door. 4. The door opening / closing device according to claim 1, wherein said operating force detecting means (28a) is provided with said motor (7, 3).
7) the doors (2a, 3a) based on the magnitude of the load current.
A door opening / closing device, which is a current detection circuit for detecting a magnitude of an operation force acting on 0). 5. The door opening / closing device according to claim 1, wherein the operation detection switches (SW1 to SW4) are handles (2c, 2d, 30a) for manually opening and closing the doors (2a, 30). , 30b). 6. The door opening / closing device according to claim 1, wherein the actuator (6) switches the opening and closing of the door (2a) to either manual operation or operation by an actuator (6). A door opening and closing device comprising: 7. The door opening / closing device according to claim 6, wherein the actuator (6) includes a motor (7) and a reduction mechanism (8) for reducing the rotation of the motor (7). The deceleration mechanism (8) includes a worm (9) fixed to a rotating shaft of the motor (7) and a worm wheel (11) meshed with the worm (9). (9, 11) is the worm (9)
A door opening / closing device characterized in that the advance angle of the motor is larger than the friction angle so that the rotation shaft of the motor (7) can rotate from the output side of the speed reduction mechanism (8). 8. The door opening / closing device according to claim 1, wherein the control means (28, 40) is configured to control the doors (2a, 3a) based on the detection of the operation force detection means (16, 28a).
When the operating force acting on the door (2) continues for a predetermined time (t3) or more, the actuator (6, 36) uses the door (2).
a, a door opening / closing device provided with automatic operation control means (28, 40) for operating the a, 30) to a fully opened or fully closed state. 9. The door opening / closing device according to claim 1, wherein the control means (28, 40) performs a slow start operation when the operation of the actuator (6, 36) is started and a slow stop operation when the operation is completed. A door opening / closing device comprising adjustment control means (28, 40). 10. The door opening / closing device according to claim 1, wherein the control means (28, 40) is configured to control the doors (2a, 3a) based on the detection of the operation force detection means (16, 28a).
When the operation force acting on the actuator (0) rapidly changes to exceed the predetermined operation force within the predetermined time (t4), the stop control means (28, 40) for stopping the operation of the actuator (6, 36) is operated. A door opening / closing device, comprising: 11. The door opening / closing device according to claim 1, wherein when the door (2a, 30) is stopped or not operated at a position other than the fully open position and the fully closed position of the door (2a, 30), A door opening / closing device comprising a holding force control means (28b) for increasing a holding force of the motor (7, 37). 12. The door opening and closing device according to claim 1, wherein the actuator (6, 36) is connected to a door (2a, 30).
The actuator (6, 3
6) A door opening / closing device having a waterproof structure. 13. The door opening / closing device according to claim 1, wherein the door (2a) is rotatably supported on a door mounting body (2b) and includes the actuator (6) therein. A gear (15) that is rotatably connected to the door mounting body (2b) and meshes with a gear (15) at the last stage of the actuator (6) to operate the motor (7). The rack (5) which converts the rotational motion of (15) into a linear motion, and opens and closes the door (2a) by the linear motion.
Wherein the gear (15) and the rack (5) have their teeth oriented in a direction orthogonal to the opening and closing direction of the door (2a),
At least one tooth surface (5b, 15a) of the gear (15) and the rack (5) is replaced with the adjacent tooth surface (5b, 1).
5a) A door opening / closing device characterized in that it is formed in a curved shape so as to be convex toward (a).