JP2001349137A - Door opening/closing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To protect a motor from overheating without using additional component parts such as a temperature sensor. SOLUTION: A control circuit block 40 is comprised of a motor driver 42 for switching an excitation passage from a motor power source to each phase of a coil 11, to thereby supply output current, a control section 43 for controlling the motor driver 42, a first storage section 44 formed of a volatile memory (RAM), and a second storage section 45 formed of a nonvolatile memory (EEPROM). The control circuit block 40 counts the number of times of motion of a door 6 which has been moved between a fully opened position and a fully closed position, and if the number of times of motion in a predetermined determination duration T (seconds) exceeds a specific limit value N (the number of times) set beforehand, current output from the motor driver 42 to the coil 11 is halted over a predetermined output halting period Ts (seconds). As a result, the temperatures of the coil 11 and the motor driver 42 are lowered during the output halting period Ts, and therefore the linear motor serving as a driving source can be protected from overheating without using the temperature sensor or the like.

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 for opening and closing a door using a motor as a drive source.

[0002]

2. Description of the Related Art Conventionally, various door opening / closing devices for opening and closing a door using a motor as a drive source have been provided. In such a door opening / closing device, the door is accelerated, decelerated, or moved at a constant speed by varying the output current to the motor.

[0003]

By passing a current through the coil of the motor, the coil and the controller for varying the output current to the coil also generate heat. However, if the door is repeatedly moved, the coil generates heat. Overheat,
The coating of the coil wire is melted to expose the core wire, and a short circuit of the exposed core wire may cause a problem such as ignition. Therefore, in the past, a method of monitoring the overheating of the coil by attaching a temperature sensor consisting of a thermocouple etc. to the coil of the motor to prevent overheating, or estimating the temperature rise by calculating the calorific value from the electric resistance and current value of the coil, etc. Method has been adopted. However, in the conventional example adopting such a method, a temperature sensor and a current sensor are separately required, resulting in an increase in manufacturing cost.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a door opening / closing device capable of protecting a motor from overheating without using an additional component such as a temperature sensor. It is in.

[0005]

According to the first aspect of the present invention, there is provided a door opening / closing apparatus for moving a door between a fully open position and a fully closed position by using a motor as a drive source.
A motor as a drive source, position detection means for detecting the position of the door, and control means for controlling the movement of the door by varying the output current to the motor according to the detection result of the position detection means, control The means counts the number of operations of moving the door between the fully open position and the fully closed position, and when the number of operations within a predetermined determination period exceeds a predetermined limit value, outputs a current output to the motor to a predetermined value. The motor is stopped only during the output stop period. The temperature of the coil of the motor drops during the output stop period, and overheating of the motor can be protected without using a temperature sensor or the like.

According to a second aspect of the present invention, in the first aspect of the invention, the control means subtracts a time from a first operation start time in the determination period to an end time of the operation exceeding the limit value from the determination period. Is the output stop period. In addition to the operation of the invention of claim 1, the door is prevented from operating beyond the limit value within the preset determination period, and the useless output stop period is eliminated. Waiting time can be shortened.

According to a third aspect of the present invention, in the first aspect of the present invention, the control means initializes the count value of the number of operations each time the determination period elapses, and sets a time required for the operation until the limit value is exceeded. The current output to the motor is stopped only for a preset output stop period regardless of
In addition to the effect of the first aspect of the present invention, it is not necessary to store the operation time every time, and a storage unit having a small capacity can be used.

According to a fourth aspect of the present invention, in the second or third aspect of the present invention, a nonvolatile storage means is provided, and the control means outputs an output indicating that the output is being stopped before stopping the current output to the motor. The stop data is written to the storage means and the output stop data is erased from the storage means after the elapse of the output stop period.If the output stop data is stored in the storage means when the power is turned on, the current output to the motor is output for a predetermined time. The present invention is characterized in that the motor is stopped, and in addition to the operation of the invention of claims 2 and 3, current is not output to the motor for a predetermined time even if the power is immediately turned on after the power is turned off in the output stopped state. In addition, temperature rise due to energization of the coil of the motor is suppressed, and damage to the motor can be prevented.

According to a fifth aspect of the present invention, in accordance with the second or third aspect of the present invention, there is provided a nonvolatile storage means, wherein the control means stores the remaining time of the output stop period when stopping the current output to the motor. And stopping the current output to the motor for the remaining time of the output stop period stored in the storage means when the power is turned on.
In addition to the operation of the invention, even if the power is turned on immediately after the power is turned off while the output is stopped, the current is not output to the motor for a predetermined time, so that the temperature rise due to energization of the motor coil is suppressed. In addition, the motor can be prevented from being damaged, and the current output to the motor is stopped for the remaining time of the output stop period stored in the storage unit when the power is turned on. Time can be shortened.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which a sliding door is opened and closed using a linear motor in which a mover moves straight as a driving source of the door will be described below. However, a drive source that converts the rotational motion of the rotary motor into a linear motion using a transmission mechanism such as a gear or a belt may be used as the drive source.

FIG. 2 shows the entire configuration of the present embodiment. A movable element 2 having a permanent magnet 21 is mounted on an upper part of a sliding door 6, and a part of the outer frame 5 is formed. A stator 1 is provided on a gate 51 holding an upper portion so as to face the mover 2. In addition, a control circuit block 4 to be described later is provided in the gate 51. Outer frame 5 is Kamoi 5
1 is an upper frame, and is composed of a vertical frame 52 provided at both ends of the gate 51 as a vertical frame, and a threshold 53 installed as a lower frame on the floor of the building so as to face the gate 51. . Thus, the door 6 is substantially held by the gate 51 and the threshold 53 so as to be movable in the longitudinal direction, and can be moved within a range surrounded by the gate 51, the two cubicles 52, and the threshold 53 on all sides.

Here, as shown in FIG. 3, the linear motor for moving the door 6 is composed of a plurality of electromagnets composed of a coil 11 and an iron core 12 and arranged along the traveling direction, and fixedly coupling each electromagnet magnetically. The stator 1 constituted by the child yoke 13, the permanent magnet 21 disposed opposite the electromagnet so that a plurality of magnetic poles are alternately different in the traveling direction, and the magnetic poles 22 of the permanent magnet 21 are connected to each other. A mover 2 composed of a mover yoke 23 that is magnetically coupled, and a plurality of position sensors 31 that detect the position of the mover 2 relative to the stator 1
To each coil 11 at a timing according to the position of the mover 2 detected by the position sensor block 3 so as to generate a thrust for moving the mover 2 by the interaction between the position sensor block 3 having the And a control circuit block 4 for controlling the current supply (output current).

The stator yoke 13 is formed of a soft magnetic material in an elongated shape along the moving direction of the mover 2, and a plurality of holes (not shown) for fixing an electromagnet are arranged at regular intervals. I have. The coil 11 is wound around a coil bobbin 14 formed of an insulating material such as a synthetic resin, and the iron core 12 is inserted into a cylindrical through hole provided at the center of the coil bobbin 14. An electromagnet is configured. Then, a plurality of electromagnets configured as described above are fitted to the holes provided in the stator yoke 13 with the protrusions protruding from one end of the iron core 12 and fixed by an appropriate method such as caulking. The stator 1 is configured. The number of phases of the coil 11 is three, and these coils 11
Are connected in a Y-connection to energize two phases at a time.

The permanent magnet 21 constituting the mover 2 is provided so that a plurality of magnetic poles 22 are alternately different in the moving direction, and the distance (interval) between adjacent magnetic poles 22 is constant (= L). [Mm]). This mover 2 is 1
It is formed by magnetizing one magnetic body so that a plurality of magnetic poles 22 are formed, or by attaching a plurality of permanent magnets to the mover yoke 23. In a structure in which a plurality of permanent magnets are attached to the mover yoke 23, each permanent magnet forms one magnetic pole.

Here, the distance (interval) between a pair of adjacent electromagnets in the stator 1 is fixed (= 5 L / 3 [mm]).
The distance between the electromagnets is set at a certain distance according to the length and the moving distance of the mover 2.
2 poles of the magnetic pole 22 of the permanent magnet 21 (= 2
A space which is widened by L) is provided, and the position sensor block 3 is disposed in this space (see FIG. 3).

The position sensor block 3 includes a printed circuit board 3
3, three position sensors 31 are arranged on the stator yoke 13 and fixed to the stator yoke 13 via a spacer 33 made of an insulating material. As the position sensor 31, the magnetic pole 2
A Hall IC is used in which a circuit in which the analog output of the Hall element is switched between a high level and a low level at the time of switching 2 is integrated with the Hall element. The position sensor block 3 is fixed to the stator yoke 13 via a spacer 33 by screws or the like.
Are arranged at substantially the same height as the iron core 12.

On the other hand, as shown in FIG. 1, the control circuit block 40 supplies each phase (U phase, V phase) of the coil 11 from the motor power supply.
, A motor driver 42 for supplying an output current by switching an energizing path to the three phases (phase W and phase W), a control unit 43 for controlling the motor driver 42, a position and a moving speed of the door 6, and a time required for the movement. Volatile memory (R
AM), and a second storage unit 45 composed of a non-volatile memory (EEPROM) for storing data such as the number of operations and an output suspension period as described later.
And The motor driver 42 is composed of, for example, a bridge circuit of six switch elements in which diodes for preventing back electromotive are connected in anti-parallel.
1 is to switch the energization to each phase (3 phases of U phase, V phase and W phase). Further, the control unit 43 includes a CPU,
When a trigger signal such as an operation signal of an operation switch or a human body detection signal of a human sensor is input to the input port, a position detection signal from the position sensor 31 is input, and the motor driver 42 is controlled based on a predetermined program. By moving a current through the two-phase coils 11 of the three-phase coils 11 of the stator 1 at all times, the stator 1 moves along the longitudinal direction of the movable element 2 with the movable element 2 having the permanent magnet 21. A traveling magnetic field is generated, and by this traveling magnetic field, a thrust that can move in a substantially linear longitudinal direction with the permanent magnet 21 can be obtained.

By the way, the position sensor block 3 is originally for detecting the timing of switching each phase of the coil 11, and as shown in FIGS.
Pulse-like signals output from the three position sensors 31 corresponding to the V and W phases are output as detection signals.
Thus, the pattern of the detection signal of each position sensor 31 is L /
Since the switching is performed every 3 [mm], the control unit 43 generates a pulse signal that rises in synchronization with the rise of the detection signal of any phase and falls in synchronization with the fall of the detection signal of any phase. It is created and used as a position detection signal (see FIG. 4D). That is, the permanent magnet 2
Since the interval between adjacent one magnetic poles 22 is constant (= L [mm]), the number of pulses of the position detection signal is counted to determine the distance from the reference position (for example, the fully open position or the fully closed position of the door 6). The position of the door 6 can be known as the moving distance. However, since the movement of the door 6 cannot be known in a range in which the detection signals of any of the position sensors 31 do not change, the accuracy of the position detection is L / 3 [mm].

By the way, except for the electromagnets adjacent to the position sensor block 3 in the stator 1, the adjacent pairs of electromagnets are arranged at a constant interval.
Are also constant. Magnetic pole 2 of mover 2
2, the length of one pole is L [mm], and the distance between the electromagnets at a portion where the electromagnets are arranged at a constant pitch is 5 mm.
It is configured to be L / 3. The interval between adjacent position sensors 31 in the position sensor block 3 is set to 2L / 3.

The symbols U, V and W in FIG. 3 indicate the phase (excitation phase) of each electromagnet (coil 11). here,
The coil 11 of the phase to which minus (-) is added means that the winding direction is opposite to the coil 11 of the same phase to which no minus is added. For example, U
Is energized clockwise as viewed from above, the coil 11 corresponding to -U is energized counterclockwise. In other words, if the winding direction of the coil 11 is the same, the coil 11 is U, -V, W, -U,
V, -W, and these coils 11
By energizing sequentially for each phase, U, V → V, W → W,
Energization is performed in a cyclic manner such as U → U, V. In addition, since each coil 11 is connected in a Y-connection, two phases, that is, ones to which a minus is added or those to which a minus is added, are energized in opposite directions. For example, in FIG. 3, when U and W are excited, the coil 11 corresponding to U and the coil 11 corresponding to W are energized in the opposite directions. In other words, two adjacent coils 11 in the stator 1 are simultaneously energized in the same direction, and no current is applied to the left and right adjacent coils 11 of the set of two energized coils 11. The pair of left and right coils 11 is energized in opposite directions to each other with the coil 11 not energized therebetween.

Here, the speed control of the control unit 43 will be briefly described. For example, when the second storage unit 45 is accelerating,
The target value (target speed) of the moving speed at the time of constant speed, deceleration, or the like is stored in advance, and the control unit 43 sets the actual moving speed of the door 6 to approximately the target speed read from the second storage unit 45. The duty ratio of each switch element included in the motor driver 42 is changed so as to match. Specifically, the duty ratio of the switch element included in the motor driver 42 is determined according to the duty command value provided from the control unit 43. That is, the control unit 43 measures the pulse width t [seconds] of the position detection signal, and the switching pitch L / 3 [mm] of the pulse width t and the pattern of the position detection signal.
, The moving speed of the door 6 is calculated as L / (3t) [mm / sec], and the difference (deviation) between the calculated moving speed and the target speed is calculated. According to a new duty command value obtained by adding a value obtained by multiplying a control gain (proportional gain in general PI control) corresponding to each deviation value, the duty ratio of the switch element included in the motor driver 42 is determined. The variable speed is controlled so as to reduce the deviation and make the moving speed of the door 6 substantially coincide with the target speed. The control gain according to each deviation is stored in the second storage unit 45 in advance.

By the way, as described in the prior art, in the door opening / closing device, it is necessary to prevent overheating of the coil of the motor as a driving source. Therefore, in the control circuit block 4 of the present embodiment, the door 6 is moved to the fully open position. The number of movements between the closed positions is counted, and when the number of movements within a predetermined determination period T [seconds] exceeds a predetermined limit value N [times], the motor driver 42 sends a signal to the coil 11. By stopping the current output for a predetermined output stop period Ts [second],
During the output stop period Ts, the coil 11 or the motor driver 42
The temperature of the linear motor is reduced, and overheating of the linear motor serving as a driving source can be protected without using a temperature sensor or the like.

In the present embodiment, the determination period T and the limit value N of the number of operations are set in the second storage unit 45 in advance, and the control unit 43 restricts the door 6 within the determination period T [sec]. When the operation is performed more than the value N [times], the output suspension period Ts [second]
Then, the motor driver 42 is stopped only to make the output current to the coil 11 substantially zero. Here, the control unit 4 of the present embodiment
In 3, the operation of moving the door 6 from the fully closed position to the fully open position or from the fully closed position to the fully open position is counted as one operation. However, when the moving door 6 collides with an obstacle, the control unit 43 forcibly moves the door 6 in the opposite direction from the fully open position or the fully closed position until it collides with the obstacle (for example, from the collision position). Movement in the fully open direction if a collision occurs during movement from the fully open position to the fully closed position).
It is counted as an operation. The collision between the door 6 and the obstacle by the control unit 43 is determined by, for example, detecting by the position sensor 31 that the door 6 that has collided with the obstacle bounces in a direction opposite to that before the collision. In addition, the determination period T and the limit value N may be set to values that do not cause an overheat state according to the measurement result by measuring the actual temperature rise of the coil 11, the motor driver 42, and the like.

Next, a specific overheat prevention operation in this embodiment will be described with reference to the flowchart of FIG. A time interval from the end of the operation (n-1) times to the end of the operation n times before (hereinafter referred to as “operation time interval”)
) To save a variable t [N] for the limit value N (t
[0],..., T [N−1]) are stored in the first storage unit 44.

When one operation is completed, the control unit 43 resets the timer t (t = 0) and measures the operation time interval. Each time one operation is completed, the control unit 43 determines the limit of the number of operations. Is started (step 1). First, the control unit 43 substitutes the current timer value t into a variable t [0] as data indicating the final operation time interval (step 2), and sums the operation time intervals for the past N times t [0] + t [1]. ] + ... + t
[N-1] is compared with the determination time T (step 3). If the total value of the operation times exceeds the determination time T, that is, the number of operations within the determination time T does not exceed the limit value N, the control unit 43 stops the motor driver 42. Instead, the timer is cleared and the measurement of the operation time interval is newly started (step 4). Also,
Since one operation has been completed, the data of the operation time intervals for the past N times are shifted one by one, that is, t [0] to t [0].
The value of [N−2] is copied to the variables of t [1] to t [N−1] (step 5), and the operation number limitation determination process ends (step 6).

On the other hand, the total value of the operation times is determined as the determination time T
Does not exceed the limit value N, that is, the control unit 43 stops the output current to the coil 11 and performs the overheat protection process. First, a flag (output stop data) set at a predetermined address in the second storage unit 45 is turned on (step 7), and after the output stop period Ts is recorded, the motor driver 42 is stopped and the output current is reduced. Stop. In this output stop state, the control unit 43 keeps the output stop state even if a trigger signal from, for example, a push button switch is input. Here, the control unit 43 calculates the total t [0] + t [1] +
... Remaining time after subtracting + t [N-1] (= T-t [0] +
t [1] +... + t [N-1]) is the output stop period Ts, and the motor driver 42 is stopped for the output stop period Ts to stop the output current (step 8). When the output stop period Ts ends, the control unit 43 turns off the flag of the second storage unit 45 to record that the output stop period Ts has ended (step 9), and after the end of the output stop period Ts. Since the time from the end of the operation to the end of the output stop period has already elapsed, the control unit 43 sets the timer to the output stop period Ts (t = Ts) and measures the time interval until the end of the next operation (step 10). In addition, since one operation is completed, the data of the operation time intervals of the past N times are shifted one by one, that is, t [0] to t [N−
2] is copied to the variables of t [1] to t [N-1] (step 5), and the operation number limitation determination process is ended (step 6).

As described above, the control unit 43 counts the number of times the door 6 is operated, and when the number of operations within the predetermined determination period T exceeds a predetermined limit value N, the current output to the coil 11 is reduced to a predetermined value. Since the output is stopped only for the output stop period Ts, the temperature of the coil 11 decreases during the output stop period Ts, and the temperature of the coil 11 and the like during the opening and closing operation is not measured without actually using a temperature sensor or the like. Temperature rise due to current supply to the coil 11 is suppressed, and damage to the linear motor due to heat can be prevented. Also, the time (t [0] + t [1] +... + T [N−) from the start of the first operation in the determination period T to the end of the operation exceeding the limit value N
1]) is subtracted from the determination period T and the output suspension period Ts
Therefore, there is an advantage that the door 6 does not operate beyond the limit value N within the preset determination period T, and the wasteful output stop period Ts is eliminated, so that the waiting time can be shortened. Further, the control unit 43 initializes the count value of the number of operations each time the determination period T elapses, and sets the current value for the preset output suspension period Ts regardless of the time required for the operation until the limit value N is exceeded. Since the output is stopped, there is no need to memorize the operation time for each time,
There is an advantage that a small storage device can be used for the first storage unit 44.

The operation when the power is turned on again after the power supply is stopped due to a power failure, erroneous operation, inspection, or the like will be described with reference to the flowchart of FIG. When the power is turned on, the control unit 43 checks on / off of the flag of the second storage unit 45 (step 1). If the flag is off, the output stop period Ts for overheating protection at the time of the previous power-off is determined. Since it was not inside, the normal operation starts (step 2).

On the other hand, if the flag is on, it means that the output suspension period Ts was during the previous power-off, and the control unit 43 cannot measure the elapsed time from the previous power-off to the current power-on. Therefore, the output current is stopped by setting the output stop period Ts to the maximum value, that is, the determination period T in consideration of safety (step 3). When the output stop period Ts (= T) ends, the control unit 43
Is turned off (step 4), and the normal operation is started (step 2).

As described above, if the power is turned off in the output stop state, the output stop state is continued even when the power is turned on again. Temperature rise due to energization of the coil 11 is suppressed, and damage to the linear motor can be prevented. Note that when the control unit 43 stops the current output, the remaining time of the output suspension period Ts is sequentially written into the second storage unit 45, and the output suspension period Ts stored in the second storage unit 45 when the power is turned on. The current output may be stopped for the remaining time. By doing so, even if the power is turned on immediately after the power is turned off in the output stop state, no current is output to the coil 11 for a predetermined time, so that the temperature rise due to the energization of the coil 11 is suppressed. Since the linear motor can be prevented from being damaged, and the current output is stopped for the remaining time of the output stop period Ts stored in the second storage unit 45 when the power is turned on, there is no useless output stop period. The waiting time before starting the normal operation can be shortened.

[0031]

According to the first aspect of the present invention, there is provided a door opening / closing apparatus for moving a door between a fully open position and a fully closed position using a motor as a drive source, and detects a motor as a drive source and a position of the door. Position detecting means, and control means for controlling the movement of the door by varying the output current to the motor according to the detection result of the position detecting means, the control means, the door between the fully open position and the fully closed position When the number of operations moved in the step is counted and the number of operations within a predetermined determination period exceeds a predetermined limit value, current output to the motor is stopped only for a predetermined output stop period. There is an effect that the temperature of the coil of the motor decreases, and overheating of the motor can be protected without using a temperature sensor or the like.

According to a second aspect of the present invention, in the first aspect of the present invention, the control means subtracts a time from a start time of the first operation in the determination period to an end time of the operation exceeding the limit value from the determination period. Is the output stop period, in addition to the effect of the invention of claim 1, the door is prevented from operating beyond the limit value within the preset determination period, and the useless output stop period is eliminated, and the waiting time is reduced. Has the effect of being able to shorten the time.

According to a third aspect of the present invention, in the first aspect of the invention, the control means initializes a count value of the number of operations each time the determination period elapses, and sets a time required for the operation until the limit value is exceeded. The current output to the motor is stopped only for a preset output stop period regardless of the above. Therefore, in addition to the effect of the first aspect of the present invention, it is not necessary to store the operation time every time, and the storage means having a small capacity is used. There is an effect that can be.

According to a fourth aspect of the present invention, in the second or third aspect of the present invention, a nonvolatile storage means is provided, and the control means outputs an output indicating that the output is being stopped before stopping the current output to the motor. The stop data is written to the storage means and the output stop data is erased from the storage means after the elapse of the output stop period.If the output stop data is stored in the storage means when the power is turned on, the current output to the motor is output for a predetermined time. Since the motor is stopped, in addition to the effects of the inventions of claims 2 and 3, even if the power is immediately turned on after the power is turned off in the output stopped state, the current is not output to the motor for a predetermined time, so that the motor is stopped. There is an effect that a rise in temperature due to energization of the coil is suppressed and damage to the motor can be prevented.

According to a fifth aspect of the present invention, in the second or third aspect of the present invention, a nonvolatile storage means is provided, and the control means stores the remaining time of the output stop period when stopping the current output to the motor. And the current output to the motor is stopped only for the remaining time of the output stop period stored in the storage means when the power is turned on. Therefore, in addition to the effects of the invention of claims 2 and 3, the power is turned off in the output stop state. After that, even if the power is immediately turned on again, no current is output to the motor for a predetermined time, so that the temperature rise due to energization of the coil of the motor can be suppressed and the motor can be prevented from being damaged. The current output to the motor is stopped for the remaining time of the output stop period stored in the storage means at the time of turning on, so that there is no useless output stop period and the waiting time can be shortened. .

[Brief description of the drawings]

FIG. 1 is a schematic block diagram showing an embodiment.

FIG. 2 is an overall configuration diagram of the above.

FIG. 3 is a sectional view of a main part of the above.

FIG. 4 is an explanatory diagram of a position detection signal in the above.

FIG. 5 is a flowchart for explaining the operation of the above.

FIG. 6 is a flowchart for explaining the operation of the above.

[Explanation of symbols]

 Reference Signs List 3 position sensor block 4 control circuit block 11 coil 42 motor driver 43 control unit 44 first storage unit 45 second storage unit

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Hirohori Hori 1048 Kazuma Kadoma, Osaka Prefecture Matsushita Electric Works Co., Ltd. F-term (reference) 2E052 AA01 BA01 BA04 CA06 CA07 EA15 EB01 GA10 GB15 GB20 GC02 GC06 GD01 GD05 GD09 KA10 5H540 AA10 BA03 BA05 BB03 BB06 BB09 EE02 FA02 GG05

Claims (5)

[Claims] 1. A door opening / closing device for moving a door between a fully open position and a fully closed position using a motor as a drive source, a motor as a drive source, and position detection means for detecting a position of the door.
Control means for controlling the movement of the door by varying the output current to the motor according to the detection result of the position detection means,
The control means counts the number of times the door is moved between the fully open position and the fully closed position, and when the number of operations within a predetermined determination period exceeds a predetermined limit value, determines a predetermined current output to the motor. A door opening and closing device characterized in that the door is stopped only during the output stop period. 2. The output stop period is a value obtained by subtracting from the determination period the time from the start of the first operation in the determination period to the end of the operation exceeding the limit value in the determination period. Item 2. The door opening / closing device according to Item 1. 3. The control means initializes a count value of the number of operations each time the determination period elapses, and controls the motor for a preset output stop period irrespective of the time required for the operation until the limit value is exceeded. The door opening / closing device according to claim 1, wherein current output to the door is stopped. 4. A non-volatile storage means, wherein the control means writes output stop data indicating that output is being stopped to the storage means before stopping the current output to the motor, and after the output stop period elapses. 4. The current output to the motor according to claim 2, wherein the output stop data is erased from the storage means, and the current output to the motor is stopped for a predetermined time when the output stop data is stored in the storage means when the power is turned on. Door opening and closing device. 5. A non-volatile storage means, wherein the control means sequentially writes the remaining time of the output stop period in the storage means when stopping the current output to the motor, and stores the remaining time in the storage means when the power is turned on. 3. The current output to the motor is stopped for the remaining time of the output stop period.
Or the door opening and closing device according to 3.