JP2005226298A - Opening/closing body opening and closing device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an opening/closing body opening and closing device for a vehicle capable of silently moving a turning body to a fully opened position even when pushing (pulling) and opening the turning body with a force and moving the turning body to a fully closed position silently even when pushing (pulling) and closing the turning body with a force. <P>SOLUTION: This door opening and closing device for the vehicle opens and closes a door provided in the vehicle by switching manual operation and automatic operation. This door opening and closing device 1 for the vehicle is provided with a rotary encoder 27 detecting the direction of opening and closing, degree of opening, and opening and closing speed of the door 51, a motor 42 for opening and closing the door, a driving force transmission mechanism 43 generating door holding force, a door opening and closing mechanism 44 for opening and closing the door 51, and a control part. The control part controls door holding force (resistance force) by the driving force transmission mechanism 43 in accordance with the direction of opening and closing, degree of opening, and opening and closing speed of the door 51 when opening and closing the door manually by an occupant. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicle opening / closing body opening / closing device, and more particularly, to a vehicle opening / closing body opening / closing device capable of switching between manual and automatic switching.

2. Description of the Related Art Conventionally, a vehicle door opening / closing device is known as a vehicle opening / closing device opening / closing device that opens and closes an opening / closing body that can rotate with respect to a vehicle body automatically and manually (for example, Patent Document 1 and Patent Document 1). 2). This vehicle door opening and closing device is configured to be able to open and close the door by switching between manual and automatic. In the example described in Patent Document 1, an electromagnetic clutch mechanism is provided between the door opening / closing motor and the door opening / closing mechanism. In the state where the electromagnetic clutch mechanism is released, no load is applied to the door opening / closing mechanism connected to the door, so that the door can be freely opened and closed. In the example described in Patent Document 2, a planetary gear mechanism is provided between the door opening / closing motor and the door opening / closing mechanism. When the rotation of the internal gear of the planetary gear mechanism is allowed, the intermediate gear is rotatable with respect to the sun gear rotated by the door opening / closing motor, and the door opening / closing mechanism connected to the intermediate gear Since no load is applied to the door, the door can be freely opened and closed.
JP 58-76671 (page 1-3, FIG. 1, FIG. 2) Utility Model No. 2528411 (page 2-4, FIG. 3, FIG. 4)

  However, in the example described in Patent Document 1, when the electromagnetic clutch mechanism is released, the holding force does not act on the door. Impossible. Similarly, in the example described in Patent Document 2, in the state in which the rotation of the internal gear of the planetary gear mechanism is allowed, the holding force does not act on the door. It is impossible to hold. As described above, in the examples described in Patent Document 1 and Patent Document 2, the door cannot be held at an arbitrary opening degree during manual opening / closing. On the other hand, there are inconveniences such as the door moving freely. Moreover, when the space in the opening direction of the door is narrow, there is a problem that it is difficult to get on and off in the configuration in which the door freely opens and closes as described above.

  Furthermore, in the examples described in Patent Document 1 and Patent Document 2, since an operation force (resistance force) cannot be applied to the door during manual opening and closing, when the door is pushed (pulled) and opened openly, The door rebounds at the fully open position, and the door cannot be held at the fully open position. In addition, when the door is pushed (pulled) and closed, the door is fully closed as it is, so that vibrations and the like are transmitted to those who have already boarded. Further, in the examples described in Patent Document 1 and Patent Document 2, since an operating force (resistance force) cannot be applied to the door at the time of manual opening / closing, a heavy feeling and a high-class feeling when the door is manually opened / closed are achieved. There is also the disadvantage of being scarce. On the other hand, when a configuration is adopted in which an operating force (resistance force) is applied to the door during manual opening and closing, the door is fully opened or closed in order to prevent the half door or the door from opening insufficiently. It is necessary to prevent the door from being braked more than necessary before the position.

  The present invention has been made in view of the above circumstances, and in a vehicle opening / closing body opening / closing device that opens and closes an opening / closing body that can rotate with respect to a vehicle body by switching between automatic and manual operation, Even when opened (pulled), it is possible to move the rotating body to the fully open position, and even when the rotating body is pushed (pulled) and closed, the rotating body is moved to the fully closed position. An object of the present invention is to provide a vehicle opening / closing body opening / closing device that can be moved slowly.

  Further, the object of the present invention is to ensure that the rotating body can be moved to the fully open position even when the rotating body is slowly pushed (pulled) and opened. It is an object of the present invention to provide a vehicle opening / closing body opening / closing device capable of reliably moving a rotating body to a fully closed position even when it is closed (pulled).

  Furthermore, an object of the present invention is to provide a vehicle opening / closing body opening / closing device that opens and closes an opening / closing body that can rotate relative to a vehicle body, and can open and close the rotating body at an arbitrary opening degree. It is another object of the present invention to provide a vehicular opening / closing body opening / closing device capable of improving usability as compared with the prior art and capable of improving a heavy feeling and a high-class feeling when the opening / closing body is manually opened / closed.

  According to the vehicle door opening and closing device (1, 101) according to claim 1, the object is to open and close the vehicle by opening and closing the opening and closing body (51) that can rotate relative to the vehicle body between automatic and manual. In the body opening and closing device, an opening and closing force is applied to the opening and closing body (51) during automatic opening and closing, and a holding force is generated during manual opening and closing by an occupant so that the opening and closing body (51) can be held at an arbitrary opening degree. A drive means (40), a control means (30) for controlling the opening / closing drive means (40), an opening / closing direction, an opening degree, and an opening / closing speed of the opening / closing body (51) are detected, and the door according to the opening / closing state An open / close state detection means (27) for outputting an open / close state detection signal to the control means (30), and the control means (30) is output from the open / close state detection means (27) during manual opening and closing by a passenger. Based on the detected open / close status detection signal The opening / closing direction, opening degree, and opening / closing speed of the opening / closing body (51) are detected, and the holding force of the opening / closing driving means (40) is controlled according to the opening / closing direction, opening degree, and opening / closing speed of the opening / closing body (51). To solve the problem.

  Thus, according to the vehicle opening / closing body opening / closing device (1, 101) of the present invention, an opening / closing force is applied to the opening / closing body (51) during automatic opening / closing, and a holding force is generated during manual opening / closing by the occupant. Opening / closing driving means (40) capable of holding the opening / closing body (51) at an arbitrary opening, control means (30) for controlling the opening / closing driving means (40), opening / closing direction and opening of the opening / closing body (51) And an opening / closing state detection means (27) for detecting an opening / closing speed and outputting a door opening / closing state detection signal corresponding to the opening / closing state to the control means (30), and the control means (30) is manually opened / closed by an occupant. Sometimes, the opening / closing direction, opening degree, and opening / closing speed of the opening / closing body (51) are detected based on the opening / closing state detection signal output from the opening / closing state detection means (27), and the opening / closing direction, opening / closing of the opening / closing body (51) is detected. Depending on the degree and opening / closing speed of the opening / closing drive means (40) Is configured so as to control the lifting force, the opening and closing direction of the closing member during manual opening and closing (51), the opening, it is possible to control the granular holding force corresponding to the opening and closing speed. Therefore, for example, even when the rotating body (51) is pushed (pulled) and opened, the opening / closing direction, the opening degree, and the opening / closing speed of the opening / closing body (51) are detected and held accordingly. By increasing the force, it becomes possible to move the rotating body (51) to the fully open position. Similarly, even when the rotating body (51) is pushed (pulled) and closed with force, the opening / closing direction, opening degree, and opening / closing speed of the opening / closing body (51) are detected, and the holding force is accordingly detected. Is increased, the rotating body (51) can be moved to the fully closed position without difficulty.

  Further, for example, even when the rotating body (51) is slowly pushed (pulled) and opened, the opening / closing direction, opening degree, and opening / closing speed of the opening / closing body (51) are detected, and accordingly By reducing the holding force, the rotating body (51) can be reliably moved to the fully open position. Similarly, even when the rotating body (51) is slowly pushed (pulled) and closed, the opening / closing direction, opening degree, and opening / closing speed of the opening / closing body (51) are detected and held accordingly. By reducing the force, the rotating body can be reliably moved to the fully closed position.

  Further, as described above, the opening / closing drive means (40) is configured to generate a holding force during manual opening / closing by the occupant and to hold the opening / closing body (51) at an arbitrary opening degree. When (51) is stopped, the opening / closing body (51) can be held at the desired opening (that is, a stepless check function can be provided during manual opening / closing). As a result, it is possible to prevent inconvenience such as the opening / closing body (51) moving freely against the occupant's will when the occupant releases his / her hand from the opening / closing body (51). Is possible. Further, by controlling the holding force according to the opening / closing direction, opening degree, and opening / closing speed of the opening / closing body (51) during manual opening / closing, an appropriate operating force (resistance force) is applied to the opening / closing body (51) during manual opening / closing. Therefore, it is possible to improve the profound feeling and luxury when the opening / closing body (51) is manually opened and closed.

  At this time, as described in claim 2, the control means (30) more specifically, the opening / closing body (51) when the opening degree of the opening / closing body (51) is smaller than a predetermined reference opening degree. ) Is stopped, the holding force of the opening / closing drive means (40) is reduced, and when the opening of the opening / closing body (51) is larger than a predetermined reference opening, the opening / closing body (51) Is determined to stop, the holding force of the opening / closing drive means (40) is increased. According to such a configuration, for example, when the opening / closing body (51) stops when the opening / closing body (51) is at the fully closed position side, the holding force of the opening / closing driving means (40) is reduced. The occupant can open the opening / closing body (51) with a small operating force. Moreover, when closing the opening / closing body (51), even if the distance to the fully closed position is short, it becomes possible for the passenger to close the opening / closing body (51) with a small operating force. Furthermore, according to the above configuration, for example, when the opening / closing body (51) is stopped when the opening / closing body (51) is at the fully open position side, the holding force of the opening / closing driving means (40) is increased. It becomes possible to hold the opening / closing body (51) in a state of being largely opened. As described above, since the holding force for holding the opening / closing body (51) is optimally controlled according to the stop position of the opening / closing body (51), the convenience at the time of opening / closing of the opening / closing body (51) is improved as compared with the prior art. It is possible.

  According to a third aspect of the present invention, the control means (30) is more preferably configured such that the opening degree of the opening / closing body (51) is determined in advance by the rotation of the opening / closing body (51) in the opening direction. If the opening speed of the opening / closing body (51) is determined to be higher than a predetermined reference speed when the temperature exceeds the upper limit, the holding force of the opening / closing drive means (40) is increased. According to such a configuration, for example, when the opening / closing body (51) is moved to the fully opened position side by the rotation of the opening / closing body (51) in the opening direction, the opening speed of the opening / closing body (51) is a predetermined reference. When it is higher than the speed, the holding force of the opening / closing drive means (40) is increased, so that the braking force acting on the opening / closing body (51) can be increased. Accordingly, even when the rotating body (51) is pushed (pulled) and opened with great force, the rotating body (51) can be moved to the fully open position without difficulty.

  According to a fourth aspect of the present invention, the control means (30) is more preferably configured so that the opening degree of the opening / closing body (51) is determined in advance by the rotation of the opening / closing body (51) in the opening direction. If the opening speed of the opening / closing body is determined to be lower than a predetermined reference speed when the temperature exceeds the upper limit, the holding force of the opening / closing drive means (40) is reduced. According to such a configuration, for example, when the opening / closing body (51) is moved to the fully opened position side by the rotation of the opening / closing body (51) in the opening direction, the opening speed of the opening / closing body (51) is a predetermined reference. When it is lower than the speed, the holding force of the opening / closing drive means (40) is reduced, so that the braking force acting on the opening / closing body (51) can be reduced. Therefore, even when the rotating body (51) is slowly pushed (pulled) and opened, the rotating body (51) can be reliably moved to the fully open position.

  Further, as described in claim 5, the control means (30) is more preferably configured such that the opening degree of the opening / closing body (51) is determined in advance by the rotation of the opening / closing body (51) in the closing direction. When it is determined that the closing speed of the opening / closing body (51) is higher than a predetermined reference speed when the angle is less than the degree, the holding force of the opening / closing driving means (40) is increased. According to such a configuration, for example, the closing speed of the opening / closing body (51) is predetermined when the opening / closing body (51) moves to the fully closed position side by the rotation of the opening / closing body (51) in the closing direction. When the speed is higher than the reference speed, the holding force of the opening / closing drive means (40) is increased, so that the braking force acting on the opening / closing body (51) can be increased. Therefore, even when the rotating body (51) is pushed (pulled) and closed with force, the rotating body (51) can be moved to the fully closed position without difficulty.

  Further, as described in claim 6, the control means (30) is more preferably configured such that the opening degree of the opening / closing body (51) is determined in advance by a rotation of the opening / closing body (51) in the closing direction. When it is determined that the closing speed of the opening / closing body (51) is lower than a predetermined reference speed when the angle is lower than the degree, the holding force of the opening / closing drive means (40) is reduced. According to such a configuration, for example, the closing speed of the opening / closing body (51) is predetermined when the opening / closing body (51) moves to the fully closed position side by the rotation of the opening / closing body (51) in the closing direction. When the speed is lower than the reference speed, the holding force of the opening / closing driving means (40) is reduced, so that the braking force acting on the opening / closing body (51) can be reduced. Therefore, even when the rotating body (51) is slowly pushed (pulled) and closed, the rotating body (51) can be reliably moved to the fully closed position.

  In addition, as described in claim 7, the opening / closing body (51) is more specifically configured by any of a front door, a rear door, a back door, and a trunk lid provided in the vehicle (50). .

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. It should be noted that members, arrangements, and the like described below do not limit the present invention, and it goes without saying that various modifications can be made in accordance with the spirit of the present invention.

(First embodiment)
FIG. 1 to FIG. 8 are diagrams showing an embodiment of the present invention, FIG. 1 is a diagram showing a configuration of a vehicle door opening / closing device, and FIG. 2 is a diagram showing a configuration of a door opening / closing motor and a driving force transmission mechanism. 3 is a cross-sectional view taken along line AA in FIG. 2, FIG. 4 is a block diagram showing the overall configuration of the vehicle door opening / closing device, and FIG. 5 is a diagram for explaining the flow of the operation (door automatic opening operation) of the vehicle door opening / closing device. 6 is a diagram for explaining the opening of the door (when the door is manually opened), FIG. 7 is a diagram for explaining the flow of the operation of the vehicle door opening / closing device (door automatic closing operation), and FIG. It is a figure explaining the time (at the time of door manual closing operation).

  First, the configuration of a vehicle door opening / closing device 1 that is an example of a vehicle opening / closing body opening / closing device of the present invention will be described with reference to FIGS. 1 to 4. A vehicle door opening / closing device 1 according to an embodiment of the present invention is suitably disposed in a vehicle such as a passenger car, and opens and closes a door 51 as an opening / closing body provided in the vehicle by switching between manual and automatic. Is. As shown in FIG. 4, the vehicle door opening / closing device 1 includes an operation unit 10, a detection unit 20, a control unit 30 (corresponding to a control unit), and a door opening / closing driving unit 40 (corresponding to an opening / closing driving unit). It is configured.

  The operation unit 10 is for operating the vehicle door opening and closing device 1 and includes an inner operation button 11, an outer operation button 12, an inner door handle 13, and an outer door handle 14. As shown in FIG. 1, the inner operation button 11 is provided in the vicinity of the inner door handle 13 inside the door 51, and has an automatic door opening button 11a and an automatic door closing button 11b. On the other hand, the outer operation button 12 is provided integrally with the outer door handle 14 on the vehicle outer side of the door 51, and includes an automatic door opening button 12a and an automatic door closing button 12b.

  In this example, as described later, when the automatic door opening buttons 11a and 12a are operated, the door opening / closing motor 42 rotates to automatically open the door 51, and when the automatic door closing buttons 11b and 12b are operated, The opening / closing motor 42 rotates in the opposite direction to the above, and the door 51 is automatically closed. As shown in FIG. 1, the inner door handle 13 has a handle lever 13a, and the outer door handle 14 has a handle lever 14a. When the handle lever 13a of the inner door handle 13 or the handle lever 14a of the outer door handle 14 is pulled, the engagement of the lock member 52 and the striker member 53 is released, and the door 51 can be opened manually.

  As shown in FIG. 4, the detection unit 20 is for detecting each operation state of the operation unit 10, and the door opening button operation detectors 21 and 22, the door closing button operation detectors 23 and 24, and the door handle. Operation detectors 25 and 26 and a rotary encoder 27 as a door opening / closing state detection means are configured. The opening button operation detector 21 detects that the automatic opening button 11a of the inner operation buttons 11 has been operated, and outputs a door opening operation signal to the control circuit 31. The closing button operation detector 23 detects that the automatic door closing button 11b has been operated and outputs a door closing operation signal to the control circuit 31. Similarly, the door opening operation detector 22 detects that the automatic door opening button 12a of the outer operation buttons 12 has been operated, and outputs a door opening button operation signal to the control circuit 31. The operation detector 24 detects that the automatic door closing button 12b has been operated and outputs a door closing button operation signal to the control circuit 31.

  The door handle operation detector 25 detects that the inner door handle 13 has been operated and outputs a door handle operation signal to the control circuit 31. The door handle operation detector 26 operates the outer door handle 14. When this is detected, a door handle operation signal is output to the control circuit 31. As shown in FIG. 1, for example, the rotary encoder 27 is disposed on a rotation shaft 44g of a sector gear 44a, which will be described later, and controls a pulse signal (A phase, B phase) according to the swing angle of the sector gear 44a. This is output to the circuit 31. In this example, as described later, the control circuit 31 detects the opening / closing direction, the opening degree, and the opening / closing speed of the door 51 by counting the pulse signal output from the rotary encoder 27 by the control circuit 31. The The arrangement position of the rotary encoder 27 is not limited to the above, and if the opening / closing direction, the opening degree, and the opening / closing speed of the door 51 can be calculated based on the pulse signal from the rotary encoder 27, any location can be used. But it ’s okay.

  The control unit 30 performs a calculation based on each of the signals output from the detection unit 20, and drives and controls the door opening / closing drive unit 40 based on the obtained calculation results. The control unit 30 according to the present embodiment includes a control circuit 31 and a drive circuit 32. The control circuit 31 includes a CPU for performing various calculations, a ROM in which a program for operating the CPU is stored, a RAM (not shown) that temporarily stores information processed by the CPU, and the like. It is comprised by the provided electric circuit. The control circuit 31 outputs a predetermined drive signal to the drive circuit 32 based on the detection signals obtained from the detection unit 20. The ROM of the control circuit 31 stores information on the door holding force according to the opening / closing direction, opening degree, and opening / closing speed of the door 51 (the opening / closing direction of the door 51, the opening degree, the rotation direction of the door opening / closing motor 42 according to the opening / closing speed). And information on the rotational speed and information on the amount of current supplied to the electromagnetic clutch 45) are stored. Details of the operation of the control circuit 31 will be described later. The drive circuit 32 supplies necessary power to the door lock release motor 41, the door opening / closing motor 42, and the electromagnetic clutch 45 in accordance with each drive signal output from the control circuit 31, and drives them. .

  As shown in FIG. 1, the door opening / closing drive unit 40 is disposed in a space 51a formed inside the door 51, and includes a door lock release motor 41 (not shown in FIG. 1), a door opening / closing motor. 42, a driving force transmission mechanism 43, and a door opening / closing mechanism 44. The door lock release motor 41 is for releasing the engagement state between the lock member 52 and the striker member 53. When the inner door handle 13 or the outer door handle 14 is operated, the door lock release motor 41 is operated, and the engagement state between the lock member 52 and the striker member 53 is released.

  The door opening / closing motor 42 rotates the rotating shaft in forward and reverse directions based on the motor voltage applied by the drive circuit 32. As shown in FIG. 2, a worm gear 42b is disposed on the rotating shaft 42a of the door opening / closing motor 42, and a worm wheel 43d of the driving force transmission mechanism 43 is engaged with the worm gear 42b. The driving force transmission mechanism 43 transmits the driving force of the door opening / closing motor 42 to the door opening / closing mechanism 44. As shown in FIGS. 2 and 3, the mounting plate 43a, the bearing 43b, the rotating shaft 43c, the worm wheel. 43d, a rotating shaft 43e, a case 43f, a bearing 43g, an output gear 43h, and an electromagnetic clutch 45. The mounting plate 43a is fixed to the door 51, and a bearing 43b is disposed at the center of the mounting plate 43a. A rotary shaft 43c is rotatably supported on the bearing 43b, and a worm wheel 43d is fixed to the rotary shaft 43c. The rotating shaft 43e is rotatably supported by a bearing 43g disposed in the center of the case 43f, and an output gear 43h that meshes with a sector gear 44a described later is disposed at the protruding end of the rotating shaft 43e. It is installed.

  The electromagnetic clutch 45 includes an electromagnet 45a that forms a magnetic field, a rotating plate 45b, a fixed plate 45c, a metal suction plate 45d, and a spring 45e. The electromagnet 45a includes an annular yoke 45f formed around the rotation axis, and a coil 45g wound around the yoke 45f. The magnetic field generated from the electromagnet 45a increases as the amount of current supplied increases. The rotating plate 45b is fixed on the upper surface of the worm wheel 43d and rotates together with the worm wheel 43d. The fixed plate 45c is fixed to the rotating shaft 43e, and a spring 45e is disposed on the back surface of the fixed plate 45c. The suction plate 45d is movable in the axial direction with respect to the rotating shaft 43e, and is biased toward the electromagnet 45a by the spring 45e and pressed against the rotating plate 45b.

  And in the electromagnetic clutch 45 of this example, the joining force of the adsorption | suction board 45d and the rotating plate 45b can be increased by the amount of electric current supplied to the electromagnet 45a increasing. That is, when the amount of current supplied to the electromagnet 45a is “zero”, no magnetic field is formed by the electromagnet 45a, and the attracting plate 45d is pressed against the rotating plate 45b by the urging force of the spring 45e. At this time, the joining force in the electromagnetic clutch 45 is “small”. When the amount of current supplied to the electromagnet 45a is “small”, a weak magnetic field is formed by the electromagnet 45a, and the attracting plate 45d is attracted to the rotating plate 45b by this magnetic field and the urging force of the spring 45e. At this time, the joining force in the electromagnetic clutch 45 is “medium”. Further, when the amount of current supplied to the electromagnet 45a is “large”, a strong magnetic field is formed by the electromagnet 45a, and the attracting plate 45d is attracted to the rotating plate 45b by the urging force of the magnetic field and the spring 45e. At this time, the joining force in the electromagnetic clutch 45 becomes “high”.

  As shown in FIG. 1, the door opening / closing mechanism 44 includes a sector gear 44a, a link member 44b, a push / pull member 44c, and universal joints 44d and 44e. The sector gear 44a is formed in a substantially fan shape, and a gear meshed with the output gear 43h is formed on the arc portion 44f of the sector gear 44a. The sector gear 44a is swingable about a rotation shaft 44g, and one end of a link member 44b is connected to the swing end of the sector gear 44a via a universal joint 44d. One end of a push / pull member 44c is connected to the other end of the link member 44b via a universal joint 44e, and the other end of the push / pull member 44c is connected to a hinge mechanism 54 attached to the vehicle body. The hinge mechanism 54 is configured to have a rotation axis along the vertical direction of the vehicle, whereby the push-pull member 44c is rotatable about the rotation axis of the hinge mechanism 54. The vehicle 50 is provided with door hinges 55 and 56, and the door 51 is freely rotatable by the door hinges 55 and 56.

Next, the operation of the vehicle door opening and closing apparatus 1 according to an embodiment of the present invention will be described.
1. Automatic door opening operation When the automatic door opening button 11a or the automatic door opening button 12a is pushed, the pushing operation is detected by the door opening button operation detector 21 or the door opening button operation detector 22, and the door opening button operation is detected. An opening button operation signal is output from the device 21 or the opening button operation detector 22 to the control circuit 31. The control circuit 31 detects an opening button operation signal output from the opening button operation detector 21 or the opening button detector 22 and detects a request operation for automatically opening the door 51 (hereinafter, an automatic door opening request operation). ) Is detected. Note that the automatic door opening request operation is not limited to pushing the automatic door opening button, and the inner door handle 13 or the outer door handle 14 is operated twice in a predetermined time, For example, the door 51 may be opened by a predetermined opening while the door handle 13 or the outer door handle 14 is pulled.

  Here, when the automatic door opening request operation is performed when the door 51 is in a half-open state, a driving signal for driving the door lock releasing motor 41 is output from the control circuit 31 to the driving circuit 32. Instead, a drive signal for driving the door opening / closing motor 42 from the control circuit 31 to the drive circuit 32 and an excitation signal for operating the electromagnetic clutch 45 are output. On the other hand, when the automatic door opening request operation is performed when the door is in the fully closed state, a drive signal for driving the door lock releasing motor 41 is output from the control circuit 31 to the drive circuit 32. A predetermined voltage is applied from the drive circuit 32 to the door lock releasing motor 41. Thereby, the door lock releasing motor 41 is driven, the engagement state between the lock member 52 and the striker member 53 is released, and the door 51 enters a half latch state. Subsequently, a drive signal for driving the door opening / closing motor 42 and an excitation signal for operating the electromagnetic clutch 45 are output from the control circuit 31 to the drive circuit 32, and the door opening / closing motor 42 and electromagnetic are driven from the drive circuit 32. A predetermined voltage is applied to the clutch 45. At this time, the amount of current supplied to the electromagnetic clutch 45 is “large”.

  In this way, when a predetermined voltage is applied from the drive circuit 32 to the door opening / closing motor 42 and the electromagnetic clutch 45, the suction plate 45d is firmly attracted to the rotating plate 45b, and the joining force of the electromagnetic clutch 45 is “high”. The door opening / closing motor 42 rotates. When the door opening / closing motor 42 rotates in the forward direction, the suction plate 45d rotates together with the worm wheel 43d, and this rotational force is transmitted to the fixed plate 45c via the spring 45e. Thereby, the rotating shaft 43e and the output gear 43h rotate in the R1 direction along with the rotation of the fixed plate 45c. When the output gear 43h rotates in the R1 direction, the sector gear 44a rotates in the R3 direction, and a force is applied to the push / pull member 44c in the H1 direction by the sector gear 44a and the link member 44b to open the door 51. .

  When the door 51 is automatically opened, the opening degree of the door 51 is detected by the rotary encoder 27, and the opening degree of the door 51 is detected by the control circuit 31. When the control circuit 31 detects that the door 51 is fully opened, a stop signal for stopping the door opening / closing motor 42 is output from the control circuit 31 to the driving circuit 32, and the door opening / closing motor is output from the driving circuit 32. Application of voltage to 42 is stopped. Thereby, the rotation of the door 51 is stopped. At this time, the joining force of the electromagnetic clutch 45 is maintained at “high”, whereby the door 51 is held in a fully open state by the door holding force “high”.

2. Automatic door closing operation When the automatic door closing button 11b or the automatic door closing button 12b is pushed by the occupant while the door 51 is open, the pushing operation is detected by the door closing button operation detector 23 or the door closing button operation detector 24. A closing button operation signal is output from the closing button operation detector 23 or the closing button operation detector 24 to the control circuit 31. In the control circuit 31, a closing button operation signal output from the closing button operation detector 23 or the closing button detector 24 is detected, and a request operation for automatically closing the door 51 (hereinafter referred to as an automatic door closing request operation). Is detected. The automatic door closing request operation is not limited to pressing the automatic door closing buttons 11b and 12b, and the door 51 is closed by a predetermined opening degree while the inner door handle 13 or the outer door handle 14 is pulled. It may be.

  In this way, when an automatic door closing request operation is performed, a drive signal for driving the door opening / closing motor 42 from the control circuit 31 to the drive circuit 32 and an excitation signal for operating the electromagnetic clutch 45 are output. A predetermined voltage is applied from the drive circuit 32 to the door opening / closing motor 42 and the electromagnetic clutch 45. At this time, the amount of current supplied to the electromagnetic clutch 45 is “large”. Thereby, the joining force of the electromagnetic clutch 45 becomes “high”, and the door opening / closing motor 42 rotates. When the door opening / closing motor 42 rotates in the reverse direction, the rotating shaft 43e and the output gear 44h rotate in the R2 direction. When the output gear 43h rotates in the R2 direction, the sector gear 44a rotates in the R4 direction, and the sector gear 44a and the link member 44b apply a force in the H2 direction to the push / pull member 44c to close the door 51. .

  When the door 51 is automatically closed, the opening degree of the door 51 is detected by the rotary encoder 27, and the opening degree of the door 51 is detected by the control circuit 31. When it is detected in the control circuit 31 that the door 51 is fully closed, a stop signal for stopping the door opening / closing motor 42 from the control circuit 31 to the drive circuit 32 and an operation of the electromagnetic clutch 45 are stopped. The stop signal is output, and the rotation of the door 51 is stopped. At this time, the lock member 52 and the striker member 53 are engaged, whereby the door 51 is held in a fully closed state.

3. Manual Door Opening Operation Next, the operation for manually opening the door 51 will be described with reference to FIGS. 5 and 6 as appropriate. In the vehicle door opening and closing apparatus 1 according to the present embodiment, the door 51 can be manually opened and closed except that the automatic door opening request operation is performed. When the handle lever 13a of the inner door handle 13 or the handle lever 14a of the outer door handle 14 is pulled from the state in which the door 51 is closed, the engagement of the lock member 52 and the striker member 53 is released, and the door 51 is in the half latch state. It becomes. At this time, no current is supplied to the electromagnetic clutch 45, and the joining force in the electromagnetic clutch 45 is “small”. Thereby, since the holding force of the door 51 becomes “small”, the passenger can easily open the door 51 with a small force.

  When the occupant manually opens the door 51, the sector gear 44a rotates in the R3 direction via the push / pull member 44c and the link member 44b, and the output gear 43h, the rotating shaft 43e, the fixed plate 45c, and the suction plate 45d are moved. It rotates in the R1 direction. At this time, the rotating plate 45b is stopped as the door opening / closing motor 42 stops. A pulse signal (A phase, B phase) is output from the rotary encoder 27 to the control circuit 31 as the sector gear 44a rotates, and the control circuit 31 detects the opening / closing direction of the door 51 (step S1). Subsequently, the control circuit 31 determines the opening / closing direction of the door 51 based on the pulse signal (A phase, B phase) (step S2).

  If it is determined in the process of step S2 that the direction is the opening direction (step S2: YES), the control circuit 31 detects the opening of the door 51 based on the pulse signal (step S3). In the process of step S2, if the door 51 is stopped, it is determined that the door 51 is in the opening direction, and the process proceeds to step S3. Then, the control circuit 31 determines whether the opening of the door 51 is “smaller” than a predetermined reference opening based on the pulse signal (step S4). At this time, as shown in FIG. 6, if the opening degree of the door 51 is smaller than a predetermined reference opening degree α1, it is determined as “small”. If it is determined in step S4 that the opening of the door 51 is not “small” (step S4: NO), the process proceeds to step S9 described later.

  On the other hand, when it is determined in the process of step S4 that the opening of the door 51 is “small” (step S4: YES), the control circuit 31 outputs the pulse signal output from the rotary encoder 27. Based on this, the opening speed of the door 51 is detected (step S5). Then, the control circuit 31 determines whether or not the opening speed of the door 51 is “slower” than a predetermined reference opening based on the pulse signal (step S6). At this time, for example, if the number of pulse signals input to the control circuit 31 per unit time is equal to or less than a predetermined reference, it is determined as “slow” and the number of pulse signals input to the control circuit 31 per unit time. Is more than a predetermined standard, it is determined to be “fast”. When it is determined in the process of step S6 that the opening speed of the door 51 is “slow” (step S6: YES), the holding force for the door 51 is set to “special” (step S7). .

  Here, in this example, the door opening / closing motor 42 is assisted and rotated in a predetermined direction at a predetermined rotational speed, thereby reducing the rotational speed difference between the suction plate 45d and the rotary plate 45b in the electromagnetic clutch 45. The holding force for the door 51 is adjusted by reducing the joining force in the electromagnetic clutch 45. At this time, the rotation speed of the door opening / closing motor 42 is set so that the holding force with respect to the door 51 becomes “special” when the opening speed of the door 51 is “slow”. The rotation speed of the door opening / closing motor 42 at this time is set so that the rotation speed of the suction plate 45d is slightly higher than the rotation speed of the rotation plate 45b.

  When a drive signal based on the rotational speed set as described above is output from the control circuit 31 to the drive circuit 32, a predetermined voltage is applied from the drive circuit 32 to the door opening / closing motor 42 to The rotational speed of the motor 42 is adjusted. In this way, when the door opening / closing motor 42 rotates in a predetermined direction (forward direction) at a predetermined rotational speed, the rotating plate 45b rotates in the R5 direction together with the worm wheel 43d. When the rotation plate 45b rotates in the R5 direction together with the worm wheel 43d, the rotation directions of the suction plate 45d and the rotation plate 45b that rotate in accordance with the manual opening operation of the door 51 coincide with each other, and the suction plate 45d and the rotation plate 45b The rotational speed difference becomes smaller. Thereby, the joining force between the suction plate 45d and the rotating plate 45b in the electromagnetic clutch 45 is reduced, and the holding force for the door 51 is set to “special”. Thus, when the opening degree of the door 51 is small, since the holding force with respect to the door 51 is set to “special”, the occupant can easily open the door 51 with a small force.

  On the other hand, when it is determined in the process of step S6 that the opening speed of the door 51 is “fast” (step S6: NO), the holding force for the door 51 is set to “special” (step S8). . Thus, in the process of step S6, even when it is determined that the opening speed of the door 51 is “fast”, the holding force for the door 51 is set to “extra small” because the opening degree of the door 51 is set. When it is “small”, there is a large amount of remaining movement until the door 51 is fully opened. Therefore, it is easier for the passenger to open the door 51 when the holding force for the door 51 is “special”. Because you can. At this time, the rotation speed of the door opening / closing motor 42 is adjusted so that the door holding force becomes “special” when the opening speed of the door 51 is “fast”. Thereby, the joining force between the suction plate 45d and the rotating plate 45b in the electromagnetic clutch 45 is reduced, and the holding force for the door 51 is set to “special”. In this way, in a state where the holding force for the door 51 is set to “extra small”, even when the opening degree of the door 51 is small, the occupant can easily open the door 51 with a small force.

  On the other hand, if it is determined in step S4 that the opening degree of the door 51 is not “small” (step S4: NO), it is determined whether the opening degree of the door 51 is “medium”. (Step S9). At this time, as shown in FIG. 6, if the opening degree of the door 51 is larger than the predetermined reference opening degree α1 and smaller than the reference opening degree α2, it is determined as “medium”, and the opening degree of the door 51 is determined as the predetermined reference degree. If it is in a range larger than the opening α2 and smaller than the reference opening α3, it is determined as “large”. In the process of step S4, when it is determined that the opening degree of the door 51 is not “medium” (step S9: NO), it is determined that the opening degree of the door 51 is “large”, which will be described later. The process proceeds to step S14.

  On the other hand, if it is determined in step S9 that the opening of the door 51 is “medium” (step S9: YES), the door is based on the pulse signal output from the rotary encoder 27 in the control circuit 31. The opening speed of 51 is detected (step S10). Then, the control circuit 31 determines whether or not the opening speed of the door 51 is “slow” based on the pulse signal (step S11). At this time, for example, if the number of pulse signals input to the control circuit 31 per unit time is equal to or less than a predetermined reference, it is determined as “slow” and the number of pulse signals input to the control circuit 31 per unit time. Is more than a predetermined standard, it is determined to be “fast”.

  If it is determined in the process of step S11 that the opening speed of the door 51 is “slow” (step S11: YES), the holding force for the door 51 is set to “small” (step S12). At this time, the rotation speed of the door opening / closing motor 42 is adjusted so that the door holding force becomes “small” when the opening speed of the door 51 is “slow”. On the other hand, when it is determined in the process of step S11 that the opening speed of the door 51 is “fast” (step S11: NO), the holding force for the door 51 is set to “small” (step S13). At this time, the rotation speed of the door opening / closing motor 42 is adjusted so that the door holding force becomes “small” when the opening speed of the door 51 is “fast”.

  In this way, when the occupant manually opens the door 51 in a state where the holding force for the door 51 is set to “small”, the occupant can feel a weak operating force on the door 51. In this way, by applying an appropriate door operating force to the door 51, it is possible to improve the profound feeling and luxury feeling when the door 51 is manually opened as compared with a configuration in which no load is applied to the door 51. It becomes possible. Further, since the door holding force at this time is “small”, the passenger can still easily open the door 51 with a small force.

  On the other hand, when it is determined in the process of step S9 that the opening of the door 51 is not “medium” (step S9: NO), it is determined that the opening of the door 51 is “large”. The At this time, as shown in FIG. 6, if the opening degree of the door 51 is larger than the predetermined reference opening degree α2 and smaller than the reference opening degree α3, it is determined as “large”. The control circuit 31 detects the opening speed of the door 51 based on the pulse signal output from the rotary encoder 27 (step S14). Subsequently, the control circuit 31 determines whether or not the opening speed of the door 51 is “slow” based on the pulse signal (step S15). At this time, for example, if the number of pulse signals input to the control circuit 31 per unit time is equal to or less than a predetermined reference, it is determined as “slow” and the number of pulse signals input to the control circuit 31 per unit time. Is more than a predetermined standard, it is determined to be “fast”.

  If it is determined in the process of step S15 that the opening speed of the door 51 is “slow” (step S15: YES), the holding force for the door 51 is maintained at “small” (step S16). Thus, when the opening degree of the door 51 becomes “large” and the opening speed of the door 51 is “slow”, the holding force with respect to the door 51 is maintained at “small”. On the other hand, the braking force does not act strongly, and the door 51 can be moved to the fully open position.

  On the other hand, when it is determined in the process of step S15 that the opening speed of the door 51 is “fast” (step S15: NO), the holding force for the door 51 is set to “high” (step S17). ). At this time, a predetermined current is supplied to the electromagnetic clutch 45 so that the door holding force becomes “large” when the opening speed of the door 51 is “fast”. Thereby, the joining force in the electromagnetic clutch 45 is increased, the door holding force is “large”, and the braking force in the moving direction of the door 51 is increased. Therefore, even if the door 51 is opened by the occupant vigorously, the braking force is applied to the door 51 before the fully opened position, so that the momentum of the door 51 can be relaxed, and thus the door 51 is not moved to the fully opened position. It can be moved.

  Then, the opening degree of the door 51 is detected in the control circuit 31 based on the pulse signal from the rotary encoder 27 (step S18), and it is determined that the door 51 is fully opened (step S19). At this time, when the control circuit 31 determines that the door 51 is not fully opened (step S19: NO), the process returns to the process of step S1 and the processes of step S1 to step S19 are repeated. When the door 51 is closed from the manually opened state, it is determined in the process of step S2 that the door 51 is in the closing direction (step S2: NO), the process proceeds to step S21, and the door opening / closing motor 42 is determined. Is stopped. Thereafter, the process proceeds to step S101 described later.

  On the other hand, when the control circuit 31 determines that the door 51 is fully opened (step S19: YES), a stop signal for stopping the door opening / closing motor 42 is output from the control circuit 31 to the drive circuit 32. . Thereby, the application of voltage from the drive circuit 32 to the door opening / closing motor 42 is stopped, and the rotation of the door opening / closing motor 42 is stopped. At this time, the amount of current supplied from the drive circuit 32 to the electromagnetic clutch 45 is set to “large”. Thereby, the joining force of the electromagnetic clutch 45 becomes “high”, and the door 51 is held in the fully opened state by the holding force “high” (step S20). Thus, in the vehicle door opening and closing apparatus 1 according to the first embodiment, the holding force of the door 51 is “special” by adjusting the joining force in the electromagnetic clutch 45 and the rotation speed of the door opening and closing motor 42. , “Small”, and “large” can be set.

  In addition, when the door 51 is stopped at an arbitrary opening degree in each of the above processes, the door 51 is held by the following holding force. That is, when the door 51 is stopped in a range smaller than the reference opening α1, no current is supplied to the electromagnetic clutch 45, and the joining force in the electromagnetic clutch 45 becomes “small”. As a result, the door 51 is held by the holding force “small”. Thus, when the door 51 stops when the door 51 is on the fully closed position side, the door holding force is reduced, so that the passenger can open the door 51 with a small operating force. Further, when the door 51 is closed, even if the distance to the fully closed position is short, the door 51 can be closed with a small operation force for the occupant.

  When the door 51 is stopped in a range larger than the reference opening α1 and smaller than the reference opening α2, the amount of current supplied to the electromagnetic clutch 45 becomes “small”, and the joining force in the electromagnetic clutch 45 is “medium”. " As a result, the door 51 is held by the holding force “medium”. As a result, an appropriate operating force (resistance force) can be applied to the door 51 at the time of manual opening and closing, so that it is possible to improve the profound feeling and luxury feeling when the door 51 is manually opened.

  Further, when the door 51 is stopped in a range larger than the reference opening α2 and smaller than the reference opening α3, the amount of current supplied to the electromagnetic clutch 45 becomes “large”, and the joining force in the electromagnetic clutch 45 becomes “high”. " As a result, the door 51 is held by the holding force “high”. As described above, when the door 51 is stopped when the door 51 is at the fully open position, the door holding force is increased, so that the door 51 can be held in a largely opened state.

  As described above, the vehicle door opening and closing device 1 according to the present embodiment has a stepless door check function capable of holding the door 51 at an arbitrary opening degree during manual operation by adjusting the joining force of the electromagnetic clutch 45. . Accordingly, it is possible to prevent inconvenience such as the door 51 moving freely against the occupant's will when the occupant releases his hand from the door 51, so that the usability can be improved as compared with the conventional case. Further, as described above, since the holding force for holding the door 51 is optimally controlled according to the stop position of the door 51, it is possible to improve convenience when the door 51 is opened and closed as compared with the conventional case.

4). Manual Door Closing Operation Next, the operation for manually closing the door 51 will be described with reference to FIGS. 7 and 8 as appropriate. When the occupant manually closes the door 51 from the state in which the door 51 is open, the sector gear 44a rotates in the R4 direction via the push / pull member 44c and the link member 44b, and the output gear 43h, the rotating shaft 43e, and the fixed The plate 45c and the suction plate 45d rotate in the R2 direction. At this time, a pulse signal (A phase, B phase) is output from the rotary encoder 27 to the control circuit 31 along with the rotation of the sector gear 44a, and the control circuit 31 detects the door opening / closing direction (step S101). Subsequently, the control circuit 31 determines the opening / closing direction of the door 51 based on the pulse signal (A phase, B phase) (step S102).

  If it is determined in the process of step S102 that the direction is the closing direction (step S102: YES), the control circuit 31 detects the opening of the door 51 based on the pulse signal (step S103). In the process of step S102, if the door 51 is stopped, it may be determined that the door 51 is in the closing direction. Then, the control circuit 31 determines whether or not the opening degree of the door 51 is “larger” than a predetermined reference opening degree based on the pulse signal (step S104). At this time, as shown in FIG. 8, if the opening degree of the door 51 is in a range larger than the predetermined reference opening degree α2 and smaller than the reference opening degree α3, it is determined as “large”. If it is determined in step S104 that the opening degree of the door 51 is not “large” (step S104: NO), the process proceeds to step S109 described later.

  On the other hand, when it is determined in the process of step S104 that the opening of the door 51 is “large” (step S104: YES), the pulse signal output from the rotary encoder 27 in the control circuit 31 is added. Based on this, the closing speed of the door 51 is detected (step S105). Then, the control circuit 31 determines whether or not the closing speed of the door 51 is “slow” based on the pulse signal (step S106-1). At this time, for example, if the number of pulse signals input to the control circuit 31 per unit time is equal to or less than a predetermined reference, it is determined as “slow”. When it is determined that the closing speed of the door 51 is “slow” in the process of step S106-1 (step S106-1: YES), the holding force for the door 51 is set to “small” (step S106-1). Step S107).

  At this time, the rotation speed of the door opening / closing motor 42 is adjusted so that the door holding force becomes “small” when the closing speed of the door 51 is “slow”. In this way, when the occupant manually closes the door 51 in a state where the holding force for the door 51 is set to “small”, the occupant can feel a weak operating force on the door 51. Thus, by applying an appropriate door operating force to the door 51, it is possible to improve the profound feeling and luxury feeling when the door 51 is manually closed, as compared to a configuration in which no load is applied to the door 51. It becomes possible. Further, since the door holding force at this time is “small”, the occupant can easily close the door 51 with a small force.

  On the other hand, if it is determined in the process of step S106-1 that the closing speed of the door 51 is not “slow” (step S106-1: NO), it is determined whether or not the closing speed of the door 51 is “fast”. (Step S106-2). At this time, for example, if the number of pulse signals input to the control circuit 31 per unit time is equal to or greater than a predetermined first reference and equal to or less than the second reference, it is determined to be “fast” and the control circuit 31 is notified per unit time. If the number of input pulse signals is equal to or greater than a predetermined second reference, it is determined as “special speed”. When it is determined that the closing speed of the door 51 is “fast” (step S106-2: YES), the holding force for the door 51 is set to “small” (step S108-1). At this time, the rotation speed of the door opening / closing motor 42 is adjusted so that the door holding force becomes “small” when the closing speed of the door 51 is “fast”.

  If it is determined in step S106-2 that the closing speed of the door 51 is not “fast” (step S106-2: NO), the closing speed of the door 51 is determined to be “special speed”. Also in this case, the holding force for the door 51 is set to “small” (step S108-2). At this time, the rotation speed of the door opening / closing motor 42 is adjusted so that the door holding force becomes “small” when the closing speed of the door 51 is “special speed”. In this way, when the holding force for the door 51 is set to “small”, the passenger can easily close the door 51 with a small force.

  On the other hand, if it is determined in the process of step S104 that the opening of the door 51 is not “large” (step S104: NO), it is determined whether the opening of the door 51 is “medium”. (Step S109). At this time, as shown in FIG. 8, if the opening degree of the door 51 is larger than the predetermined reference opening degree α1 and smaller than the reference opening degree α2, it is determined as “medium”, and the opening degree of the door 51 is determined as the predetermined reference degree. If it is in a range larger than the opening α2 and smaller than the reference opening α3, it is determined as “large”. In the process of step S104, when it is determined that the opening degree of the door 51 is not “medium” (step S109: NO), it is determined that the opening degree of the door 51 is “large”. The process proceeds to step S114.

  On the other hand, when it is determined in the process of step S109 that the opening degree of the door 51 is “medium” (step S109: YES), the door is based on the pulse signal output from the rotary encoder 27 in the control circuit 31. 51 is detected (step S110). Then, the control circuit 31 determines whether or not the closing speed of the door 51 is “slow” based on the pulse signal (step S111-1). If it is determined that the closing speed of the door 51 is “slow” in the processing of step S111-1 (step S111-1: YES), the holding force for the door 51 is maintained at “small” (step S111-1). Step S112).

  In this way, when the occupant manually closes the door 51 in a state where the holding force with respect to the door 51 is maintained at “small”, the occupant can feel a weak operating force on the door 51. Thus, by applying an appropriate door operating force to the door 51, it is possible to improve the profound feeling and luxury feeling when the door 51 is manually closed, as compared to a configuration in which no load is applied to the door 51. It becomes possible. Further, since the door holding force at this time is “small”, the occupant can still easily close the door 51 with a small force.

  On the other hand, if it is determined in the process of step S111-1 that the closing speed of the door 51 is not “slow” (step S111-1: NO), it is determined whether or not the closing speed of the door 51 is “fast”. (Step S111-2). When it is determined that the closing speed of the door 51 is “fast” (step S111-2: YES), the holding force for the door 51 is set to “special” (step S113-1). As described above, in the process of step S111-1, the holding force for the door 51 is set to “special”. The braking force acting on the door 51 when the occupant's hand leaves the door 51 is reduced. This is to prevent the door 51 from becoming a half door. At this time, the rotation speed of the door opening / closing motor 42 is adjusted so that the door holding force becomes “special” when the closing speed of the door 51 is “fast”.

  On the other hand, when the closing speed of the door 51 is determined to be “special speed” in the process of step S111-2 (step S111-2: NO), the holding force for the door 51 is set to “small”. (Step S113-2). As described above, in the process of step S111-2, the holding force for the door 51 is set to “small” because a certain amount of braking force is applied to the door 51, and the door 51 is moved to the fully closed position. It is for preventing moving to. At this time, the rotation speed of the door opening / closing motor 42 is adjusted so that the door holding force becomes “small” when the closing speed of the door 51 is “special speed”.

  On the other hand, when it is determined in the process of step S109 that the opening degree of the door 51 is not “medium” (step S109: NO), it is determined that the opening degree of the door 51 is “small”. The At this time, as shown in FIG. 8, if the opening degree of the door 51 is smaller than a predetermined reference opening degree α1, it is determined as “small”. Then, the control circuit 31 detects the closing speed of the door 51 based on the pulse signal output from the rotary encoder 27 (step S114). The control circuit 31 determines whether the closing speed of the door 51 is “slow” based on the pulse signal. It is determined whether or not (step S115-1).

  If it is determined in the process of step S115-1 that the closing speed of the door 51 is “slow” (step S115-1: YES), the holding force for the door 51 is set to “special”. (Step S116). Thus, in the process of step S115-1, the holding force for the door 51 is set to “special” when the door 51 is not strong enough to reach the fully closed position. This is to prevent it from becoming a door. At this time, the rotation speed of the door opening / closing motor 42 is adjusted so that the door holding force becomes “special” when the closing speed of the door 51 is “slow”.

  On the other hand, if it is determined in the process of step S115-1 that the closing speed of the door 51 is not “slow” (step S115-1: NO), whether or not the closing speed of the door 51 is “fast”. Is determined (step S115-2). When it is determined that the closing speed of the door 51 is “fast” (step S115-2: YES), the holding force for the door 51 is set to “none” (step S117-1). Thus, in the process of step S117-1, the holding force for the door 51 is set to “none” when the door 51 is “small” and the closing speed of the door 51 is “fast”. If so, the condition is just right for the door 51 to move to the fully closed position, so that the braking force is not applied to the door 51 so that the closing speed can be maintained as it is.

  At this time, in order to set the door holding force to “none” when the closing speed of the door 51 is “fast”, the rotation of the suction plate 45d is synchronized with the rotation of the rotation plate 45b, and the suction plate 45d and the rotation plate 45b are synchronized. It is necessary to eliminate the difference in rotational speed. Accordingly, the rotational speed of the door opening / closing motor 42 at this time is adjusted according to the door closing speed detected in step S114 so that the rotation of the rotating plate 45b is synchronized with the rotation of the suction plate 45d. .

  On the other hand, when the closing speed of the door 51 is determined to be “special speed” in the process of step S115-2 (step S115-2: NO), the holding force for the door 51 is set to “high”. (Step S117-2). At this time, a predetermined current is supplied to the electromagnetic clutch 45 so that the door holding force becomes “large” when the closing speed of the door 51 is “special speed”. Thereby, the joining force in the electromagnetic clutch 45 is increased, the door holding force is “large”, and the braking force in the moving direction of the door 51 is increased. Thus, in the process of step S117-2, the holding force for the door 51 is set to “high” because a certain amount of braking force is applied to the door 51, and the door 51 is vigorously moved to the fully closed position. This is to prevent movement. Therefore, even if the door 51 is closed by the occupant vigorously, the braking force is applied to the door 51 before the fully closed position, so that the momentum of the door 51 can be relaxed, and thereby the door 51 is moved to the fully closed position. It can be moved slowly.

  The control circuit 31 detects the opening of the door 51 based on the pulse signal from the rotary encoder 27 (step S118), and determines that the door 51 is fully closed (step S119). At this time, when the control circuit 31 determines that the door 51 is not fully closed (step S119: NO), the process returns to step S1 and the processes in steps S1 to S19 are repeated. When the door 51 is opened from the manually closed state, it is determined that the door 51 is in the opening direction in the process of step S102 (step S102: NO), and the process proceeds to the process of step S121 to move to the door opening / closing motor 42. Is stopped. Thereafter, the process proceeds to step S1 described above.

  On the other hand, if the control circuit 31 determines that the door 51 is fully closed (step S119: YES), a stop signal for stopping the door opening / closing motor 42 from the control circuit 31 to the drive circuit 32, and electromagnetic A stop signal for stopping the operation of the clutch 45 is output, and the rotation of the door 51 is stopped. At this time, the lock member 52 and the striker member 53 are engaged, whereby the door 51 is held in a fully closed state (step S120). Thus, in the vehicle door opening and closing apparatus 1 according to the first embodiment, the holding force of the door 51 is “none” by adjusting the joining force in the electromagnetic clutch 45 and the rotational speed of the door opening and closing motor 42. “Special”, “Small”, and “Large” can be set.

  In addition, when the door 51 is stopped at an arbitrary opening degree in each of the above processes, the door 51 is held by the following holding force. That is, when the door 51 is stopped in a range larger than the reference opening α2 and smaller than the reference opening α3, the amount of current supplied to the electromagnetic clutch 45 becomes “large”, and the joining force in the electromagnetic clutch 45 becomes “high”. " As a result, the door 51 is held by the holding force “high”. As described above, when the door 51 is stopped when the door 51 is at the fully open position, the door holding force is increased, so that the door 51 can be held in a largely opened state.

  When the door 51 is stopped in a range larger than the reference opening α1 and smaller than the reference opening α2, the amount of current supplied to the electromagnetic clutch 45 becomes “small”, and the joining force in the electromagnetic clutch 45 is “medium”. " As a result, the door 51 is held by the holding force “medium”. As a result, an appropriate operating force (resistance force) can be applied to the door 51 at the time of manual opening and closing, so that it is possible to improve the profound feeling and luxury feeling when the door 51 is manually closed.

  Further, when the door 51 is stopped in a range smaller than the reference opening α1, no current is supplied to the electromagnetic clutch 45, and the joining force in the electromagnetic clutch 45 becomes “small”. As a result, the door 51 is held by the holding force “small”. As described above, when the door 51 is stopped when the door 51 is on the fully closed position side, the door holding force is reduced. Therefore, the passenger 51 can be closed with a small operating force. Even if the distance to the fully closed position is short, it is possible for the passenger to close the door 51 with a small operating force.

(Second embodiment)
9 to 12 are views showing a second embodiment of the present invention, FIG. 9 is a view showing a configuration of a door opening / closing motor and a driving force transmission mechanism, and FIG. 10 is a sectional view taken along line BB in FIG. 11 is a diagram showing the configuration of the brake, and FIG. 12 is a block diagram showing the overall configuration of the vehicle door opening and closing device.
The vehicle door opening / closing device 101 according to the second embodiment of the present invention is a planetary gear instead of the driving force transmission mechanism 43 of the door opening / closing drive unit 40 provided in the vehicle door opening / closing device 1 according to the first embodiment. The door opening / closing drive part 140 provided with the drive force transmission mechanism 143 which consists of a mechanism is mounted. In the vehicle door opening and closing apparatus 101 according to the second embodiment of the present invention, the configuration other than the driving force transmission mechanism 143 is the same as that of the vehicle door opening and closing apparatus 1 according to the first embodiment. Omitted.

  In the vehicle door opening and closing apparatus 101 according to the second embodiment of the present invention, the driving force transmission mechanism 143 includes the mounting plate 143a, the bearing 143b, the rotating shaft 143c, the worm wheel 143d, the internal gear 143e, the sun gear 143f, and the intermediate gear. 143g, planetary gear 143h, brake 145, rotary damper 146, case not shown, and the like. The mounting plate 143a is fixed to the door 51, and a bearing 143b is disposed at the center of the mounting plate 143a. A rotary shaft 143c is rotatably supported on the bearing 143b, and a worm wheel 143d is fixed to the rotary shaft 143c.

  The internal gear 143e is fixed to the rotary shaft 143c via the bearing 143i, and is rotatable with respect to the rotary shaft 143c. An inner gear is formed inside the internal gear 143e, and a planetary gear 143h is meshed with the inner gear. Further, an outer gear is formed on the outer periphery of the internal gear 143e, and this outer gear meshes with a stopper gear 145e formed on a brake 145 described later. The sun gear 143f is fixed to the rotation shaft 143c and rotates together with the rotation shaft 143c.

  The intermediate gear 143g is fixed to the rotating shaft 143c via the bearing 143j and is rotatable with respect to the rotating shaft 143c. The sector gear 44a is meshed with the intermediate gear 143g. On the back surface of the intermediate gear 143g, pins 143k are arranged (three places) in the circumferential direction around the rotation shaft 143c, and planetary gears 143h (three in total) are arranged on the pins 143k via bearings 143l. Each is fixed. The planetary gear 143h is meshed with the sun gear 143f.

  The brake 145 is for preventing rotation of the internal gear 143e, and includes a brake motor 145a, a worm gear 145b, a worm wheel 145c, a connecting rod 145d, and a stopper gear 145e. A worm gear 145b is disposed on the output shaft of the brake motor 145a, and a worm wheel 145c is engaged with the worm gear 145b. The worm wheel 145c is provided with a connecting rod 145d, and the connecting rod 145d is provided with a stopper gear 145e.

  The brake 145 is configured to prevent the rotation of the internal gear 143e by moving the stopper gear 145e in the R7 direction by the brake motor 145a and meshing the stopper gear 145e with the outer gear of the internal gear 143e. ing. The rotary damper 146 provides resistance to the door 51 during manual operation and enables the door 51 to be held at an arbitrary opening. The rotary damper 146 includes a gear 146a, a rotating shaft 146b, and a damper main body 146c. Configured. The gear 146a is fixed to the rotary shaft 146b and meshed with the intermediate gear 143g. The damper main body 146c is composed of a magnet damper, and generates a resistance force in the rotation direction of the rotating shaft 146b according to the amount of current supplied.

  Here, in the rotary damper 146 of this example, the resistance force with respect to the rotating shaft 146b can be increased by increasing the amount of current supplied. That is, when the supplied current amount is “small”, the resistance force is “small”, and when the supplied current amount is “medium”, the resistance force is “medium”. Further, when the amount of current supplied is “large”, the resistance is “large”.

  The control unit 30 is the same as the configuration according to the first embodiment, but in the second embodiment of the present invention, the brake 145 is inactivated and the internal gear 143e is rotated during manual opening and closing by the occupant. The door opening / closing motor 42 is assisted and rotated so that the sun gear 143f rotates in the same direction as the rotation direction of the intermediate gear 143g according to the opening / closing direction, opening degree, and opening / closing speed of the door 51. .

Next, the operation of the vehicle door opening and closing apparatus 101 according to the second embodiment of the present invention will be described.
1. Automatic door opening operation When the automatic door opening request operation is performed by pressing the automatic door opening button 11a or the automatic door opening button 12a, the control circuit 31 drives the door opening / closing motor 42 to the drive circuit 32. A drive signal and a drive signal for operating the brake motor 145a are output, and a predetermined voltage is applied from the drive circuit 32 to the door opening / closing motor 42 and the brake motor 145a. As a result, the brake 145 is operated, the stopper gear 145e is engaged with the internal gear 143e, and the rotation of the internal gear 143e is prevented. When the door opening / closing motor 42 rotates in the forward direction in this state, the sun gear 143f rotates together with the worm wheel 143d, and the planetary gear 143h rotates around the sun gear 143f.

  In this way, when the planetary gear 143h rotates around the sun gear 143f, the intermediate gear 143g rotates in the R8 direction. When the intermediate gear 143g rotates in the R8 direction, the sector gear 44a rotates in the R3 direction, and a force is applied to the push / pull member 44c in the H1 direction by the sector gear 44a and the link member 44b. open. When the control circuit 31 detects that the door 51 is fully opened, the control circuit 31 outputs a stop signal for stopping the door opening / closing motor 42 to the drive circuit 32, and the drive circuit 32 opens and closes the door. Application of voltage to the motor 42 is stopped. Thereby, the rotation of the door 51 is stopped, and the door 51 is held in a fully opened state.

2. Automatic door closing operation When the automatic door closing button 11b or the automatic door closing button 12b is pressed, a driving signal for driving the door opening / closing motor 42 from the control circuit 31 to the driving circuit 32 and a brake motor 145a are operated. A drive signal is output, and a predetermined voltage is applied from the drive circuit 32 to the door opening / closing motor 42 and the brake motor 145a. As a result, the brake 145 operates, the sun gear 143f rotates in the reverse direction together with the worm wheel 143d along with the reverse direction of the door opening / closing motor 42, and the planetary gear 143h rotates around the sun gear 143f in the reverse direction. The planet rotates.

  In this way, when the planetary gear 143h rotates around the sun gear 143f, the intermediate gear rotates in the R9 direction. When the intermediate gear rotates in the R9 direction, the sector gear 44a rotates in the R4 direction, and a force is applied in the H2 direction to the push / pull member 44c by the sector gear 44a and the link member 44b to close the door 51. . When the control circuit 31 detects that the door 51 is fully closed, a stop signal for stopping the door opening / closing motor 42 and the brake motor 145a is output from the control circuit 31 to the drive circuit 32. The rotation of 51 is stopped. At this time, the lock member 52 and the striker member 53 are engaged, whereby the door 51 is held in a fully closed state.

3. Manual Door Opening Operation In the vehicle door opening / closing device 101 according to the present embodiment, the door 51 can be manually opened / closed except that the automatic door opening request operation is performed. That is, the brake 145 is in an inoperative state, whereby the internal gear 143e is allowed to rotate, and the sun gear 143f rotated by the door opening / closing motor 42 and the intermediate gear 143g connected to the door opening / closing mechanism 44 The connection status is released. At this time, when the occupant tries to open the door 51 due to the resistance of the rotary damper 146, the occupant can feel an appropriate resistance to the door 51. Further, when the door 51 is released halfway during manual operation due to the resistance of the rotary damper 146, the door 51 is held at an arbitrary opening degree.

  When the occupant manually opens the door 51, the sector gear 44a rotates in the R3 direction via the push / pull member 44c and the link member 44b, and the intermediate gear 143g rotates in the R8 direction. At this time, when the door opening / closing motor 42 is assisted and rotated in a predetermined direction (forward direction), the rotation direction of the intermediate gear 143g rotating in accordance with the manual opening operation of the door 51 (the planetary rotational movement direction of the planetary gear 143h) The rotational direction of the sun gear 143f coincides, and thereby the resistance force of the rotary damper 146 acting on the intermediate gear 143g and the rotational force of the door opening / closing motor 42 are offset, and as a result, the rotary damper 146 acting on the intermediate gear 143g. Resistance is reduced. Thus, in the vehicle door opening and closing apparatus 101 according to the second embodiment, as in the first embodiment, by adjusting the resistance of the rotary damper 146 and the rotation speed of the door opening and closing motor 42, the door is opened. The holding force 51 can be set to “special small”, “small”, or “large”. The manual opening operation of the vehicle door opening and closing apparatus 101 according to the second embodiment is the same as that of the first embodiment (see FIGS. 5 and 6), and the description thereof is omitted.

4). Manual door closing operation When the occupant attempts to manually close the door 51, the occupant can feel an appropriate resistance to the door 51 due to the resistance of the rotary damper 146. Further, when the door 51 is released halfway during manual operation due to the resistance of the rotary damper 146, the door 51 is held at an arbitrary opening degree. When the occupant manually closes the door 51 from a state where the door 51 is open, the sector gear 44a rotates in the R4 direction via the push / pull member 44c and the link member 44b, and the intermediate gear rotates in the R9 direction. Move.

  At this time, when the door opening / closing motor 42 is assisted and rotated in a predetermined direction (reverse direction), the rotation direction of the intermediate gear 143g rotating in accordance with the manual opening operation of the door 51 (the planetary rotational movement direction of the planetary gear 143h) The rotational direction of the sun gear 143f coincides, and thereby the resistance force of the rotary damper 146 acting on the intermediate gear 143g and the rotational force of the door opening / closing motor 42 are offset, and as a result, the rotary damper 146 acting on the intermediate gear 143g. Resistance is reduced. Thus, in the vehicle door opening and closing apparatus 101 according to the second embodiment, as in the first embodiment, by adjusting the resistance of the rotary damper 146 and the rotation speed of the door opening and closing motor 42, the door is opened. The holding force 51 can be set to “none”, “special small”, “small”, or “large”. Note that the manual closing operation of the vehicle door opening and closing apparatus 101 according to the second embodiment is the same as that of the first embodiment (see FIGS. 7 and 8), and thus the description thereof is omitted.

As described above, according to the present embodiment, the following effects are obtained.
(A) According to the vehicle door opening / closing device 1 (101) according to the present embodiment, the door holding force of the door opening / closing drive unit 40 (140) is controlled according to the opening / closing direction, opening degree, and opening / closing speed of the door 51. Thus, the door holding force can be finely controlled in accordance with the opening / closing direction, opening degree, and opening / closing speed of the door 51 during manual opening / closing. Therefore, for example, even when the door 51 is pushed (pulled) and opened, the opening / closing direction, the opening degree, and the opening / closing speed of the door 51 are detected and the holding force is increased accordingly. It becomes possible to move the door 51 to the fully open position. Similarly, even if the door 51 is pushed (pulled) and closed with force, by detecting the opening / closing direction, opening degree, and opening / closing speed of the door 51 and increasing the holding force accordingly, It becomes possible to move the door 51 to the fully closed position.

  (B) According to the vehicle door opening / closing device 1 (101) according to the present embodiment, the door holding force of the door opening / closing drive unit 40 (140) is controlled according to the opening / closing direction, opening degree, and opening / closing speed of the door 51. For example, even when the door 51 is slowly pushed (pulled) and opened, the opening / closing direction, the opening degree, and the opening / closing speed of the door 51 are detected, and accordingly, By reducing the holding force, the door 51 can be reliably moved to the fully open position. Similarly, even when the door 51 is slowly pushed (pulled) and closed, the opening / closing direction, opening degree, and opening / closing speed of the door 51 are detected, and the holding force is reduced accordingly. The rotating body can be reliably moved to the fully closed position.

  (C) According to the vehicle door opening / closing device 1 (101) according to the present embodiment, the door opening / closing drive unit 40 (140) generates a door holding force during manual opening / closing by the occupant and opens the door 51 at an arbitrary opening degree. Since it is configured to be able to be held, when the door 51 is stopped during manual opening and closing, the door 51 can be held at an arbitrary opening degree (that is, a stepless door check function can be given during manual opening and closing). . Accordingly, it is possible to prevent inconvenience such as the door 51 moving freely against the occupant's will when the occupant releases his hand from the door 51, so that the usability can be improved as compared with the conventional case. Furthermore, by controlling the door holding force according to the opening / closing direction, opening degree, and opening / closing speed of the door 51 during manual opening / closing, an appropriate operating force (resistance force) can be applied to the door 51 during manual opening / closing. Therefore, it is possible to improve the profound feeling and luxury when the door 51 is manually opened and closed.

  (D) According to the vehicle door opening / closing device 1 (101) according to the present embodiment, for example, when the door 51 is stopped when the door 51 is at the fully closed position, the door opening / closing drive unit 40 (140 ) Is reduced, it is possible for the passenger to open the door 51 with a small operating force. Further, when the door 51 is closed, even if the distance to the fully closed position is short, the door 51 can be closed with a small operation force for the occupant. Further, according to the above configuration, for example, when the door 51 is stopped when the door 51 is at the fully open position side, the holding force of the door opening / closing drive unit 40 (140) is increased. It can be held open. As described above, since the holding force for holding the door 51 is optimally controlled according to the stop position of the door 51, it is possible to improve the convenience when the door 51 is opened and closed as compared with the related art.

  (E) According to the vehicle door opening / closing device 1 (101) according to the present embodiment, for example, when the door 51 is moved to the fully open position side by the rotation of the door 51 in the opening direction, the opening speed of the door 51 is increased. When the speed is higher than the predetermined reference speed, the holding force of the door opening / closing drive unit 40 (140) is increased, so that the braking force acting on the door 51 can be increased. Therefore, even when the door 51 is pushed (pulled) and opened with force, the door 51 can be moved to the fully open position without difficulty.

  (F) According to the vehicle door opening and closing apparatus 1 (101) according to the present embodiment, for example, when the door 51 moves to the fully open position side by the rotation of the door 51 in the opening direction, the opening speed of the door 51 is increased. When the speed is lower than the predetermined reference speed, the holding force of the door opening / closing drive unit 40 (140) is reduced, so that the braking force acting on the door 51 can be reduced. Therefore, even when the door 51 is slowly pushed (pulled) and opened, the door 51 can be reliably moved to the fully open position.

  (G) According to the vehicle door opening and closing device 1 (101) according to the present embodiment, for example, when the door 51 moves to the fully closed position side by the rotation of the door 51 in the closing direction, the closing speed of the door 51 Is higher than a predetermined reference speed, the holding force of the door opening / closing drive unit 40 (140) is increased, so that the braking force acting on the door 51 can be increased. Therefore, even when the door 51 is pushed (pulled) and closed with force, the door 51 can be moved to the fully closed position without difficulty.

  (H) According to the vehicle door opening and closing device 1 (101) according to the present embodiment, for example, when the door 51 moves to the fully closed position side by the rotation of the door 51 in the closing direction, the closing speed of the door 51 Is lower than a predetermined reference speed, the holding force of the door opening / closing drive unit 40 (140) is reduced, so that the braking force acting on the door 51 can be reduced. Therefore, even when the door 51 is slowly pushed (pulled) and closed, the door 51 can be reliably moved to the fully closed position.

The embodiment of the present invention can be modified as follows.
(1) In the vehicle door opening and closing apparatus 1 according to the above embodiment, the door 51 can be held at an arbitrary opening degree during manual opening and closing (that is, provided with a stepless door check function). It is not limited to. In addition, a stepwise door check function may be provided by intermittently controlling the door opening / closing motor 42. At this time, by controlling the door opening / closing motor 42, it is possible to freely set in one stage, two stages, three stages, and the like. Moreover, it is possible to freely set the opening for the door check.

  (2) In the vehicle door opening and closing apparatus 1 according to the first embodiment, the door holding force is reduced by controlling the rotation of the door opening and closing motor 42 during manual opening and closing, but the present invention is limited to this. It is not something. In addition, the door holding force may be controlled only by controlling the magnetic force of the electromagnet 45a instead of controlling the rotation of the door opening / closing motor 42 during manual opening / closing.

  (3) In the vehicle door opening and closing apparatus 101 according to the second embodiment, the door holding force is reduced by controlling the rotation of the door opening and closing motor 42 during manual opening and closing, but the present invention is limited to this. It is not something. In addition, the door holding force may be controlled only by controlling the magnetic force of the rotary damper 146 instead of controlling the rotation of the door opening / closing motor 42 during manual opening / closing.

  (4) In the vehicle door opening and closing device 101 according to the second embodiment, the planetary gear mechanism is used for the driving force transmission mechanism 143, but the present invention is not limited to this, A differential gear mechanism may be used.

  (5) In the above embodiment, the rotating body is described as being a front door. However, the present invention is not limited to this, and the rotating body is a rear door, a back door, and a trunk lid. Also good.

It is a figure which shows the structure of the vehicle door opening / closing apparatus which concerns on this embodiment. It is a figure which shows the structure of the door opening / closing motor and drive force transmission mechanism which concern on 1st embodiment of this invention. It is the sectional view on the AA line of FIG. 1 is a block diagram illustrating an overall configuration of a vehicle door opening and closing device according to a first embodiment of the present invention. It is a figure explaining the flow of operation (door automatic opening operation) of the door opening and closing device for vehicles concerning this embodiment. It is a figure explaining the opening degree of the door which concerns on this embodiment (at the time of door manual opening operation). It is a figure explaining the flow of operation (door automatic closing operation) of the door opening and closing device for vehicles concerning this embodiment. It is a figure explaining the opening degree of the door which concerns on this embodiment (at the time of door manual closing operation). It is a figure which shows the structure of the door opening / closing motor and driving force transmission mechanism which concern on 2nd embodiment of this invention. FIG. 10 is a sectional view taken along line B-B in FIG. 9. It is a figure which shows the structure of the brake which concerns on 2nd embodiment of this invention. It is a block diagram which shows the whole structure of the vehicle door opening / closing apparatus which concerns on 2nd embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,101 Vehicle door opening / closing device, 10 operation part, 11 inside operation button, 11a, 12a automatic opening button, 11b, 12b automatic closing button, 12 outside operation button, 13 inside door handle, 13a, 14a handle lever, 14 Outer door handle, 20 detector, 21, 22 Opening button operation detector, 23, 24 Closed button operation detector, 25, 26 Door handle operation detector, 27 Rotary encoder, 30 Control unit, 31 Control circuit, 32 Drive Circuit, 40, 140 Door opening / closing drive unit, 41 Door unlocking motor, 42 Door opening / closing motor, 42a Rotating shaft, 42b Worm gear, 43 Driving force transmission mechanism, 43a Mounting plate, 43b Bearing, 43c Rotating shaft, 43d Worm wheel 43e Rotating shaft, 43f Case, 43g Bearing 43h Output gear, 44 Door opening / closing mechanism, 44a Sector gear, 44b Link member, 44c Push / pull member, 44d, 44e Universal joint, 44f Arc part, 44g Rotating shaft, 44h Output gear, 45 Electromagnetic clutch, 45a Electromagnet, 45b Rotating plate, 45c fixed plate, 45d adsorption plate, 45e spring, 45f yoke, 45g coil, 45 electromagnetic clutch, 50 vehicle, 51 door, 51a space, 52 lock member, 53 striker member, 54 hinge mechanism, 55, 56 door hinge 143 Driving force transmission mechanism, 143a Mounting plate, 143b Bearing, 143c Rotating shaft, 143d Worm wheel, 143e Internal gear, 143f Sun gear, 143g Intermediate gear, 143h Planetary gear, 143i Bearing, 143j Bearing, 143k pin, 143l Bearing, 145 Brake, 145a Brake motor, 145b Worm gear, 145c Worm wheel, 145d Connecting rod, 145e Stopper gear, 146 Rotary damper, 146a Gear, 146b Rotating shaft, 146c Damper body

Claims (7)

In a vehicle opening / closing body opening / closing device that opens and closes an opening / closing body that can rotate with respect to a vehicle body between automatic and manual,
An opening / closing drive means for applying an opening / closing force to the opening / closing body during automatic opening / closing and generating a holding force during manual opening / closing by a passenger to hold the opening / closing body at an arbitrary opening;
Control means for controlling the opening / closing drive means;
An opening / closing state detecting means for detecting an opening / closing direction, an opening degree, and an opening / closing speed of the opening / closing body, and outputting a door opening / closing state detection signal corresponding to the opening / closing state to the control means,
The control means detects an opening / closing direction, an opening degree, and an opening / closing speed of the opening / closing body based on an opening / closing state detection signal output from the opening / closing state detection means at the time of manual opening / closing by an occupant. An opening / closing member opening / closing device for a vehicle, wherein the holding force of the opening / closing driving means is controlled according to the opening degree and the opening / closing speed.   When the control means determines that the opening / closing body has stopped when the opening degree of the opening / closing body is smaller than a predetermined reference opening, the control means reduces the holding force of the opening / closing driving means, and 2. The vehicle according to claim 1, wherein the holding force of the opening / closing driving means is increased when it is determined that the opening / closing body has stopped when the opening is larger than a predetermined reference opening. Opening and closing body opening and closing device.   When the opening degree of the opening / closing body is higher than a predetermined reference speed when the opening degree of the opening / closing body exceeds a predetermined reference opening degree by the rotation of the opening / closing body in the opening direction, 3. The opening / closing body opening / closing device for a vehicle according to claim 1 or 2, wherein when the determination is made, the holding force of the opening / closing driving means is increased.   When the opening degree of the opening / closing body is lower than a predetermined reference speed when the opening degree of the opening / closing body exceeds a predetermined reference opening degree by rotation of the opening / closing body in the opening direction, The vehicle opening / closing body opening / closing device according to any one of claims 1 to 3, wherein when the determination is made, the holding force of the opening / closing driving means is reduced.   When the opening degree of the opening / closing body falls below a predetermined reference opening degree due to the rotation of the opening / closing body in the closing direction, the closing speed of the opening / closing body is higher than a predetermined reference speed. The vehicle opening / closing body opening / closing apparatus according to any one of claims 1 to 4, wherein when the determination is made, the holding force of the opening / closing driving means is increased.   When the opening degree of the opening / closing body is lower than a predetermined reference opening degree by the rotation of the opening / closing body in the closing direction, the closing speed of the opening / closing body is lower than a predetermined reference speed. The vehicle opening / closing body opening / closing device for a vehicle according to any one of claims 1 to 5, wherein when the determination is made, the holding force of the opening / closing driving means is reduced.   The vehicle opening / closing body opening and closing according to any one of claims 1 to 6, wherein the opening / closing body is one of a front door, a rear door, a back door, and a trunk lid provided in the vehicle. apparatus.

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