JP2007332709A - Door opening/closing apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a door opening/closing apparatus capable of preventing trouble such as damage to a door, an attachment for the door, and other objects. <P>SOLUTION: This door opening/closing apparatus comprises: a drive control means 37 which is equipped with an actuator M for operating the door to an opening side, and which is used to operate the door up to a preset opening angle by driving the actuator M; an opening angle detecting means 26 for detecting that the opening angle of the door, which is operated for opening by the actuator M driven by the means 37, reaches the preset opening angle; a drive stopping means 38 for stopping the drive of the actuator M on the basis of a detection signal from the means 26; an abnormal opening speed detecting means 44 for detecting that the opening speed of the door reaches an abnormal speed equal to/lower than a preset speed; and a forced stop means 39 for forcedly stopping the drive of the actuator M on the basis of an abnormal-speed detection signal from the means 44. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a door opening and closing device provided with a door that can swing open and close around a vertical axis and includes an actuator for applying an assist force when the door is operated to at least the opening side.

Many door opening and closing devices have been proposed that automatically open and close using the driving force of an electric motor. For example, the other end of the stationary arm whose one end is connected to the upper end of a vertically long rectangular door frame via a bracket, and the other end of the door arm whose one end is connected to the door side via a pin The other end of the door side arm is connected to the upper end of a rotating shaft protruding vertically from the casing constituting the door closer body provided on the door side to form a door closer, and the lower end of the rotating shaft An electric motor having a speed reduction mechanism disposed below the rotating shaft is connected via a connecting means, and an electric current supply control circuit for the electric motor is provided to control the electric current supplied to the electric motor. The door can be opened to a preset opening angle using the driving force (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 2003-106047 (see FIGS. 1 and 2)

In the configuration of Patent Document 1, for example, by pressing a door opening switch to drive an electric motor, the fan-shaped gear is rotated by 90 degrees through the speed reduction mechanism, and one side of the gear contacts the base. By doing so, the operation of opening the door 90 degrees can be completed. During the driving of the electric motor, for example, the overcurrent detection unit detects that the current supplied to the electric motor is overcurrent, thereby determining that the electric motor is abnormal. Immediately turn off the power and stop the electric motor.
In the above configuration, an abnormality due to overcurrent supply to the electric motor can be reliably detected.For example, while the electric motor is being driven, the door opening speed is higher than the set speed due to a malfunction of the electric motor itself. If the door opening speed is slow due to contact with other objects in addition to the slow speed, it cannot be detected. There was room for improvement due to problems such as damage.

  In view of the above-mentioned situation, the present invention intends to solve the problem by providing a door opening and closing device that can prevent problems such as damage to doors and door accessories and other objects. And

In order to solve the above-described problem, the door opening and closing device of the present invention includes an actuator for operating at least an opening side of a swingable opening and closing around a vertical axis, and driving the actuator to open the door in advance. Driving control means for operating to a set opening angle, and opening angle detecting means for detecting that the door being opened by an actuator driven by the driving control means has reached the set opening angle Driving stop means for stopping the driving of the actuator based on a detection signal from the opening angle detecting means, and the door opening speed becomes an abnormal speed equal to or lower than a set speed during the driving of the actuator. The abnormal opening speed detecting means for detecting the abnormal opening speed detecting means, and the driving of the actuator is forcibly stopped based on the abnormal speed detecting signal from the abnormal opening speed detecting means. Is characterized in that let a forced stop means because.
Therefore, for example, when a switch for opening the door is operated, or when a non-contact sensor detects that a person has approached the set distance, the actuator is driven to open the door. While the door is being operated to the opening side by the actuator, the abnormal opening speed detection means detects whether the door opening speed is an abnormal speed equal to or lower than the set speed. Continue driving the actuator and detect that the door being opened has reached the set opening angle by the opening angle detection means, and determine that the door is positioned at the set opening angle, The driving of the actuator is stopped by the driving stop means. In addition, if the abnormal speed is detected due to other objects coming into contact with the door or due to a malfunction of the actuator itself, this detection signal is output to the forced drive stop means to forcibly drive the actuator. It is stopped.

  A second opening angle detecting means for detecting an opening angle larger than the opening angle of the door detected by the opening angle detecting means; and forcibly driving the actuator based on a detection signal from the second opening angle detecting means. And a second forced stop means for stopping automatically.

  First driving means for driving the actuator to an initial opening angle that is an opening angle smaller than an opening angle set by the opening angle detecting means, and driving the actuator from the initial opening angle to the set opening angle. The second drive means comprises the drive control means, and the first opening speed for opening the door by the first driving means is higher than the second opening speed for opening the door by the second driving means. It may be set to a fast speed.

  Operation between the door and a fixing member for supporting the door using the energy stored when the door is opened to change to the closed side when the door is changed from the opened state to the closed state A driven pulley having a door closer for opening and closing, and a door-side pulley attached to a rotating shaft of the door closer for opening and closing the door, a string-like body having one end wound around the driven-side pulley, and the string-like body And a drive pulley that is driven and rotated by the actuator. When the door is opened, the driven pulley is rotated by driving the actuator and rotating the drive pulley. You may comprise so that the said rotating shaft may be rotationally operated to the door open | release side by drawing out the string-like body currently wound around the side pulley, and winding up to this drive side pulley.

  A tension mechanism may be provided between the driven pulley and the driving pulley to prevent the slack of the string-like body occurring between them.

  While the door is being operated to the open side by the actuator, abnormal opening speed detection that the door opening speed is abnormal due to other objects coming into contact with the door or malfunction of the actuator itself If detected by means, the actuator drive can be forcibly stopped, so it is possible to prevent troubles such as damage to doors, door accessories and other objects. High door opening and closing device can be provided.

  A second opening angle detecting means for detecting an opening angle larger than the opening angle of the door detected by the opening angle detecting means; and forcibly driving the actuator based on a detection signal from the second opening angle detecting means. And the second forced stop means for stopping the door at the same time, even when the opening angle detection means cannot detect that the door has reached the opening angle, In addition to being able to reliably stop driving the actuator at a large opening angle, it is possible to avoid opening the door more than necessary, and reliably preventing damage to the door and door accessories. There are advantages that can be done.

  A first driving means for driving the actuator to an initial opening angle that is smaller than an opening angle detected by the opening angle detecting means; and driving the actuator from the initial opening angle to the set opening angle. The second drive means comprises the drive control means, and the first opening speed for opening the door by the first driving means is higher than the second opening speed for opening the door by the second driving means. By setting a high speed, the door can be quickly swung to the initial opening angle at the fast first opening speed, but the door is swung from the initial opening angle to the opening angle at the slow second opening speed. By moving the door, the door can be accurately positioned at the opening angle without overrun.

By constructing the other end of the string-like body, one end of which is wound around a driven pulley attached to the rotating shaft so as to be rotatable together, around the driving pulley, the electric motor and the rotating shaft of the door closer are connected to a large number of gears. This eliminates the need for precise positioning required when interlocking with the, so that the assembling work can be facilitated. In addition, with the configuration in which the string-like body is simply wound around both pulleys, the vibration and noise generated when the string-like body is wound up (during driving) are as much as possible compared to the vibration and noise generated when the gears are engaged. In addition, the periodic maintenance (adding lubricating oil, etc.) required in the case of gears becomes unnecessary, which is not only advantageous in terms of use, A pulley with less vibration is more advantageous in terms of durability due to vibration generated when the gears mesh.
Further, for example, compared to the case of a configuration driven by a chain interlocking mechanism, the configuration with the string-like body has an advantage that the flexibility is high and the degree of design freedom can be increased.
In addition, by forming the string-like body from a synthetic resin, it becomes more advantageous in terms of vibration and noise than a metal wire or the like. By constructing the string-like body from a bundle of a large number of high-strength fibers (polymer fibers) such as aramid fibers, it is possible to improve the durability of the pulley diameter as compared with the synthetic resin. There is an advantage that the size can be further reduced.

  If a tension mechanism is provided between the driven pulley and the driving pulley to prevent the slack of the string-like body generated between them, the door is opened by driving the driving pulley, for example. During operation, even if the door is opened by manual force at a speed faster than its opening speed, the slack generated in the string-like body can be absorbed by the tension mechanism, and between the pulleys The string-like body can be always wound up stably, without causing malfunction, and can be used satisfactorily for a long time.

  1 and 2 (a) and 2 (b) show a door opening and closing device for automatically opening and closing the door 1 using the electric force of an electric motor M as an actuator. This is provided between the door 1 that can swing and open around the vertical axis X and a door support door frame 2 that is a fixing member for supporting the door 1. The door closer 3 for operating the door 1 to the closing side using the energy stored when the door is opened in accordance with the change from the door to the closed state, and the rotation axis of the door closer 3 interlocked with the opening / closing operation of the door 1 4, a driven pulley 5 attached to the driven pulley 5, a string-like body 6 having one end wound around the driven-side pulley 5, and the other end of the string-like body 6 being wound by the electric motor M. When the door 1 is opened, the driven pulley 5 is driven by rotating the drive pulley 7 by driving the electric motor M. The wound string-like body 6 is pulled out and the By winding the dynamic pulley 7, the rotary shaft 4 and it is capable of rotating to the door opening side. In FIG. 1, a door opening position opened 90 degrees indicated by a one-dot chain line and a door opening position opened 180 degrees indicated by a two-dot chain line from a door closing position indicated by a solid line are shown, but the positions are limited to the positions shown in the figure. Is not to be done. Here, although the case where the door 1 is operated to the closing side using the door closer 3 is shown, the door closer 3, the driven pulley 5, and the driving pulley 7 are omitted, and the electric motor M When the opening / closing operation is performed, not only the opening side but also the closing side operation is performed using the assist force of the electric motor M.

The door closer 3 is a circular bar-shaped link with one end connected to the upper end of the vertically long rectangular door frame via a bracket 8 (consisting of a number of members so that the length can be adjusted). 9, a door-side swing arm 10 having one end connected to the other end of the link 9, and a door closer body 12 having the rotating shaft 4 to which the other end of the swing arm 10 is connected. However, other configurations may be used.
The door closer body 12 has a rectangular parallelepiped shape that is long in the horizontal direction and has a box-shaped casing 13 that is open on the door surface side, the rotary shaft 4 that passes through a pair of upper and lower plates constituting the casing 13, and the casing. 13, a general oil type for converting the energy stored when the door 1 is opened from the open state to the closed state of the door 1 into the rotational force of the rotary shaft 4 when the door 1 is closed. Conversion mechanism (not shown).

The oil type conversion mechanism includes a piston and a coil spring for energizing the piston in a cylinder chamber provided in the interior of the door closer body 12 along the longitudinal direction thereof. The energy accumulated by compressing is used for the operation force toward the closing side of the door 1. The closing speed of the door 1 can be adjusted by changing the oil flow rate by adjusting the size of the cross-sectional area of the oil passage provided in the cylinder with a speed adjusting screw or the like. Instead of the oil type, a mechanical type without oil may be used, and the configuration for operating the door 1 to the closed side may be any configuration.

  Both the swing arm 10 and the driven pulley 5 are attached to the rotary shaft 4 by fitting vertically in the axial direction thereof, and the driven pulley 5 protrudes upward from the casing 13. The outer end of the door side arm 10 can be externally fitted to the upper end of the rotary shaft 4 protruding from the driven pulley 5 so as to be integrally rotatable. ing. Accordingly, by driving the electric motor M, the driven pulley 5 is rotated via the string-like body 6 to rotate the rotating shaft 4, so that the swing arm 10 is rotated around the vertical axis Y of the rotating shaft 4. The door 1 can be opened to 90 degrees or 180 degrees (maximum opening) as shown in FIG. 1 while the link 9 is swung around the vertical axis W of the bracket 8 in conjunction with this. It can be done.

  As shown in FIGS. 2 and 3, the electric motor M is composed of a DC guard motor including a motor body 14 and a speed reduction mechanism portion 15 connected to the motor body 14. Also good. Then, with the output shaft 16 of the electric motor M facing upward, the speed reduction mechanism portion 15 is moved upward through a through-hole formed in the lower plate portion of the U-shaped support member 17 that opens to the door side, The lower end of the upper plate portion of the support member 17 is fixed with four bolts 11 in a state where the upper end (tip) of the speed reduction mechanism portion 15 is abutted, and the through plate hole formed in the upper plate portion is used for the fixing. The output shaft 16 protrudes upward. The drive-side pulley 7 is externally fitted to the output shaft 16 so as to be integrally rotatable. One end of the string-like body 6 is wound around the drive-side pulley 7, and the other end of the string-like body is connected to the drive-side pulley. 7 is wound around the driven pulley 5 at the same height in the vertical direction. Here, the driving pulley 7 and the driven pulley 5 are arranged so that their axes are parallel to each other, and the pulleys 7 and 5 are arranged at the same height position, but the position in the vertical direction ( The height may be changed.

The string-like body 6 includes aramid fibers, which are high-strength fibers (polymer fibers), such as many kevlars (trade name registered by DuPont), and a circular cross section (such as a square or an ellipse). However, it may be made of various fibers, synthetic resins, or the like. By using such a string-like body, not only can it be unnecessary to periodically inject the lubricant required when it is constituted by a metal gear, a metal chain, etc., but the deterioration of the lubricant There is an advantage that it is not necessary to consider problems such as metal corrosion. The string-like body 6 having the above configuration is particularly advantageous with respect to vibration and noise, but may be a metal wire or the like. The aramid fiber has high tensile strength and frictional resistance so that other fibers cannot be tracked, and can support a weight of 320 kg with a thread having a cross-sectional area of 1 mm ² and a specific gravity of 1.45. Since the strength is small and much stronger than metal when compared in strength, even a single string-like body 6 can be provided with sufficient strength.
FIG. 9 shows a specific configuration of the string-like body 6. That is, a cylindrical cover 6A in which a large number of fibers (for example, polyester fibers) 6a having a larger elasticity than the aramid fibers 6b are knitted into a mesh shape so that the aramid fiber bundle 6B obtained by bundling a large number of aramid fibers 6b does not fall apart. It shows what has been covered with.

  As shown in FIGS. 2A, 2B and 3, the support member 17 and the casing 13 are attached to a horizontally long vertical plate 18, and the vertical plate 18 is attached to the upper end of the inner surface (back surface) of the door 1. In addition, the support member 17 is arranged on the vertical axis side of the door 1 and arranged as close to the vertical axis side as possible so as not to obstruct as much as possible. It may be. K shown in FIG. 2B is a cover for covering the electric motor M, the door closer body 12, the two pulleys 5, 7 and the string-like body 6.

  As shown in FIGS. 4 and 5, flanges 7A, 7A and 5A, 5A projecting in the radial direction of the pulleys are provided on the outer peripheral edges on both sides in the rotational axis direction of the driving pulley 7 and the driven pulley 5, respectively. A plurality of the string-like bodies 6 are in a parallel state with the winding width P of the driving pulley 7 and the driven pulley 5 formed between the flange portions 7A, 7A and 5A, 5A. It is set to a dimension that cannot be wound, that is, a width dimension that is equal to or slightly larger than the width (thickness) of one string-like body 6, and the string-like body 6 is attached to the driving pulley 7 and the driven pulley 5. As shown in FIG. 4, the length to be wound while being stacked in one row may be a length of one and a half turns (may be more than one and a half turns, or in some cases, a length slightly exceeding one turn may be sufficient. ) To set the driving pulley 7 and the driven Even if the end of the string-like body 6 is not fixed to the pulley 5, it is reliably avoided that the string-like body 6 is unwound from the driving pulley 7 and the driven pulley 5 in any use state. To be able to. The length of one and a half turns is a length that does not add the length of the string-like body 6 necessary for rotating the rotary shaft 4 to open the door 1, that is, in a state where no winding is performed. For example, in a state where the string-like body 6 wound around the driven pulley 5 is wound around the drive-side pulley 7, the string-like body 6 wound up to a length exceeding one and a half turns of the pulley 7 The length of is an extra plus length.

  Further, as shown in FIG. 5, through-holes 5K and 7K are set in the flanges 5A, 5A, 7A and 7A of the pulleys 5 and 7 so as to be able to penetrate the string-like body 6. Then, just passing the string-like body 6 through one of the through-holes 5K, 5K, 7K, 7K 5K, 7K, the through-holes 5K, 7K in the direction orthogonal to the direction in which the string-like body 6 is wound. So that the string-like body 6 is not pulled by being pulled into the pulley. The through holes may be formed not on the flange portions but on the body portions 5B and 7B around which the through holes are wound. Also, as shown in FIG. 6, a C-shaped (any shape) locking member 19 is attached to the string-like body 6 protruding from the through holes 5K, 7K, and the string-like body 6 It may be possible to reliably prevent movement from the through holes 5K and 7K into the pulley. Even when the locking member 19 is attached, if the length for winding the string-like body 6 around the pulley is set to a length exceeding one turn as described above, the string-like body 6 is attached to the locking member 19. The tensile force does not act, and it can be used satisfactorily for a long time.

  As shown in FIGS. 7A to 7C, the string-like body 6 is wound around the drive side pulley 7 so that the drive side pulley 7 and the driven side pulley 5 are rotated in the opposite directions. The string-like body 6 is configured to go back and forth between the side of the outer peripheral edge that approaches the door 1 and the side of the outer peripheral edge of the driven pulley 5 that moves away from the door 1. A tension mechanism 20 is applied to the string-like body 6 located from the door side so that the slack of the string-like body 6 generated between the driven pulley 5 and the driving pulley 7 can be prevented. I have to. As described above, the tension member 20 is partly or entirely inserted into the space formed between the pulleys 7 and 5 by slanting the string-like body 6 between the pulleys 7 and 5. There is an advantage that the apparatus can be downsized accordingly, but both the pulley 7 from the same side, for example, the door side 1, so that both the driving pulley 7 and the driven pulley 5 rotate in the same direction. , 5 may be configured so that the string-like body 6 is wound around each.

As shown in FIGS. 2 (a) and 2 (b), the tension mechanism 20 is disposed between the pulleys 7 and 5 and close to the drive pulley 7, and is urged to rotate in one direction. Rollers 22 and 23 in which locking grooves 22A and 23A are formed on outer peripheral surfaces to which flat plate-like rectangular arms 21 in plan view and string-like bodies 6 attached to both ends of the arms 21, respectively, are locked. Thus, at least one roller 22 is pressed against the string-like body 6 positioned between the two rollers 22 and 23 to prevent the string-like body 6 from slackening.
Further, the central portion of the arm 21 in the longitudinal direction is attached to the upper end protruding portion of the support shaft 24 provided in a state of penetrating the support member 17 in the vertical direction so as to rotate integrally around the vertical axis V, and The shaft 24 is mounted on the shaft 24 and disposed in the support member 17, and the both ends of the support shaft 24 are locked and held across the upper end of the support shaft 24 and the lower portion of the support member 17. A coil spring 25 is provided so as to urge counterclockwise, and the arm 21 is configured to urge counterclockwise in a plan view. However, other configurations may be used.

  As shown in FIG. 2A and FIGS. 7A to 7C, the rotation center 5S of the driven pulley 5 is moved from the start of feeding of the string-like body 6 wound around the pulley 5 to the end of feeding. (The rotation angle from 0 degree of rotation corresponding to the door closing position in FIG. 7 (a) to 120 degree rotation angle corresponding to the maximum door opening position in FIG. 7 (c)) excludes the feeding radius. It is deviated so as to be larger than the non-feeding-out radius (rotation angle irrelevant to opening and closing of the door from 121 degrees to 360 degrees). The feeding radius refers to feeding of the string 6 of the driven pulley in a rotation range (basically a range of up to 180 degrees) in which the driven pulley 5 is rotated to feed the string of the driven pulley. The length (radius) of the straight line connecting the side start end and the rotation center, and the non-feeding radius means the radius of the driven pulley 5 other than the rotation range (here, 0 to 120 degrees). The rotation radius L from the displaced rotation center 5S is longer than the rotation radius L1 when the rotation center is the center of the circle. In this way, by gradually increasing the rotational torque of the driven pulley 5 from the start of rotation, it is possible to cope with the tensile force of the string-like body 6 that increases with the rotation of the driven pulley 5, The force for rotating the driven pulley 5 during the period from the start to the end of the body 6 can be rotated with a substantially uniform pulling force. Specifically, as shown in FIGS. 8A and 8B, the rotation radius L becomes maximum when the rotation angle L is rotated by a predetermined angle (approximately 25 degrees in the drawing) from the start of rotation. It is possible to prevent the rotational torque (rotational force) from maximizing and the pulling force of the string-like body 6 from increasing as the driven pulley 5 rotates. This is because the rotational radius L is inversely proportional to the rotational force, and therefore the tensile force of the string-like body 6 is determined by setting the rotational radius L in accordance with the torque curve of the driven pulley 5 required for the rotation of the rotating shaft 4. Can be made substantially uniform or gradually increased in the range from the start of rotation (door closed position) to the end of rotation (maximum open position of the door). Here, it is described that the door 1 is set to the maximum opening degree by using the electric force of the electric motor M up to 120 degrees, but actually the driven pulley 5 is set to 50 degrees (the door 1 at this time) as described later. May be rotated by using an electric force up to 35 degrees), and the angle at which the driven pulley 5 is driven to rotate may be any number.

  Further, in the rotation range of the driven pulley 5 corresponding to the maximum opening position of the door shown in FIGS. 7 (a) to 7 (c) corresponding to the closed position of the door 1, the displaced driven pulley 5 is displaced. Rotation of the driven pulley 5 so that the outer peripheral edge where the rotation radius L is maximum is not located on the wall surface (rear surface) side of the door 1, that is, on the side away from the wall surface of the door 1. By setting the center 5S, the driven pulley 5 is prevented from protruding greatly from the door 1 to the side away from the door 1 side.

As shown in FIG. 18, the control device 36 for controlling the driving of the electric motor M is provided in the casing K, but it may be provided in another place different from the door 1. The control device 36 includes a drive control means 37 for driving the electric motor 36 to operate the door 1 to a preset opening angle, and an electric motor M driven by the drive control means 37. The electric motor M is based on a detection signal from a rotary encoder (which is one of pulse counters) 26 serving as an opening angle detecting means for detecting that the door 1 operated to the opening side has reached the opening angle. Drive stopping means 38 for stopping or controlling the driving of the motor, and abnormal opening speed detecting means for detecting that the opening speed of the door 1 becomes an abnormal speed equal to or lower than a set speed during the driving of the electric motor M. 44 (in this example, the rotary encoder is also used as a dual-purpose configuration, but another configuration may be used) and an abnormal speed detection signal from the abnormal release speed detection means 44. And a forced stop means 39 for forcibly stopping the driving of the electric motor M Te. Further, the electric motor M is forcibly driven based on a detection signal from a limit switch 30 as a second opening angle detecting means for detecting an opening angle larger than the opening angle of the door 1 detected by the rotary encoder 26. The second forced stop means 45 for stopping automatically is provided.
By configuring the opening angle detecting means from the rotary encoder 26 in this way, the opening speed of the door 1 can be increased when an object comes into contact with the door 1 during the opening operation, or when a failure of the electric motor M itself occurs. Based on the speed detection information from the rotary encoder 26, the control device 36 determines that the speed is lower than the set opening speed, and can immediately stop the driving of the electric motor M. Instead of the rotary encoder (an example of a pulse counter) 26, various speed sensors that detect the opening speed of the door 1 may be used. Further, a potentiometer or a pulse counter (such as a rotary encoder) can be used instead of the limit switch 30.
When the driving of the electric motor M is forcibly stopped based on the abnormal speed detection signal from the abnormal opening speed detection means 44, it is determined that a set time has elapsed, for example, by pressing a reset button or the like. By doing so, the electric motor M may be reversed and the door 1 may be swung to the closed position using the energy of the door closer 3 to end the control once, or the driving of the electric motor M is resumed and stopped. The door 1 may be opened from the position to the set opening angle.

  The drive control means 37 includes a first drive means 40 that drives the electric motor M to an initial opening angle that is an opening angle smaller than an opening angle detected by the rotary encoder 26, and the setting from the initial opening angle. The second driving means 41 includes a second driving means 41 that drives the electric motor M to the opened opening angle, and the first driving means 40 opens a first opening speed 42 that opens the door 1. A speed higher than the second opening speed 43 for opening the door 1 is set so that the door 1 can be stopped without overrunning to the set opening angle while being quickly opened. The first driving means 40 will be described in detail. A first predetermined voltage (for example, a rated voltage) is applied to the electric motor M from the start of driving of the electric motor M until a first set speed (constant speed) set in advance. And the acceleration control for linearly accelerating the opening / closing speed of the door 1 and when the acceleration is accelerated to the first set speed (constant speed), the electric motor M maintains the second predetermined voltage, thereby The first constant speed control is performed to control the first opening speed 42 so as to maintain the first set speed 42 at the first set speed. Further, when the initial opening angle is detected by the rotary encoder 26, the second driving means 41 lowers the supply voltage to the electric motor M based on the initial opening signal at that time, so that the second driving means 41 exceeds the opening speed. Deceleration control for decelerating to a slow second set speed, and when the second set speed is reached, the second opening speed 43 lower than the first set speed is maintained at the second set speed (second constant speed). When the rotary encoder 26 detects the opening angle while the door 1 is opened at the second constant speed, and the second constant speed control is performed, the output to the electric motor M is detected based on the output signal at that time. It comprises the third deceleration control for decelerating to the third set speed by lowering the supply voltage, and the third set speed and the energy for closing the door 1 by the door closer 3 acting on the rotating shaft 4 Balun It is to, so that it is possible to hold the door 1 in the open position. The first opening speed 42 and the second opening speed 43 are stored in a memory of a computer or the like, and the speed value can be easily changed using, for example, a rotary dial.

  The rotary encoder 26 is for detecting the rotational displacement (rotation angle) of the rotary shaft 4 and grasping the opening / closing position (opening / closing angle) of the door 1, as shown in FIGS. 2B and 12. The disc-shaped slit plate 27 is attached to the lower end of the rotary shaft 4 so as to rotate integrally, and has a large number of light transmitting cutouts 27A on the outer peripheral edge, and toward the cutouts of the slit plate 27. A U-shaped support member 28 that supports a light-emitting diode that emits light and a phototransistor for receiving light from the light-emitting diode in a state of being opposed to each other with the slit plate 27 interposed therebetween. . Therefore, by detecting the number of times the light from the blocked light emitting diode is received by the phototransistor through the notch and the time until the light is received, the rotation angle and the rotation speed as well as the rotation position of the rotation shaft 4 are detected. Be able to. The support member 28 is attached to an L-shaped plate 29 fixed to the lower surface of the casing 13.

The contact-type limit switch 30 is attached to a vertical plate portion 29 </ b> A constituting the plate 29 in a state where the contact-type limit switch 30 is positioned in the vicinity of the slit plate 27, and is integrally formed at one place on the outer peripheral edge of the slit plate 27. When the projecting piece 27T comes into contact with the switch portion 30A of the limit switch 30 by the rotation of the slit plate 27, it is detected that the rotating shaft 4 has rotated the set angle (here, 90 degrees). .
Instead of the protruding piece 27T, as shown in FIGS. 13A and 13B, another plate-like contact member 31 can be attached to the rotary shaft 4 so as to be integrally rotatable.

  By reducing the supply voltage to the electric motor M based on the detection information of the rotary encoder 26 and the limit switch 30 to change the driving speed of the electric motor M (low speed), or by applying a brake to the electric motor M A control device (not shown) is provided with control means for holding the door 1 in the open position by balancing with the energy to the closing side of the door 1 by the door closer 3 acting on the rotating shaft 4. The drive control will be described. For example, when the rotation angle of the rotary shaft 4 from the rotary encoder 26 is detected, it corresponds to a preset maximum opening angle of the door 1 (for example, 35 degrees, but may be set any number of times). When the rotary encoder 26 detects that the rotation angle of the rotating shaft 4 (in this case, approximately 50 degrees is determined by the lengths of the link 9 and the swing arm 10), for example, electric By lowering the supply voltage to the motor M or applying a brake to the electric motor M, the door closer 3 is balanced with the energy of the door closer 3 acting on the rotary shaft 4 to the door 1 closing side, and the door 1 is opened. Can be positioned at. For example, when the door 1 cannot be stopped at the open position due to erroneous detection or disconnection of the rotary encoder 26, that is, the drive speed of the electric motor M cannot be changed, or the electric motor M is braked. If it is not possible, the limit switch 30 detects that it is determined that the rotary shaft 4 has rotated 90 degrees or more, and the forced stop means 39 stops the driving of the electric motor M. .

  More specifically, first, an output signal when a door opening switch (not shown) is operated to the open side, or a non-contact type sensor (not shown) that detects that a person approaches the door 1. ) Is input to the control device 36, the drive control means 37 outputs a drive signal to the open side to the electric motor M. Then, as shown in FIG. 10 (a), the driving pulley 7 in the rotational position corresponding to the closed position of the door 1 is driven to rotate counterclockwise in plan view. If the string-like body 6 is slack (loosened) at the start of the driving rotation, the roller 22 of the tension mechanism 20 can press the string-like body 6 to eliminate the slack, as shown in FIG. I am doing so. When the drive rotation is continued and the driven pulley 5 rotates by 50 degrees, an ON signal is output from the rotary encoder 26 to the control device, and it is determined that the door 1 is opened to the open position of 35 degrees. By reducing the supply voltage to the electric motor M and controlling the driving speed of the electric motor M, the rotation by balancing with the energy to the closing side of the door 1 by the door closer 3 acting on the rotating shaft 4 The rotation of the shaft 4 stops (see FIG. 10C). When the door 1 positioned at 35 degrees is operated to open and swing by a manual operation force to an angle exceeding 35 degrees, that is, 180 degrees, the driving pulley 7 is stopped. Even if the pulley 5 is further rotated (the driven pulley 5 is rotated 120 degrees at this time) and the string-like body 6 is fed out, the tension mechanism 20 is configured as shown in FIG. When the two rollers 22 and 23 press the string-like body 6, the large slack generated in the string-like body 6 can be eliminated.

  11 (a), (b), and (c), when the electric motor M is not driven or when a power failure occurs, the door 1 is opened to the maximum open position (180 degrees in this case) only with manual force. It shows the state to go. In this case as well, the driven pulley 5 rotates and the string-like body 6 is fed out while the driving pulley 7 is stopped driving, but the arm 21 is energized according to the feeding length. By rotating in the direction, the slack of the string-like body 6 can be absorbed by the contact action of the two rollers 22 and 23. A point A shown in FIGS. 10 and 11 is given on the drawing in order to clarify the rotational position of the driving pulley 7, and FIGS. 10 (a) and 10 (b) and FIGS. FIGS. 10B and 10C show the state immediately before the rotation, and FIGS. 10C and 10D show the state rotated by 50 degrees.

  When closing the door 1 immediately or after a set time from the state where the electric motor M opens the door 1 at a set angle (here, 35 degrees) and maintains the open position as described above, for example, The non-contact type sensor or the like detects that a person is away from the door 1 by pressing a switch that is not connected, or the like, and the electric motor M is rotated in the reverse direction to move the string-like body 6 to the driven pulley 5 side. When the electric motor M is fed out or stopped, the door 1 is swung to the closed position using the energy accumulated in the door closer body 12. At this time, when the electric motor M is in a stopped state due to a power failure or failure, or when the rotational speed of the driving pulley 7 by the electric motor M is slower than the rotational speed of the driven pulley 5, the tension mechanism 20 Thus, the slack of the string-like body 6 can be absorbed.

  The door 1 may be opened up to 180 degrees using the electric force of the electric motor M. This case will be described with reference to FIGS. By driving the electric motor M, as shown in FIG. 15A, the driving pulley 7 at the initial rotational position indicated by point A is driven to rotate, and the approximately shown in FIGS. 15C to 16A. Rotate counterclockwise to 150 degrees to open door 1 at an angle of 180 degrees. FIG. 15B shows a state in which the string-like body 6 is slightly slackened, and the slack is absorbed by the tension mechanism 20 as described above. After the door 1 is opened at an angle of 180 degrees, the electric motor M is driven in the direction opposite to the direction (reversely driven), thereby using the force of the door closer 3 to close the door 1. If the swing speed of the door closer 3 is faster than the rotational speed of the driving pulley 7, the winding amount of the driven pulley 5 is smaller than the feeding amount of the string-like body 6. However, as shown in FIGS. 16B and 16C, the door 1 is closed while absorbing the slack of the string-like body 6 by the tension mechanism 20, is returned to the initial state, and the drive of the electric motor M is stopped. (See FIG. 16D). In FIG. 17, during the opening operation of the door 1 using the electric force of the electric motor M, the door 1 is operated to a maximum opening angle (180 degrees) with a manual force at a speed higher than that of the electric motor M. The state is shown, and the tension mechanism 20 absorbs the slack of the string-like body 6 greatly.

Further, when the door 1 is closed, when the electric motor M is switched to the stop state as described above without being driven in reverse, as shown in FIG. 14, the output shaft of the electric motor M and the driving pulley 7 are used. An electromagnetic type clutch 32 (clutch S in FIG. 2B) for interrupting power transmission between the rotary shaft 4 and the clutch 32 or S is provided. If the control is performed in the cut-off state, the resistance force by the electric motor M generated when the driven pulley 5 rotates can be eliminated, so that there is an advantage that the door 1 can be swung quickly.
Further, in FIG. 14, the electric motor M is attached to the upper part of the back surface of the door 1 so that the longitudinal direction of the electric motor M is along the left-right width direction of the door 1 and attached to the rotary shaft 4 of the door closer body 12 in an integrally rotated state. A pulley 33 for guiding the other end of the string-like body 6 having one end wound around the side pulley 5 downward, and a drive-side pulley 7 around which the string-like body 6 guided by the pulley 33 is wound. The output shaft 34 of the clutch 32 connected to the output shaft of the electric motor M is attached to rotate integrally. The pulley 33 includes a wheel 33A for locking and guiding the string-like body 6, and a bifurcated support member 33B that rotatably supports the wheel 33A. The support member 33B houses the clutch 32. A casing 35 is attached to the casing 35 so as to be rotatable around a horizontal axis Z parallel to the horizontal width direction of the door 1. As shown in FIG. 14, the electric motor M protrudes greatly downward by arranging the electric motor M at a position substantially the same height as the door closer body 12 with the longitudinal direction of the electric motor M extending along the left-right width direction of the door 1. The installation space in the vertical direction can be kept small.

  By the way, when the door 1 reaches the angle set by the electric motor M, the drive closer 38 stops energization of the electric motor M by the signal from the rotary encoder 26. A mechanism for preventing rotation on the output shaft side on the motor side in a state where current is not supplied with energy to the closing side of the door 1 is provided, and the mechanism is provided with a worm gear provided on the electric motor M side or the like. The door 1 can be kept open at a predetermined angle. A brake motor may be used instead of the worm gear or the like. Alternatively, although not shown, a one-way clutch in which an outer race is fixed to the housing may be assembled to the shaft of the electric motor M or the output shaft (the one-way clutch prevents reverse rotation to the side opposite to the drive side). So it has the same effect as a brake). The one-way clutch may be used as a bearing of the electric motor M or the output shaft.

It is a top view which shows the state which located the door in two open positions. The door opening / closing apparatus is shown, (a) is a plan view thereof, and (b) is a front view thereof. It is a side view of an electric motor. It is a top view of a pulley. It is the sectional view on the AA line in FIG. It is sectional drawing which shows the principal part of a pulley. The drive pulley is driven and rotated, (a) shows the state immediately before the drive rotation, (b) shows the pulley rotated by 50 degrees, and (c) shows the pulley rotated 120 degrees. Shows the state. (A) is a plan view of the driven pulley with the rotational axis displaced, (b) is a graph showing the relationship between the rotational radius and the door opening angle, and a standard with the displaced pulley and the center of the circle as the rotational axis. Two of the pulleys are shown. It is a vertical perspective view of a string-like body. It is a top view which shows the state which rotated the drive side pulley by the predetermined angle, (a), (b) shows the state immediately before drive rotation, (c), (d) is the state which rotated and rotated the pulley 50 degree | times. Is shown. (A), (b), (c) is a top view which shows the state by which the drive side pulley is a stop state and the driven pulley is rotationally operated. It is the BB sectional view taken on the line in FIG. 12A and 12B show another embodiment, in which FIG. 12A shows a state where the limit switch is OFF, and FIG. 12B shows a state where the limit switch is ON. It is a perspective view of another door opening / closing apparatus. (A), (b), (c) is a top view of the principal part which shows the state which drives and rotates the drive pulley from 0 degree | times to about 80 degree | times. (A), (b), (c), (d) is a top view which shows the state which drives the drive pulley from 80 degree | times to 150 degree | times, and is reversely rotated and is operated to the closed position. It is a top view of the principal part which shows the state which opened the door 180 degree | times by manual force during driving the drive pulley. It is a control block diagram.

Explanation of symbols

1 Door 2 Door frame (fixing member)
3 door closer 4 rotating shaft 5 driven pulley 5A flange 6 string 6A cover 6a fiber 6b aramid fiber 6B aramid fiber bundle 7 driving pulley 7A flange 8 bracket 9 link 10 swing arm 11 bolt 12 door closer body 13 casing 14 Motor body 15 Deceleration mechanism 16 Output shaft 17 Support member 18 Vertical plate 19 Locking member 20 Tension mechanism 21 Arm 22, 23 Roller 22A, 23A Locking groove 24 Support shaft 25 Coil spring 26 Rotary encoder (Opening angle detection means)
27 Slit plate 27T Projection piece 28 Support member 29 Plate 29A Vertical plate portion 30 Limit switch (second opening angle detection means)
30A switch part 31 contact member 32, S electromagnetic clutch 33 pulley 33A wheel 33B support member 34 output shaft 35 casing 36 controller 37 drive control means 38 drive stop means 39 forced stop means 40 first drive means 41 second drive means 42 First opening speed 43 Second opening speed 44 Abnormal opening speed detecting means (rotary encoder)
45 Second forced stop means K Cover M Electric motor V, W, X, Y, Z Axle core

Claims (5)

  An actuator for operating at least an opening side of a swingable opening / closing door around a vertical axis, and driving the actuator to operate the door to a preset opening angle; An opening angle detecting means for detecting that a door being opened by an actuator driven by a drive control means has reached a set opening angle, and the actuator based on a detection signal from the opening angle detecting means A driving stop means for stopping the driving of the motor, an abnormal opening speed detecting means for detecting that the opening speed of the door becomes an abnormal speed equal to or lower than a set speed during driving of the actuator, and the abnormal opening speed detecting means And a forced stop means for forcibly stopping the drive of the actuator based on an abnormal speed detection signal from Door opening and closing device for.   A second opening angle detecting means for detecting an opening angle larger than the opening angle of the door detected by the opening angle detecting means; and forcibly driving the actuator based on a detection signal from the second opening angle detecting means. The door opening and closing device according to claim 1, further comprising second forcible stopping means for stopping automatically.   First driving means for driving the actuator to an initial opening angle that is an opening angle smaller than an opening angle set by the opening angle detecting means, and driving the actuator from the initial opening angle to the set opening angle. The second drive means comprises the drive control means, and the first opening speed for opening the door by the first driving means is higher than the second opening speed for opening the door by the second driving means. The door opening and closing device according to claim 1 or 2, wherein the door opening and closing device is set to a high speed.   Operation between the door and a fixing member for supporting the door using the energy stored when the door is opened to change to the closed side when the door is changed from the opened state to the closed state A driven pulley having a door closer for opening and closing, and a door-side pulley attached to a rotating shaft of the door closer for opening and closing the door, a string-like body having one end wound around the driven-side pulley, and the string-like body And a drive pulley that is driven and rotated by the actuator. When the door is opened, the driven pulley is rotated by driving the actuator and rotating the drive pulley. 4. The structure according to claim 1, wherein the string-like body wound around the side pulley is pulled out and wound around the drive-side pulley so that the rotary shaft is rotated to the door opening side. Door opening and closing device as claimed.   The door opening and closing device according to claim 4, further comprising a tension mechanism between the driven pulley and the driving pulley for preventing slack of the string-like body generated between the pulleys.

Images