JP2008180011A - Opening/closing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an opening/closing device capable of reducing a response delay of control operation by promptly detecting abutting of an opening/closing body on an object on the operating direction side. <P>SOLUTION: The opening/closing device comprises the opening/closing body 10 operated to open/close by sliding, and a rotational drive source 35 for operating the opening/closing body 10 to open/close, and detects abuting of the opening/closing body 10 on the object on the operating direction side. During the operation of the rotational drive source 35, a physical quantity varying in association with the load fluctuation of the rotational drive source 35 is continuously or intermittently detected, and predetermined control is performed on the condition that the change range of the physical quantity exceeds a predetermined threshold change rate. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a shutter device including an overhead door, a sliding door including a shutter, a window, a roll screen, a blind, an awning device, a gate, a gate, a sliding wall device, etc. The present invention relates to an opening / closing device that detects that a body has come into contact with an object on the movement direction side.

  Conventionally, in this type of invention, as described in Patent Document 1, for example, a physical quantity (a DC voltage detected by a load detection device) that changes according to a load of a drive source (motor) is a predetermined threshold value. On the condition that the voltage is equal to or less than (reference voltage), it is determined that the opening / closing body (shutter curtain) is in contact with an obstacle and an abnormal signal is output.

By the way, during the normal opening / closing operation of the opening / closing device, the load of the driving source is unexpectedly large due to foreign matter existing between the opening / closing body and the guide rail, an increase in sliding resistance due to secular change, etc. It may become.
Therefore, as in the prior art described above, the switchgear that performs the predetermined control on the condition that the load of the drive source exceeds the predetermined threshold does not malfunction due to the influence of the foreign matter, sliding resistance, and the like. As described above, it is necessary to set the threshold value in advance.
However, according to such a configuration, when the operation of the opening / closing body is stopped in response to the abnormal signal, there is a possibility that the stop operation is delayed and the impact or the contact load on the obstacle is increased. is there.
Moreover, the load that normally acts on the drive source differs depending on the weight of the opening / closing body and the characteristics of the balance spring provided on the winding shaft that winds the opening / closing body. Therefore, the delay of the stop operation becomes significant.
In addition, when it is attempted to detect that the closing direction end of the opening / closing body is in contact with the storage case by the full opening of the opening / closing body by the above-described conventional technology, the opening / closing body is Unnecessary pulling force is applied, and as a result, the durability of the switchgear may be lowered.
In addition, when the opening / closing body is fully closed, it is attempted to detect that the closing direction end of the opening / closing body is in contact with a contact target portion (for example, a floor surface, the ground, a frame member, etc.) by the above-described conventional technique. Since an unnecessary compressive force is applied to the opening / closing body, there is a risk that the opening / closing body in the fully closed state may bump, or the durability of the opening / closing device may be reduced.
Japanese Utility Model Publication No. 5-32697

  The present invention has been made in view of the above-described conventional circumstances, and a problem to be solved is to quickly detect that the opening / closing body has come into contact with the object on the operation direction side, and reduce the response delay of the control operation. An object of the present invention is to provide a switchgear that can be used.

  In order to solve the above-mentioned problem, the first invention is provided with an opening / closing body that opens and closes by sliding, and a drive source that opens and closes the opening / closing body, and the opening / closing body abuts against an object on the operation direction side. In the switchgear configured to detect the physical quantity, during the operation of the drive source, the physical quantity that changes with the load fluctuation of the drive source is detected continuously or intermittently, and the change rate of the physical quantity is a predetermined threshold change rate. It is characterized in that a predetermined control is performed on condition that the value exceeds.

  Here, the opening / closing device according to the present invention may be any device as long as the opening / closing body is slid by the power of the drive source to be opened and closed, and the opening / closing device is wound around the winding shaft. And a mode in which the opening / closing body is accommodated in the opening direction where the opening / closing body is wound up.

  Further, as a preferable specific example of the opening / closing body, a mode in which a plurality of slats and pipes are continuously provided in the opening / closing direction, or a single or a plurality of panels, a sheet-like object, and a net-like object are provided in the opening / closing direction. Aspects, or a mode in which slats, panels, pipes, sheet-like objects, net-like objects, etc. are appropriately combined can be mentioned. The operating direction of the opening / closing body is the vertical direction, horizontal direction, diagonal direction, etc. Can do.

  The drive source is preferably a rotary induction motor such as an AC motor or a DC motor, but may be a linear motor or an air motor as another example.

  Further, in the configuration of “detecting that the opening / closing body is in contact with the object in the operation direction”, the closing direction end of the opening / closing body during the closing operation is a contact target portion (for example, a floor) For detecting contact with the surface, the ground, the frame member, etc., or the closing direction end of the opening / closing body during the opening operation is in contact with the contact target portion (such as a storage portion or a lintel portion) when fully opened A mode for detecting this, a mode for detecting that the closing direction end of the opening / closing body during the closing operation is in contact with an obstacle on the closing direction side, and the like.

The physical quantity includes a load value of the drive source, a voltage value that changes with a change in the load value, a current value, a rotation speed, and the like.
The means for detecting the physical quantity may be configured to directly detect the load voltage, load current, load rotational speed, etc. of the drive source, or provided separately from the drive source. A configuration in which a load voltage, a load current, a load rotation speed, or the like is indirectly detected by a detection device may be used.

  Further, the “rate of change of the physical quantity” only needs to indicate a rate of change of the physical quantity. Specific examples of the rate of change include the amount of change of the physical quantity per unit time, The amount of change of the physical quantity per unit opening / closing distance, the slope indicating the change of the physical quantity, and the like can be used.

  The predetermined control includes stopping the opening / closing body, reversing the opening / closing body, outputting an alarm sound, outputting an abnormal signal, and the like.

  In the second invention, the physical quantity is a load value of the drive source.

  In the second aspect of the invention, the load value may be a voltage value, a current value, a rotation speed, or the like that changes according to the load of the drive source.

  Moreover, in 3rd invention, the biasing means which biases the said opening-closing body to an open direction is provided, It is characterized by the above-mentioned.

  In the third invention, specific examples of the urging means include a spring that urges the winding body that winds the opening and closing body in the winding direction, and a closing direction end of the opening and closing body directly in the opening direction. It includes a spring for biasing, a configuration in which the closing direction end of the opening / closing body is biased in the opening direction by the weight of the weight.

  According to a fourth aspect of the invention, there is provided a winding body that winds the opening / closing body by the power of the drive source, and a storage unit that stores the winding body and the opening / closing body wound around the winding body. An opening / closing device that determines that the end of the opening / closing body in the closing direction is in contact with the housing by an opening operation when the change rate of the physical quantity exceeds the threshold change rate; And a step of stopping the drive source.

  According to a fifth aspect of the present invention, when the opening / closing body re-contacts the object on the operation direction side by the re-operation of the drive source, the threshold change rate is set based on the physical quantity detected during the re-operation. It is characterized by being updated.

  The sixth invention is characterized in that a plurality of types of threshold change rates are provided so as to have different values, and the threshold change rate is selected according to the operating state of the opening / closing body. .

  In the seventh invention, the threshold change rate includes the threshold change rate used when the opening / closing body during the closing operation is located on the opening direction side with respect to the predetermined full-close vicinity range, and the threshold changing rate during the closing operation. There is a threshold change rate used when the opening / closing body is located within the full-close vicinity range, and the former threshold change rate is set smaller than the latter value.

In the present specification, the “opening / closing body thickness direction” means the thickness direction of the opening / closing body in the closed state.
In the present specification, the “opening / closing body width direction” means a direction that is substantially orthogonal to the opening / closing direction of the opening / closing body and not the thickness direction of the opening / closing body.
Further, in this specification, the “opening / closing body opening / closing direction” means a direction in which the opening / closing body slides to partition or open the space.

Since the present invention is configured as described above, the following effects can be obtained.
According to the first invention, during the operation of the drive source, a physical quantity (for example, a load value, a rotation speed, etc.) that changes with a load change of the drive source is detected. Then, predetermined control is performed on the condition that the change rate obtained from the detected physical quantity exceeds a predetermined threshold change rate.
The comparison between the change rate and the threshold change rate can be performed at a relatively early stage while the physical quantity is changing. For this reason, it is possible to detect a change in physical quantity at an earlier point in time than in the conventional technique in which the load value is compared with a larger threshold value.
Therefore, it is possible to quickly detect that the opening / closing body is in contact with the object on the operation direction side, and to reduce the response delay of the control operation.

  Furthermore, according to the second invention, it is possible to provide a specific aspect in which physical quantity detection is relatively easy.

  Furthermore, according to the third invention, since the change in the physical quantity can be made remarkable by the urging means, it is possible to more effectively detect that the opening / closing body is in contact with the object on the operation direction side, and to detect it. In this case, malfunctions can be reduced.

  Furthermore, according to the fourth invention, when the opening / closing body is housed in the housing portion, the closing direction end of the opening / closing body abuts on the housing portion, and the application of a tensile force to the opening / closing body is reduced. As a result, the durability of the switchgear can be improved.

Furthermore, according to the fifth aspect, the threshold change rate is learned and updated by re-operation.
Therefore, it is possible to detect with high accuracy that the opening / closing body has come into contact with the object on the operation direction side.For example, even if the change tendency of the physical quantity changes due to long-term use, etc. The threshold change rate can be set to an appropriate value according to the change tendency.

  Furthermore, according to the sixth invention, an appropriate threshold change rate is selected according to the operating state of the opening / closing body. As a result, it is possible to perform appropriate control according to the operating state of the opening / closing body using the selected threshold change rate.

Furthermore, according to the ninth invention, when the opening / closing body is located on the opening direction side of the predetermined full-close vicinity range, it is expected that the contact with the obstacle occurs when there is a change in the physical quantity. Therefore, rapid control is performed using a relatively small threshold change rate.
Further, when the opening / closing body is located within the fully closed vicinity range, it is expected that the contact with the contact target portion (for example, the floor surface, the ground, the frame member, etc.) occurs when there is a change in the physical quantity. Therefore, control is performed with a slightly delayed response by using a relatively large threshold change rate so that no gap is generated between the opening / closing body and the contact target portion.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
An example of the opening and closing device according to the present embodiment is disposed in or inside an opening part or inside of a housing such as a house, building, warehouse, factory, underground shopping center, tunnel, or vehicle loading platform, and opens and closes the opening part, It will be described as a shutter device that partitions and opens a space.

  The opening / closing device 1 includes an opening / closing body 10 that opens and closes by sliding an end portion in the closing direction, a guide rail 20 that surrounds an end portion of the opening / closing body 10 in the width direction (left and right direction in FIG. 1), and guides the opening / closing direction. 10 is provided with a winding device 30 or the like that winds and unwinds 10 by the rotational force of the rotational drive source 35, and the opening and closing body 10 contacts an object in the opening operation direction side (accommodating portion 31 in the illustrated example). Detect contact.

The opening / closing body 10 constitutes the opening / closing body main body 11 by connecting a plurality of slats 11a formed by bending a horizontally long substantially rectangular metal plate so as to rotate between the vertically adjacent slats. A seat plate member 12 for opening and closing a contact target portion p (for example, a floor surface, the ground, a frame member, etc.) is opened and closed at an end of the body main body 11 on the closing direction side (lower side in the illustrated example). It is connected over the body width direction (see FIG. 1).
For example, the vertical cross-sectional shape of the seat plate member 12 protrudes in the opening / closing body thickness direction so that the seat plate member 12 is brought into contact with the lintel portion (opening edge (not shown)) of the storage portion 31 when the opening / closing body 10 is fully opened. It is formed in a substantially inverted T shape having a part.

  The guide rail 20 is a member that surrounds the end in the width direction of the opening / closing body 10 in a substantially U-shaped cross section by appropriately processing an aluminum alloy material, a steel plate, another metal plate, or a synthetic resin material. And disposed between the winding device 30 and the contact target portion p.

  The winding device 30 is a mechanism that opens and closes the opening / closing body 10 by the rotational force of the rotation drive source 35. The winding shaft 32 that winds and unwinds the opening / closing body 10 in the storage unit 31; A rotation drive source 35 that rotates the winding body 32b of the winding shaft 32 in both directions via a power transmission means 33 such as a chain and a sprocket, an encoder device 36 that outputs a pulse signal in accordance with the rotation of the rotation drive source 35, A load detection unit 37 that detects a load value of the rotation drive source 35, a control unit 38 that controls the rotation drive source 35 according to signals from the encoder device 36 and the load detection unit 37, and the like are provided.

  The storage portion 31 has a substantially box shape in which an opening for allowing the opening / closing body 10 to appear and retract is formed on the lower side, and an edge portion of the opening is an end portion in the closing direction of the opening / closing body 10 when the opening is fully opened (specifically, It is a lintel (not shown) for abutting the opening / closing body thickness direction of the seat plate member 12.

  The winding shaft 32 includes a shaft body 32a that is fixed so as not to rotate with respect to the storage portion 31, a cylindrical or bowl-shaped winding body 32b that is rotatably supported around the shaft body 32a, and One or a plurality of urging means 32c for urging the winding body 32b in the opening / closing body winding direction with respect to the shaft body 32a are provided, and the opening side end of the opening / closing body 10 is stopped on the outer periphery of the winding body 32b. I wear it.

The biasing means 32c is a coil spring having one end fixed to the shaft body 32a and the other end fixed to the winding body 32b, and assists the rotational force of the rotation drive source 35 in the opening / closing body winding direction. .
The urging force of the urging means 32c is appropriately set so that the opening / closing body 10 can be stopped in the middle of opening / closing when the rotational force of the rotational drive source 35 is not acting on the winding body 32b. Has been.

  The rotational drive source 35 is an AC or DC rotary electric motor, and transmits the rotation of its output shaft to the winding body 32 b via the power transmission means 33.

The encoder device 36 is a device that outputs a pulse signal as the output shaft of the rotary drive source 35 rotates.
The number of pulse signals output from the encoder device 36 is counted by a control unit 38 which will be described later, and the count value is stored in the storage device of the control unit 38 as an opening / closing body position variable indicating the position of the opening / closing body 10 in the opening / closing direction. Remembered.
More specifically, for example, when the opening / closing body 10 is closed, the number of pulse signals (pulse number) of the encoder device 36 is added to the opening / closing body position variable, and the opening / closing body 10 is opened. In this case, the number of pulses of the encoder device 36 is subtracted from the opening / closing body position variable.
That is, if the opening / closing body 10 performs a closing operation, the opening / closing body position variable increases according to the closing operation amount, and if the opening / closing body 10 performs an opening operation, the opening / closing body position variable decreases according to the opening operation amount.
On the contrary, the opening / closing body position variable decreases with the closing operation of the opening / closing body 10 and the opening / closing body position variable increases with the opening operation of the opening / closing body 10.

The load detection unit 37 detects a physical quantity that changes with a load change of the rotation drive source 35 during the operation of the rotation drive source 35.
More specifically, the load detection unit 37 is a device that detects the load value of the rotary drive source 35 as the physical quantity as a current value or a voltage value, and outputs an electric signal corresponding to the magnitude of the load value. The data is output to the control unit 38.
That is, when the rotational drive source 35 is a general DC motor, the amount of change in the current value due to the load and the load torque have a substantially proportional correlation. Therefore, in this case, the load value of the rotation drive source 35 can be indirectly detected by detecting the amount of change in the current value of the rotation drive source 35 by the load detection unit 37.
When the rotational drive source 35 is a general AC motor, the amount of change in rotational speed due to the load and the load torque have a proportional correlation. Therefore, in this case, the load value of the rotation drive source 35 can be indirectly detected by detecting the amount of change in the rotation speed of the rotation drive source 35 by the load detection unit 37. The rotation speed may be a value obtained by detecting the number of rotations per unit time in the rotation drive source 35, for example.

The load value detected by the load detection unit 37 is stored in the storage area of the control unit 38 every predetermined sampling time.
The control unit 38 receives an electrical signal input from the encoder device 36, the load detection unit 37, an operation unit (not shown) (operation BOX, remote controller, computer that generates an operation signal, portable terminal, etc.) in a predetermined area of the storage device. In addition to the storage, the electronic calculation processing is performed based on the program, and a control signal corresponding to the processing result is output to the rotation drive source 35 to cause the rotation drive source 35 to rotate forward, reverse, stop, or the like.

  The control unit 38 is preferably configured by a programmed logic circuit used in, for example, a microcomputer or a programmable controller so that the circuit configuration, setting values, and the like can be easily changed according to the field conditions. A wired logic circuit using a relay circuit or other electronic circuit can also be used.

Next, characteristics of the control operation of the switchgear 1 will be described in detail based on the graphs shown in FIGS. 2 to 3 and the flowchart shown in FIG.
According to the switchgear 1, first, an initial operation for determining the threshold change rate is performed as shown in FIG. This initial operation is performed as an adjustment stage before the switchgear 1 is normally used.

More specifically, in step 11 of FIG. 4A, the opening / closing body 10 is opened from the fully closed position to the fully open position.
For example, when the opening / closing body 10 is fully open when the opening / closing apparatus 1 is installed, the opening / closing body 10 is once fully closed and fully opened when an operation is performed for the first time after the opening / closing apparatus 1 is installed. What is necessary is just to make it open to a position.

During this opening operation, the control unit 38 stores the load value data input from the load detection unit 37 for each predetermined sampling time and starts calculating the load value change rate based on the load value data ( Step 12).
The stored load value data is, for example, a trend graph shown in FIGS.
That is, immediately after the opening operation of the opening / closing body 10 from the fully closed position, the load value changes with a certain value (0.5 Nm according to the illustrated example) while slightly changing with respect to the elapsed time. . This load value increases rapidly immediately after the seat plate member 12 of the opening / closing body 10 contacts the lintel portion of the storage portion 31.

The load value change rate may be a value obtained by calculating the load change amount per unit time, for example. This load value change rate is updated with the passage of time.
In step 13, it is determined whether or not the load value change rate is larger than the initial threshold change rate. If the load value change rate is larger, the process proceeds to the next step 14. Otherwise, the process of step 13 is performed again, and the same process as described above is performed for the load value change rate that has changed over time.

  The initial threshold change rate is a value stored in the storage area of the control unit 38 in advance, and can record load value data from fully closed to fully opened (when the sudden increase in load is almost finished). As such, it is set to an appropriate value.

  Next, in step 14, the opening operation of the opening / closing body 10 is stopped by stopping the rotation of the rotation drive source 35.

Further, in step 15, a threshold change rate for use in the normal opening operation (see FIG. 4B) is calculated.
This threshold change rate is a value calculated based on the load value data obtained by the operation of the opening / closing body 10 from fully closed to fully open as shown in FIG. 3, for example, and is a range in which the load increases rapidly. The load fluctuation amount per unit time in x may be used.
The range x is a time range from a time point that is back by a predetermined time t from a time point q at which the opening operation of the opening / closing body 10 is stopped, and a time that is appropriately set so that it can be determined that the load value has rapidly increased. It is a range. The predetermined time t may be a time determined experimentally or theoretically.
As another example, the range x may be a time range after a predetermined time has elapsed since the opening of the opening / closing body 10 was started.

  Next, in step 16, the threshold change rate calculated in step 15 is stored in the storage area of the control unit 38, and the initial operation is terminated.

  In addition, according to the said embodiment, in order to clarify the processing content by the control part 38, it demonstrated as a program structure, However, The said load value change rate uses the well-known electronic circuit equipped with the differentiation circuit. It is possible to obtain.

Then, after the threshold change rate is determined as described above, the control shown in FIG. 4B is performed in the normal opening operation.
More specifically, in step 21, it is determined whether or not the opening / closing body 10 is opening based on an opening signal from an operation switch (not shown) or a remote controller. If the opening / closing body 10 is opening, The process proceeds to the next step 22, otherwise, the open / close body 10 is kept waiting for the opening operation.
Specifically, the determination in step 21 may be made based on, for example, a contact signal from a relay circuit or the like for forward and reverse rotation of the rotation drive source 35.

  In the next step 22, the load value data input from the load detection unit 37 is stored at every predetermined sampling time, and the load value change rate is calculated based on the load value data in substantially the same manner as in step 12. Start. The load value change rate is updated over time.

  In step 23, it is determined whether or not the load value change rate is larger than the initial threshold change rate. If the load value change rate is larger, the process proceeds to the next step 24. Otherwise, the process of step 23 is performed again.

  In the next step 24, the opening operation of the opening / closing body 10 is stopped by stopping the rotation of the rotation drive source 35.

  That is, in the above steps 21 to 24, the closing direction end (seat plate member 12) of the opening / closing body 10 is housed on the condition that the load value change rate exceeds the threshold change rate during the opening operation of the opening / closing body 10. It judges that it contact | abutted to the lintel part of the part 31, and the opening operation | movement of the opening-closing body 10 is stopped.

Therefore, according to the above embodiment, when the end of the opening / closing body 10 in the closing direction (seat plate member 12) comes into contact with the lintel of the storage portion 31 and a load change occurs, the load change is fast. The opening operation of the opening / closing body 10 can be stopped at the time.
Therefore, it is possible to prevent the tension in the pulling direction from acting on the opening / closing body 10 after full opening, and the durability of the opening / closing body 10 and the winding device 30 and the like being lowered.

Next, another example of the embodiment according to the present invention will be described.
In the embodiment described below, the program and the electronic circuit of the control unit 38 are changed with respect to the switching device 1. Specifically, the threshold change rate is learned and determined in the normal opening operation.

  More specifically, as shown in the flowchart of FIG. 5, in step 31, it is determined whether or not the opening / closing body 10 is opening based on an opening signal from an operation switch (not shown) or a remote controller. If is open, the process proceeds to the next step 32. Otherwise, the open / close body 10 is kept waiting for the open operation.

  In the next step 32, the load value data input from the load detector 37 is stored for each predetermined sampling time, and the load value change rate based on the load value data is substantially the same as in steps 12 and 22 above. Start the calculation. The load value change rate is updated over time.

  In step 33, it is determined whether or not the threshold change rate has already been calculated and stored. If there is no stored threshold change rate, the process proceeds to the next step 34; The process jumps to step 35.

  In step 34, an initial value stored in advance is set as the threshold change rate. As with the initial threshold change rate described above, this initial value is set to an appropriate value so that load value data from fully closed to fully opened (when the sudden increase in load is almost finished) can be recorded. Is set.

  In step 35, it is determined whether or not the load value change rate is larger than the threshold change rate. If the load value change rate is larger, the process proceeds to the next step 36. Otherwise, the process of step 35 is performed again.

In step 36, the opening operation of the opening / closing body 10 is stopped by stopping the rotation of the rotation drive source 35.
Further, in step 37, the threshold change rate is calculated based on the load value data obtained by the operation of the opening / closing body 10 from fully closed to fully open.
The threshold change rate is a load fluctuation amount per elapsed time in a range x (see FIG. 3) in which the load increases rapidly. The range x in this case may be a range of time traced back from the time when the opening / closing body 10 during the opening operation is stopped.
In step 38, the threshold change rate stored in the predetermined storage area of the control unit 38 is updated to the threshold change rate calculated in step 37, and the process returns to step 31.

That is, according to the above steps 31 to 38, during the normal opening operation of the opening / closing body 10, the threshold change rate is not calculated (that is, during the first opening operation of the opening / closing body 10). The value is used as the threshold change rate, and when the load value change rate exceeds the threshold change rate which is the initial value, the opening operation of the opening / closing body 10 is stopped.
Thereafter, the threshold change rate stored in the control unit 38 is updated each time the threshold change rate is calculated based on load value data from fully closed to fully open of the opening / closing body 10.

  In the flowchart shown in FIG. 5, as described above, the threshold change rate is updated every time the opening / closing body 10 is operated from fully closed to fully opened. The threshold change rate may be updated each time the body 10 is fully closed to fully opened.

  Moreover, in the said embodiment, although the said threshold change rate was used in order to stop opening operation | movement of the opening / closing body 10 in a fully open position, in order to stop the closing operation of the opening / closing body 10 in a fully closed position as another example. Alternatively, the threshold change rate may be used, or the threshold change rate may be used to detect that the operating opening / closing body 10 is in contact with an obstacle.

  In the above embodiment, the opening operation of the opening / closing body 10 is stopped on condition that the load value change rate exceeds a single threshold change rate. However, as another example, the threshold change rate is different. A plurality of types of threshold change rates may be provided, and the plurality of types of threshold change rates may be selectively used according to the operating state of the opening / closing body 10.

Next, an example will be described in which appropriate control is performed according to whether the opening / closing body 10 during the closing operation is fully closed or abutted against an obstacle.
In the flowchart of FIG. 6, as a plurality of types of threshold change rates, a first threshold change rate used when the opening / closing body 10 during the closing operation is positioned on the opening direction side with respect to a predetermined full-close vicinity range, and during the closing operation And the second threshold change rate used when the opening / closing body 10 is located within the full-close vicinity range, and the former threshold change rate is made smaller than the latter value.

  In FIG. 6, in step 41, it is determined whether or not the opening / closing body 10 is closing based on a closing signal from an operation switch (not shown) or a remote controller. If the opening / closing body 10 is closing, The process proceeds to step 42, and otherwise, the waiting state for the closing operation of the opening / closing body 10 is continued.

  In step 42, the load value data input from the load detection unit 37 is stored for each predetermined sampling time, and calculation of the load value change rate based on the load value data is started. The load value change rate is updated over time.

In the next step 43, it is determined whether or not the first threshold change rate and the second threshold change rate have already been calculated and stored, and if there is no stored first threshold change rate and second threshold change rate. Then, the process proceeds to the next step 44, and if not, the process jumps to step 45.
That is, when the opening / closing device of this aspect is closed for the first time, neither the first threshold change rate nor the second threshold change rate is set, so the process proceeds to step 44.

In step 44, initial values stored in advance are set for the first threshold change rate and the second threshold change rate, respectively.
The initial value for setting the first threshold change rate is set to an appropriate value so that load value data from fully open to fully closed (when the sudden increase in load is almost finished) can be recorded. Has been.
The initial value for setting the second threshold change rate is set to a value smaller by a predetermined amount than the initial value for setting the first threshold change rate.

Next, in step 45, it is determined whether or not the end in the closing direction of the opening / closing body 10 has entered a predetermined fully closed vicinity region E. If it has entered, the process proceeds to the next step 46a. If so, the process proceeds to step 46b.
As shown in FIG. 1, the fully closed vicinity region E is a predetermined region on the contact target site p side, and may be, for example, a range of about one to three slats 11 a.
Whether or not the end of the opening / closing body 10 in the closing direction has entered the predetermined fully closed vicinity region E may be determined, for example, based on the position of the opening / closing body recognized based on the signal from the encoder device 36. As another example, the determination may be made based on a signal from a counter-type limit switch provided in the rotational drive source 35, or may be made based on a signal from a limit switch (not shown) provided in the guide rail 20. .

  In step 46a, it is determined whether or not the load value change rate is larger than the first threshold change rate. If so, the process proceeds to the next step 47a. If not, the process of step 46a is performed again. I do.

In the next step 47 a, the opening operation of the opening / closing body 10 is stopped by stopping the rotation drive source 35.
Further, in step 48a, the first threshold change rate is calculated based on the load value data obtained by the operation of the opening / closing body 10 from the fully open position to the fully closed position. The first threshold change rate is a load fluctuation amount per elapsed time in a range in which the load rapidly increases. The range may be a range that goes back a predetermined time from the time when the closing operation of the opening / closing body 10 is stopped.

  In step 49a, the threshold change rate stored in the predetermined storage area of the control unit 38 is updated to the threshold change rate calculated in step 48a, and the process returns to step 41.

In Step 46b, it is determined whether or not the load value change rate is larger than the second threshold change rate. If the load value change rate is larger, the process proceeds to the next Step 47b. Otherwise, the process proceeds to Step 45. Return processing.
In step 47b, the closing operation of the opening / closing body 10 is temporarily stopped, reversed, and then stopped again.

In the next step 48b, a second threshold rate of change is calculated. The second threshold change rate is set to a value smaller than the first threshold change rate by a predetermined amount.
In step 49b, the threshold change rate stored in the predetermined storage area of the control unit 38 is updated to the threshold change rate calculated in step 48b, and the process returns to step 41.

That is, according to the flowchart shown in FIG. 6, when the end in the closing direction of the opening / closing body 10 is located on the opening direction side of the full-close vicinity region E and the load value increases, the opening / closing body 10 is obstructed. Since the contact with the object is expected, the detection sensitivity is increased using a relatively small second threshold change rate. When an increase in the load value is detected by the second threshold change rate, the closing operation of the opening / closing body 10 is reversed immediately after it is temporarily stopped, thereby mitigating the impact on the obstacle and the contact load.
Further, when the load value increases in a state where the closing direction end portion of the opening / closing body 10 enters the fully closed vicinity region E, the opening / closing body 10 contacts the contact target site p. Since the first threshold change rate larger than the second threshold change rate is used, the detection sensitivity is slightly dulled and the opening / closing body 10 is stopped, so that the opening / closing body 10 in the fully closed state is closed. A gap is prevented from being generated between the end portion and the contact target portion p.

  In addition, according to the said embodiment, by providing the urging means 32c which urges | biases the opening-closing body 10 to an open direction, it is just before full opening from full closing (in detail before the seat board member 12 contact | abuts the accommodating part 31). ) Is reduced so that when the seat plate member 12 comes into contact with the storage portion 31, a noticeable increase in the load occurs, and it is easy to determine the increase in the load. However, as another example, it is possible to adopt a mode in which the biasing means 32 c is omitted from the configuration of the opening / closing device 1.

  Also, in the flowchart of the illustrated example, the control operation when other control signals (for example, a stop command or the like) not shown in the flow are input is omitted, but other control signals are input. In such a case, the illustrated flow is interrupted and appropriate processing according to other control signals is performed.

It is a schematic diagram which shows an example of the switchgear concerning this invention. It is a graph which shows the load fluctuation from a fully closed state to a fully open state in the switchgear. It is the graph which expanded the principal part in FIG. 2 in the time direction. Regarding the switchgear, (a) shows a flowchart of an initial operation, and (b) shows a flowchart of a normal opening operation. It is a flowchart which shows the operation | movement about the other examples of the switchgear concerning this invention. It is a flowchart which shows the operation | movement about the other examples of the switchgear concerning this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1: Opening / closing apparatus 10: Opening / closing body 30: Winding apparatus 32: Winding shaft 32a: Shaft body 32b: Winding body 32c: Energizing means 35: Rotation drive source 38: Control part 36: Encoder apparatus 37: Load detection part p: contact target part E: fully closed vicinity region

Claims (7)

In an opening / closing apparatus comprising an opening / closing body that opens and closes by sliding, and a drive source that opens / closes the opening / closing body, and that detects that the opening / closing body is in contact with an object on the operation direction side,
During operation of the drive source, a physical quantity that changes with a load change of the drive source is detected continuously or intermittently,
A switchgear characterized in that predetermined control is performed on the condition that the change rate of the physical quantity exceeds a predetermined threshold change rate.   2. The switchgear according to claim 1, wherein the physical quantity is a load value of the drive source.   The opening / closing apparatus according to claim 1 or 2, further comprising an urging means for urging the opening / closing body in an opening direction. An opening / closing device comprising a winding body that winds the opening / closing body by the power of the drive source, and a storage unit that stores the winding body and the opening / closing body wound around the winding body,
It is determined that the end of the opening / closing body in the closing direction has come into contact with the storage portion by an opening operation because the change rate of the physical quantity exceeds the threshold change rate, and the drive source is stopped as the predetermined control. The switchgear according to any one of claims 1 to 3, further comprising:   The threshold change rate is updated based on the physical quantity detected during the re-operation when the opening / closing body re-contacts the object on the operation direction side by re-operation of the drive source. The switchgear according to any one of claims 1 to 4. Provide multiple types of threshold change rate to have different values,
6. The switchgear according to any one of claims 1 to 5, wherein the threshold change rate is selected according to an operating state of the switchgear. The threshold change rate includes the threshold change rate used when the opening / closing body during the closing operation is positioned on the opening direction side of the predetermined full-closed range, and the opening / closing body during the closing operation is near the full-closed state. There is a threshold change rate used when located within the range,
The switchgear according to claim 6, wherein the former threshold change rate is set smaller than the latter value.

Images