JP2008291571A - Controller for automatic door device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a controller for an automatic door device, which operates a door, employs a screw driving means for rationally driving the door without being accompanied by an always strained state so that the door carries out inverted operation when an overload is detected in the process of moving in a door closing direction, and moves and stops at a closed position by decreasing its speed when it arrives at an overload detection point in the process of returning in the door closing direction, can maintains initial setting over a long time, and facilitates maintenance thereof. <P>SOLUTION: The automatic door device is set up so as to open/close the door via a power transmission arm formed by aligning with each other a plurality of power transmission rollers successively engaging with a screw groove. The controller controls the automatic door device by a control section such that the door is opened by activating a driving motor upon door opening operation, moves the door in the door closing direction, based on safety return operation after the lapse of a set opening time at a door opening termination point, and closes the door by reducing its speed immediately before a closing termination point if no overload is detected in the process of the moving. The controller controls these actions upon reception of locational signals from the driving motor, by a rotation encoder provided for an output section. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a control device for an automatic door device that converts a rotational power into a linear motion using a drive screw and smoothly performs an operation of automatically opening and closing the door.

  Generally, in an automatic opening / closing door device (automatic door device), a drive mechanism for opening and closing the door is provided on the building side for guiding the sliding door. As this driving mechanism, a belt (toothed belt) wound mainly between pulleys that is arranged at a required distance along the eyes is operated by a reduction motor, and the door is connected to the winding belt. A suspension vehicle travels on a guide rail, and a door is connected to the door suspension vehicle and suspended, and the door is opened and closed by driving a reduction motor. The door should be moved at a slow speed slightly before the start and end points of opening and closing, and especially when closing, the opening must be closed without colliding with the vertical member (column member) of the three-way frame. When the door is closed, or when an object or person comes in contact with the movement in the closing direction, or when it is likely to come into contact, the door will stop traveling in the closing direction and reversely move in the opening direction, causing no trouble. To be done. To open a closed door, a person operates the touch switch to open it, or operates a deceleration motor with a detection signal from a human detection sensor to automatically open the door, and a person (object) When the doorway is passed, the door is automatically closed.

  In such an automatic door device, many proposals have already been made regarding the control of the opening and closing operation of the door, and it has been put into practical use. For example, according to Patent Document 1, a central processing unit (CPU) in a control mechanism detects the position of a door based on a signal from an encoder attached to a motor that opens and closes the door, and the motor is based on the position signal. A control signal is given to the drive unit to drive and brake the motor. Further, it is disclosed that the CPU calculates the door speed at the door position based on the signal from the encoder, and controls the door speed to match the required speed corresponding to the door position.

  Further, according to Patent Document 2, when a human body detection signal is input during the opening / closing operation of the door, the door moves at a low speed at an initial stage, and when the high speed opening position is reached, the door is moved by a high speed opening movement, When the next low-speed door opening position is reached, the brake is braked and the door moves to the door-opening position by the low-speed door movement and stops, and in the closing operation, the door is closed by the reverse of the opening movement. In the operation pattern, the total door movement distance from the closing position to the opening position is measured and stored in the automatic door control unit. In such an operation pattern, when the door is opened, if the door is manually opened, the automatic opening / closing pattern can be used thereafter, but if the door does not operate normally due to a malfunction of the human body detector, it will open. The door or door cannot be closed. In addition, when the door is stopped halfway, there is a problem that a normal operation is not performed even if the door is manually opened (closed) and the vehicle runs away. In order to solve such a problem, a door displacement detector is provided so that the door displacement amount when the door is manually opened can be counted, and when the door is stopped, the door displacement amount Is controlled so that is reset to 0. Manual leading automatic doors without human body detectors, and for human body detectors in fully automatic doors, the door closing position is only the door transition length reference value from the door stop position while the door is moving There is disclosed a technique for performing control so that a door can be automatically opened and closed with a predetermined opening / closing operation pattern when the door is manually opened.

  Further, in Patent Document 3, when the door is artificially moved from the low-speed door opening brake start position to the door opening direction, the door is held in a stopped state by moving the door at a low speed by a motor and moving the door at a low speed. When the door closing brake start position is reached, it is returned to the normal opening / closing operation, and the door is controlled to be in the open holding state at the forced stop position, returned to the normal closing operation, and the door opening stopped state is maintained. A technique for preventing the door from being closed is disclosed.

  On the other hand, the door opening / closing drive system differs from the automatic door device described above in that it automatically opens and closes the door by moving a plurality of rollers sequentially in a linear direction by a screw drive machine having a screw with a large lead. A door device is known from Patent Document 4 as the invention of the applicant's earlier application.

Japanese Patent No. 3299135 Japanese Patent No. 3322245 JP 2000-320242 A JP-A-2005-97886

  It can be recognized that the door opening / closing control means of the automatic door device according to the prior art is effective for solving the corresponding problems. However, in those known from Patent Documents 1 to 3, the basic door opening / closing drive mechanism has two endless toothed belts or chains on two pulleys or sprockets arranged at a required distance. This is a system in which a (winding conductor) is wound and rotated by a motor, and a door connected to the winding conductor is opened and closed. For this reason, since the wound conductor is driven while maintaining tension, while the tensioned state is maintained for a long period of time, the wound conductor expands and the initial setting is distorted. When the winding conductor is stretched, the door movement distance does not change, so the movement distance of the winding conductor gradually shifts, making it impossible to accurately open and close, and the door cannot reach the closed position, leaving a gap. There are problems such as In particular, if the stretch of the wound conductor is left unattended, errors accumulate during repeated opening and closing of the door, and normal closing (opening) cannot be performed. Therefore, unless the tension of the winding conductor is adjusted, accurate closing or opening cannot be performed, and it is necessary to frequently adjust the winding conductor for long-term use. There is a problem that it takes time and adjustment costs increase.

  In such a door opening / closing drive mechanism using a wound transmission body, it is difficult to solve the problem in long-term use unless the physical problems of the conductor are improved. On the other hand, the door opening / closing drive mechanism using the screw drive known in Patent Document 4 does not include a power transmission mechanism that is used in a tensioned state. Occurrence of is not recognized.

  Therefore, the present invention has been made to solve the above-described problems, and uses a screw driving means having a simple configuration that can be rationally driven without always being in a tension state. It is an object of the present invention to provide a control device for an automatic door device that can be maintained for a long time and is easy to maintain.

In order to achieve the above object, a control device for an automatic door device according to the present invention comprises:
A control device in an automatic door device configured to open and close a door through a power transmission arm in which a plurality of power transmission rollers sequentially engaged with the screw groove are rotated by rotation of a drive screw having a screw groove with a large lead. There,
The drive motor is activated by the door opening sensor or manual assist to open the door, and at the door opening end position, the door is moved in the closing direction by the safety return operation after the set opening time has elapsed. To close the door at a reduced speed before the closing end point,
When the overload is detected while the door is moving in the closing direction, the overload reversing operation is performed. These operations can be controlled by a control unit in response to a position signal from a rotary encoder attached to an output unit from the drive motor.

  In the above invention, the opening / closing movement distance of the door is such that the closed position is the starting origin and the fully opened position is the end point, and the number of pulses detected by the rotary encoder during this period is stored in the memory of the control unit. The opening movement amount is stored as a value obtained by adding the number of pulses of the encoder, and when the door is closed, the closing movement amount is stored as a value obtained by subtracting the number of pulses due to movement from the starting origin point to the end point. Thus, it is preferable to provide a control unit that can detect the movement position of the door.

  According to the present invention, a screw driving machine having a driving screw in which a screw groove having a large lead is formed for driving a door is used via a power transmission arm in which a plurality of rollers engaging with the driving screw are arranged. In the configuration in which the door opens and closes, the opening operation of the door is performed by starting the motor by an opening instruction by a door opening sensor (detecting passage of a person, an object, or the like) or a manual opening first operation. When the door is closed, if the door is overloaded due to contact with a person or object passing through the door in the closing direction, the door will immediately reverse in the opening direction, and overload detection will occur in the process of returning to the closing direction again. When it reaches the point, the motor is controlled based on the value measured by the rotary encoder so that the rotation of the drive screw is closed at a reduced speed, and the door can be opened and closed without causing any trouble. Therefore, there is an effect that smooth automatic opening and closing of the door can be performed over a long period of time without requiring adjustment in the drive unit.

  In addition, because the screw drive unit receives the pulse signal from the rotary encoder directly connected to the output unit to the screw and is controlled to open and close based on the amount of movement of the door by the drive screw, the set value depends on the drive. There is an advantage that it can be accurately controlled over a long period of time without being caused by positional deviation of the door.

  Next, a specific embodiment of the control device in the automatic door device according to the present invention will be described with reference to the drawings.

  FIG. 1 shows a schematic diagram of an automatic door device including the control device of the present embodiment. FIG. 2 is a schematic diagram showing the relationship between the screw operating device and the control device, which are the main parts of the automatic door device, and FIG. 3 is an enlarged detailed view showing the mode of the screw operating device and the door hanging portion, 4 is a schematic diagram showing the relationship between the screw operating device and the control unit in the automatic door device, FIG. 5 is an enlarged sectional view taken along the line II in FIG. 2, and FIGS. 6 and 7 show the automatic door device. A flowchart illustrating the operation of the control device is shown.

  As shown in FIG. 1, the automatic door device 1 to which the control device of this embodiment is applied is attached, for example, along the lower side of the duck 2 (or the upper side of the three-sided frame) at the entrance of the building. Inside the support member 3, a door 5 suspended by door suspensions 6, 6 ′ that can run along the guide rails 4, 4 and moved by a predetermined distance, and the one door suspension 6, a power transmission arm 20 coupled to the power transmission arm 6, and a drive screw 11 that drives a plurality of power transmission rollers 21 provided on the power transmission arm 20 and a control for controlling the opening and closing of the door 5. The apparatus 30 is comprised.

  The support member 3 has a rectangular cross-sectional outer shape, and a partition wall 3a is formed at an intermediate position. As shown in FIG. 5, a line with the vertical axis center line A of the support member cross-section as a reference is provided below the partition wall 3a. Symmetrically, the guide rails 3b of the door suspension wheels 6 and 6 'and the guide rails 4a of the power transmission arm are arranged at the upper and lower positions, and the screw driver 10 is incorporated in the upper part of the partition wall 3a. ing.

  The screw driver 10 includes a drive screw 11, a support shaft 12, a reduction motor 13 (motor), a power transmission shaft 12a from the output shaft 13a of the reduction motor 13 to the support shaft 12, and both shafts 13a, The clutch 14 is interposed between the clutch 12 and the driving machine frame 16 that supports the clutch 14. The clutch 14 is incorporated in the support member 3 and above the partition wall 3 a. A rotary encoder 25 is disposed on the side of the support shaft 12 connected by the clutch 14 from the power transmission shaft 12a. And it arrange | positions so that a part of lower side of the said drive screw 11 may be exposed below from the opening part 3b formed in the partition 3a of the said supporting member 3 (refer FIG. 3).

  The drive screw 11 is formed with a wide screw groove 11a having a large lead at a required pitch, and is supported on a support shaft 12 that is slidable in the axial direction and to which rotational force is transmitted. The motor 13 is provided so as to be rotatable forward and backward. The drive screw 11 has shock absorbing coil springs 17 and 17 on the support shaft 12 at both ends so that the load can be avoided by sliding in the axial direction when an overload is applied. It is inserted between the end face and the end of the drive screw 11, respectively.

  The power transmission arm 20 connected to the door suspension 6 is a member having a length substantially matched with the width of the door 5 and is pivotally supported on the upper surface so as to be horizontally rotatable at intervals matching the lead of the drive screw 11. A plurality of power transmission rollers 21 are arranged in a straight line. The power transmission arm 20 is connected to one door suspension wheel 6 that suspends the door 5 on the upper side thereof, and a plurality of (three in a specific example) arranged on the upper surface of the middle portion of the arm. The guide roller 22 is in contact with a guide rail 4a located on the upper side of the support member 3 so as to be horizontally movable.

  On the other hand, the control device 30 for controlling the operation of the screw driver 10 is provided with a button of a door open switch arranged as an operation portion for opening and closing the door 5 at a predetermined position (for example, a pulling portion, not shown) of the door. When the door open button is touched, an activation signal is transmitted to the control unit, and an operation signal for opening the door is given to the motor 13. In addition, a sensor for detecting presence / absence of a person / object entering / exiting, a sensor for detecting the door closed state, a sensor for detecting the opening of the door, and the like are arranged at predetermined positions on the support member 3 or the upper arm 2 (kamoi). It is installed. And the control part 31 which receives the signal from each said sensor and switch and controls the drive of the motor 13 is distribute | arranged on the board | substrate 32 of 1 sheet | seat, and the board | substrate 32 provided with this control part 31 is on the said supporting member 3. It is attached and wired from this base 32 to each sensor, a control device such as a switch, and the motor 13. Although not shown, the control unit 31 switches the origin (selects the door open state), sets the opening time, sets the door opening speed, sets the door closing speed, and selects and sets the speed pattern. A dip switch for switching the person and setting the presence or absence of the clutch is arranged.

  The operation mode of the control device for the automatic door device of the present embodiment configured as described above will be described based on the flowcharts shown in FIGS. 6 and 7. Reference symbol S represents a step.

  S1: First, as a preparation stage, when the power switch is turned on as an initialization operation in a state where the automatic door device 1 is installed at the entrance of a building, an origin return operation is performed (step 1). In this initialization operation, the power transmission arm 20 including the power transmission roller 21 that is engaged with the drive screw 11 by operating the screw drive machine 10 moves along the guide rail 4a. 6, the door 5 (hereinafter referred to as “door 5” for the sake of explanation) opens at a low speed to the fully open position (until it stops). Thereafter, it is reversed and the door 5 is moved to the fully closed position and stopped. Thus, the origins of the fully open position and the fully closed position are stored in the memory of the control unit 31. The distance (stroke) to the both ends of the door 5 movement is counted by the rotary encoder 25 and stored in the memory of the control unit 31. Thus, when the initialization operation is completed, the door 5 can be automatically opened and closed.

  S2 to S4: It is monitored that the state at the door closing position is closed (step 2). A sensor disposed at the upper part of the door closing position determines whether or not a person or object has started to open by detecting a sign passing through the doorway (step 3). The door 5 can be opened by touching a door open button (switch operation button). When it is in the closed state (No), the process proceeds to the next step 4. On the other hand, if it is determined that the door 5 is starting to open (Yes), the process proceeds to step 5. In step 4, it is confirmed whether the door 5 is opened and moved about 10 mm. If it is determined that the door 5 is moving, the process proceeds to step 5, and if the door 5 is not moving (No), the process returns to step 2 to monitor the opening of the door 5. Thereafter, this operation is repeated.

  S5 to S6: When it is determined in step 4 that the door 5 has moved approximately 10 mm in the opening direction, the motor 13 of the screw drive 10 is activated and the drive screw 11 is rotated forward. Therefore, the power transmission roller 21 engaged with the screw groove 11 a is sent by the rotation of the drive screw 11, and the power transmission arm 20 moves to open the door via the door suspension wheel 6 attached to the power transmission arm 20. The operation is started (step 5). In the middle of the door opening operation, the presence or absence of overload is detected (step 6), and if normal (No), the motor 13 rotates as it is to move the door 5 in the opening direction. If it is determined that the state is an overload state (Yes), the process proceeds to step 18. In this door opening operation, the vehicle travels at a low speed first, gradually increases in speed, and travels to a stop position. At this time, when approaching the stop position, the motor 13 is decelerated to move the door 5 at a low speed and stop.

  S7 to S8: It is confirmed that the position set by the rotary encoder 25 is that the door 5 has been opened without any abnormality and has reached the open origin position (step 7). If not reached (No), the process returns to step 5 and further travels in the door opening direction. If the door opening position has been reached (Yes), the drive of the screw driver 10 is temporarily stopped, and it returns slightly from the opening origin position to the closing side (safety return) and stops. (Step 8).

  S9 to S10: It is determined whether a safety return has been performed. If it is returning (moving in the closing direction) (Yes), the process proceeds to step 17. When not returning (No), the process proceeds to Step 10. In step 10, the pyroelectric sensor monitors the state at the door opening position.

  S11 to S14: In step 11, it is determined whether or not a door opening time has passed a predetermined time (for example, a time required for a person or an object to pass through the doorway by opening the door 5). When the predetermined time has elapsed, the process proceeds to step 20. If the predetermined time has not yet elapsed (No), it is determined whether or not each sensor is ON in the next step 12, and if yes, the open time is extended by a certain time in step 13, and the person or object is detected. Keep the door open until the end of the pass. In step 14, it is determined whether or not the door 5 is in the fully open holding position. Here, if the door 5 is in the holding position (Yes), the process proceeds to the next step 20; otherwise (No), the process returns to step 10 and the above operation is repeated.

  S15 to S16: When it is determined in step 14 that the door position is the fully open position, the door 5 is further fully opened (step 15), and the door 5 is moved in the closing direction by about 30 mm after the required time has elapsed. Is recognized (step 16), the process proceeds to step 20. If it is determined that it is not moving, the process returns to step 15 and is repeated until there is a movement.

  S17 to S19: On the other hand, it is determined that the safety return has been performed (Yes) in Step 9 and the process proceeds to Step 17, and if it is recognized that the safety return is in the same location, the process proceeds to Step 18 to perform the safety stop operation ( Step 18). Subsequently, it is confirmed whether the position of the door 5 exists in a fully open holding position. If the door position is in the fully open holding position, the process proceeds to step 15 to perform the fully open holding operation. Otherwise, return to step 18 and repeat the above procedure again.

  S20 to S26: The screw driver 10 reverses and the door 5 travels in the closing direction, and it is checked whether it is overloaded in the middle (step 20). Driving continues (step 21). If it is determined that the load is overloaded (Yes), the motor is reversely rotated and self-returned (step 22). If the door 5 is operated in the closing direction by the screw driver 10 and there is no abnormality, the driving in the closing direction is continued as it is. However, when abnormality detection or an overload state is detected by each sensor (step 23, step 24). After safety return, the door 5 is actuated in the opening direction (return to step 5).

  While repeating such an operation, when a load is applied, such as when the door 5 is in contact with an object or a person during the detection of the overload, for example, during the door closing operation, the door 5 is reversed and moved in the opening direction, and again When moving in the door closing direction, when approaching the position where the previous load was applied (the position is detected by the encoder 25), the traveling speed is decelerated and passed, and then accelerated to move in the closing direction.

  Eventually, when the door 5 reaches the closed position (origin position), it is determined whether or not the door 5 is in the closed state (step 25). If the door 5 has reached the closed position correctly (Yes), the operation of the screw driver 10 is activated. Stopped (step 26). If the door 5 has not been closed properly (No), the process returns to step 20 to repeat the door closing operation. Then, it returns to step 2 and will be in a standby state until the next door opening operation. Thereafter, the above operation is repeated.

  According to this embodiment, as described above, the opening / closing operation of the door 5 causes the rotation encoder 25 to detect the rotation angle (rotation amount) of the drive screw 11 as it is in the operation of the screw drive machine 10 that directly opens and closes the door 5. Thus, the position of the door can be accurately determined by reducing the movement distance of the door to the rotation of the drive screw 11 from the rotation amount, and storing the door movement distance. It can be done.

Schematic diagram of an automatic door device provided with the control device of this embodiment Schematic showing the relationship between the screw operating device and the control device, which are the main parts of the automatic door device Enlarged detail drawing showing aspects of the screw actuator and the door suspension Schematic showing the relationship between the screw actuator and the control unit in the automatic door device II enlarged sectional view of FIG. Flow chart for explaining the operation of the control device of the automatic door device (1) Flow chart for explaining the operation of the control device of the automatic door device (2)

Explanation of symbols

1 Automatic door device 5 Door
6 Door suspension wheel 10 Screw drive 11 Drive screw 11a Screw groove 13 Motor 20 Power transmission arm 21 Power transmission roller 25 Rotation encoder 30 Controller 31 Controller

Claims (2)

A control device in an automatic door device configured to open and close a door through a power transmission arm in which a plurality of power transmission rollers sequentially engaged with the screw groove are rotated by rotation of a drive screw having a screw groove with a large lead. There,
The drive motor is activated by the door opening sensor or manual assist to open the door, and at the door opening end position, the door is moved in the closing direction by the safety return operation after the set opening time has elapsed. To close the door at a reduced speed before the closing end point,
When the overload is detected while the door is moving in the closing direction, the overload reversing operation is performed, and when the overload detection point is reached in the return process in the closing direction, the speed is reduced and the door is moved to the closing position and stopped. A control device for an automatic door device, characterized in that these operations can be controlled by a control unit in response to a position signal from a rotary encoder attached to an output unit from the drive motor. The opening / closing movement distance of the door is that the closed position is the starting origin, the fully opened position is the end point, and the number of detected pulses of the rotary encoder during this period is stored in the memory of the control unit. The opening movement amount is stored as a value obtained by adding the number of pulses, and when the door is closed, the closing movement amount is stored as a value obtained by subtracting the pulse number due to the movement from the starting origin point to the end point. The control apparatus of the automatic door apparatus of Claim 1 provided with the control part which can detect the movement position of a door.

Images