JP2018096035A - Controller of automatic door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller of automatic door capable of swiftly stopping a door even when the speed of the door increases being pushed by a nursing care staff, and capable of appropriately giving an assistance force to the door when the door is moved after that.SOLUTION: When a movement direction detection part 710 detects a movement direction of a sliding door. When the sliding door exceeds a rating speed, a regenerative detector 705 generates a regenerative detection signal. A switch 610 switches over a current command signal based on switchover signal from a switchover part 800. An assist current command signal is input to an electric power switchover command part 513 in a direction that the sliding door moves, and thus, the assistance force is given to a motor 14.SELECTED DRAWING: Figure 2

Description

The present invention relates to an automatic door control device.

The conventional automatic door device includes a position detection unit that detects the position of the door, an opening / closing drive unit that opens and closes the door, and a control unit that drives and controls the opening / closing drive unit, as described in Patent Document 1 below. When the door is in the fully closed position, the opening / closing drive unit applies a pre-energizing force to the door so that the door does not move in the opening direction, and the position detector moves more than a predetermined distance from the fully closed position of the door. And the opening / closing drive unit is controlled so that the door moves in the opening direction.

Accordingly, when the door is opened by a predetermined distance by hand when the door is in the fully closed position, the door is easily opened even when the force is weak because the opening / closing drive unit applies a preliminary biasing force to the door.

JP 2012-31600 A

However, an automatic door applied to a nursing home such as a nursing home is set to about 1/3 of the normal rated speed. Accordingly, the moving speed of the door can be forcibly increased by pushing or pulling the door by hand without waiting for the care staff to move the door to the open end or the closed end. The inventor notices that an excessive force is applied to the door mechanism as the door speed increases, causing a failure. When the speed increase is detected, an assist force is applied to the door while quickly decelerating the door. Then, it was found that there is a need for the door speed not to exceed the rated speed even when the door is pushed or pulled, and that the door can be moved smoothly.

The present invention has been made in order to solve the above-described problems. When the speed of the door increases when a care staff pushes or pulls the door, the door is smoothly decelerated, and then the door. It is an object of the present invention to provide an automatic door control device that can prevent the door speed from exceeding the rated speed even when is pushed or pulled, and that can smoothly move the door.

The automatic door control device according to the first invention moves the door at a predetermined rated speed based on the power of the motor to open or close the door, and performs closed-loop control by a speed command signal. An automatic door control device comprising:
Motor driving means for driving the motor;
Motor control means for rotating the motor while controlling the motor driving means based on a current command signal generated by the speed command signal;
A moving direction detecting means for detecting a moving direction in which the door moves;
An auxiliary current command generating means for generating an auxiliary current command signal based on the moving direction in order to generate an auxiliary torque corresponding to the running resistance of the door from the motor;
Switching means for inputting any one of the current command signal and the auxiliary current command signal to the motor driving means;
Overspeed detection means for detecting that the rated speed has been exceeded and generating an overspeed detection signal in a state in which the motor is operated by the current command signal;
When the over speed detection signal is generated, the switching means disconnects the current command signal from the motor driving means by the switching means, and the switching control means inputs the auxiliary current command signal to the motor driving means,
It is characterized by comprising.
According to such an automatic door control device, when an overspeed detection signal is generated in a state where the motor is rotated by the current command signal and the door is moved, the current command signal is separated by the switching means and the auxiliary current is A command signal is input to the motor driving means to rotate the motor in the direction in which the door has moved. Accordingly, the assisting force is applied to the door by driving the motor through the motor driving means by the auxiliary current command signal. In this state, even if the care staff pushes or pulls the assist force in the direction in which the assist force is applied, only the assist force is applied to the door, so that the door speed is hardly increased.
Then, when the movement direction detection means detects the movement direction of the door while the assist force is applied, the auxiliary current command generation means inputs an auxiliary current command signal to the motor drive means based on the movement direction of the door. As a result, the assist force is applied in the direction in which the door is moving, so that the care staff can smoothly move the door by pushing or pulling the door, and the door is less likely to exceed the rated speed.
This is because when the door is stopped based on the over-speed detection signal, the door is pushed or pulled again by hand, compared to the case where the door is automatically operated by the speed command signal. It can also be prevented from becoming excessive.
Here, based on the generation of the over speed detection signal, if the auxiliary current command signal is given to the motor drive means after the current command signal is cut off and the door is stopped, smooth movement of the door is somewhat hindered. It is preferable that switching from the signal to the auxiliary electric current signal can be performed quickly.

The overspeed detection means is preferably regeneration detection means for detecting regeneration of the motor and generating a regeneration detection signal. Accordingly, since the deceleration force acts on the door until the motor is regenerated and the assist force is exerted on the door, it becomes easy to convey an abnormal state to a care staff or the like who is pushing the door. Therefore, it can be expected to stop pushing the door.

According to the present invention, when a care staff or the like pushes the door to increase the door speed, the door speed is prevented from rising again, and the door can be moved smoothly by applying an assist force to the door. Can be obtained.

1 is an overall front view of an automatic door control device according to an embodiment of the present invention. It is a general view of the electric system of the automatic door control apparatus shown in FIG. It is a schematic diagram which shows operation | movement of the automatic door shown in FIG. It is a flowchart which shows operation | movement of the control apparatus of the automatic door corresponding to the schematic diagram by FIG.

Embodiment 1 FIG.
An embodiment of the present invention will be described with reference to FIGS. In FIG. 1, a rectangular plate-shaped sliding door 3 is provided in the dwelling, which is suspended from a floor, an upper frame 8, and an opening 9 formed by two side frames. When the two suspension wheels 5 having the shaft 5a at the upper end of the sliding door 3 as a door move in the rail 7, the sliding door 3 is moved left and right, that is, in the horizontal direction as indicated by arrows in the figure. Thus, the opening 9 is formed to be opened and closed by the sliding door 3.

The automatic door control device 100 includes a base plate 12 that is fixed to the upper portion of the upper frame 8, a drive mechanism for moving the drive member 22 in the opening / closing direction of the sliding door 3, and a drive member And a guide mechanism 30 for smoothly guiding 22 in the opening and closing direction.

The drive mechanism includes a timing belt 18 that transmits the rotation of the motor 14 to the driven pulley 20. A drive member 22 connected and fixed to the lower side of the timing belt 18 composed of the upper side and the lower side is formed so as to move in the opening / closing direction of the sliding door 3.
The drive member 22 is plate-shaped, and one end is fixed to the lower side of the timing belt 18 and the other end is connected and fixed to the sliding door 3.
A motor 14, a main pulley 16, and a driven pulley 20 are connected and fixed to the base plate 12 so as to be rotatable.

The guide mechanism 30 includes a shaft and a bearing, and includes three rotatable rollers 31 formed with ring-shaped grooves. The guide mechanism 30 is fixed to the drive member 22 and rotatably fixes the shaft. A roller fixing member 33 is provided.
The guide member 35 is fixed to the base plate 12 and has a substantially C shape in a side view, and is formed so as to engage with the tip of the C shape while sliding with the groove of the roller 31.

1 and 2, the automatic door control device 100 includes a motor drive unit 500 connected to an AC power source 101, and includes a motor control unit 600 that controls the motor drive unit 500 with a current command signal. In addition, an opening command signal or a closing command signal (opening / closing command signal) of the sliding door 3 is input from the command generating unit 900 to the motor control unit 600. And it has the assist control part 700 which produces | generates an auxiliary electric current command and inputs into the motor control part 600 in order to generate | occur | produce the auxiliary torque corresponding to the running resistance of the sliding door 3 from the motor 14. FIG. A switch 610 that switches between a current command signal and an auxiliary current command signal, and a switch switching unit 800 that provides a switch switching signal for the switch 610 are provided.

  The motor driving unit 500 includes a converter 503 that converts alternating current into direct current, and a capacitor 509 is connected to the output of the converter 503. Both ends of the capacitor 509 have an inverter 511 that converts direct current into alternating current of variable voltage and variable frequency, and the motor 14 is connected to the output of the inverter 511. And it also has the power conversion command part 513 which operates the inverter 511 with a current command signal.

The motor control unit 600 has an open / close command unit 602 that generates an open / close command signal for acceleration, constant speed, deceleration, stop, etc. to the inverter 511, and the speed command signal generated based on the open / close command signal is subtracted. The speed deviation signal obtained via the device 604 is input to the speed control unit 606, and the current command signal obtained by the speed control unit 606 is connected to the terminal a of the switch 610. A central terminal c of the changeover switch 610 is connected to an input of a power conversion command unit 513 that gives a current command to the inverter 511, and is configured to drive the inverter 511 and control the rotation of the motor 14. That is, the rotation control of the motor 14 is a closed loop control based on a speed command signal.
Further, an encoder 52 is provided as position detecting means for generating a pulse signal as a rotational position signal in accordance with the rotational position of the motor 14. If the rotation direction of the motor 14 is clockwise, the encoder 52 generates an increment signal, and if it is counterclockwise, the encoder 52 generates a decrement signal to move the sliding door 3 in the opening direction or the closing direction. It is formed so that it can be detected.

The motor control unit 600 includes a speed detection unit 620 that generates a speed detection signal that is the rotational speed of the motor 14 based on a pulse signal from the encoder 52, and the speed detection signal is input to the subtractor 604.

This will be described with reference to FIG. When the motor 14 is regenerated to detect that the sliding door 3 has exceeded the rated speed, the assist control unit 700 uses a regenerative detector as an overspeed detection unit that generates a regenerative detection signal Vo as an overspeed detection signal. 705. Here, when the regeneration detection signal Vo is input to the open / close command unit 602, the speed command signal is set to zero (disappear).
Further, the assist control unit 700 includes a moving direction detector 710 that detects a moving direction of the sliding door 3 based on a position detection signal of the encoder 52 and generates a moving direction detection signal.

The assist command generation unit 730 generates an auxiliary current command signal Ia and generates a terminal b of the switch 610 in order to generate an assist force as an auxiliary torque from the motor 14 in the direction in which the sliding door 3 has moved based on the movement direction detection signal. It is formed so that it can be input. Here, since an assist force is generated in the sliding door 3 in the direction in which the sliding door 3 is moving, the auxiliary current command signal Ia is generated so that the rotation of the motor 14 is maintained.
The assist command generator 730 generates an auxiliary current command signal only during a predetermined time from the generation of the regeneration detection signal Vo, and generates an assist generation signal Ap while the auxiliary current command signal is generated. It is formed to continue.
The assist force is a force that reduces the running resistance corresponding to the running resistance of the sliding door 3 or gives a force to rotate the motor 14 so as to move the sliding door 3 at a speed lower than the rated speed, and is based on the auxiliary current command signal Ia. And obtained by driving the motor 14.
The rotation control of the motor 14 by the auxiliary current command signal is an open loop.

When the switch switching unit 800 receives the assist generation signal Ap, the switch switching unit 800 generates a switch switching signal, tilts the switch 610 from the a side to the b side, disconnects the current command signal, and converts the auxiliary current command signal into the power conversion command unit 513. In response to the generation of the speed command signal Vr, the switch 610 is moved from the b side to the a side to disconnect the auxiliary current command signal, and the closed loop control is performed by the speed command signal. Yes. The switch 610 is turned on to the a side when the assist generation signal disappears.

Further, when the auxiliary current command signal is generated, if the sliding door 3 has moved a predetermined distance and the moving direction at this time, the opening direction or the closing direction according to the moving direction is detected. It has an automatic switching detector 850 that generates an automatic switching signal. Here, after the auxiliary current command signal Ia is generated, the automatic switching detector 850 is configured to generate an automatic switching signal in the closing direction of the sliding door 3 when a predetermined time elapses without detecting the movement of the sliding door 3. Yes.
The fixed distance is obtained by integrating the position detection signals of the encoder 52, and the moving direction is detected by the moving direction detection signal.
When this automatic switching signal is input to the opening / closing command unit 602, the opening / closing command unit 602 is configured to generate a speed command signal for obtaining an opening command signal or a closing command signal and input it to the motor control unit 600. . Further, when the automatic switching signal is input to the assist command generation unit 730, the assist command generation unit 730 is configured to eliminate the auxiliary current command signal and the assist generation signal.

The command generator 900 is provided on each of the front side and the back side of the sliding door 3, and an open button switch 901 that generates a door open command when pressed, a close button switch 902 that generates a door close command when pressed, Is input to the opening / closing command unit 602.
Note that even when the open button switch 901 or the close button switch 902 is pressed, the open / close command unit 602 is configured not to generate the open / close command signal when the assist generation signal Ap is generated. This is to prevent automatic switching when the assisting force is acting on the sliding door 3.

The operation of the automatic door control apparatus configured as described above will be described with reference to FIGS.
<Normal operation>
Now, the sliding door 3 is located at the closed end. Since the assist generation signal Ap is not generated from the assist command generation unit 730, the switch 610 is turned on to the a side. In this state, when the open button switch 901 is pressed, the open / close command unit 602 generates a speed command signal as a door open command signal and passes through the subtractor 604, the speed control unit 606, and the power conversion command unit 513. The inverter 511 is operated to rotate the motor 14 to move the sliding door 3 from the closed end to the open end and stop.

When the closing button switch 902 is pressed while the sliding door 3 is positioned at the open end, the opening / closing command unit 602 generates a speed command signal Vr as a door closing command signal, and generates a current from the speed control unit 606. A command signal is generated, the inverter 511 is operated via the power conversion command unit 513, the motor 14 is rotated, and the sliding door 3 is moved from the open end to the closed end and stopped.

<Regenerative detection operation during automatic opening / closing movement of sliding door>
Next, the operation when the regeneration of the motor 14 is detected automatically when the sliding door 3 is closed by the closed loop control based on the speed command signal will be described. Now, in the automatic movement state by the speed command signal in the closing direction of the sliding door 3 (step S101), when the care staff pushes the sliding door 3, the moving speed of the sliding door 3 is increased and the regeneration detector 705 is regenerated. Is detected and the regeneration detection signal Vo is generated (step S103), when the assist generation signal Ap is input from the assist command generator 730 to the switch switching unit 800, the switch switching signal Sc is generated from the switch switching unit 800 to generate the switch 610. Is switched from the a side to the b side, the current command signal generated by the closed loop speed command signal is disconnected, and the first auxiliary current command signal Ia is set so that the motor 14 rotates in the direction of movement so far. Input to the power conversion command unit 513 (step S105). Thereby, the first assist force is applied to the sliding door 3.
When the regeneration detection signal Vo is input to the opening / closing command unit 602, the speed command signal disappears.

Next, when the care staff moves the sliding door 3 in the closing direction in a state where the first assisting force is applied to the sliding door 3 by the first auxiliary current command signal, the moving direction detector 710 moves the sliding door 3 in the moving direction. Is detected and a movement direction detection signal is generated and input to the assist command generator 730 (step S107). Thereby, the second assist force is applied to the sliding door 3.
The assist command generation unit 730 generates a second auxiliary current command signal Ia in the direction in which the sliding door 3 moves, that is, in the closing direction, and inputs the second auxiliary current command signal Ia to the power conversion command unit 513 to rotate the motor 14 while The assisting force of 2 is applied to assist the nursing staff in moving the sliding door 3 (step S109).

Then, when the second assist force is applied to the sliding door 3 and moved in the closing direction for a predetermined distance (step S111), when the automatic switching signal generated by the automatic switching detector 850 is input to the assist command generation unit 730, the auxiliary command is generated. The current command signal and the assist generation signal are extinguished.
At the same time, when an automatic switching signal is input to the opening / closing command unit 602, the opening / closing command unit 602 generates a closing command signal for moving the sliding door 3 to the closing end, that is, the direction in which the sliding door 3 has been moved. A current command signal obtained based on the speed command signal generated based on this is input to the power conversion command unit 513 to rotate the motor 14 and move the sliding door 3 to the closed end (step S113).
On the other hand, in step S107, when the automatic switching detector 850 generates the auxiliary current command signal Ia and detects that a predetermined time has elapsed without detecting the movement of the sliding door 3 (step S201), automatic switching in the closing direction is performed. A signal is generated, and the sliding door 3 is automatically moved to the closed end via the opening / closing command unit 602 and stopped (step S203).

The present invention is not limited to the description of the embodiment of the invention. Various modifications are also included in the present invention as long as those skilled in the art can easily conceive without departing from the scope of the claims.

100 automatic door control device, 52 encoder (position detection means), 500 motor drive section (motor drive means), 600 motor control section (motor control means), 610 switch, 620 speed detection section (speed detection means), 705 regeneration Detector (regeneration detection means), 710 Movement direction detector (movement direction detection means), 730 Assist command generation section, 800 Switch switching section (switching means), 850 automatic switching detector.

Claims (1)

An automatic door control device that opens and closes the door at a predetermined rated speed based on the power of the motor to open and close the door, and performs closed loop control by a speed command signal,
Motor driving means for driving the motor;
Motor control means for rotating the motor while controlling the motor driving means based on a current command signal generated by the speed command signal;
A moving direction detecting means for detecting a moving direction in which the door moves;
An auxiliary current command generating means for generating an auxiliary current command signal based on the moving direction in order to generate an auxiliary torque corresponding to the running resistance of the door from the motor;
Switching means for inputting any one of the current command signal and the auxiliary current command signal to the motor driving means;
Overspeed detection means for detecting that the rated speed has been exceeded and generating an overspeed detection signal in a state in which the motor is operated by the current command signal;
When the over speed detection signal is generated, the switching means disconnects the current command signal from the motor driving means by the switching means, and the switching control means inputs the auxiliary current command signal to the motor driving means,
An automatic door control device characterized by comprising:

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