JP2018135739A - Control device of automatic door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device of an automatic door capable of automatically maintaining a state of the door stopped in a half-open state for managing an air conditioning in a room and for protecting privacy.SOLUTION: When a second mode is selected, a motor 14 is driven via a motor control part 600 and a motor drive part 500 for moving a sliding door for a predetermined distance from a closing end on the basis of a first half-opening command signal, then stopping the same. Furthermore, the motor drive part 500 is turned off, and in the off state, the sliding door may move to a first position in an opening direction and may move to a second position in a closing direction.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an automatic door control device.

  As described in Patent Document 1 below, a conventional automatic door control device is configured to slide a door when an entrance / exit person grasps the sliding door by hand or the sliding door hits an obstacle. It is determined that an abnormality has occurred in the movement, and the door stops. After the door is stopped, the door is in a free state, and a person who holds the door with his / her hand can arbitrarily slide the door. In this case, since the slide motor is in a state where the energization from the external power source is cut off, the slide movement motor can be slid with a lighter force than when energized.

  According to this automatic door control device, the sliding movement of the door is stopped when the sliding door is pressed by a hand or the sliding door hits an obstacle, etc. Can be manually and appropriately slidably moved, so that it is possible to flexibly cope with being pressed by hand or hitting an obstacle.

JP 2007-138631 A

  However, in automatic doors applied to facilities such as nursing homes, there is a demand for automatic doors that coexist with caregivers such as nursing staff, elderly people, and wheelchair users. In other words, the inventor may check the state of the caregiver in the room where the automatic door is attached, and depending on the caregiver's degree of care, the inventor may continue to check the door for a long time in the fully open state. I noticed. In such a case, it has been found that there is a problem that the air conditioning in the living room with the door opened is inefficient and the caregiver's privacy in the living room is not considered.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an automatic door control device capable of maintaining a state where the door is automatically stopped in a semi-open state.

The control device for an automatic door according to the first invention moves the door from the closed end to the open end based on the door open command signal, and moves the door from the open end to the closed end based on the door close command signal. An automatic door control device having a first mode of moving, and having a second mode of moving the door from the closed end based on a first half-open command signal and stopping the door in a half-open state. ,
Motor driving means for driving the motor;
Motor control means for rotating the motor while controlling the motor driving means;
Selecting means for selecting either the first or second mode;
The door is closed by driving the motor via the motor control means and the motor driving means based on the first half-open command signal in a state where the second mode is selected by the selection means. A first control means for moving a fixed distance from the end to stop and turning off the motor drive means;
In the off state, the door can move to the first position in the opening direction, and free switching means that can move to the second position in the closing direction;
It is characterized by comprising.
According to such an automatic door control device, when the second mode is selected, the first control means moves the door a certain distance from the closed end based on the first half-open command signal. While stopping, the motor drive means is turned off. When the free switching means puts the door in a free state, a care staff or the like can freely move the door in the opening direction to the first position and can freely move the door in the closing direction to the second position. Therefore, after the door is automatically stopped in the half-open state, the care staff can appropriately adjust the opening amount of the door, so that the air conditioning temperature in the room having the door can be appropriately managed, and the care in the room Can protect the privacy of the person.

The automatic door control device according to a second aspect of the present invention comprises movement detection means for detecting a movement of the door to the first position and generating a movement detection signal.
Second control means for generating a command signal for moving the door to the open end via the motor control means and the motor drive means based on the movement detection signal;
It is characterized by comprising.
According to such an automatic door control device, when a care staff or the like moves the door in the opening direction to the first position, the second control means moves the door to the open end based on the movement detection signal. Thereby, a door can be opened quickly.

In the state where the automatic door control device according to the third invention is stopped at the open end,
Based on a second half-open command signal, the door is moved in the direction of the closed end via the motor control means and the motor drive means to stop at a position of a second constant distance from the open end, Third control means for turning off the motor driving means;
It is characterized by having.
According to such an automatic door control device, even when the door moves from the open end, the door is automatically opened in a semi-open state and stopped, so that the air conditioning temperature in the room having the door can be appropriately managed. Can protect the privacy of caregivers in the room. Here, the opening amount of the door obtained after moving by the second fixed distance may be the same as or different from the opening amount of the door obtained after moving by the first fixed distance.

Further, the automatic door control device includes an end detection means for generating an end detection signal when the door moves within a predetermined distance from the closed end and reaches the distance, and the motor control. When the end detection signal is generated, the means may input the speed command signal to the motor driving means to decelerate and stop the motor.
As a result, when the door approaches the closed end while moving in the closing direction, the end detection means generates an end detection signal and the motor control means decelerates and stops the motor. Can be relaxed.

  ADVANTAGE OF THE INVENTION According to this invention, the control apparatus of the automatic door which can maintain the state which stopped the door to the half-open state automatically 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, an 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, and generates a command. An opening / closing command signal from the unit 900 is input to the motor control unit 600. The motor control unit 600 is configured to generate a speed command signal based on the opening / closing command signal and obtain a current command signal from the speed command signal. Yes.

  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 includes an open / close command unit 602 as a command signal generation unit that generates a door open / close command signal such as acceleration, constant speed, deceleration, or stop to the inverter 511, and a speed command signal as an open / close command signal. Is an energization switch that inputs the speed deviation signal obtained through the subtracter 604 to the speed control unit 606 and transmits or interrupts the current command signal output from the speed control unit 606 to the power conversion command unit 513. 610 is connected to a terminal which is one end of 610. The c terminal which is the other end of the energization switch 610 is connected to the input of the power conversion command unit 513, and the energization switch 610 is turned on to drive the inverter 511 and control the rotation of the motor 14.
Note that turning off the motor driving unit 500 from on to off can be achieved by the disappearance of the speed command signal, but the energization switch 610 can ensure the operation from on to off.
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. The encoder 52 increments if the rotation direction of the motor 14 is clockwise, and decrements the counterclockwise direction so as to detect that the sliding door 3 is moving in the opening direction or the closing direction. Is formed.

  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. . In addition, detecting the rotational speed of the motor 14 can detect the moving speed that is the moving speed of the sliding door 3.

A position detection unit 700 that detects the position and direction of the door is provided. When the care staff moves the sliding door 3 to the first position in the opening direction with the energization switch 610 turned off, the position detection unit 700 detects this movement by the position detection signal of the encoder 52 and outputs a movement detection signal. A movement detector 702 is generated.
Here, the movement beyond the first position can be obtained by integrating the position detection signals.

  Further, the position detection unit 700 includes an end detector 706 that generates an end detection signal when reaching the second predetermined position from the closed end of the sliding door 3. The end detector 706 receives the position detection signal of the encoder 52. Thereby, the end detector 706 calculates the distance that the sliding door 3 has moved by integrating the position detection signals, and subtracts the distance from the movable amount to the closed end of the sliding door 3 so that the sliding door 3 is closed. When the sliding door 3 reaches the closed end in the direction in which the sliding door 3 approaches, it is determined whether or not the sliding door 3 has moved in the direction approaching the closed end by the position detection signal. It is configured to generate a signal.

  As the end detection signal is generated, the switch switching unit 800 can turn on the energization switch 610 to input a current command signal to the motor driving unit 500, and an open / close command unit 602 as a stop command generation unit. Is configured to generate a speed command signal for decelerating and stopping the motor 14.

  Further, when the movement detection signal is input to the automatic switching unit 720, when the automatic switching unit 720 inputs the automatic switching signal to the open / close command unit 602, the open / close command unit 602 moves the sliding door 3 from the first position to the open end. A speed command signal is generated as a moving open command signal, and the sliding door 3 is automatically moved to the open end and stopped.

The switch operation unit 800 controls the on / off operation of the energization switch 610 for ensuring the on / off operation of the motor drive unit 500. The switch operation unit 800 turns on the energization switch 610 when a speed command signal is generated. The energization switch 610 is turned off when the speed command signal disappears.
Even if the energization switch 610 is not provided, the motor drive unit 500 can be controlled to be turned on / off by the generation / disappearance of the speed command signal. It is provided to raise.

  When the first position detection signal is input to the automatic switch 720 and the automatic switch signal from the automatic switch 720 is input to the open / close command unit 602, the open / close command unit 602 opens the sliding door 3 from the open / close command unit 602. A speed command signal that automatically moves to the end is generated, and the motor 14 is rotated by the speed command signal via the motor control unit 600 and the motor drive unit 500 to move the sliding door 3 to the open end. (Second control means). The speed command signal is input to the switch operation unit 800 and the energization switch 610 is turned on. When the energization switch 610 is turned on, the current command signal can be input to the motor drive unit 500.

The command generator 900 has a changeover switch 905 as a selection means for selecting the first or second mode. When the changeover switch 905 is off, the first mode is selected, and the changeover switch 905 is on. Thus, the second mode is selected.
When the open button switch 901 is pressed and input to the open / close command unit 602 in the state where the first mode is selected, the open / close command unit 602 An opening command signal for moving the sliding door 3 to the open end and decelerating and stopping is generated. When the close button switch 902 is pressed and input to the open / close command unit 602, the open / close command unit 602 is closed. The sliding door 3 is moved to the end to generate a closing command signal for decelerating and stopping.

When the open mode switch 901 is pressed and input to the open / close command unit 602 in the state where the second mode is selected, the open / close command unit 602 generates a first half-open command signal. In response to the first half-open command signal, the motor 14 is rotated via the motor control unit 600 and the motor drive unit 500 to move the sliding door 3 from the closed end by a first fixed distance, decelerate and stop, and to drive the motor. The unit 500 is formed to be turned off (first control means). Here, the first fixed distance is preferably about 30 cm in consideration of the air conditioning efficiency in the living room and the caregiver's privacy. As a result, the sliding door 3 moves 30 cm from the closed end and stops. Next, when the close button switch 902 is pressed and input to the open / close command unit 602, the open / close command unit 602 generates a second half-open command signal, and the motor control unit is generated by the second half-open command signal. 600 and the motor drive unit 500 are rotated so that the sliding door 3 is moved a second fixed distance from the open end, decelerated and stopped, and the motor drive unit 500 is turned off. (Third control means).
The second constant distance is a distance that can be stopped in a state of being opened 30 cm from the closed end, as described above.

The operation of the automatic door control apparatus configured as described above will be described with reference to FIGS.
<Normal operation>
Now, in a state where the changeover switch 905 is OFF, that is, in the first mode state. The sliding door 3 is located at the closed end. When the open button switch 901 is pressed, the open / close command unit 602 generates a speed command signal Vr as a door open command signal, inputs the speed command signal to the switch operation unit 800, and turns on the energization switch 610 to the a side. To do. At the same time, the speed command signal operates the inverter 511 via the subtractor 604, the speed control unit 606, and the power conversion command unit 513 to rotate the motor 14 to move the sliding door 3 from the closed end to the open end and stop.

  On the other hand, 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 as a door closing command signal, and the speed control unit 606, power The inverter 511 is operated via the conversion command unit 513 to rotate the motor 14 to move the sliding door 3 from the open end to the closed end and stop.

<Semi-open movement / stop operation>
When the sliding door 3 is stopped at the closed end and the changeover switch 905 is turned on and the second mode is selected (step S101), when the open button switch 901 is pressed (step S103), the opening / closing command section 602 1 generates a speed command signal as a half-open command signal, rotates the motor 14 via the motor control unit 600 and the motor drive unit 500, moves the sliding door 3 to the first fixed distance in the opening direction, and stops. At the same time, the energization switch 610 is turned off via the switch operation unit 800 when the speed command signal disappears. That is, the motor drive unit 500 is turned off (step S105).

  In this free state, the care staff can manually move the sliding door 3 to a desired position in the opening direction or the closing direction. When the sliding door 3 moves and exceeds the first position (step S107), when a movement detection signal is input from the movement detector 702 to the automatic switch 720, an automatic switching signal is sent from the automatic switch 720 to the open / close command unit 602. To enter. The opening / closing command unit 602 generates a speed command signal, turns on the energization switch 610, rotates the motor 14 via the motor control unit 600 and the motor drive unit 500, and automatically moves the sliding door 3 to the open end and stops. (Step S109).

  On the other hand, in the above step S105, the nursing staff moves the sliding door 3 in the closing direction from the state in which the sliding door 3 is opened as a constant value (step S121), and when the sliding door 3 reaches the closed end (step S123), An end detection signal is input from the end detector 706 to the open / close command unit 602. The motor 14 is decelerated and stopped by the speed command signal from the opening / closing command unit 602 (step S125).

In addition, after executing step S109, when the closing button switch 902 is pressed while the sliding door 3 is at the open end and stopped (step S111), the speed command signal as the second half-open command signal is output from the open / close command unit 602. And the motor 14 is rotated via the motor control unit 600 and the motor drive unit 500 to move the sliding door 3 to the second fixed distance in the closing direction and stop, and the switch operation is performed by the disappearance of the speed command signal. The energization switch 610 is turned off via the unit 800. That is, the motor drive unit 500 enters an off state (step S113) and ends.
Here, the operation of one cycle is finished, but the care staff moves the sliding door 3 in the opening direction or the closing direction manually from the state of step S113, and determines in step S107 whether the first position is exceeded or not. If it exceeds, S109 to S113 are executed, whether the second position has been exceeded is determined in step S121, and if it exceeds, S123 and S125 are executed.

  100 Automatic Door Control Device, 52 Encoder (Position Detection Unit), 500 Motor Drive Unit (Motor Drive Unit), 600 Motor Control Unit (Motor Control Unit), 620 Speed Detection Unit (Speed Detection Unit), 702 Movement Detector ( Movement detection means), 720 automatic switch (automatic switching means).

Claims (3)

A first mode of moving the door from the closed end to the open end based on the door open command signal, and moving the door from the open end to the closed end based on the door close command signal; A control device for an automatic door having a second mode in which the door is moved from the closed end based on a half-open command signal and stopped in a half-open state,
Motor driving means for driving the motor;
Motor control means for rotating the motor while controlling the motor driving means;
Selecting means for selecting either the first or second mode;
The door is closed by driving the motor via the motor control means and the motor driving means based on the first half-open command signal in a state where the second mode is selected by the selection means. A first control means for moving a fixed distance from the end to stop and turning off the motor drive means;
In the off state, the door can move to the first position in the opening direction, and free switching means that can move to the second position in the closing direction;
An automatic door control device characterized by comprising: A movement detecting means for detecting that the door has moved to the first position and generating a movement detection signal;
Second control means for moving the door to the open end via the motor control means and the motor drive means based on the movement detection signal;
The automatic door control device according to claim 1, further comprising: In the state where the door is stopped at the open end,
Based on a second half-open command signal, the door is moved in the direction of the closed end via the motor control means and the motor drive means to stop at a position of a second constant distance from the open end, Third control means for turning off the motor driving means;
The automatic door control device according to claim 1, wherein the automatic door control device is provided.

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