JP2020180429A - Opening/closing body driving mechanism - Google Patents

Abstract

To provide an opening/closing body driving mechanism, using an easy control method, capable of suppressing "fluttering" of an opening/closing body.SOLUTION: An opening/closing driving mechanism includes a base body, an opening/closing body, a driving unit for driving the opening/closing body, a control unit for controlling the drive of the driving unit, and a movement detection unit for detecting movement of the opening/closing body. A fall prevention control for preventing the opening/closing body from falling by the control unit controls the drive of the driving unit such that a target moving speed for determining a target moving speed of the opening/closing body is compared with an actual moving speed of the opening/closing body obtained based on information of the movement detection unit, and feedback control for controlling the drive of the driving unit is performed so that the actual moving speed of the opening/closing body becomes the target moving speed; and if the feedback control reduces the moving speed of the opening/closing body when the opening/closing body moves faster than the target moving speed by external force while the opening/closing body moves in the opening direction from the closed position, the feedback control is reset so that the actual moving speed of the opening/closing body becomes the target moving speed by comparing the actual moving speed of the opening/closing body with the target moving speed.SELECTED DRAWING: Figure 3

Description

The present invention relates to an opening / closing body driving mechanism.

A moving body that is moved by driving a drive unit is controlled to perform a predetermined operation, for example, a rear door used in a vehicle. As a device that performs such an operation, a motor control device that operates an electric motor that drives a driven body at a target speed by a control means such as a CPU is disclosed (see, for example, Patent Document 1).

In such a device, when a plurality of states in which the moving speed of the moving body is continuously too fast or too slow is measured by the information detected by the detection unit such as the rotation sensor, the target speed is corrected. Control is performed to appropriately adjust the adjustment amount to be added.

Japanese Unexamined Patent Publication No. 9-125818

However, if a temporary external force (for example, the elastic force of the weather strip provided between the opening / closing body and the opening) causes the opening / closing body to move quickly when the latch of the closing mechanism is released, control is performed. The unit controls the opening / closing body so that the opening / closing body is driven at a low speed in order to bring the moving speed of the opening / closing body closer to the target speed. As a result, the speed of the opening / closing body is increased or decreased in a short time, and a phenomenon called "fluttering" occurs in which the opening / closing body flutters. In this "fluttering", when the opening / closing body is driven quickly, the control unit controls the driving of the driving unit to be slow or stopped so that the opening / closing body reaches the target speed, so that the opening / closing body controls its own weight. The driving force for supporting is lost, the opening / closing body may fall, and in some cases, the opening / closing body may engage with the closing mechanism. That is, in the opening operation of the opening / closing body, it is necessary to suppress the falling of the opening / closing body by feedback control so that the opening / closing body reaches the target speed.

An object of the present invention is to provide an opening / closing body driving mechanism using an easy control method capable of suppressing "fluttering" of the opening / closing body.

The opening / closing body drive mechanism of the present invention
Detects the movement of the substrate, an opening / closing body that moves between an open position and a closed position with respect to the substrate, a driving unit that drives the opening / closing body, a control unit that controls driving of the driving unit, and the opening / closing body. It is an opening / closing body drive mechanism equipped with a movement detection unit.
The control unit has a fall prevention control for preventing the opening / closing body from falling.
The fall prevention control
The actual moving speed of the opening / closing body is compared with the target moving speed at which the target moving speed of the opening / closing body is determined and the actual moving speed of the opening / closing body obtained based on the information of the movement detection unit. Performs feedback control to control the drive of the drive unit so that
When the opening / closing body moves from the closed position to the opening direction, the opening / closing body moves due to an external force, the moving speed of the opening / closing body slows down, or the opening / closing body moves from the closed position side to the open position side. When the information regarding the release of the movement control that allows the movement to move to is obtained, the feedback control is reset, and the actual speed of the opening / closing body is compared with the target moving speed to actually move the opening / closing body. The drive of the drive unit is controlled so that the speed becomes the target moving speed. The opening / closing body drive mechanism of the present invention can suppress the falling movement of the opening / closing body at the initial stage of opening operation.
Further, in the opening / closing body driving mechanism of the present invention, the deceleration of the moving speed of the opening / closing body can be deceleration by the feedback control of the control unit, and the deceleration at this time is such that the opening / closing body is faster than the target moving speed. It can also be decelerated by feedback control based on fast movement.

According to the present invention, the "fluttering" of the opening / closing body can be suppressed by an easy control method.

It is a partially enlarged side view of the rear part of the automobile provided with the opening / closing body drive mechanism of the embodiment of the present invention, when the opening is opened. It is a partially enlarged side view of the rear part of the automobile provided with the opening / closing body drive mechanism of this embodiment when the opening is closed. It is a block diagram explaining the control system of an opening / closing body drive mechanism. It is a figure which shows the time change of the moving speed of an opening / closing body. It is a flowchart which provides the explanation of the opening / closing body opening / closing control in the opening / closing body drive mechanism.

Hereinafter, the present embodiment will be described in detail with reference to the drawings. In the present embodiment, as an example of the opening / closing body driving mechanism 1, an automobile that controls the opening / closing of the back door is illustrated. The opening / closing body driving mechanism 1 is a shutter or a sliding door installed in a structure such as a store or a garage. It can also be applied to hinged doors, or devices that control the opening and closing of foldable eaves located above the opening in front of the structure.

[Overall configuration of switch drive mechanism]
FIG. 1 is a partially enlarged side view of the rear part of an automobile provided with the opening / closing body drive mechanism 1 according to the embodiment of the present invention, when the opening 11 is opened. FIG. 2 is a partially enlarged side view of the rear part of the automobile provided with the opening / closing body drive mechanism 1 of the present embodiment when the opening 11 is closed.

As shown in FIGS. 1 and 2, the opening / closing body drive mechanism 1 includes an opening member 10 having an opening 11, an opening / closing body 20, a driving unit 30, a seal member 40, a control unit 50, and a movement detection unit. 60 (see FIG. 3).

The opening / closing body drive mechanism 1 is a device that uses the opening / closing body 20 to transition the opening 11 of the opening member 10 into an open state and a closed state.

[Aperture member]
The opening member 10 is provided at the rear portion of the vehicle body in the automobile shown as an example of the opening / closing body drive mechanism 1 in the present embodiment. The shape of the opening 11 may be any shape such as a rectangular shape or a circular shape.

[Opening and closing body]
The opening / closing body 20 sets the opening 11 of the opening member 10 in an open state (see FIG. 1) or a closed state (see FIG. 2). The open state of the opening 11 is a state in which, at the rear of the vehicle, an object such as luggage can be moved between the outside and the inside through the opening 11. The closed state of the opening 11 is a state in which it is difficult to move the object through the opening 11.

In the present embodiment, the closed state is a state in which the opening 11 is closed, and the open state is a state in which the closed state of the opening is released, but the open state and the closed state are not necessarily limited to these states. Absent. For example, when the opening / closing body 20 is located at a position that prevents an object such as a luggage from moving to the opposite side through the opening 11, the opening / closing body 20 can close the opening 11. Further, when the opening / closing body 20 is located at a position that allows the object to move to the opposite side through the opening 11, the opening / closing body 20 can open the opening 11. In the present embodiment, the closed state is a state in which an elastic member such as a weather strip is compressed and interposed between the opening member 11 which is a substrate and the opening / closing body 20.

In the present embodiment, the upper side portion of the opening / closing body 20 is rotatably attached to the upper edge portion side of the opening 11 in the opening member 10 via a shaft portion. The opening / closing body 20 turns around the shaft portion and moves up and down on the lower side portion to open or close the opening portion 11. That is, the opening / closing body 20 moves between the open position (see FIG. 2) and the closed position with respect to the opening member 10. In the present embodiment, the position change of the opening / closing body 20 is realized by the above-mentioned turning mechanism, but the mechanism for changing the position of the opening / closing body 20 is not limited to turning, and the opening 11 is opened or closed. Any mechanism may be used as long as it can be in a state.

[Drive part]
The drive unit 30 moves the opening / closing body 20 in the opening direction and the closing direction with respect to the opening 11 of the opening member 10. There may be a plurality of drive units 30. In the present embodiment, a total of two drive units 30 are provided, one on each of the left and right ends of the opening / closing body 20 and the left and right edges of the opening 11. By moving the opening / closing body 20 by driving each driving unit 30, the opening / closing body 20 is moved relative to the opening member 10 to bring the opening 11 into an open state or a closed state.

The two drive units 30 can move the opening / closing body 20 in the direction in which the opening 11 is opened (opening direction) and in the direction in which the opening 11 is closed (closing direction). The opening / closing body 20 may be driven with the same driving amount in the same direction. Further, if each of the two drive units 30 can move the opening / closing body 20 in the opening direction and the closing direction, the opening / closing body 20 is driven by different driving amounts even if the opening / closing body 20 is driven in different directions. Is also good. In the present embodiment, each drive unit 30 is provided so as to perform the same drive synchronously.

The drive unit 30 has a drive mechanism in which both ends are connected to the opening member 10 and the opening / closing body 20, and the opening / closing body 20 moves relative to the opening member 10 by the expansion / contraction drive of the driving unit 30. Since the opening / closing body 20 swivels with respect to the opening member 10, each of the drive units 30 changes the connection direction by sliding a sliding portion such as a ball joint so that the opening / closing body 20 can follow the swivel of the opening / closing body 20. It is connected to the opening / closing body 20 and the opening member 10 by a possible connecting mechanism.

Specifically, each drive unit 30 has a rod-shaped appearance that expands and contracts, and is arranged on one end side of the drive unit 30 and connected to the opening member 10 side, and the drive unit 30. It has an advancing / retreating portion arranged on the other end side and connected to the opening / closing body 20 side. The advancing / retreating portion is attached so as to be able to come and go from the other end side of the drive main body portion.

The drive unit 30 advances and retreats the drive unit 30 in the longitudinal direction of the drive unit 30 to fully close the opening / closing body 20, that is, a position that completely closes the opening 11, and a fully open position, that is. , The opening 11 can be moved to the position where it is opened to the maximum. Each drive unit 30 moves the opening / closing body 20 in the opening direction or the closing direction by converting the rotational movement of the motor or the like into the expansion / contraction movement in the linear direction.

A total of two drive units 30, one on each of the left and right ends of the rear portion of the automobile, are provided, but the number of drive units 30 used is not particularly limited. Further, the drive unit 30 is not particularly limited in its structure, shape and arrangement position as long as it can open and close the opening / closing body 20. As the drive unit 30, a known drive unit capable of driving the opening / closing body 20 can be adopted.

In the present embodiment, as shown in FIGS. 1 and 2, the drive unit 30 includes a main body cylinder portion 31, a slide cylinder portion 32, a motor 33 (see FIG. 3), a spindle (not shown), and a spindle nut (not shown). ), An urging member (not shown), etc. In the drive unit 30, the main body cylinder 31, the motor 33, the spindle, the urging member, and the like correspond to the drive main body, and the slide cylinder 32 and the spindle nut correspond to the advance / retreat parts.

One end of the main body cylinder 31 is rotatably fixed to the opening member 10, and the other end is open. Inside the main body cylinder portion 31, the slide cylinder portion 32 is arranged so as to be slidable in the longitudinal direction so as to appear and disappear from the other end side of the main body cylinder portion 31.

The motor 33 is driven to move the advancing / retreating portion in the longitudinal direction with respect to the driving main body portion to expand / contract the driving portion 30. The motor 33 is a DC motor or an AC motor. When the opening / closing body control device 1 is applied to an automobile, it is desirable to apply a DC motor as the motor 33 in consideration of using a DC power source of the automobile. The motor 33 is connected to the control unit 50, and the control unit 50 controls both forward rotation and reverse rotation drive.

The slide cylinder portion 32 is urged by an urging member from one end side to the other end side of the main body cylinder portion 31. Inside the slide cylinder portion 32, a spindle nut is provided in which a spindle that rotates around an axis due to the rotation of the motor 33 is screwed.

The drive unit 30 has a rotation regulating member such as a tubular body provided with a groove in the longitudinal direction so that the main body tubular portion 31 and the slide tubular portion 32 do not rotate with each other due to the rotation of the spindle. When the motor 33 rotates in one of the forward and reverse directions, the spindle rotates in one of the forward and reverse axes, and the spindle nut screwed into the spindle moves along the longitudinal direction of the spindle. Along with this, the slide cylinder portion 32 having the spindle nut moves back and forth, that is, slides in the longitudinal direction. As a result, the drive unit 30 moves so as to expand and contract, and the opening / closing body 20 opens / closes according to the length of the slide cylinder 32 advancing from the main body 31.

The seal member 40 is provided, for example, along the edge of the opening 11 of the opening member 10, and is located between the opening / closing body 20 and the opening / closing member 10 when the opening / closing body 20 is located at the closed position. The seal member 40 is, for example, an elastic member such as rubber, and when it is located at the closed position, it is pressed against the opening member 10 by the opening / closing body 20. Therefore, as shown in FIG. 2, when the opening / closing body 20 is located at the closed position, the sealing member 40 is crushed by the opening / closing body 20 to improve the airtightness of the opening 11 of the opening member 10. Although the seal member 40 is provided on the opening member 10 side, the present invention is not limited to this, and the seal member 40 may be provided on the opening / closing body 20 side, or may be provided on both the opening member 10 and the opening / closing body 20. It may be provided.

The opening / closing body 20 is maintained in the closed state of the opening member 10 by restricting the movement of the opening / closing body 20 by the latch of the closing mechanism C. The closing mechanism C maintains the closed state of the opening member 10 by locating the latch that engages with the opening / closing body 20 at the closing position. The closing mechanism C releases the movement restriction of the opening / closing body 20 by moving the latch from the closing position to the releasing position. The opening / closing body 20 whose movement restriction is released moves from the closed position side to the open position side. As the closing mechanism C, a known closing mechanism C can be used, and the latch can be passed through a position such as a half latch position or a neutral position while moving the latch from the closing position to the releasing position.

[Control system configuration]
FIG. 3 is a block diagram showing a control system of the opening / closing body drive mechanism 1.
In the opening / closing body drive mechanism 1, the control system includes a control unit 50 and a movement detection unit 60. The control system of the opening / closing body drive mechanism 1 controls the opening / closing operation of the opening / closing body 20 driven by the drive unit 30 including the motor 33. Further, the opening / closing body driving mechanism 1 also includes a closing mechanism C, which is controlled by the control unit 50 and allows the opening / closing body 20 to move and limits the movement by a latch.

[Movement detector]
The movement detection unit 60 detects the movement of the position of the opening / closing body 20 by detecting the operation of the driving unit 30, for example, and outputs the movement information of the opening / closing body 20 which is the detection result to the control unit 50.

For example, the movement detection unit 60 includes a Hall element and magnetically detects the rotational state of the motor 33 to detect the operation of the drive unit 30 and thus the movement of the position of the opening / closing body 20. In this case, magnets are arranged at different intervals in the circumferential direction on a disk provided on the rotation shaft of the motor 33, and Hall elements of the movement detection unit 60 are arranged at positions facing the magnets. The Hall element captures a magnet that moves with the rotation of the rotation shaft of the motor 33 and generates a pulse. The control unit 50 calculates the position of the opening / closing body 20 based on the count value obtained by counting the pulses, and calculates the moving speed of the opening / closing body 20 based on the count value per unit time.

The movement detection unit 60 counts the captured pulses, and uses the count value as the movement information of the opening / closing body 20 so that the pulse count value can be used for calculating the position and driving speed of the opening / closing body 20 in the control unit 50. The movement detection unit 60 not only counts the pulses, but also calculates the position and movement speed of the opening / closing body 20 based on the count value, and then outputs the calculation result to the control unit 50. You may.

Further, the movement detection unit 60 may have any configuration as long as it can detect information regarding the movement of the position of the opening / closing body 20, for example, directly opening / closing without detecting the operation of the driving unit 30. The movement of the position of the body 20 may be detected. The detection method is not limited to the one magnetically performed using a Hall element, and any method may be used as long as a count value corresponding to the position of the opening / closing body 20 can be generated. Further, although the movement detection unit 60 has been described here as being provided separately from the control unit 50 described later, the movement detection unit 60 may be incorporated in the control unit 50.

When the movement detection unit 60 outputs an output value other than the count value to the control unit 50, for example, the control unit 50 acquires a preset count value from the storage unit or the like according to the output result of the movement detection unit 60. You may try to do it.

[Control unit]
The control unit 50 can adopt a known configuration, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The CPU reads a program according to the processing content from the ROM, develops it in the RAM, and centrally controls the operation of each block of the opening / closing body drive mechanism 1 in cooperation with the expanded program. At this time, various data stored in the storage unit (not shown) are referred to. The storage unit (not shown) is composed of, for example, a non-volatile semiconductor memory (so-called flash memory) or a hard disk drive. The control unit 50 may be incorporated in, for example, an ECU (Electronic Control Unit) that controls each part of the vehicle, or may be mounted in the drive unit 30.

The control unit 50 performs feedback control that controls the drive of the drive unit 30 so that the actual movement speed of the opening / closing body 20 becomes the target movement speed based on the information of the movement detection unit 60.

The target moving speed is a target moving speed of the opening / closing body 20 when the opening / closing body 20 moves, and is determined according to each position of the opening / closing body 20. For example, as shown in L1 shown in FIG. 4, immediately after the start time T0 of the opening operation when the opening / closing body 20 is moved from the closed position to the opening position, the moving speed increases as the opening / closing body 20 opens. The target movement speed is set in. The target moving speed may be set so that the moving speed decreases as the opening / closing body 20 reaches the maximum speed, reaches a predetermined position, and then moves toward the fully open position.

The control unit 50 performs the feedback control by comparing the actual movement speed of the opening / closing body 20 obtained based on the information of the movement detection unit 60 with the target movement speed. Examples of the feedback control include PI control, which is a proportional integral control using a proportional term and an integral term according to the deviation between the actual moving speed and the target moving speed. The feedback control may be a control other than the PI control as long as the actual moving speed of the opening / closing body 20 can be set to the target moving speed.

The control unit 50 provides feedback when the opening / closing body 20 moves in the opening direction, when the opening / closing body 20 moves faster than the target moving speed due to an external force, or when the moving speed of the opening / closing body 20 is decelerated by feedback control (time T1). Reset control. After that, the control unit 50 compares the actual moving speed of the opening / closing body 20 with the target moving speed, and controls the driving of the driving unit 30 so that the actual moving speed of the opening / closing body 20 becomes the target moving speed.

Examples of the external force include the repulsive force of the seal member 40. As described above, when the opening / closing body 20 is in the closed position, the sealing member 40 is pressed toward the opening member 10 by the opening / closing body 20 and is in a crushed state (see FIG. 2). Therefore, by moving the opening / closing body 20 in the opening direction, a repulsive force for restoring the sealing member 40 to the state shown in FIG. 1 is applied to the opening / closing body 20, so that the moving speed of the opening / closing body 20 increases. (See L2 and L3 in FIG. 4).

As for the external force, other than the repulsive force of the seal member 40, gravity is applied to the opening / closing body 20 such that when the opening / closing body 20 is in the closed position, luggage or the like loaded on the automobile is leaning against the opening / closing body 20. There are cases where it is. Further, as an external force, there is a case where an automobile occupant or the like pushes the opening / closing body 20 from the inside of the car to apply a force to the opening / closing body 20.

When the opening / closing body 20 moves faster than the target moving speed due to the above-mentioned external force, when the feedback control is continued, the opening / closing body 20 is decelerated toward the target moving speed. However, if the actual movement speed exceeds the target movement speed due to the external force, the feedback control may cause the opening / closing body 20 to be decelerated too much (see L3). As a result, the amplitude of vibration with respect to the target moving speed at the actual moving speed becomes excessive. That is, a phenomenon called "fluttering" occurs in which the opening / closing body 20 fluctuates due to a large increase / decrease in the moving speed of the opening / closing body 20 in a short time.

Therefore, in the present embodiment, when the moving speed of the opening / closing body 20 that temporarily moves faster due to an external force slows down, the feedback control is reset (time T1), and the moving speed is newly set to the target moving speed. , The drive of the drive unit 30 is controlled. Therefore, it is possible to suppress the "fluttering" of the opening / closing body 20 caused by the external force.

The control after resetting the feedback control may be feedback control such as PI control again. Further, in the control after resetting the feedback control, the drive unit 30 is set so that the output of the motor 33 becomes a PWM (Pulse Width Modulation) output of a predetermined duty ratio from the time T1 to the time T3 in FIG. The control may be such that control is performed, then reset is performed, and feedback control is performed. Alternatively, the control may be such that the reset is continued during the period during which the PWM output of the predetermined duty ratio is being performed, and is released when the feedback control is started. In this case, it is possible to simplify the process of controlling the output value by setting the initial output value at the time of reset to PWM with a predetermined duty ratio.
In FIG. 4, the time T3 is the time when the movement speed first exceeds the target movement speed, then falls below the target speed, and then returns to the target speed when the feedback control is not reset. It can be set arbitrarily.

Further, in the control after resetting the feedback control, the output of the motor 33 is fixed or the drive unit 30 is controlled so as to free the motor 33 until the time T2 in FIG. 4, and then the feedback control is performed. It may be a control that shifts to. Similar to the above-mentioned reset performed after the PWM control of the drive unit 30 from the time T1 to the time T3, the reset is continued until the transition to the feedback control is continued, and is released when the transition to the feedback control is performed. It is also good, and the output processing can be simplified by setting the initial value at the time of reset to the above-mentioned fixed output value of the motor 33. The time T2 is, for example, a time when the action of the external force on the opening / closing body 20 disappears, but it can be set arbitrarily.

Further, the control unit 50 determines whether or not the movement speed of the opening / closing body 20 has decreased based on the information of the movement detection unit 60. Specifically, the control unit 50 determines whether or not the movement speed of the opening / closing body 20 has been reduced based on the movement speed calculated based on the change in the count value of the pulse generated by the Hall element of the movement detection unit 60. Is determined.

By doing so, the moving speed of the opening / closing body 20 can be calculated accurately, and the feedback control can be reset at an accurate timing.

Further, the control unit 50 resets the feedback control before the actual moving speed of the opening / closing body 20 drops to the target moving speed. In FIG. 4, for example, the feedback control is reset at time T1. By doing so, it is possible to reduce the vibration of the actual moving speed with respect to the target moving speed. The timing for resetting the feedback control is time T1 in FIG. 4, but the present invention is not limited to this, and the timing is from time T11 when the moving speed of the opening / closing body 20 exceeds the target moving speed and becomes a maximum value. Any timing may be used as long as the moving speed of the opening / closing body 20 is decelerated and is within the range up to the time T12, which is equal to the target moving speed.

Further, the control unit 50 may reset the feedback control as described above based on the information from the closing mechanism C. The closing mechanism C restricts the movement of the opening / closing body 20 from the closed position side to the open position side by a latch, and allows the opening / closing body 20 to move by operating the latch. The closing mechanism C is configured so that when the opening / closing body 20 is allowed to move, a sensor such as a limit switch can detect the actual movement of the latch. Specifically, the closing mechanism C is configured to be able to detect various switches such as a half-latch switch and a curtsy switch when the latch moves from the closing position to the releasing position via the half-latch position. Based on the information from the switch that can know the mating state of these latches, the control unit 50 moves the opening / closing body 20 from the locked state by the latch to the half-door state, and from the half-door state to the open position. It is possible to detect that the opening / closing body 20 has moved from the closed position side to the open position side, such as movement. The control unit 50 provides information on the release of the movement control that allows the opening / closing body 20 to move from the closed position side to the open position side instead of resetting the feedback control when the moving speed of the opening / closing body 20 slows down. The "fluttering" of the opening / closing body 20 may be suppressed by resetting the feedback control at the time of acquisition.
The reset by the control unit 50 is not limited to one reset. The control unit 50 may reset the feedback control by detecting the speed and the latch position with a single reset, but after the detection, the control unit 50 repeats the reset during a predetermined time in which the opening / closing body 20 is affected by an external force. Alternatively, a continuous reset period can be set, and the opening / closing body 20 can be driven with a constant driving force during the reset period, and feedback control can be controlled to start after the reset of the reset period.

Further, the control unit 50 continues the feedback control when the opening / closing body 20 does not move faster than the target moving speed due to an external force. When the opening / closing body 20 does not move faster than the target moving speed due to an external force, it is considered that the actual moving speed of the opening / closing body 20 is unlikely to vibrate with respect to the target moving speed. In such a case, feedback control is performed. To continue without resetting. As a result, the feedback control makes it easier to quickly adjust the moving speed of the opening / closing body 20 to the target moving speed.

[Drive control of the switch in the switch drive mechanism]
FIG. 5 is a flowchart provided for explaining the opening / closing control of the opening / closing body driving mechanism 1. The control in FIG. 5 is premised on the control when an operation instruction for moving the opening / closing body 20 to the open position is received when the opening 11 is in the closed state.

As shown in FIG. 5, the control unit 50 determines whether or not the actual moving speed, which is the actual moving speed of the opening / closing body 20, is faster than the target moving speed (step S101). As a result of the determination, when the actual movement speed is faster than the target movement speed (step S101, YES), the control unit 50 determines whether or not the actual movement speed has started to decelerate (step S102).

As a result of the determination, if the actual moving speed has not started to decelerate (steps S102, NO), the process of step S102 is repeated. On the other hand, when the actual moving speed starts to decelerate (step S102, YES), the control unit 50 resets the feedback control (step S103).

Then, the control unit 50 starts a predetermined speed control (step S104). The predetermined speed control may be a control that performs feedback control again, or may be a control that shifts to feedback control after performing other speed control. After step S104, this control ends.

Returning to the determination in step S101, when the actual movement speed is equal to or less than the target movement speed (step S101, NO), this control ends. In this control, after the opening / closing body 20 starts moving from the closed position to the opening direction, the process of step S101 may be repeated again for a certain period of time. The fixed time is a time that can be appropriately set, for example, a time at which the influence of the external force applied to the opening / closing body 20 disappears.

According to the present embodiment configured as described above, when the moving speed of the opening / closing body 20 is increased due to an external force, the feedback control is reset, so that the "fluttering" of the opening / closing body 20 is suppressed. can do.

Further, in the present embodiment, even if the moving speed of the opening / closing body 20 is increased due to an external force, new control such as modifying the target moving speed is not required, so that the opening / closing body 20 can be opened / closed by an easy control method. The "fluttering" of the body 20 can be suppressed.

Further, since it is determined whether or not the moving speed of the opening / closing body 20 is decelerating based on the information of the movement detecting unit 60, the moving speed of the opening / closing body 20 can be accurately calculated, and by extension, at an accurate timing. Feedback control can be reset.

Further, since the feedback control is reset at the timing before the moving speed of the opening / closing body 20 is decelerated to the target moving speed, it is possible to further suppress the movement speed of the opening / closing body 20 from vibrating with respect to the target moving speed.

Further, when the opening / closing body 20 does not move faster than the target moving speed due to an external force, the feedback control is continued. Therefore, the feedback control makes it easy to quickly adjust the moving speed of the opening / closing body 20 to the target moving speed.

By the way, since the repulsive force of the seal member 40 becomes smaller due to aged deterioration, it is considered that the frequency with which the moving speed of the opening / closing body 20 becomes faster than the target moving speed due to the external force decreases as the usage history progresses. That is, in the case of the configuration in which the feedback control is always reset when the opening / closing body 20 is opened, the feedback control may be reset even if it is not necessary to reset depending on the usage state of the seal member 40.

However, in the present embodiment, when the moving speed of the opening / closing body 20 does not move faster than the target moving speed, the feedback control is continued, so that the moving speed of the opening / closing body 20 is higher than that of the configuration in which the feedback control is constantly reset. The control can be performed accurately.

In the above embodiment, the feedback control is reset at the timing before the moving speed of the opening / closing body 20 is decelerated to the target moving speed, but the present invention is not limited to this. For example, the control unit 50 may reset the feedback control at the timing when the moving speed of the opening / closing body 20 is reduced to the target moving speed. Further, the control unit 50 may reset the feedback control at the timing when the action of the external force on the opening / closing body 20 disappears. The criteria for determining that the action of the external force has disappeared may be arbitrarily determined by experiments or the like.

Further, the control unit 50 may determine the reset timing of the feedback control according to the speed control performed after the reset. The reset timing may be arbitrarily set for each speed control performed after the reset, for example, as a timing at which the deviation between the moving speed of the opening / closing body 20 and the target moving speed becomes small.

Further, in the above embodiment, whether or not the moving speed of the opening / closing body 20 has slowed down is determined by using the detection result of the movement detecting unit 60, but the present invention is not limited to this, and the opening / closing body 20 is not limited to this. Any means may be used as long as the moving speed of the is measurable.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

The embodiments of the present invention have been described above. The above description is an example of a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. That is, the description of the configuration of the device and the shape of each part is an example, and it is clear that various changes and additions to these examples are possible within the scope of the present invention.

The opening / closing body driving mechanism according to the present invention is useful as an opening / closing body driving mechanism capable of suppressing "fluttering" in the opening / closing body by an easy control method.

1 Open / close body drive mechanism 10 Opening member 11 Opening 20 Open / close body 30 Drive unit 31 Main body cylinder 32 Slide cylinder 33 Motor 40 Seal member 50 Control unit 60 Movement detection unit C Close mechanism

Claims (5)

Detects the movement of the substrate, an opening / closing body that moves between an open position and a closed position with respect to the substrate, a driving unit that drives the opening / closing body, a control unit that controls driving of the driving unit, and the opening / closing body. It is an opening / closing body drive mechanism equipped with a movement detection unit.
The control unit has a fall prevention control for preventing the opening / closing body from falling.
The fall prevention control
The actual moving speed of the opening / closing body is compared with the target moving speed at which the target moving speed of the opening / closing body is determined and the actual moving speed of the opening / closing body obtained based on the information of the movement detection unit. Performs feedback control to control the drive of the drive unit so that
When the opening / closing body moves from the closed position to the opening direction, the moving speed of the opening / closing body is decelerated or when the opening / closing body is moved by an external force regardless of whether or not the driving unit is driven. When the information regarding the release of the movement restriction of the opening / closing body that allows the opening / closing body to move from the closed position side to the open position side is obtained, the feedback control is reset to the actual speed of the opening / closing body. The drive of the drive unit is controlled so that the actual movement speed of the opening / closing body becomes the target movement speed in comparison with the target movement speed.
Opening and closing body drive mechanism. A seal member that is located between the opening / closing body and the substrate when the opening / closing body is located at the closed position and is pressed against the substrate by the opening / closing body is provided.
The external force is a repulsive force of the sealing member generated when the opening / closing body is pressed against the substrate.
The opening / closing body drive mechanism according to claim 1. The control unit determines whether or not the movement speed of the opening / closing body is decelerating based on the information of the movement detection unit.
The opening / closing body drive mechanism according to claim 1 or 2. The control unit resets the feedback control at a timing before the moving speed of the opening / closing body decelerates to the target moving speed.
The opening / closing body drive mechanism according to any one of claims 1 to 3. The control unit continues the feedback control when the opening / closing body does not move faster than the target moving speed due to the external force.
The opening / closing body driving mechanism according to any one of claims 1 to 4.

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