JP2541615Y2 - Travel door safety device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety device for a traveling door that automatically opens and closes an opening of a hangar or a warehouse.

[0002]

2. Description of the Related Art As a conventional safety device for preventing an accident in which a person or an object is pinched by a traveling door, a contact type sensor such as a tape switch is provided on a facing surface of an approaching door, and an output from the contact type sensor is provided. In some cases, the traveling door is stopped based on a traveling stop signal.

However, a certain braking distance is required until a contact type sensor such as a tape switch contacts an obstacle such as a person or an object and the traveling door is completely stopped based on the traveling stop signal. For this reason, there is a very high risk that a person or an object may be damaged before the traveling door stops, which has a fatal defect as a safety device. In addition, in order to solve the drawbacks of the above safety device, a non-contact type sensor such as a photoelectric switch is provided on both ends of the opening provided with the traveling door or on the opposing surface of the traveling door to prevent obstacles interposed between the doors. A safety device has been proposed in which the traveling door is stopped in a non-contact manner and detected early.

[0004]

However, the safety device provided with the above-mentioned conventional non-contact type sensor has a problem that when a person or an object passes between the doors even when the distance between the doors is 10 m or more, for example. There has been a problem that the travel stop signal is output by the non-contact type sensor, and the travel door is uniformly stopped.

[0005] That is, even when there is a sufficient distance that there is no need to worry about an accident in which a person or object is caught between the doors, the traveling door always stops when the non-contact type sensor detects an obstacle. As a result, the door opening and closing operation is hindered. In addition, since the safety device always operates when the door starts to close, there is an inconvenience that the vehicle cannot pass even if there is a sufficient distance between the doors.

Therefore, the present invention provides a safety device for a traveling door that can emergency stop the door according to the presence or absence of an obstacle between the traveling doors only when the distance between the traveling doors is reduced to a predetermined value or less. Is a technical issue.

[0007]

In order to solve this problem, the present invention provides a distance measuring sensor for measuring an approach distance between traveling doors, and an obstacle detection device for detecting an obstacle interposed between the traveling doors. A sensor is provided on the traveling door, and when the distance between the traveling doors measured by the distance measurement sensor is reduced to a predetermined value or less, a control device that performs an emergency stop of the traveling door based on the detection signal of the obstacle detection sensor is provided. It is characterized by being provided.

[0008]

According to the present invention, the approach distance of the traveling door is measured by the distance measuring sensor, and when the distance between the doors becomes smaller than a predetermined value, the traveling based on the detection signal output from the obstacle detecting sensor. Emergency stop of the door, so if there is a sufficient distance between the doors, the door will not stop even if a person or object passes between them, and the approach distance between the doors will be narrowed When the value becomes equal to or less than the value, the traveling door is surely stopped in an emergency based on the detection signal of the obstacle detection sensor, and an accident in which a person or an object is caught between the doors can be prevented.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram showing a schematic configuration of a traveling door safety device according to the present invention. In FIG. 1, reference numeral 1 denotes a guide rail disposed in a long groove formed on the ground surface so that the top is slightly lower than the ground surface, and a guide rail 2 is also provided above the guide rail. Are arranged.

The guide rails 1 and 2 guide, for example, two traveling doors 3a and 3b. As shown in FIG. 1, the traveling doors 3a and 3b are provided with wheels 4a and 4b which are in rolling contact with the guide rail 1 at the lower end, and guide rollers 5a and 5b which are in rolling contact with the guide rail 2 at the upper end. Driving motors 6a, 6b each composed of a DC servomotor are connected to each of the wheels 4a, 4b, and a current collector 7 is disposed above one guide roller 5a.

A distance measuring sensor 8 for measuring the distance from the traveling door 3b is provided above the right end face in the closing direction (the direction of arrow F) of the traveling door 3a. The distance measuring sensor 8 includes a light emitting device 8a including a light emitting diode, a collimator lens, and the like that output pulsed infrared light having high directivity, and a light receiving device 8b including a photodiode.

An obstacle detection sensor 10 for detecting an obstacle A interposed between the traveling door 3b and the traveling door 3b is provided below the right end surface of the traveling door 3a.

The obstacle detecting sensor 10 is a reflection type photoelectric sensor, and includes a light emitting diode 10a which outputs infrared light having high directivity, a collimator lens, and the like.
And a photodetector 10b composed of a photodiode. A reflector 11 is provided at a position facing the obstacle detection sensor 10 on the left end side of the traveling door 3b.
A detection signal is generated when the camera is interrupted by the switch.

Further, a current collector 7 is provided inside the traveling door 3a.
A drive system lead battery 12 and a drive system lead battery 13 electrically connected to the drive system are provided, and a DC power of the battery 12 controls the drive motors 6a and 6b, a travel control device 14, a distance measurement sensor 8, and obstacle detection. The DC power of the battery 13 is supplied to the sensor control device 15 that controls the sensor 10, and the DC power of the battery 13 is supplied to the motor drive circuits 16a and 16b.

The sensor control device 15 is composed of, for example, a microcomputer, and is used for a period from when the pulsed infrared light emitted from the projector 8a of the distance measuring sensor 8 is reflected by the reflector 9 and enters the light receiver 8b. A calculation unit 15 that calculates the distance between the traveling door 3a and the traveling door 3b from the required time
a, a distance determination unit 15b for determining whether or not the distance calculated by the calculation unit 15a is equal to or less than a preset value, for example, 5 m or less, and an emergency determination unit based on a detection signal from the obstacle detection sensor 10. And a travel stop determination unit 15c that outputs a stop signal.

The travel control device 14 is composed of, for example, a microcomputer, and controls the drive motors 6a and 6b to rotate forward and reverse based on preset travel data or an external command, thereby performing acceleration control and constant speed travel. Control and deceleration control are performed, and when an emergency stop signal is output from the sensor control device 15, the drive motors 6a and 6b are emergency stopped.

Next, an operation in which the apparatus of the above embodiment is controlled to be stopped will be described with reference to FIG. First, in the step, based on the output signal of the distance measuring sensor 8, the calculation unit 15 of the sensor control unit 15
It is determined whether or not the distance between the doors calculated in step a is equal to or less than a predetermined value. If the distance is not equal to or less than the predetermined value, the process waits as it is.

In the step, the presence or absence of the obstacle A is determined based on the detection signal of the obstacle detection sensor 10. If the obstacle A is not detected, the process returns to the step. If the obstacle A is detected, the process proceeds to the step. Then, an emergency stop signal is output to the travel control device 14, and the process is terminated. Therefore, when the traveling door 3a approaches the stopped traveling door 3b, first, the driving motors 6a, 6b of the traveling door 3a are set based on preset traveling data or an external command.
Is driven to move the traveling door 3a to the right.

During this movement, the distance measuring sensor 8 of the traveling door 3a always outputs its output signal to the arithmetic unit 1 of the sensor control unit 15.
5a, the approach distance between the traveling door 3a and the traveling door 3b is calculated in real time, and the calculation result is input to the distance determination unit 15b to determine whether or not the approach distance has become a predetermined value or less. . Also, during the movement of the traveling door 3a, the obstacle detection sensor 10 is always activated, and when the obstacle detection sensor 10 detects the obstacle A when the approach distance between the doors is equal to or less than a predetermined value, the sensor is based on the detection signal. An emergency stop signal is output by the travel stop determination unit 15c of the control device 15, and the signal is input to the travel control device 14, and the travel door 3a stops.

On the other hand, when the approach distance between the doors is larger than the predetermined value, even if the obstacle A is detected by the obstacle detection sensor 10, the traveling door 3a continues to travel. Therefore, the safety device for the traveling door according to the present embodiment includes:
The emergency stop of the traveling door is performed only when the approaching distance between the doors becomes smaller than a predetermined value and an obstacle is detected between the doors. Accidents can be reliably prevented, and when there is a sufficient distance between the doors, the traveling door is not stopped, allowing people and objects to pass between the doors, and opening and closing the door smoothly. It can be carried out.

In this embodiment, the case where the traveling door 3a approaches the stopped traveling door 3b is described. However, the present invention is not limited to this, and the present invention is also applicable to the case where the traveling door 3a and the traveling door 3b approach each other. In this case, a distance measuring sensor, a sensor control device,
Equipped with an obstacle detection sensor or the like, or the traveling door 3a
The same control may be performed by receiving data such as approach distance from the server.

The obstacle detection sensor 10 according to the present embodiment
Is configured to always operate regardless of the distance between the doors to sense an obstacle. However, the present invention is not limited to this. When the distance between the doors measured by the distance measuring sensor 8 is reduced to a predetermined value or less. , The obstacle detection sensor 10 may start sensing the obstacle. Further, the number of traveling doors is not limited to two, and can be applied to a plurality of traveling doors.
By appropriately providing 0 on both left and right ends of each traveling door, the safety device can be operated when the traveling door approaches from either the left or right direction.

Further, in this embodiment, if no obstacle is detected before the traveling door 3a reaches the traveling door 3b, the speed of the traveling door 3a is reduced using the signal of the distance measuring sensor 8. And stop control to stop the traveling door 3a accurately at a predetermined position. Also,
In the present embodiment, the case where the distance measurement sensor 8 and the obstacle detection sensor 10 are constituted by photoelectric sensors using infrared light has been described. However, the present invention is not limited to this, and various types of ultrasonic waves and electromagnetic waves are used. A non-contact sensor may be used.

Further, the present invention is not limited to the case where a DC servomotor is used as a drive source for the traveling doors 3a and 3b, but other stepping motors and linear motors can be used. It can also be applied to doors that are towed by a tow. As means for emergency-stopping the traveling door 3a, a drive motor 6 as in this embodiment is used.
In addition to stopping the wheels 4a, 6b,
The brake may be applied to 4b.

[0025]

As described above, according to the traveling door safety device according to the present invention, the approach distance of the traveling door is measured by the distance measuring sensor, and when the distance between the doors becomes smaller than a predetermined value. The emergency stop of the traveling door is based on the detection signal output from the obstacle detection sensor, so if there is a sufficient distance between the doors, the door will stop even if a person or object passes between the doors. There is an excellent effect that the door opening / closing operation can be performed smoothly without being performed.

Further, when the approaching distance between the doors is reduced and becomes smaller than a predetermined value at which the driver should be aware of the accident, the emergency stop of the traveling door can be reliably performed based on the detection signal of the obstacle detection sensor. There is also an effect that an accident in which a person or an object is caught in the traveling door can be reliably prevented.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a schematic configuration of a traveling door safety device according to the present invention.

FIG. 2 is a flowchart showing an example of a processing procedure of a sensor control device constituting the safety device for the traveling door according to the present invention.

[Explanation of symbols]

 3a, 3b: travel door 8: distance measurement sensor 10: obstacle detection sensor 11: reflector 14: travel control device 15: sensor control device 16a, 16b: motor Drive circuit

 ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-60-78082 (JP, A) JP-A-4-166579 (JP, A) JP-A-3-151483 (JP, A) 18286 (JP, U) Fully open 1979-74954 (JP, U) Fully open 60-120192 (JP, U) Fully open 59-146483 (JP, U)

Claims (1)

(57) [Scope of request for utility model registration] 1. A distance measuring sensor (8) for measuring an approach distance between traveling doors (3a, 3b), and the traveling doors (3a, 3b).
b) An obstacle detection sensor (10) for detecting an obstacle (A) interposed therebetween is mounted on the traveling door (3a), and the traveling door (3a, 3) measured by the distance measuring sensor (8).
b) when the distance between them becomes smaller than a predetermined value, based on the detection signal of the obstacle detection sensor (10), the traveling door (3).
A safety device for a traveling door, comprising a control device (14, 15) for emergency stop of a).