JP3799047B2 - Shutter obstacle detection device - Google Patents

Description

  The present invention relates to an obstacle detection device for a shutter which detects an obstacle at an opening of the shutter and controls the shutter operation.

FIG. 10 is a front view showing the shutter. The shutter 41 that moves up and down the opening 40 is provided with an obstacle sensing device 42 that safely controls the shutter 41 when an obstacle is sensed during the raising and lowering.
As the obstacle sensing device 42, a system that senses a load applied to the opening / closing device 43 of the shutter 41 is inexpensive and widely used.
In this method, the current value of the switch 43 is sensed, or the amount of rotation is detected by using a tachometer or an encoder, and the shutter 41 is moved in the safe direction, that is, stopped or reversed from the decrease in the amount of rotation. It has become.

  However, since the shutter 41 has a backlash at the connecting portion between the slats 41a, the backlash until the load is applied to the opening / closing device 43 at the top end of the shutter 41 after the seat 41b at the bottom end of the shutter 41 hits an obstacle. Because it was after being packed, it took time and I could not expect an improvement in safety.

In particular, since the small size shutter 41 has a light slat, the shutter 41 is slack in the shutter box as shown in FIG. 11A or reversely wound as shown in FIG. Therefore, it will take more time to reverse and rise. At this time, the shutter 41 may be damaged.
In particular, the obstacle often comes into contact with the shutter at the lowermost position of the opening 40, and it has been desired that the obstacle can be accurately detected at the lower end position.

  The present invention has been made to solve the above problems, and provides an obstacle sensing device for a shutter that can quickly sense an obstacle and control it to the safe side when the opening has an obstacle. The purpose is that.

In order to achieve the above object, the shutter obstacle sensing device according to claim 1 of the present invention performs safety control for at least stopping the shutter 1 when it is determined that there is an obstacle during the closing operation. In
An opening / closing machine 2 for opening and closing the shutter 1;
A load sensing unit 5 for sensing the load of the switch 2 during the closing operation;
When the shutter 1 actually reaches the lower limit position, lower limit position detection means 7 for detecting this,
A rotation amount detection means 6 for detecting the rotation state of the opening and closing machine 2;
With
Detecting the amount of rotation before detecting that the load sensing signal of the load sensing unit 5 is OFF and the shutter 1 reaches the lower limit position by the lower limit position detecting means 7 during the closing operation of the shutter 1 When the means 6 reaches the rotation amount corresponding to the lower limit position of the shutter 1, it is determined that there is an obstacle.

  The shutter obstacle sensing device according to claim 2 is the shutter obstacle sensing device according to claim 1, wherein the rotation amount is detected before the lower limit position detecting means 7 detects that the shutter 1 reaches the lower limit position. When the means 6 has not reached the amount of rotation corresponding to the lower limit position of the shutter 1, it is determined that there is an obstacle when the load sensing signal of the load sensing unit 5 is turned on.

  The shutter obstacle sensing device according to claim 3 is the shutter obstacle sensing device according to claim 1, wherein the lower limit position detecting means 7 detects that the shutter 1 reaches the lower limit position, and the amount of rotation is detected. When the detection means 6 does not reach the rotation amount corresponding to the lower limit position of the shutter 1, it is determined that the shutter 1 has reached the lower limit, and it is not determined that there is an obstacle.

Further, in the shutter obstacle sensing device according to claim 4 of the present invention, when it is determined that there is an obstacle during the closing operation, the shutter obstacle sensing device that performs safety control to at least stop the shutter 1,
An opening / closing machine 2 for opening and closing the shutter 1;
A rotation amount detection means 16 for detecting the rotation state of the switch 2;
Shutter position detecting means 17 for detecting the actual lowering position of the shutter 1 at each predetermined interval including a position slightly above the lower limit position;
With
The switch 2 has a maximum stroke up to a position exceeding a lower limit position,
When the shutter 1 is closed, and when the rotation amount detection means 16 reaches the rotation amount corresponding to each position of the shutter 1 before the shutter position detection means 17 detects that the shutter 1 reaches each position. ,
It is determined that there is an obstacle at the height position of the shutter position detecting means 17 in the opening 10.

The obstacle detection device for a shutter according to claim 5 is the obstacle detection device for a shutter according to claim 4, wherein the rotation amount detection means 16 is connected to a rotation shaft of the switch 2, and A reduction gearbox 16a that reduces the rotation within one rotation corresponding to the opening / closing stroke of the shutter 1,
The potentiometer 16b is connected to the gear box 16a and outputs a position signal corresponding to the opening / closing position of the shutter 1.

According to the obstacle detection device for a shutter of the present invention, the rotation amount detection unit detects the rotation amount of the switch, the lower limit position detection unit detects the lower limit position of the shutter, and the control unit detects the shutter from these detection states. When the shutter does not reach the lower limit position during the closing operation, but the opening / closing machine has reached the amount of rotation corresponding to the lower limit position, it is determined that there is an obstacle at the lower end of the opening. In addition to being able to sense, it is possible to safely control the shutter, such as immediately stopping the shutter while the load applied between the shutter side and the obstacle is small, and mutual damage can be prevented.
In particular, obstacle detection is likely to occur at the lower end of the opening, and is effective in preventing finger scissors and the like.

  Further, the rotation amount detection means detects the rotation amount of the switch, and the shutter position detection means detects the lowering position of the shutter at predetermined intervals, and the control unit detects that each shutter is in the shutter closing operation from these detection states. When the opening / closing machine has reached the amount of rotation corresponding to the position of the shutter position detection means but has not reached the position of the position detection means, it is determined that there is an obstacle at the height of the same position. Obstacles can be detected quickly in the entire height direction, and the shutter can be stopped immediately while the load applied between the shutter and the obstacles is small. Can be prevented. At the same time, the control unit can detect the obstacle position and the height of the obstacle.

FIG. 1 is a front view showing a first embodiment of the obstacle detection device for a shutter according to the present invention. In the first embodiment, particularly when there is an obstacle at the lower end position of the opening 10, the obstacle can be detected without depending on the load detection of the switch 2.
The shutter 1 that moves up and down the opening 10 can be moved up and down by the rotation of the opening / closing device 2, and the opening / closing device 2 is controlled via the control unit 4 by operating the operation switch 3.

FIG. 2 is a block diagram showing the control unit 4.
The control unit 4 has a controller 4a composed of an MPU, and controls the raising and lowering of the shutter 1 by the control of the controller 4a.
The control unit 4 is connected to the operation switch 3 for opening / closing and stopping the shutter 1 and the switch 2 such as a motor, and a change in the rotation state of the switch 2 is detected by the load sensing unit 5. It is like that.
The rotation speed of the opening / closing machine 2 is counted by a rotation amount detection means 6 such as a counter.
On the other hand, the lower limit position of the shutter 1 is detected by the lower limit position detecting means 7.

As shown in FIG. 3, the load sensing unit 5 detects the rotation state of the switch 2, and the rotation of the disc-shaped magnet 5a having the NS pole fixed to the rotation shaft 2a is detected by the side Hall IC 5b. The controller 4a is configured to detect, and when the rotational speed of the opening / closing device 2 is decreased and reaches a predetermined rotational speed, the controller 4a outputs a load sensing signal as a load applied to the switching device 2.
When this load is sensed, a corresponding load sensing signal is output.
In addition, the load sensing unit 5 may be configured to sense an overcurrent when the switch 2 is overloaded, or may be configured to sense an overload by a decrease in the rotational speed using a tachometer.
In the figure, reference numeral 2c denotes a gear head having a speed reducer connected to the shutter 1 side.

The rotation amount detection means 6 is composed of, for example, a counter 6b connected via a gear 6a fixed to the rotation shaft 2a of the opening / closing machine 2, and this counter 6b is a lower limit position of the shutter 1 (when the shutter 1 is installed). Reset (count 0) in the fully closed state). When the count is 0, an ON signal is output.
Based on the count value of the rotation amount detection means 6, the actual rotation state of the switch 2 can be obtained.
In addition, the rotation amount detection means 6 may be configured to detect the rotation amount from the output voltage using a tachometer and counting rotation pulses or using a potentiometer.
Therefore, the load sensing unit 5 and the rotation amount detection means 6 can share part of the configuration as long as they can detect and output the rotation amount and the load separately.

As shown in FIG. 1, the lower limit position detection means 7 includes a detector (proximity switch) 7a provided at the lower limit position of the guide rail 1b and a detector (magnet) 7b provided on the seat plate 1a of the shutter 1. When the shutter 1 is lowered and the shutter 1 actually reaches the lower limit position (fully closed state), this is detected and an ON state detection signal is output.
The lower limit position detecting means 7 may be provided at both ends of the seat plate 1a so as to be fully closed if both detection signals are present.
And the detector which comprises this lower limit position detection means 7 may be comprised in the guide rail 1b, and may be comprised with the mechanical type limit switch which contacts the seat board 1a.
In addition, as a detector, a light projecting / receiving sensor can be provided on the guide rail 1b, and a reflective material as a detection body can be provided on the seat plate 1a to detect whether light is reflected or not. Moreover, it can also be set as the structure which provides a light projection sensor and a light-receiving sensor as a detector in both guide rails 1b, respectively, and detects the seat board 1a.

  The controller 4a assumes that an obstacle has been detected when the load sensing signal of the load sensing unit 5 is turned on during the opening and closing of the shutter 1, and controls the shutter 1 to the safe side. For example, stop control is performed on the opening / closing machine 2 to stop the shutter 1.

  Table 1 below shows the detection output of each of the detection means 5, 6 and 7 when the normal operation in the closing operation of the shutter 1, the obstacle detection at the closing position, and the obstacle detection near the lower limit, and the controller 4a The judgment and the control output of the control unit 4 are shown.

  As described above, the controller 4a can perform obstacle detection near the lower end of the shutter 1 without using only the load sensing signal of the load sensing unit 5, and accurately detect obstacles near the shutter 1 fully closed position. Can be done.

That is, as shown in FIG. 1, when an obstacle is in the vicinity of the lower end of the shutter 1, even if the shutter 1 is lowered, the seat plate 1a of the shutter 1 stops in a state where it hits the obstacle. It cannot descend to the following lower limit position. As a result, the detector 7a remains in the OFF state.
However, even when the detector 7a is OFF, the controller 4a is turned on when the counter 6b is turned ON because the opening / closing device 2 continues to rotate due to looseness or slack between the slats of the shutter 1. The presence of an obstacle can be detected.

Even when an obstacle is detected at this lower limit position, the control unit 4 controls the shutter 1 to the safe side. For example, the opening / closing machine 2 is stopped or reversed so that the shutter 1 is stopped or reversed.
Thus, at the lower limit position of the shutter 1, the obstacle detection of the shutter 1 can be performed by the detection outputs of the lower limit position detection means 7 and the rotation amount detection means 6 before the load sensing unit 5 senses the load.

When the detector 7a is on for some reason and the counter 6b is off, at least the shutter 1 has reached the lower limit. Therefore, the controller 4a does not determine obstacle detection and determines normal operation.
Needless to say, if the load sensing unit 5 senses the load and turns on before the detector 7a is turned off and the counter 6b is turned on, an obstacle is sensed.

The processing contents of the obstacle sensing operation during the closing operation of the shutter 1 described above are shown in the flowcharts of FIGS.
FIG. 4 shows processing steps corresponding to the case where the detector 7a described in the obstacle sensing operation is turned on first and then the counter 6b is turned on.
However, for some reason, it is necessary to sense an obstacle even when the counter 6b is turned on first and then the detector 7a is turned on. This processing step is shown in FIG.

Next, FIG. 6 is a front view showing a second embodiment of the present invention.
In this embodiment, obstacle sensing in the entire height direction of the opening 10 can be performed without the configuration of the load sensing unit 5, and the configurations of the lower limit position detecting means 7 and the rotation amount detecting means 6 are changed. ing.

First, as shown in FIG. 6, a shutter position detecting means 17 is provided in place of the lower limit position detecting means 7. Specifically, as shown in FIG. 1, the shutter position detecting means 17 is provided with a plurality of detectors (proximity switches) 17A to 17F at equal intervals at the upper and lower end positions of the guide rail 1b and the middle position thereof. The seat plate 1a is provided with a detection body (magnet) 7b.
The position of the descending shutter 1 is detected by each of the detectors 17A to 17F, and outputs an ON state detection signal when passing.

FIG. 7 is a block diagram showing the control unit 14.
The control unit 14 includes a controller 14a composed of an MPU, and controls the raising and lowering of the shutter 1 by the control of the controller 14a.
An operation switch 3 for opening / closing and stopping the shutter 1 and an opening / closing machine 2 are connected to the control unit 14.
The rotation speed of the opening / closing machine 2 is detected by the rotation amount detection means 16.

As the rotation amount detecting means 16, a potentiometer 16b shown in FIG. 8 is used instead of the counter.
The potentiometer 16b is connected to the rotary shaft 2a of the opening / closing machine 2 via a reduction gear box 16a. The reduction gear box 16a is rotated a plurality of times corresponding to the distance (opening / closing stroke) of the upper and lower limit positions of the shutter 1 on the input side connected to the opening / closing device 2, and corresponds to the opening / closing stroke of the shutter 1 on the output side. Thus, the speed is reduced within one rotation.

  Accordingly, the potentiometer 16b rotates within a range of one rotation corresponding to the opening and closing of the shutter 1, and continuously outputs a voltage from 0 to Vcc shown in FIG. 9 corresponding to the rotation angle. In this figure, A to F correspond to positions where the detectors 17A to 17F of the shutter position detecting means 17 are provided, respectively, A is an upper limit position of the shutter, and F is a position slightly above the lower limit position. As shown in the figure, the opening / closing machine 2 has a maximum stroke up to a position exceeding the upper and lower limit positions in consideration of the looseness and slack of the shutter 1, and the reduction gear box 16a has the maximum stroke. The stroke is set to be within one rotation.

A digital position signal corresponding to the voltage value of the potentiometer 16b is output to the controller 14a via the A / D conversion board 16c.
Further, the rotation amount detection means 16 may be configured to use an encoder instead of the potentiometer 16b, or may be configured to detect the rotation of the switch 2 by the output pulse count. Moreover, it is good also as a structure which uses a counter and performs the output corresponding to rotation of the opening / closing machine 2 (corresponding lowered position of the shutter 1) for every predetermined count value.
The actual rotation state of the switch 2 is obtained by the value output from the rotation amount detection means 16.

Further, the controller 14 a obtains the opening / closing position of the shutter 1 based on the output of the shutter position detecting means 17.
That is, the detectors 17A to 17F are sequentially passed according to the opening / closing of the shutter 1, and the opening / closing position of the shutter 1 is determined by this passing state.
Specifically, when the detector is constituted by a proximity switch, when the shutter 1 is closed and the magnet 7b of the seat plate 1a passes the position of each proximity switch 17, the proximity switch 17 is turned on. A state detection signal is output, but after passing, the controller 14a holds this ON state in the storage unit.

After the passage, the proximity switch 17 becomes an OFF detection output. However, the controller 14a keeps the shutter 1 on the seating plate of the shutter 1 during the period until the shutter 1 continues the closing operation and the proximity switch 17 one step below is turned on. It is determined that 1a is located between the upper and lower proximity switches 17 and 17.
Therefore, when the seat plate 1a reaches the lower limit position, all the outputs of the proximity switches 17A to 17F are stored and held in the ON state. Only the proximity switch 17A is used as an upper limit switch.

  On the other hand, when the opening operation of the shutter 1 is performed, the memory holding of the ON state of the proximity switch 17 that has passed is sequentially released. For example, when the seat plate 1a is raised through the proximity switch 17E, the controller 14a releases the holding of the proximity switch 17E after passing by the detection output of the proximity switch 17E. At this time, the ON outputs of the proximity switches 17A to 17D are stored and held. At the same time, the controller 14a determines that the seat plate 1a is located between the proximity switches 17D and 17E.

  If the detectors 17A to 17F use a switch (for example, a switch that mechanically holds a contact) that holds a detection output after passing when the shutter is lowered, a configuration for storing and holding the detection signal on the controller 14a side is unnecessary. It becomes. This switch cancels holding of the detection output when it passes when it is raised.

Then, the controller 14a determines the height direction of the opening 10 based on the output of the shutter position detection means 17 indicating the actual raising / lowering state of the shutter 1 and the actual rotation state of the switch 2 output by the rotation amount detection means 16. Obstacles in the entire area can be detected.
That is, the controller 14a determines that there is an obstacle when the state shown in Table 2 below occurs when the shutter 1 is closed.

In this way, the controller 14a can perform obstacle detection throughout the shutter opening 10.
For example, as shown in FIG. 6, when there is an obstacle having a height corresponding to the position between the detectors 17C and 17D, even if the shutter 1 is lowered, the seat plate 1a of the shutter 1 remains the obstacle. It stops in the state of hitting and cannot descend to a lower position. That is, it cannot be detected by the detector 17E one stage below.
At this time, the detector 17C outputs an ON state detection signal, but the switch 2 continues to rotate in the closing direction, and the potentiometer 16b of the rotation amount detection means 16 outputs a corresponding voltage value.

When the output value of the rotation amount detection means 16 outputs a voltage value (actually a corresponding digital value) corresponding to the position of the detector 17D one stage below, that is, when V ≧ VD Judge that there is an obstacle.
The rotation of the switch 2 after the obstacle is detected is caused by backlash or slack between the slats of the shutter 1, but the above conditions are in a stage before the backlash is filled and before a large slack occurs. When the above condition is satisfied, the controller 14a can detect the presence of an obstacle.

  At the same time, the controller 14a can determine the obstacle position and the height position of the obstacle in units of the arrangement intervals of the detectors 17A to 17F constituting the shutter position detection means 17 when the obstacle is sensed. Can be stored and output externally.

When an obstacle is detected at the opening 10 in this way, the control unit 14 controls the shutter 1 to the safe side. For example, the shutter 2 is stopped by controlling the opening / closing device 2 to stop. Further, the shutter 1 may be reversed and raised when an obstacle is detected by the setting of the controller 14a.
As described above, when an obstacle hits the shutter 1, before the slats are filled and before the slack is generated, the shutter position detection means 17 and the rotation amount detection means 16 detect the output of the shutter 1. Since the obstacle can be detected, the load can be detected more quickly than the load of the switch 2.

In the second embodiment, the shutter position detecting means 17 is composed of a total of six detectors 17A to 17F, but this number may be increased in the vertical direction of the guide rail 1b.
In this case, the controller 14a can determine the output value of the rotation amount detection means 16 with the detectors 17 whose number has been increased in multiple stages. This obstacle can be sensed more quickly.

The front view which shows 1st Embodiment of the obstruction detection apparatus of the shutter of this invention. The block diagram which shows the control part of the apparatus. The figure which shows a load sensing part and a rotation amount detection means. The flowchart which shows the processing content of an obstacle detection operation | movement. The flowchart which shows the other processing content of the obstruction detection operation | movement. The front view which shows the 2nd Embodiment of this invention. The block diagram which shows the control part of the apparatus. The figure which shows a rotation amount detection means. The figure which shows the output voltage of a potentiometer. The front view which shows the conventional shutter. (A) is a figure which shows the slack of a shutter. (B) is a figure which shows a reverse winding state.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Shutter, 1a ... Seat plate, 1b ... Guide rail, 2 ... Opening / closing machine, 3 ... Operation switch, 4,14 ... Control part, 4a, 14a ... Controller, 5 ... Load sensing part, 6,16 ... Rotation amount detection Means, 6b ... counter, 16b ... potentiometer, 7 ... lower limit position detecting means, 17 ... shutter position detecting means, 7a, 17A to 17F ... detector, 7b ... detector, 10 ... opening.

Claims (5)

When it is determined that there is an obstacle during the closing operation, in the obstacle detection device for the shutter that performs safety control to stop the shutter at least,
An opening and closing device for opening and closing the shutter;
A load sensing unit for sensing the load of the switch during the closing operation;
When the shutter actually reaches the lower limit position, lower limit position detection means for detecting this,
A rotation amount detecting means for detecting a rotation state of the switch;
With
During the closing operation of the shutter, the load sensing signal of the load sensing unit is OFF, and before the detection of the shutter reaching the lower limit position by the lower limit position detection means, the rotation amount detection means is the shutter An obstacle detection device for a shutter, characterized in that an obstacle is determined when a rotation amount corresponding to a lower limit position of the shutter is reached.   Before the detection that the shutter reaches the lower limit position by the lower limit position detection means, when the rotation amount detection means has not reached the rotation amount corresponding to the lower limit position of the shutter, the load detection signal of the load sensing unit is turned ON. 2. The obstacle detection device for a shutter according to claim 1, wherein it is determined that an obstacle exists.   When the lower limit position detection means detects that the shutter reaches the lower limit position, and the rotation amount detection means does not reach the rotation amount corresponding to the lower limit position of the shutter, the shutter has reached the lower limit. 2. The shutter obstacle sensing device according to claim 1, wherein the judgment is made and the judgment is not made that there is an obstacle. When it is determined that there is an obstacle during the closing operation, in the obstacle detection device for the shutter that performs safety control to stop the shutter at least,
An opening and closing device for opening and closing the shutter;
A rotation amount detecting means for detecting a rotation state of the switch;
Shutter position detecting means for detecting the actual lowering position of the shutter at each position at a predetermined interval including a position slightly above the lower limit position;
With
The opening and closing machine has a maximum stroke up to a position exceeding a lower limit position;
When the shutter is closed, when the rotation amount detection means reaches a rotation amount corresponding to each position of the shutter before the shutter position detection means detects that the shutter reaches each position,
An obstacle detection device for a shutter, characterized in that an obstacle is determined at a height position of the shutter position detection means in the opening. The rotation amount detection means is connected to a rotation shaft of the opening / closing machine, and a reduction gearbox that decelerates the rotation of the opening / closing machine within one rotation corresponding to the opening / closing stroke of the shutter;
5. The shutter obstacle sensing device according to claim 4, wherein the shutter obstacle sensing device comprises a potentiometer connected to the gear box and outputting a position signal corresponding to the open / close position of the shutter.

Images