JP4345122B2 - Automatic door - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic door that causes a door body to travel using a linear motor.
[0002]
[Prior art]
In general, a rotary motor is widely used as a drive source for an automatic door. However, noise is generated by a brush or a bearing provided on the motor, and the rotation of a reduction gear or the motor is converted into a traveling of the door. Because of this, noise is generated, and the door is liable to vibrate, and noise due to the vibration of the door is also generated.
[0003]
On the other hand, it is considered to use a linear motor in which the mover moves linearly as the door drive source. There are no gears for deceleration and a mechanism for converting rotational movement into linear movement in the linear motor. Will be greatly reduced. In the linear motor, a permanent magnet is used for the stator and a coil is used for the mover (for example, Japanese Patent Laid-Open No. 10-25965), an electromagnet is used for the stator and a permanent magnet is used for the mover ( For example, Japanese Patent Application No. 3-39378 is known.
[0004]
By the way, as shown in FIG. 3, as a linear motor in which a stator is provided with a coil, a plurality of coils 11 excited by the coil are arranged to constitute the stator 1, and the mover 2 using the permanent magnet 21 is arranged. The thing arrange | positioned so as to oppose the coil 11 can be considered. The distance between adjacent coils 11 in the moving direction of the mover 2 is set larger than the dimension of the coil 11 of the stator 1 in the moving direction of the mover 2 and smaller than twice the dimension.
[0005]
When the linear motor having such a configuration is used for an automatic door, the mover 2 is embedded in the upper portion of the door body 3 and the stator 1 is attached to the head 4 of the door frame on which the door body 3 travels. Become. With such a structure, the stator 1 and the mover 2 are merely opposed to each other in the vertical direction. Therefore, if a groove for receiving and guiding the upper portion of the door body 3 is formed in the head 4, the door body is formed. 3 can be held and run. The timing of energizing the coil 11 is controlled according to the position of the mover 2. The position of the mover 2 is detected by magnetic sensors 121 to 123 that detect the magnetic poles of the permanent magnet 21. The number of phases of the coil 11 is, for example, three, and the magnetic sensors 121 to 123 are arranged near the center of the coil 11 of each phase. That is, the magnetic sensors 121 to 123 are arranged at equal intervals over the entire length of the stator 1.
[0006]
[Problems to be solved by the invention]
As described above, when the magnetic sensors 121 to 123 are arranged at equal intervals over the entire length of the stator 1, the magnetic sensors 121 to 123 are arranged in a distributed manner, and wiring becomes complicated. Manufacturing work becomes troublesome. In the conventional configuration described above, since the magnetic sensors 121 to 123 are arranged in the coil 11, it is easily affected by the magnetic field generated around the coil 11 when the coil 11 is energized, and the position of the mover 2 is determined. There is also a possibility of false detection.
[0007]
The present invention has been made in view of the above-mentioned reasons, and its purpose is to facilitate manufacture by preventing a complicated wiring by arranging a plurality of magnetic sensors in a concentrated manner, and It is an object of the present invention to provide an automatic door in which the position of a mover is not erroneously detected by arranging a magnetic sensor at a position that is not easily affected.
[0008]
[Means for Solving the Problems]
The invention of claim 1 includes a stator arranged on the door frame along the traveling direction of the door body, and a movable body including a permanent magnet provided on the door body so that a plurality of magnetic poles are alternately different magnetic poles in the traveling direction. By the interaction of the permanent magnet, a sensor block comprising a plurality of coils, a plurality of coils arranged on the stator along the traveling direction of the door body, a plurality of magnetic sensors for detecting the position of the mover Control means for controlling energization to each coil at a timing according to the position of the mover detected by the sensor block so as to generate thrust for moving the door body, and the sensor block is provided on the stator. Instead of one of the coils, it is arranged at a position that can always face the mover . According to this configuration, a plurality of magnetic sensors for detecting the position of the mover are gathered in one place as a sensor block, so compared to a case where wiring is individually applied to magnetic sensors arranged in a distributed manner. Wiring is simplified and manufacturing is facilitated. In addition, since the sensor block is arranged instead of a part of the coil provided on the stator, no erroneous detection occurs when a magnetic sensor is arranged in the coil, and some coils are thinned out. Since there is no change in the distance between the other coils, it is only necessary to energize the coil at the same timing as when the coil is not thinned out, and control of energizing the coil does not become complicated.
[0009]
According to a second aspect of the present invention, a movable body including a stator arranged on a door frame along a traveling direction of the door body and a permanent magnet provided on the door body so that a plurality of magnetic poles alternately become different magnetic poles in the traveling direction. By the interaction of the permanent magnet, a sensor block comprising a plurality of coils, a plurality of coils arranged on the stator along the traveling direction of the door body, a plurality of magnetic sensors for detecting the position of the mover Control means for controlling energization to each coil at a timing according to the position of the mover detected by the sensor block so as to generate a thrust force for moving the door body, and the moving range of the mover is the total length of the stator. twice is set to the following, the sensor block is one that is arranged in place of the one coil of always opposable position mover a central portion of the movement range of the mover. According to this configuration, it is possible to control the energization to the coil with one sensor block as well as to achieve the effect of the invention of claim 1, and thus the number of magnetic sensors can be reduced and the cost can be reduced. It becomes possible to provide an automatic door.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
In the present embodiment, as shown in FIG. 1, a mover 2 using a permanent magnet 21 is attached along the upper edge of the door body 3 of the automatic door over the entire length of the door body 3 in the traveling direction. The stator 1 is provided so as to face the movable element 2 in the duck 4 that constitutes a portion and holds the upper part of the door body 3. The permanent magnet 21 constituting the mover 2 has a dimension equal to the entire length of the door body 3 in the moving direction of the mover 2.
[0011]
The stator 1 is formed by arranging a plurality of coils 11 along the moving direction of the mover 2 (traveling direction of the door body 3), and is fixed in the moving direction of the mover 2 (longitudinal direction of the stator 1). A missing portion corresponding to one coil 11 is provided in the central portion of the child 1, and the coils 11 are arranged at equal intervals in other portions of the stator 1. In the illustrated example, an air-core coil is used as each coil 11. However, each coil 11 may be provided with an iron core. In the present embodiment, the number of phases of the coils 11 is three, and a system is adopted in which these coils 11 are Y-connected and energized two phases at a time.
[0012]
A sensor block 12 including magnetic sensors 121, 122, and 123 is disposed in the missing portion of the coil 11. That is, the sensor block 12 is arranged instead of one of the coils 11 arranged at equal intervals. The part where the sensor block 12 is disposed is not limited to the central portion in the longitudinal direction of the stator 1, and in the present embodiment, a position that can face the movable element 2 regardless of the position of the door body 3. If it is.
[0013]
The permanent magnet 21 constituting the mover 2 is provided so that the plurality of magnetic poles 22 are alternately different in polarity in the traveling direction of the door body 3. Further, the distance between the adjacent magnetic poles 22 in the mover 2 is constant. The mover 2 is formed by simultaneously magnetizing a plurality of magnetic poles 22 on one magnetic body, or by attaching a plurality of permanent magnets 21 to a holding base.
[0014]
In the present embodiment, except for the coil 11 adjacent to the sensor block 12 in the stator 1, the distance (pitch) between each pair of adjacent coils 11 is arranged constant, and the magnetic poles 22 of the mover 2 are arranged. The distance between them is also constant. The distance between the coils 11 at the portion where the coils 11 are arranged at a constant pitch is set to 10/6 times the distance between the magnetic poles 22 of the mover 2. That is, 6 times the distance between the coils 11 is equal to 10 times the distance between the magnetic poles 22. Specifically, assuming that the distance between the magnetic poles 22 of the mover 2 is L, the diameter of the air-core coil forming the magnetic pole 22 is 3L / 2, and the interval between adjacent air-core coils is L / 6. It is set to become. Therefore, the length dimension occupied by the six air-core coils is (3L / 2 + L / 6) × 6 = 10 L, which is equal to 10 times the distance L between the magnetic poles 22 of the mover 2.
[0015]
The symbols φ1, φ2, and φ3 in FIG. 1 indicate the phases of the coils 11. Here, the coil 11 of the phase to which the apostrophe is added is energized simultaneously with the coil 11 having the same sign to which the apostrophe is not added, but it means that the energization direction is reversed. For example, when the coil 11 corresponding to φ1 is energized clockwise as viewed from above, the coil 11 corresponding to φ1 ′ is energized counterclockwise. In the illustrated example, the coils 11 are arranged in the order of φ1, φ2 ′, φ3, φ1 ′, φ2, and φ3 ′. By sequentially energizing two phases, φ1, φ2 → φ2, φ3 → φ3, φ1 → Energize cyclically like φ1 and φ2. In addition, adjacent two phases are energized in opposite directions. For example, when φ1 and φ3 are excited in FIG. 1, the coil 11 corresponding to φ1 and the coil 11 corresponding to φ3 are energized in opposite directions. In other words, two adjacent coils 11 in the stator 1 are energized simultaneously in the same direction, and the coils 11 adjacent to the left and right of the set of two energized coils 11 are not energized. The pair of coils 11 on the left and right sides of the coil 11 that is not energized is energized in opposite directions.
[0016]
In the above configuration, the door body 3 receives a thrust as a reaction force of the electromagnetic force generated by the current flowing in the coil 11 provided in the stator 1 and the magnetic field of the permanent magnet 21 provided in the mover 2 and is movable. In order to move the child 2 (door body 3) straightly, it is necessary to set the timing of energizing each coil 11 according to the position of the mover 2. Therefore, as a means for detecting the position of the mover 2, in the present embodiment, three magnetic sensors 121 to 123 made of Hall elements are used. As shown in FIG. 2, the three magnetic sensors 121 to 123 are mounted on one substrate 124 to constitute the sensor block 12.
[0017]
In the sensor block 12, the magnetic sensors 121 to 123 corresponding to φ1, φ2, and φ3 are sequentially arranged from the left in FIG. When the width dimension of the magnetic pole 22 of the mover 2 is L, the diameter of the coil 11 is 3L / 2, the distance between the coils 11 is L / 6, and the center of the coil 11 adjacent to the sensor block 12 is The distance from the magnetic sensor 122 to the magnetic sensor 122 is 5L / 3, and the distance between the magnetic sensors 121 to 123 is 2L / 3. If such a configuration is adopted, it is not necessary to provide the magnetic sensors 121 to 123 for each coil 11, and the number of the magnetic sensors 121 to 123 is greatly reduced as compared with the conventional configuration.
[0018]
Now, it is assumed that the mover 2 is moved to the left in FIG. 2 with respect to the stator 1. For the sake of simplicity, the energization direction when a current flows toward the paper back on the right side of the coil 11 shown in the figure is positive, and the energization direction when a current flows toward the paper back on the left side of the coil 11 is negative. I will call it. In other words, when the coil 11 is viewed from above, the case where the current flows counterclockwise is the positive direction, and the case where the current flows clockwise is the negative direction. When the magnetic pole 22 of the mover 2 changes from the S pole to the N pole, each of the magnetic sensors 121, 122, 123 is energized in the positive direction to the φ1 coil 11 and in the negative direction to the φ3 coil 11, respectively, The energization direction is switched to a state in which the coil 11 of φ1 is energized in the negative direction, the coil 11 of φ3 is energized in the positive direction, and the coil 11 of φ2 is energized in the negative direction. Further, when the magnetic pole 22 of the mover 2 changes from the N pole to the S pole, the relationship between the energization directions of the coils 11 corresponding to φ1, φ2, and φ3 of the stator 1 is reversed. Energization of each coil 11 based on the magnetic sensors 121 to 123 is controlled by a control means (not shown).
[0019]
If each coil 11 is energized under such conditions, the mover 2 receives a thrust in the left direction in FIG. In this way, the energization direction of each of the coils 11 of φ1, φ2, and φ3 changes with the movement of the mover 2, and the mover 2 receives a thrust in the left direction.
[0020]
In the configuration of this embodiment, since the stator 2 has a length twice that of the conventional configuration shown in FIG. 3, the thrust is almost doubled. In addition, the number of magnetic sensors 121 to 123 is greatly reduced as compared with the conventional configuration.
[0021]
The part where the sensor block 12 is disposed is not limited to the central portion in the longitudinal direction of the stator 1, but may be a position that can always face the movable element 2 in the travel range of the door body 3 as described above. Good. Further, the number of sensor blocks 12 is not limited to one, and the sensor blocks 12 may be provided instead of the plurality of coils 11 at appropriate positions. The configurations and arrangements of the coil 11 and the permanent magnet block in each of the above-described embodiments are examples, and it goes without saying that other configurations and arrangements can be adopted within the scope of the technical idea of the present invention.
[0022]
【The invention's effect】
According to the configuration of the first aspect of the present invention , since a plurality of magnetic sensors for detecting the position of the mover are grouped as one sensor block, wiring is individually provided to the magnetic sensors arranged in a distributed manner. Compared with the case of applying, there is an effect that the wiring becomes simple and the manufacture becomes easy. Further, since the sensor block is arranged instead of one of the coils provided on the stator, there is an effect that no erroneous detection occurs as in the case of arranging the magnetic sensor in the coil, and some coils Since there is no change in the distance between the other coils that are thinned out, it is only necessary to energize the coils at the same timing as when the coils are not thinned out, and the effect that the control of energizing the coils does not become complicated. There is.
[0023]
According to the configuration of the invention of claim 2, the same effect as that of the invention of claim 1 can be obtained, and energization to the coil can be controlled by one sensor block, so the number of magnetic sensors is reduced. This makes it possible to provide a low-cost automatic door.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram showing an overall configuration of an embodiment of the present invention.
FIG. 2 is a schematic configuration diagram showing a main part of the above.
FIG. 3 is a schematic configuration diagram showing a conventional configuration.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Stator 2 Movable element 3 Door body 4 Kamoi 11 Coil 12 Sensor block 21 Permanent magnet 22 Magnetic poles 121-123 Magnetic sensor

Claims (2)

A stator arranged along the traveling direction of the door body on the door frame, a mover including a permanent magnet provided on the door body so that a plurality of magnetic poles alternately become different magnetic poles in the traveling direction, and a door to the stator Thrust for moving the door body by the interaction of a plurality of coils arranged along the traveling direction of the body, a sensor block having a plurality of magnetic sensors for detecting the position of the mover, and the permanent magnet at a timing corresponding to the position of the movable element detected by the sensor block to produce and control means for controlling the energization of the coils, the sensor block, the one of the coils provided in the stator Instead , an automatic door characterized in that the automatic door is arranged at a position that can always face the movable element . A stator arranged along the traveling direction of the door body on the door frame, a mover including a permanent magnet provided on the door body so that a plurality of magnetic poles alternately become different magnetic poles in the traveling direction, and a door to the stator Thrust for moving the door body by the interaction of a plurality of coils arranged along the traveling direction of the body, a sensor block having a plurality of magnetic sensors for detecting the position of the mover, and the permanent magnet Control means for controlling energization to each coil at a timing according to the position of the mover detected by the sensor block so as to be generated, and the moving range of the mover is set to be not more than twice the total length of the stator. the sensor block, an automatic door, characterized in that it is arranged in place of the one coil of always opposable position mover a central portion of the movement range of the mover.

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