JP4632366B2 - Automatic door device - Google Patents

Description

  The present invention relates to an automatic door device provided with an electric lock for locking a door.

  An automatic door that opens and closes when an object such as a person is detected by an external sensor and an internal sensor provided on the outside and inside of the door, respectively, with an electric lock for locking the door Is known (for example, see Patent Document 1).

  According to the automatic door device described in the above-mentioned Patent Document 1, it can be installed at the entrance / exit of a cash corner of a bank, and can be accessed from outside or inside during business hours when a signal from an external timer is turned on. Therefore, outside the business hours when the signal from the external timer is turned off, the door controller can be controlled by the presence or absence of a door activation signal from the electric lock control device so that the internal passage is free but the external passage is impossible. Controls the opening and closing of the door.

  Specifically, when the ON signal from the external timer is input, the unlock signal is transmitted from the electric lock control device to the electric lock by the action of the ON signal from the external timer, and the unlocked state is established. In addition, the object detection signal from the external sensor is accepted by the electric lock control device as an effective signal for opening and closing the door. The object detection signal from the internal sensor is always accepted by the electric lock control device regardless of the on / off signal from the external timer. When in the unlocked state, the unlocking confirmation signal is transmitted from the electric lock to the electric lock control device as a signal indicating the unlocked state. When an object detection signal is output from any one of the sensors, a door activation signal is transmitted from the electric lock control device to a door controller that opens and closes the door, thereby opening and closing the door.

  On the other hand, when the off signal from the external timer is input, the action of the off signal from the external timer stops the transmission of the unlock signal to the electric lock, and the electric lock enters the locked state. The object detection signal from is blocked and cannot be accepted by the electric lock control device. For this reason, the door is opened and closed only when an object detection signal is input from the internal sensor. Specifically, when an off signal from an external timer is input, first, object detection from an internal sensor that is accepted by the electric lock control device regardless of the on / off signal of the external timer. When a signal is input to the electric lock control device, an unlock signal is transmitted to the electric lock and unlocked. When the unlock confirmation signal is transmitted from the electric lock to the electric lock control device, the object detection signal from the internal sensor is output as the on signal by the action of the on signal of the unlock confirmation signal, and the door activation signal is generated. The door is opened and closed by being transmitted from the electric lock control device to the door controller.

In addition, as a conventional automatic door device, in an automatic door device in which a driving force from a drive source configured by a motor is transmitted to the door via a transmission mechanism, the door is opened and closed. A disk-shaped restrained member pivotally attached to the shaft, and energizing an electromagnetic solenoid having a plunger having a restraining rod engaged with a through-hole provided in the restrained member to cause the restraining rod to protrude to pass through the through-hole. An automatic door device having an electric lock that performs locking by engaging with a hole, and de-energizes the electromagnetic solenoid to retract the restraining rod to release the engagement with the restrained member. (For example, refer to Patent Document 2).
Utility Model Registration No. 2542648 Japanese Patent Laid-Open No. 6-221055

  According to the automatic door device described in Patent Document 1, in addition to the door controller for opening and closing the door, the door activation signal for driving and unlocking the door by driving the electric lock and opening and closing the door to the door controller. A separate electric lock control device is required. In addition, this electric lock control device has a circuit configuration that uses a large number of semiconductor gates and relays, which makes the entire device expensive. Furthermore, the amount of wiring work is large and cumbersome, and failure due to incorrect wiring is likely to occur.

  Further, according to the automatic door device described in Patent Document 2, the door is locked in the fully closed position due to the dead weight of the door acting in a sloping lower direction or the action of wind when the door is installed with a slight inclination. When a force in the opening direction is applied to the door, the force is transmitted to the motor output shaft, and a rotational force is generated in the restrained member that is attached to the motor output shaft. When a rotational force is generated in the constrained member in this way, the constraining rod engaged with the through hole of the constrained member contacts the edge of the through hole in a pressed state, so that the electromagnetic solenoid is deenergized. However, there is a possibility that the restraining rod is caught on the edge of the through hole and cannot be pulled out, and the engaged state cannot be released. As described above, in an electric lock that is locked by projecting and engaging the restraining rod with the restrained member that constitutes the transmission mechanism, the door that is locked in the fully closed position is opened. When the force in the direction acts, the force in the opening direction also acts on the restrained member, and the engagement state of the restraining rod to the restrained member cannot be released and it may not be possible to unlock it. Have a problem.

  Further, when locking, when the restraining rod is engaged with the restrained member while being in contact with the restrained member, the restraining rod is pushed against the restrained member even when the electromagnetic solenoid is de-energized. It may become impossible to pull out. Therefore, there is a risk that unlocking may not be possible due to such a cause.

  The objective of this invention is providing the automatic door apparatus which can prevent that it becomes impossible to unlock.

In order to solve the above problems, the invention according to claim 1 includes a door and a drive mechanism for opening and closing the door using a motor as a drive source. When an object is detected by an internal sensor or an external sensor, the door is In an automatic door device comprising a door controller that operates the drive mechanism that opens and closes, and an electric lock that operates the electromagnetic solenoid to lock the door is provided in the drive mechanism,
The door controller,
A speed control unit that drives and controls the motor in the forward and reverse directions at an arbitrary speed;
An electromagnetic solenoid energization section for energizing / de-energizing the electromagnetic solenoid;
A control calculation unit that outputs a speed command, forward / reverse rotation direction, and motor current command to the speed control unit to control the opening / closing operation of the door, and that outputs an energization command to the electromagnetic solenoid energization unit; ,
A fully-closed position detecting means for detecting that the door is fully opened and in the fully-closed position, and outputting the detected signal as a fully-closed position detection signal;
The door opening / closing mode pattern is set to either a locking opening / closing mode in which the door opening / closing control is performed when the door is locked or a normal opening / closing mode in which the door opening / closing control is performed when the door is not locked. An open / close mode switch input unit that inputs a selection signal from the open / close mode switch and outputs the selection signal to the control calculation unit as a door open / close mode selection signal;
Consisting of
An electric lock that operates the electromagnetic solenoid to lock the door is:
When the door open / close mode pattern is in the lock open / close mode, when the fully closed position detecting means detects that the door is in the fully closed position, it continues to output a drive signal to the motor, and the control With the driving force applied to the motor at a predetermined current value from the calculation unit, the door is pressed in the closing direction and a force in the closing direction is applied to the door to hold the door in the fully closed state. characterized by being configured the electric lock to facilities tablets by the locking control unit.

In order to solve the above-mentioned problem, the invention according to claim 2 is provided with a door and a drive mechanism for opening and closing the door using a motor as a drive source. When an object is detected by an internal sensor or an external sensor, In an automatic door device comprising a door controller that operates the drive mechanism that opens and closes, and an electric lock that operates the electromagnetic solenoid to lock the door is provided in the drive mechanism,
The door controller,
A speed control unit that drives and controls the motor in the forward and reverse directions at an arbitrary speed;
An electromagnetic solenoid energization section for energizing / de-energizing the electromagnetic solenoid;
A control calculation unit that outputs a speed command, forward / reverse rotation direction, and motor current command to the speed control unit to control the opening / closing operation of the door, and that outputs an energization command to the electromagnetic solenoid energization unit; ,
A fully open position detecting means for detecting that the door is fully open and in the fully open position, and outputting the fully open position detection signal;
The door opening / closing mode pattern is set to either a locking opening / closing mode in which the door opening / closing control is performed when the door is locked or a normal opening / closing mode in which the door opening / closing control is performed when the door is not locked. An open / close mode switch input unit that inputs a selection signal from the open / close mode switch and outputs the selection signal to the control calculation unit as a door open / close mode selection signal;
Consisting of
An electric lock that operates the electromagnetic solenoid to lock the door is:
When the open / close mode pattern of the door is in the open / close mode at the time of locking, when the fully open position detecting means detects that the door has reached the fully open position, it continues to output a drive signal to the motor, and the control calculation In a state where the door is pressed in the opening direction and a force in the opening direction is applied to the door while the driving force is applied to the motor with a predetermined current value from the section, the door is held in the fully opened state. characterized by being configured to facilities tablets by a tablet on the lock control means.

In order to solve the above-mentioned problem, the invention described in claim 3 is provided with a door and a drive mechanism for opening and closing the door using a motor as a drive source, and when an object is detected by an internal sensor or an external sensor, In an automatic door device comprising a door controller that operates the drive mechanism that opens and closes, and an electric lock that operates the electromagnetic solenoid to lock the door is provided in the drive mechanism,
The door controller,
A speed control unit that drives and controls the motor in the forward and reverse directions at an arbitrary speed;
An electromagnetic solenoid energization section for energizing / de-energizing the electromagnetic solenoid;
A control calculation unit that outputs a speed command, forward / reverse rotation direction, and motor current command to the speed control unit to control the opening / closing operation of the door, and that outputs an energization command to the electromagnetic solenoid energization unit; ,
A fully-closed position detecting means for detecting that the door is fully opened and in the fully-closed position, and outputting the detected signal as a fully-closed position detection signal;
A fully open position detecting means for detecting that the door is fully open and in the fully open position, and outputting the fully open position detection signal;
The door opening / closing mode pattern includes : a locking opening / closing mode for performing opening / closing control of the door when the door is locked; a locking opening / closing mode for performing opening / closing control of the door when the door is not locked; or a normal opening / closing mode. An open / close mode switch input unit that inputs a selection signal from the open / close mode switch to be set and outputs the selection signal to the control calculation unit as a door open / close mode selection signal;
Consisting of
An electric lock that operates the electromagnetic solenoid to lock the door is:
When the open / close mode pattern of the door is in the open / close mode at the time of locking, when the fully open position detecting means detects that the door has reached the fully open position, it continues to output a drive signal to the motor, and the control calculation In a state where the door is pressed in the opening direction and a force in the opening direction is applied to the door while the driving force is applied to the motor with a predetermined current value from the section, the door is held in the fully opened state. and facilities lock by the lock to the locking control means,
When unlocking the door that is locked in the open direction, the electromagnetic solenoid is switched from the energized state to the non-energized state, and then a drive signal is output to the motor and a predetermined current is output from the control calculation unit. giving the opening direction of the driving force to the motor by value stepwise increased short time until the driving force of the target, after reaching the driving force of the target, reducing stepwise to zero the driving force in a short time It is configured as described above.

  According to the first aspect of the present invention, a predetermined driving force is applied to the door that is locked at the fully closed position so that a force in the closing direction is applied from a driving source for opening and closing the door. Therefore, when the door is installed with a slight inclination, a force in the opening direction acts on the door that is locked in the fully closed position due to the weight of the door acting in the inclined low direction or the action of the wind. However, the force in the opening direction is canceled out, and the force in the opening direction of the door does not act on the restrained member. Thereby, it can prevent that engagement of the restraint rod to the said to-be-constrained member cannot be released, and it can prevent that the situation where unlocking cannot be performed arises.

  According to the invention described in claim 2, by locking the door in the fully open position, it is possible to prevent the door in the fully open position from being closed without permission, and the door has a force in the opening direction. Since a predetermined driving force is applied from the driving source so as to act, when the door is installed with a slight inclination, the door is operated in the fully open position due to the dead weight of the door acting in the inclined low direction or the action of the wind. Even if a force in the closing direction is applied to the door in the locked state, the force in the closing direction is canceled, and the force in the closing direction of the door does not act on the restrained member. As a result, even when locking is performed in the fully open position, it is possible to prevent the engagement of the restraining rod with the restrained member from being unable to be released, and to prevent the situation where unlocking cannot be performed. Can do.

  According to the third aspect of the present invention, even when the locking rod is engaged with the restrained member while being pressed against the restrained member while being locked, the electromagnetic solenoid is energized. A predetermined driving force from the drive source for applying a force in the closing direction to the door that is locked in the fully closed position after the state is turned off, or the door that is locked in the fully open position The driving force of the motor is transmitted by increasing the predetermined driving force from the driving source for applying the force in the opening direction and reducing the driving force to zero after reaching the target driving force. The force with which the restrained member constituting the transmission mechanism presses the restraining rod is alleviated. Thereby, since the engagement state to a to-be-restricted member can be cancelled | released by retracting | retreating a restraint rod, it can prevent that the situation where unlocking cannot be performed arises.

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings.

  1 is an overall schematic view showing an example of an embodiment of an automatic door device according to the present invention, FIG. 2 is a partially enlarged view of the automatic door device shown in FIG. 1, and FIG. 3 is an electric diagram of the automatic door device shown in FIG. FIG. 4 is an overall schematic view including a block diagram of the door controller of the automatic door device shown in FIG.

  In FIG. 1, the automatic door device 1 of this example includes a door 2 and a drive mechanism 3 for opening and closing the door 2.

  The drive mechanism 3 has a known configuration (see Japanese Patent Application Laid-Open No. 2002-115448) and is provided on the mounting lateral base 4 and includes a motor 5 as a drive source and a transmission mechanism 6. ing. The driving force from the motor 5 is transmitted to the door 2 through the transmission mechanism 6 so that the door 2 is opened and closed.

  The motor 5 is configured by a brushless DC motor in this example, and is attached to an attachment member 7 attached to the attachment lateral base 4 as shown in FIG. The motor 5 has a built-in Hall IC 8 for rotating the motor 5 as a magnetic pole position sensor (see FIG. 4. In FIG. 4, for convenience of explanation, the Hall IC 8 is separated from the motor 5. As shown in FIG. The pulse signal generated from the Hall IC 8 as the magnetic pole position sensor is proportional to the amount of movement of the door 2 and has a structure in which there is no slip between the motor output shaft 5a and the door 2. Therefore, by counting the pulse signal, The position, speed, and direction of the door 2 can be controlled.

  The transmission mechanism 6 includes a first belt mechanism 9, a second belt mechanism 10, and a speed reduction mechanism 11, and the first belt mechanism 9 and the second belt mechanism 10 are connected via the speed reduction mechanism 11. ing.

  The first belt mechanism 9 includes a first toothed main driving pulley 12 and a first toothed driven pulley 13 that are attached to a motor output shaft 5 a of the motor 5, and the first toothed main driving pulley 12 and the first toothed main driving pulley 12. A first toothed belt 14 is wound around a toothed driven pulley 13. The first toothed main driving pulley 12 constitutes a restrained member according to the claims, and the first toothed main driving pulley 12 is engaged with a restraining rod constituting an electric lock, which will be described later. Is to be locked.

  The second belt mechanism 10 includes a second toothed main pulley 15 and a second toothed driven pulley 16, and the second toothed main pulley 15 and the second toothed driven pulley 16 have second teeth. A belt 17 is wound around the belt.

  The door 2 is connected to the second toothed belt 17 by connecting members 18, 18, and the door 2 attached to the second toothed belt 17 in this way is connected using a travel rail (not shown). The motor 5 can be opened and closed freely.

  The speed reduction mechanism 11 is provided in the box portion 7 a of the mounting member 7, and has a small diameter gear 20 that is attached to the speed reduction mechanism input shaft 19, a large diameter gear 20 that meshes with the small diameter gear 20, and is attached to the speed reduction mechanism output shaft 21. And a radial gear 22. The speed reduction mechanism input shaft 19 and the speed reduction mechanism output shaft 21 are pivotally supported by bearings 23 and 24 provided in the box portion 7a. The first toothed driven pulley 13 is attached to the speed reduction mechanism input shaft 19, and the second toothed driven pulley 15 is attached to the speed reduction mechanism output shaft 21. Yes. As a result, when the motor 5 is driven and the first toothed main driving pulley 12 mounted on the motor output shaft 5 a rotates, this rotation is transferred to the first toothed driven pulley 13 via the first toothed belt 14. The rotation is decelerated by the speed reduction mechanism 11 and output to the second toothed main pulley 15 so that the second toothed main pulley 15 rotates and the door 2 attached to the second toothed belt moves. It has become.

  The automatic door device 1 of this example is provided with an internal sensor 25 and an external sensor 26 inside and outside the door 2, respectively, and prevents a person from being caught in the door 2 when the door 2 is opened and closed. A safety light switch 27 is provided (see FIG. 4). Accordingly, when an object such as a person is detected by either the internal sensor 25 or the external sensor 26, an object detection signal is input from the internal sensor 25 or the external sensor 26 to a control calculation unit of a door controller described later, and the door 2 As long as an object such as a person passing through the door 2 is detected by the safety light switch 27, the door 2 is kept open, and any one of the internal sensor 25, the external sensor 26, and the safety light switch 27 is maintained. When an object such as a person is no longer detected, the door 2 is closed.

  Furthermore, in the automatic door device 1 of this example, an open / close mode switch 28 for switching between a lock open / close mode and a normal open / close mode, which will be described in detail later, is provided (see FIG. 4).

  The automatic door device 1 of this example is provided with an electric lock 29 for locking the door 2. As shown in FIGS. 2 and 3, the electric lock 29 is provided in the vicinity of the first toothed main driving pulley 12. The electric lock 29 has a known configuration. The configuration will be described in detail. The electric lock 29 includes an electromagnetic solenoid 31 having a case 30 attached to the attachment member 7, and is attached to the case 30 of the electromagnetic solenoid 31. And a restraining rod 33 attached to the distal end side of the plunger 32. A spring receiver 34 is formed on the rear end side of the plunger 32 (the side opposite to the first toothed main driving pulley 12), and a spring 35 is interposed between the spring receiver 34 and the case 30. . The plunger 32 is biased by the spring 35 in the rear end direction (the direction opposite to the first toothed main pulley 12).

  In the electric lock 29 of this example, when the electromagnetic solenoid 31 is energized, the plunger 32 is attracted and moves forward against the urging force of the spring 35, and the restraining rod 33 attached to the plunger 32 is moved. The first toothed main driving pulley 12 protrudes between the teeth 12a and engages with the first toothed main driving pulley 12, and is locked. Then, by deenergizing the electromagnetic solenoid 31 from such a locked state, the plunger 32 is retracted by the biasing force of the spring 35, and the restraining rod 33 attached to the plunger 32 is retracted, and the first teeth are attached. Retraction from the inter-tooth 12a of the main pulley 12 releases the engaged state so that unlocking is performed.

  The automatic door device 1 of this example includes a door controller 36 shown in FIG. The door controller 36 transmits and closes the door 2 by transmitting a door activation signal to the motor 5 and also locks and unlocks the electric lock 29.

  The door controller 36 includes a speed control unit 37 that controls the motor 5 to drive in the forward / reverse direction at an arbitrary speed, an electromagnetic solenoid energization unit 38 for energizing / de-energizing the electromagnetic solenoid 31, and an opening / closing operation of the door 2. In order to control, a speed command, a forward / reverse rotation direction, and a motor current command (collectively, a door opening / closing command) are output to the speed control unit 37, and an energization command is sent to the electromagnetic solenoid energizing unit 38. , A pulse synthesizing circuit 40 for synthesizing pulses from the Hall IC 8 of the motor 5 and outputting them to the control computing unit 39, and a storage unit 41.

  Further, the door controller 36 receives an object detection signal from the internal sensor 25 and receives the object detection signal from the external sensor 26 and an internal sensor input unit 42 that inputs the object detection signal to the control calculation unit 39. An external sensor input unit 43 that inputs the object detection signal to the control calculation unit 39 and a safety beam switch that receives the object detection signal from the safety beam switch 27 and inputs the object detection signal to the control calculation unit 39 An input unit 44 and an open / close mode switch input unit 45 that receives an on / off signal of the open / close mode switch 28 and inputs the signal to the control arithmetic unit 39 are provided.

  The control calculation unit 39 executes a door stroke side length mode 46 for measuring the stroke value of the door 2 and storing the stroke value as a reference door stroke value in the storage unit 41. In addition, the control calculation unit 39 selects either the locking opening / closing mode 47 for performing the opening / closing control of the door 2 during locking or the normal opening / closing mode 48 for performing the opening / closing control of the door 2 when the door 2 is not locked. The door opening / closing mode selection means 49 for performing the operation and the electromagnetic solenoid energizing portion 38 in the locking opening / closing mode 47 are energized to drive the electric lock 29 and the restraining rod 33 between the teeth of the first toothed main pulley 12. 12a, the locking control means 50 that locks the door 2, the locking opening / closing mode object detection sensor input determination means 51 that is executed in the locking opening / closing mode 47, and the electric solenoid 29 with the electromagnetic solenoid 31 de-energized. And an unlocking control means 52 for unlocking the door 2 by retracting the restraining rod 33 from the inter-tooth space 12a of the first toothed main pulley 12.

  When the door 2 is in the fully closed position in the lock opening / closing mode 47, the lock opening / closing mode object detection sensor input determination means 51 accepts an object detection signal from the internal sensor input unit 42 to the control calculation unit 39. The object detection signal from the external sensor input unit 43 is ignored and is not accepted. Further, the open / closed mode object detection sensor input determination means 51 in the locked state receives not only the internal sensor input unit 42 but also the object detection signal from the safety light switch input unit 44 to the control calculation unit 39 during the opening / closing operation of the door 2. It is configured to accept (only the object detection signal from the external sensor input unit 43 is ignored and not accepted).

  In this example, the locking control means 50 locks the door 2 in the fully closed position of the door 2. Further, the unlocking control means 52 is operated by the door opening / closing mode selection means 49 when the object detection signal is input from the internal sensor 25 in the locking opening / closing mode 47 or in the locking opening / closing mode 47, and the normal opening / closing mode 48. When is selected, the door 2 in the locked state is unlocked.

  In addition, the control calculation unit 39 includes a normal open / close mode object detection sensor input determination unit 53 that is executed in the normal open / close mode 48. The normal open / close mode object detection sensor input determination means 53 controls the control calculation unit to output object detection signals from the internal sensor input unit 42 and the external sensor input unit 43 when the door 2 is in the fully closed position in the normal open / close mode 48. 39 is accepted. Further, the normal open / close mode object detection sensor input determination means 53 has an object detection signal from the safety light switch input unit 44 in addition to the internal sensor input unit 42 and the external sensor input unit 43 during the opening / closing operation of the door 2. The control calculation unit 39 accepts it.

  Furthermore, the control calculation unit 39 includes a fully open position detecting unit 54 for detecting the fully open position of the door 2 and a fully closed position detecting unit 55 for detecting the fully closed position of the door 2. The fully open position detecting means 54 and the fully closed position detecting means 55 compare and calculate the reference door stroke value obtained in the door stroke side length mode 46 and the number of pulses counted by the Hall IC 8 when the door 2 is opened and closed. The fully open position or the fully closed position of the door 2 is detected.

  The control calculation unit 39 configured as described above outputs an opening / closing command for the door 2 after the object detection signal is input from the internal sensor input unit 42 and the unlocking control means 52 is executed in the locking opening / closing mode 47, In the normal opening / closing mode 48, when an object detection signal is input from either the internal sensor input unit 42 or the external sensor input unit 43, an opening / closing command for the door 2 is output.

  The operation of the automatic door device 1 of this example configured as described above will be described.

  When power is turned on in the automatic door device 1, after the electromagnetic solenoid 31 is deenergized, the door stroke side length mode 46 is executed in the control calculation unit 39. In this door stroke side length mode 46, the motor 5 is driven by a command from the control calculation unit 39, the door 2 is driven at a low speed by the stroke length of the door 2, and is proportional to the number of rotations of the motor 5 from the Hall IC 8. The pulse signal is counted, and the count value is stored in the storage unit 41 as a reference door stroke value. The pulse signal is synthesized by the pulse synthesizing circuit 40 and input to the control calculation unit to be counted.

  After the door stroke side length mode 46, the door opening / closing mode selection means 49 is executed, and either the locking opening / closing mode 47 or the normal opening / closing mode 48 is selected and executed.

  The locking opening / closing mode 47 is executed when the opening / closing mode switch 28 is OFF. The normal open / close mode 48 is executed when the open / close mode switch is on.

  The lock opening / closing mode 47 will be described. When the locking open / close mode 47 is executed, first, on the condition that the fully closed position of the door 2 is detected by the fully closed position detecting means 55, the locking control means 50 causes the electromagnetic solenoid energizing section 38 to move to the electromagnetic solenoid 31. The constraining rod 33 protrudes between the teeth 12 a of the first toothed main pulley 12. As a result, the door 2 is locked.

  In the lock opening / closing mode 47, when the door 2 is in the fully closed position, only the object detection signal from the internal sensor input unit 42 is received by the control calculation unit 39 by the lock opening / closing mode object detection sensor input determination means 51, Object detection signals from the sensor input unit 43 and the safety light switch input unit 44 are ignored and cannot be accepted.

  In this state, when an object such as a person is detected by the internal sensor 25, an object detection signal is input from the internal sensor 25 to the internal sensor input unit 42, and the internal sensor input unit 42 outputs an object detection signal to the control calculation unit 39. input. When an object detection signal is input from the internal sensor input unit 42 to the control calculation unit 39, the control calculation unit 39 executes the unlocking control means 52 to deenergize the electromagnetic solenoid 31, and the restraining rod 33 has the first teeth. The door 2 is disengaged from the inter-tooth space 12a of the main driving pulley 12. Then, after the execution of the unlocking control means 52 (after unlocking), the control calculation unit 39 opens / closes the door with respect to the speed control unit 37 with an opening / closing control pattern based on the reference door stroke value stored in the storage unit 41. A command is transmitted to drive and control the motor 5 in the opening direction of the door 2. Then, when the fully open position detecting means 54 detects the fully open position of the door 2, the control calculation unit 39 stops driving the motor and then drives and controls the motor 5 in the closing direction of the door 2 after a predetermined door opening time elapses. .

  During such door 2 opening control, the reference door stroke value stored in the storage unit 41 is compared with the number of pulses input from the pulse synthesis circuit to the control calculation unit 39 during the opening / closing operation, thereby calculating the door 2. Open / close control is performed by grasping the position of.

  The door 2 opening / closing control will be described in more detail. When the motor 5 is driven, a pulse signal is input from the Hall IC 8 to the pulse synthesis circuit and synthesized, and the synthesized pulse signal is controlled by the pulse synthesis circuit 40. Input to the unit 39. Then, the control calculation unit 39 compares and calculates the reference door stroke value stored in the storage unit 41 and the number of pulses obtained by counting the input pulse signals, so that the door 2 can be opened and closed. The brake position, fully open position, and fully closed position are detected, and predetermined high speed operation, deceleration operation, and low speed operation are executed. The pulse signal synthesized by the pulse synthesizing circuit 40 is input to the speed control unit 37 in order to measure the timing of energizing a coil (not shown) of the motor 5.

  During the opening / closing operation of the door 2, the control calculation unit 39 accepts not only the internal sensor input unit 42 but also the object detection signal from the safety light switch input unit 44 due to the action of the lock opening / closing mode object detection sensor input determination means 51 ( Only the object detection signal from the external sensor input unit 43 is ignored and not accepted). Thereby, even if a passerby stops on the opening and closing track of the door 2 during the closing operation of the door 2, the object detection signal of the safety light switch 27 is accepted and the motor 5 is driven in the opening direction. A passerby is not caught in the door 2 and is safe.

  When the door 2 is opened and closed, and the fully closed position detecting means 55 detects that the door 2 has reached the fully closed position, the locking control means 50 is executed and the door 2 is locked.

  Next, the normal opening / closing mode 48 will be described. When the normal opening / closing mode 48 is executed, the electromagnetic solenoid 31 is de-energized, the restraining rod 33 is disengaged from the inter-tooth space 12a of the first toothed main pulley 12, and the door 2 is unlocked.

  When the door 2 is in the fully closed position, both the object detection signals from the internal sensor input unit 42 and the external sensor input unit 43 are received by the action of the normal opening / closing mode object detection sensor input determination means 53, and the safety light switch 27 The human body detection signal is not accepted. Thereby, an object such as a person is detected by the internal sensor 25 and the external sensor 26, and any object detection signal from the internal sensor input unit 42 and the external sensor input unit 43 is received by the control calculation unit 39. When such an object detection signal is input, the motor 5 is driven in the opening direction of the door 2 to open / close the door 2 with a predetermined opening / closing control pattern based on the reference door stroke value. In the normal opening / closing mode 48, since it is not necessary to execute the unlocking control means 52, the control calculation unit 39 immediately performs the opening / closing control of the door 2 when the object detection signal is input. In the door 2 opening / closing control, the number of pulses obtained by the control calculation unit 39 counting the reference door stroke value stored in the storage unit 41 and the input pulse signal is the same as in the locking opening / closing mode 47. And the brake position, fully opened position, and fully closed position during the opening / closing operation of the door 2 are detected, and predetermined high speed operation, deceleration operation, and low speed operation are executed in advance.

  During the opening / closing operation of the door 2, an object detection signal from the safety light switch input unit 44 as well as the internal sensor input unit 42 and the external sensor input unit 43 is received by the action of the normal open / close mode object detection sensor input determination unit 53. Thereby, even if a passerby stops on the opening and closing track of the door 2 during the closing operation of the door 2, the object detection signal of the safety light switch 27 is accepted and the motor 5 is driven in the opening direction. Passers are not caught in the door and are safe.

  As described above, the door opening / closing mode selection means 49 executes either the locked opening / closing mode 47 or the normal opening / closing mode 48, but the transition from the locking opening / closing mode 47 to the normal opening / closing mode 48 and the normal opening / closing mode are performed. The transition from 48 to the locking open / close mode 47 is performed as follows.

  First, the transition from the locked opening / closing mode 47 to the normal opening / closing mode 48 will be described. When shifting from the locked open / close mode 47 to the normal open / close mode 48, the open / close mode switch 28 in the off state is turned on. Thus, the normal opening / closing mode 48 is selected by the action of the door opening / closing mode selection means 49, the electromagnetic solenoid 31 is deenergized by the unlocking control means 52, and the door 2 is released. Thereafter, the normal opening / closing mode 48 is executed.

  Next, the transition from the normal opening / closing mode 48 to the locking opening / closing mode 47 will be described. When shifting from the normal opening / closing mode 48 to the locked opening / closing mode 47, the open / close mode switch 28 in the on state is turned off. As a result, the lock opening / closing mode 47 is selected and executed by the action of the door opening / closing mode selection means 49.

  According to the automatic door device 1 of the present example described above, since the electric lock 29 is driven and unlocked and the door 2 is opened and closed by using the control calculation unit 39 of the door controller 36, the door 2 has been conventionally used. An electric lock control device installed separately from the controller 36 becomes unnecessary. Thereby, cost reduction can be aimed at. In addition, the number of wiring signals is as small as five signals of energization signals to the internal sensor 25, the external sensor 26, the safety light switch 27, the open / close mode switch 28, and the electromagnetic solenoid 31, so that the work efficiency is improved. Incorrect wiring due to complexity does not occur.

  In addition, the locking control means 50 is good also as a locked state in the state which pressed the door 2 in a fully closed position in the closing direction. Specifically, when the fully closed position detecting means 55 detects that the door 2 is in the fully closed position, the locking control means 50 is executed, and a predetermined force in the closing direction is applied to the door 2. Therefore, a drive signal for the motor 5 is output from the control calculation unit 39 so as to drive the motor 5 with a predetermined current value. As a result, a predetermined driving force is applied from the motor 5, and this driving force is continuously applied. The door 2 is locked in the fully closed position, and the door 2 is pressed in the closing direction. State. Then, after applying a force in the closing direction to the door 2 in this way, the door 2 is locked.

  Thereby, for example, when the mounting sideways base 4 is installed in an inclined state and the weight of the door 2 acts in the opening direction of the door 2 which is the lower direction of inclination, the first toothed belt 14 and the second toothed belt Even when a force in the opening direction is applied by the tension of 17 or wind force, the door 2 is pressed in the closing direction, so that the force in the opening direction is canceled and the restraining rod 33 is moved between the teeth. No force in the opening direction acts on the first toothed main driving pulley 12 projecting to 12a. On the other hand, a force in the closing direction is applied to the door 2 by the driving of the motor 5, but the door 2 in the fully closed position is in contact with the closed door (not shown), so that the closing direction is further increased. The closing force applied by the motor 5 is received by the closed end door, and no force in the closing direction acts on the first toothed main pulley 12. Thus, no external force acts on the first toothed main driving pulley 12 and there is no influence of the external force on the restraining rod 33. Therefore, when the electromagnetic solenoid 31 is deenergized, the restraining rod 33 has the first toothing. The main pulley 12 is surely removed from the inter-tooth space 12a. Therefore, it is possible to prevent the engagement of the restraining rod 33 with the first toothed main pulley 12 that is the restrained member from being released.

  In this case, the force when pressing the door 2 in the closing direction, that is, the driving force of the predetermined motor 5 is larger than the expected force applied in the opening direction. Further, the motor drive current value at this time is such that the motor 5 does not cause abnormal heat generation.

  Thus, even when the door 2 is pressed in the closing direction when the door 2 is locked, in the normal opening / closing mode 48 where the door 2 is not locked, the motor is operated when the door 2 is in the fully closed position. 5 is not driven, and the door 2 is stopped in a free state where it cannot be pressed in the closing direction.

  When locking is performed by causing the restraining rod 33 to protrude between the teeth 12a of the first toothed main pulley 12 with the door 2 in the fully closed position pressed in the closing direction as described above, FIG. 5 and FIG. When the restraining rod 33 protrudes in contact with the inclined surface of the tooth 12b of the first toothed main pulley 12, the restraining rod 33 is pressed against the tooth 12b of the first toothed main pulley 12, Even if the electromagnetic solenoid 31 is de-energized, the restraining rod 33 may be caught by the teeth 12b of the first toothed main driving pulley 12 and may not be disengaged from the inter-tooth 12a. Therefore, in order to prevent such a situation reliably, the unlock control means 52 may perform the following control when unlocking the door 2.

  That is, when unlocking the door 2 in the locked state while being pressed in the closing direction, the unlocking control means 52 switches the electromagnetic solenoid 31 from the energized state to the non-energized state, and then applies a force in the closing direction to the door 2. The predetermined driving force output from the motor 5 to act is increased stepwise to the target driving force in a short time (about 0.05 seconds), and after reaching the target driving force, the driving The force is gradually reduced to zero in a short time (about 0.1 second). Then, after the driving force in the closing direction is reduced to zero in this way, the motor 5 is driven in the opening direction to control the opening and closing of the door 2.

  Accordingly, when the restraining rod 33 protrudes in contact with the inclined surface of the tooth 12b of the first toothed main pulley 12 at the position shown in FIG. 5A (the direction of the arrow is the closing direction). By increasing the driving force of the motor 5 in the closing direction, the pressing force against the restraining rod 33 by the first toothed main pulley 12 is alleviated. In particular, in this example, since the door 2 cannot move by contacting the closed door, the first toothed main pulley 12 is shown by the amount of slack and extension of the first toothed belt 14 and the second toothed belt 17. 5 (B), the restraint rod 33 is slightly rotated and separated from the teeth 12b of the first toothed main pulley 12, so that the pressing force against the restraint rod 33 by the first toothed main pulley 12 is alleviated. (The pressing force becomes zero). When the pressing force against the restraining rod 33 by the first toothed main pulley 12 is alleviated in this way, the plunger 32 of the electromagnetic solenoid 31 in the non-energized state is retracted by the biasing force of the spring 35, and FIG. ), The restraining rod 33 is disengaged from the inter-tooth space 12a of the first toothed main driving pulley 12.

  When the restraining rod 33 protrudes in contact with the inclined surface of the tooth 12b of the first toothed main driving pulley 12 at the position shown in FIG. 6A (the direction of the arrow is the closing direction), FIG. As shown in (B), when the driving force of the motor increased to the target value in the closing direction is decreased stepwise to zero in a short time, the reaction is suddenly decreased (reaction in the opening direction). The pressing force against the restraining rod 33 by the first toothed main driving pulley 12 is alleviated. In particular, in this example, when the driving force of the motor 5 increased to the target value in the closing direction is decreased in a short time, the slackness and elongation of the first toothed belt 14 and the second toothed belt 17 are shortened. With the reaction that is restored in time, the first toothed main pulley 12 is slightly rotated in the opening direction as shown in FIG. 6C, and the restraining rod 33 is separated from the teeth 12b of the first toothed main pulley 12, The pressing force of the restraining rod 33 against the first toothed main pulley 12 is alleviated (the pressing force becomes zero). When the pressing force against the restraining rod 33 by the first toothed main pulley 12 is alleviated in this way, the plunger 32 of the electromagnetic solenoid 31 in the non-energized state is retracted by the biasing force of the spring 35, and FIG. ), The restraining rod 33 is disengaged from the inter-tooth space 12a of the first toothed main driving pulley 12.

  Thus, even when the restraining rod 33 is engaged with the first toothed main driving pulley 12 while being in contact, the restraining rod 33 can be removed from the inter-tooth space 12a of the first toothed main driving pulley 12. It is possible to prevent the lock from being lost.

  The automatic door device 1 of the present example described above is suitable for installation at the entrance and exit of a cash corner of a bank, and during business hours, by turning on the open / close mode switch to the normal open / close mode, While it is possible to pass from outside, on the other hand, outside opening hours, it is possible to pass from the inside but not from the outside by turning the open / close mode switch off to enter the locked open / close mode. And

  Next, another example of the embodiment of the automatic door device according to the present invention will be described.

  FIG. 7 is an overall schematic diagram including a block diagram of a door controller of the automatic door device of this example.

  The automatic door device 60 of this example is suitable for installation on a ship or the like, and not only locks the door 2 in the fully closed position, but also locks it in the fully opened position. Even in the lock opening / closing mode, the door is opened and closed when an object such as a person is detected by either the internal sensor or the external sensor. This will be specifically described below. Note that a description of the same parts as those in the above embodiment is omitted.

  In the door controller 60 of this example, the external sensor 26 is connected to the internal sensor input unit 42, and an object detection signal from the external sensor 26 is input from the internal sensor input unit 42 to the control calculation unit 39. ing. As a result, since the object detection signal from the internal sensor input unit 42 is received in the lock opening / closing mode 47, the object detection signal from the external sensor 26 is also received by the control calculation unit 39 and the door. 2 can be opened and closed, allowing passage from either the inside or the outside.

  Note that the door controller 60 of this example does not have the external sensor input unit 43, and in the normal opening / closing mode 48, the normal opening / closing mode object detection sensor input determination means 53 operates when the door 2 is in the fully closed position. Only the object detection signal from the internal sensor input unit 42 is received by the control calculation unit 39, and the object detection signals from the internal sensor input unit 42 and the safety light switch input unit 44 are input to the control calculation unit 39 during the opening / closing operation of the door 2. Accept.

  When an object detection signal is input from the internal sensor input unit 42 to the control calculation unit 39 in the unlocking opening / closing mode 47, the unlocking control unit 52 brings the door 2 into an unlocked state, and after the unlocking control unit 52 is executed, The door is opened and closed.

  At this time, when it is detected by the fully open position detecting means 54 that the door 2 has reached the fully open position, the lock control means 50 is executed to bring the door 2 into the locked state. At this time, the locking control means 50 drives the motor 5 with a predetermined motor driving current, gives a predetermined driving force from the motor 5 to the door 2, presses the door 2 in the opening direction, and then sets the locked state. Also good. Thereby, it can be surely unlocked at the time of unlocking described below.

  When a predetermined door opening time elapses after the locking control means 50 sets the locked state, the control calculation unit 39 executes the unlocking control means 52 to bring the door 2 into the unlocked state. At this time, the unlock control means 52 may perform the following control. That is, when unlocking the door 2 in the locked state while being pressed in the opening direction, the motor 5 is used to apply the force in the opening direction to the door 2 after the electromagnetic solenoid 31 is switched from the energized state to the non-energized state. The output driving force is gradually increased to the target driving force in a short time (about 0.05 seconds), and after reaching the target driving force, the driving force is reduced for a short time (about 0.1 seconds). ) Stepwise to zero. As a result, the unlocking can be surely performed.

  After the door 2 is unlocked by the unlock control means 52, the motor 5 is driven in the closing direction to close the door 2. When the fully closed position detecting means 55 detects that the door 2 is in the fully closed position, the locking control means 50 locks the door 2.

  According to the automatic door device 60 of the present example as described above, the door 2 is locked not only in the fully closed position but also in the fully open position. The door in the fully closed position or the fully open position does not open or close without permission.

  When the automatic door device 60 of this example is installed in a ship that locks the door 2 to prevent the door 2 from being opened and closed by a wave as described above, the open / close mode 47 when locked is used. In this case, it is necessary to be able to pass from either the inside or the outside of the door 2. According to the automatic door device 60 of this example, not only the object detection signal of the internal sensor 25 but also the object detection signal of the external sensor 26 is input to the internal sensor input unit. The door can be opened and closed regardless of whether the internal sensor 25 or the external sensor 26 detects an object such as a person.

  In the automatic door device 60 according to another example of the above-described embodiment, the external sensor 26 may be used in the lock opening / closing mode 47 when it is only necessary to allow passage from the inside of the door 2. May not be connected to the internal sensor input unit 42 but may be connected to an external sensor input unit (not shown in FIG. 7).

  In the above embodiments, the position where the electric lock 29 is provided is not limited to the vicinity of the first toothed main pulley 12. That is, as long as the installation location can be secured, it may be provided near any one of the first toothed driven pulley 13, the second toothed driven pulley 15, or the second toothed driven pulley 16.

  Furthermore, the transmission mechanism 6 is not limited to the one having the above configuration, and may be a transmission mechanism having another known configuration for transmitting a driving force from a driving source to the door. Also, the electric lock 29 having another known configuration can be adopted.

1 is an overall schematic diagram illustrating an example of an embodiment of an automatic door device according to the present invention. FIG. 2 is a partially enlarged view of the automatic door device shown in FIG. 1. The enlarged rear view of the part of the electric lock of the automatic door apparatus shown in FIG. The whole schematic including the block diagram of the door controller of the automatic door apparatus shown in FIG. FIG. 4 is a partially enlarged view of the first toothed main driving pulley and the electromagnetic solenoid, and is a view for explaining control for surely unlocking by the unlocking control means. FIG. 4 is a partially enlarged view of the first toothed main driving pulley and the electromagnetic solenoid, and is a view for explaining control for surely unlocking by the unlocking control means. The whole schematic diagram including the block diagram of the door controller of the other example of embodiment of the automatic door apparatus which concerns on this invention.

Explanation of symbols

1 ………………… Automatic door device 2 ………………… Door 3 ………………… Drive mechanism 4 …………………… Mounting sideways base 5 ………………… Motor 5a ……………… Motor output shaft 6 ………………… Transmission mechanism 7 ………………… Mounting member 7a ……………… Box section 8 ………………… Hall IC
9. First belt mechanism 10 ......... Second belt mechanism 11 ............ Speed reduction mechanism 12 .................. First toothed main pulley 12a ………… ... Between teeth 12b ......... Tooth 13 ……………… First toothed driven pulley 14 ……………… First toothed belt 15 ……………… Second toothed driven pulley 16… ……………………………………………………………………………………………………………………………………………………………………………………………………………………………………… Deceleration mechanism input shaft 20 ……………… Small-diameter gear 21 ……………… Reduction mechanism output shaft 22 ……………… Large-diameter gear 23, 24 ……… Bearing 25 ……………… Internal sensor 26 ……………… External sensor 27… …………… Safety light switch 28 ……………… Open / close mode switch 29 ……………… Electric lock 30 ……………… Case 31 ……………… Solenoid 32 ……………… Plunger 33 ……………… Restraining rod 34 ……………… Spring holder 35 ……………… Spring 36 ……………… Door controller 37 …………… ... Speed control unit 38 ……………… Electromagnetic solenoid energization unit 39 ……………… Control calculation unit 40 ……………… Pulse synthesis circuit 41 ……………… Storage unit 42 …………… ... Internal sensor input section 43 ……………… External sensor input section 44 ……………… Safety beam switch input section 45 ……………… Open / close mode switch input section 46 ……………… Door stroke side Long mode 47 ……………… Open / close mode when locked 48 ……………… Normal open / close mode 49 ……………… Door open / close mode selection means 50 ……………… Lock control means 51 ………… ...... Locking open / close mode object detection sensor input determination means 52. ............... Unlocking control means 53 ……………… Normal open / close mode object detection sensor input determination means 54 ……………… Fully open position detection means 55 ……………… Fully closed position detection means

Claims (3)

A door and a drive mechanism for opening and closing the door using a motor as a drive source; and a door controller for operating the drive mechanism for opening and closing the door when an object is detected by an internal sensor or an external sensor. In an automatic door device in which an electric lock for operating and locking an electromagnetic solenoid is provided in the drive mechanism,
The door controller,
A speed control unit that drives and controls the motor in the forward and reverse directions at an arbitrary speed;
An electromagnetic solenoid energization section for energizing / de-energizing the electromagnetic solenoid;
A control calculation unit that outputs a speed command, forward / reverse rotation direction, and motor current command to the speed control unit to control the opening / closing operation of the door, and that outputs an energization command to the electromagnetic solenoid energization unit; ,
A fully-closed position detecting means for detecting that the door is fully opened and in the fully-closed position, and outputting the detected signal as a fully-closed position detection signal;
The door opening / closing mode pattern is set to either a locking opening / closing mode in which the door opening / closing control is performed when the door is locked or a normal opening / closing mode in which the door opening / closing control is performed when the door is not locked. An open / close mode switch input unit that inputs a selection signal from the open / close mode switch and outputs the selection signal to the control calculation unit as a door open / close mode selection signal;
Consisting of
An electric lock that operates the electromagnetic solenoid to lock the door is:
When the door open / close mode pattern is in the lock open / close mode, when the fully closed position detecting means detects that the door is in the fully closed position, it continues to output a drive signal to the motor, and the control With the driving force applied to the motor at a predetermined current value from the calculation unit, the door is pressed in the closing direction and a force in the closing direction is applied to the door to hold the door in the fully closed state. automatic door system being characterized in that constitutes the electric lock to facilities tablets by the locking control unit. A door and a drive mechanism for opening and closing the door using a motor as a drive source; and a door controller for operating the drive mechanism for opening and closing the door when an object is detected by an internal sensor or an external sensor. In an automatic door device in which an electric lock for operating and locking an electromagnetic solenoid is provided in the drive mechanism,
The door controller,
A speed control unit that drives and controls the motor in the forward and reverse directions at an arbitrary speed;
An electromagnetic solenoid energization section for energizing / de-energizing the electromagnetic solenoid;
A control calculation unit that outputs a speed command, forward / reverse rotation direction, and motor current command to the speed control unit to control the opening / closing operation of the door, and that outputs an energization command to the electromagnetic solenoid energization unit; ,
A fully open position detecting means for detecting that the door is fully open and in the fully open position, and outputting the fully open position detection signal;
The door opening / closing mode pattern is set to either a locking opening / closing mode in which the door opening / closing control is performed when the door is locked or a normal opening / closing mode in which the door opening / closing control is performed when the door is not locked. An open / close mode switch input unit that inputs a selection signal from the open / close mode switch and outputs the selection signal to the control calculation unit as a door open / close mode selection signal;
Consisting of
An electric lock that operates the electromagnetic solenoid to lock the door is:
When the open / close mode pattern of the door is in the open / close mode at the time of locking, when the fully open position detecting means detects that the door has reached the fully open position, it continues to output a drive signal to the motor, and the control calculation In a state where the door is pressed in the opening direction and a force in the opening direction is applied to the door while the driving force is applied to the motor with a predetermined current value from the section, the door is held in the fully opened state. automatic door apparatus characterized by being configured to facilities tablets by a tablet on the lock control means. A door and a drive mechanism for opening and closing the door using a motor as a drive source; and a door controller for operating the drive mechanism for opening and closing the door when an object is detected by an internal sensor or an external sensor. In an automatic door device in which an electric lock for operating and locking an electromagnetic solenoid is provided in the drive mechanism,
The door controller,
A speed control unit that drives and controls the motor in the forward and reverse directions at an arbitrary speed;
An electromagnetic solenoid energization section for energizing / de-energizing the electromagnetic solenoid;
A control calculation unit that outputs a speed command, forward / reverse rotation direction, and motor current command to the speed control unit to control the opening / closing operation of the door, and that outputs an energization command to the electromagnetic solenoid energization unit; ,
A fully-closed position detecting means for detecting that the door is fully opened and in the fully-closed position, and outputting the detected signal as a fully-closed position detection signal;
A fully open position detecting means for detecting that the door is fully open and in the fully open position, and outputting the fully open position detection signal;
The door opening / closing mode pattern is set to either a locking opening / closing mode in which the door opening / closing control is performed when the door is locked or a normal opening / closing mode in which the door opening / closing control is performed when the door is not locked. An open / close mode switch input unit that inputs a selection signal from the open / close mode switch and outputs the selection signal to the control calculation unit as a door open / close mode selection signal;
Consisting of
An electric lock that operates the electromagnetic solenoid to lock the door is:
When the open / close mode pattern of the door is in the open / close mode at the time of locking, when the fully open position detecting means detects that the door has reached the fully open position, it continues to output a drive signal to the motor, and the control calculation In a state where the door is pressed in the opening direction and a force in the opening direction is applied to the door while the driving force is applied to the motor with a predetermined current value from the section, the door is held in the fully opened state. and facilities lock by the lock to the locking control means,
When unlocking the door that is locked in the open direction, the electromagnetic solenoid is switched from the energized state to the non-energized state, and then a drive signal is output to the motor and a predetermined current is output from the control calculation unit. giving the opening direction of the driving force to the motor by value stepwise increased short time until the driving force of the target, after reaching the driving force of the target, reducing stepwise to zero the driving force in a short time An automatic door device characterized by being configured as described above.

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