JP4797135B2 - Automatic door - Google Patents

Description

Technical field
[0001]
The present invention relates to an automatic door that can be installed at entrances and exits of various facilities, or can be installed on a material conveyance path in a distribution line or a production line.
Background art
[0002]
As the above automatic door, the door is supported by an articulated arm, and the door can be opened and closed and moved back and forth, and the opened door quickly passes around behind the object to pass only a single object. The thing comprised so that it may be made is proposed (for example, refer patent document 1).
[0003]
Patent Document 1: Japanese Patent Application Laid-Open No. 2004-316249
Disclosure of the invention
Problems to be solved by the invention
[0004]
In the above structure, it is necessary to equip each joint in the multi-joint arm with a driving mechanism, and control means for operating the driving mechanisms in association with each other is required, resulting in a complicated and expensive driving structure. It was.
[0005]
The present invention has been made paying attention to such a situation, and an object thereof is to provide an automatic door that can cause a door to perform a desired opening / closing operation while simplifying a drive structure.
Means for solving the problem
[0006]
In order to achieve such an object, the present invention has the following configuration.
That is, the present invention supports a door that closes the passage so that the door can be opened / closed swingable around its end side, and can be moved back and forth in the direction of the passage, and has a single vertical axis near the end side. A drive mechanism provided with a drive rotator that rotates around the center is arranged, and is configured to open and close and swing back and forth by rotation of the drive rotator, and at least one of the upper and lower ends of the door, A guide rail having a constant thickness formed in a flat ring shape in the longitudinal direction of the door is provided, and a guide member that is opposed to the drive rotator at a predetermined interval is provided, and the guide rail is provided by the drive rotator and the guide member. An automatic door configured to contact and support in a non-slipable manner from inside and outside, and to move the guide rail and the door integrally open / close, swing and move back and forth by the rotation of the drive rotating body. A.
[0007]
According to the automatic door according to the present invention, by rotating the driving rotating body, the door swings open, moves backward, and closes and swings around the back of the passing object. Allow only single traffic.
Further, when the contact point between the drive rotator and the guide rail is determined, the guide rail posture, that is, the direction of the minimum thickness of the guide rail at the contact point coincides with the center line connecting the drive rotator and the guide member, that is, The attitude of the door will be determined uniquely. For this reason, in a state where the drive rotator is in contact with the vicinity of the end of the guide rail and rotates, the door is greatly swung, and the drive rotator is substantially linear along the longitudinal direction of the guide rail. In the state of rotating in contact with the part, the door is moved in the longitudinal direction.
[0008]
In addition, the present invention supports a door that closes the passage so that the door can be opened / closed swingable around its end side, and can be moved back and forth in the direction of the passage, and a single longitudinal axis is provided near the end side. A drive mechanism having a drive rotator that rotates around the center is provided, and the door is opened and closed and moved back and forth by the rotation of the drive rotator, and an endless belt is wound around the door in a non-slipable manner. The endless belt is wound around the drive rotator, and the drive mechanism includes a pair of guide rollers for guiding the endless belt at a fixed position between the drive rotator and the door. An automatic door characterized in that the endless belt is rotated by rotation of a rotating body so that the door is opened and closed and moved back and forth.
[0009]
According to the automatic door according to the present invention, by rotating the driving rotating body, the door swings open, moves backward, and closes and swings around the back of the passing object. Allow only single traffic.
The rotation of the drive rotator is transmitted to the door by an endless belt. At this time, the movement of the door is regulated by the pair of guide rollers. That is, the circumscribed line when the door is viewed in the vicinity of the center of the pair of guide rollers is restricted so as to be always substantially parallel to the line connecting the pair of guide rollers. For this reason, as the endless belt is rotated by the rotation of the drive rotating body, the door moves rearward while swinging forward and swings to the open posture along the passage wall, and the endless belt is further rotated. As a result, the door is closed and swung forward while moving backward, and the left and right ends of the door are reversed.
[0010]
In addition, the present invention supports a door that closes the passage so that it can be opened and closed around its end side, and can be moved back and forth in the direction of the passage. A drive mechanism having a drive rotator that rotates around is provided, and the door is opened and closed and moved back and forth by rotation of the drive rotator, and at least one of the upper and lower ends of the door is provided with a door A guide rail having a constant thickness and formed in a flat ring shape in the longitudinal direction is provided, and a guide member that is opposed to the drive rotator at a predetermined interval is provided. An automatic door characterized in that the guide rail and the door are integrally opened and closed and moved back and forth by rotation of the drive rotating body. .
[0011]
According to the automatic door according to the present invention, by rotating the driving rotating body, the door swings open, moves backward, and closes and swings around the back of the passing object. Allow only single traffic.
Further, when the contact point between the drive rotator and the guide rail is determined, the guide rail posture, that is, the direction of the minimum thickness of the guide rail at the contact point coincides with the center line connecting the drive rotator and the guide member, that is, The attitude of the door will be determined uniquely. For this reason, in a state where the drive rotator is in contact with the vicinity of the end of the guide rail and rotates, the door is greatly swung, and the drive rotator is substantially linear along the longitudinal direction of the guide rail. In the state of rotating in contact with the part, the door is moved in the longitudinal direction.
[0012]
In addition, the present invention supports a door that closes the passage so that it can be opened and closed around its end side, and can be moved back and forth in the direction of the passage. A drive mechanism having a drive rotator rotating around is provided, and the door is opened and closed and moved back and forth by the rotation of the drive rotator, and an endless belt is wound around the door so as not to slip. In addition, the endless belt is wound around the drive rotator, and the drive mechanism includes a pair of guide rollers that guide the endless belt at a fixed position between the drive rotator and the door. An automatic door characterized in that the endless belt is rotated by rotating the body so that the door is opened and closed and moved back and forth.
[0013]
According to the automatic door according to the present invention, by rotating the driving rotating body, the door swings open, moves backward, and closes and swings around the back of the passing object. Allow only single traffic.
The rotation of the drive rotator is transmitted to the door by an endless belt. At this time, the movement of the door is regulated by the pair of guide rollers. That is, the circumscribed line when the door is viewed in the vicinity of the center of the pair of guide rollers is restricted so as to be always substantially parallel to the line connecting the pair of guide rollers. For this reason, as the endless belt is rotated by the rotation of the drive rotating body, the door moves rearward while swinging forward and swings to the open posture along the passage wall, and the endless belt is further rotated. As a result, the door is closed and swung forward while moving backward, and the left and right ends of the door are reversed.
[0014]
In the above-described invention, it is preferable that the door is configured to be movable back and forth in a posture in which the door surface is along the wall of the passage.
[0015]
According to this, the plane space required for the opened door to move to the back of the passing object becomes thin along the passage wall, and a large effective width of the passage can be secured.
[0016]
Further, in the above-described invention, it is preferable that a holding mechanism for holding the door so as to be openable and swayable and movable back and forth is further provided. It is possible to prevent the door from falling down.
[0017]
In the above-described invention, the door preferably has an elliptical shape in plan view. The door can be suitably moved for opening and closing and moved back and forth.
[0018]
In the above-described invention, it is preferable that the apparatus further includes a sensor that detects a position of a passing object on the passage, and a control unit that operates the driving mechanism based on a detection result of the sensor. You can manage the passage of traffic.
[0019]
In the above-described invention, it is preferable that the sensors are a plurality of infrared sensors that sense a passing object, and each infrared sensor is disposed along the passage. It is possible to suitably detect the position of a passing object on the passage.
[0020]
In the above-described invention, it is preferable that the control means closes the passage by operating the driving mechanism together with the passage of the passage when the passage of the passage is permitted. Passage of other traffic following the traffic can be restricted.
[0021]
Further, in the above-described invention, it further comprises detection means for determining whether or not there is a single traffic object, and the control means is only when the traffic object is single based on the detection result of the detection means. It is preferable to allow a passing object to pass through. By restricting the passage of a plurality of passing objects at a time, it is possible to appropriately manage the passing of passing objects.
[0022]
In addition, this specification also discloses the invention which concerns on the following automatic doors.
[0023]
(1) In the automatic door according to any one of claims 1 to 5, a first bearing portion that is slidably provided on an axis connecting both side ends in the longitudinal direction of the door, and when in the closed position A second bearing portion slidably provided in parallel with the longitudinal direction of the door, and the first bearing portion and the second bearing portion are slidably coupled to open / close and swing the door. An automatic door characterized by comprising a holding mechanism that holds it so that it can move back and forth.
[0024]
According to the invention described in (1), the door can be prevented from falling down.
The invention's effect
[0025]
According to the automatic door of the present invention, while simplifying the drive structure without using a multi-joint arm or the like that requires a large number of drive mechanisms, the door is opened and swung, and the door is swung around behind the object to be swung and closed. An automatic door capable of performing a series of operations can be obtained.
[Brief description of the drawings]
[0026]
FIG. 1 is a side view of an automatic door according to a first embodiment.
FIG. 2 is a plan view of the automatic door according to the first embodiment.
FIG. 3 is a front view of the automatic door according to the first embodiment.
FIG. 4 is a partially cutaway front view showing the door opening and closing structure of the first embodiment.
FIG. 5 is a perspective view showing the door opening and closing structure of the first embodiment.
FIG. 6 is a plan view showing an example of a main part of the guide rail and the drive rotor of the first embodiment.
FIG. 7 is a stroke diagram showing the door opening / closing operation of the first embodiment.
FIG. 8 is a stroke diagram showing the door opening / closing operation of the first embodiment.
FIG. 9 is a stroke diagram showing the door opening / closing operation of the first embodiment.
FIG. 10 is a stroke diagram showing the door opening / closing operation of the first embodiment.
FIG. 11 is a stroke diagram showing the door opening / closing operation of the first embodiment.
FIG. 12 is a stroke diagram showing the door opening / closing operation of the first embodiment.
FIG. 13 is a stroke diagram showing the door opening / closing operation of the first embodiment.
FIG. 14 is a stroke diagram showing the door opening / closing operation of the second embodiment.
FIG. 15 is a stroke diagram showing the door opening and closing operation of the second embodiment.
FIG. 16 is a stroke diagram showing the door opening / closing operation of the second embodiment.
FIG. 17 is a stroke diagram showing the door opening / closing operation of the second embodiment.
FIG. 18 is a stroke diagram showing the door opening / closing operation of the second embodiment.
FIG. 19 is a stroke diagram showing the door opening / closing operation of the second embodiment.
FIG. 20 is a plan view of an automatic door according to a third embodiment.
FIG. 21 is a stroke diagram showing the door opening / closing operation of the third embodiment.
FIG. 22 is a stroke diagram showing the door opening / closing operation of the third embodiment.
FIG. 23 is a plan view of an automatic door according to a fourth embodiment.
FIG. 24 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 25 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 26 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 27 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 28 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 29 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 30 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 31 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 32 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 33 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 34 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 35 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 36 is a stroke diagram showing the door opening / closing operation of the fourth embodiment.
FIG. 37 is a plan view of an automatic door according to a fifth embodiment.
FIG. 38 is a front view of an automatic door according to a fifth embodiment.
FIG. 39 is an enlarged view showing a holding mechanism of the automatic door.
FIG. 40 is a perspective view showing a door opening / closing structure of a fifth embodiment.
41 (a) and 41 (b) are plan views showing the door opening / closing structure of the fifth embodiment.
FIG. 42 is a stroke diagram showing the door opening / closing operation of the fifth embodiment.
FIG. 43 is a stroke diagram showing the door opening / closing operation of the fifth embodiment.
FIG. 44 is a side view of the automatic door according to the sixth embodiment.
FIG. 45 is a control block diagram according to a sixth embodiment.
FIG. 46 is a flowchart showing an operation procedure of the automatic door.
FIG. 47 is a stroke diagram showing the door opening / closing operation of the sixth embodiment.
FIG. 48 is a stroke diagram showing the door opening / closing operation of the sixth embodiment.
FIG. 49 is a stroke diagram showing the door opening / closing operation of the sixth embodiment.
FIG. 50 is a stroke diagram showing the door opening / closing operation of the sixth embodiment.
FIG. 51 is a stroke diagram showing the door opening / closing operation of the sixth embodiment.
FIG. 52 is a stroke diagram showing the door opening / closing operation of the sixth embodiment.
FIG. 53 is a stroke diagram showing the door opening / closing operation of the seventh embodiment;
FIG. 54 is a stroke diagram showing the door opening / closing operation of the seventh embodiment.
FIG. 55 is a stroke diagram showing the door opening / closing operation of the seventh embodiment.
FIG. 56 is a stroke diagram showing the door opening / closing operation of the seventh embodiment.
FIG. 57 is a stroke diagram showing the opening / closing operation of the door according to the seventh embodiment;
FIG. 58 is a stroke diagram illustrating the door opening / closing operation of the seventh embodiment.
FIG. 59 is a stroke diagram showing the door opening / closing operation of the seventh embodiment;
FIG. 60 is a stroke diagram showing the opening / closing operation of the door according to the seventh embodiment;
FIG. 61 is a stroke diagram showing the opening / closing operation of the door according to the seventh embodiment;
FIG. 62 is a plan view showing a door opening / closing structure according to a modified embodiment.
FIG. 63 is a plan view of an automatic door according to a modified embodiment.
[Explanation of symbols]
[0027]
1, 1 (a), 1 (b), 1 (c) ... Door
3 ... Drive mechanism
4 ... Guide rail
6… Rotating drive
7 ... Guide member
16 ... endless belt
18 ... Guide roller
21 ... Holding mechanism
31 ... Control unit
K, K1, K2, K3, K4, K5, K6, K7 ... Infrared sensor
L: Detection means
T ... passage
G ... Automatic door
M ... traffic
p… vertical axis
W ... Wall
BEST MODE FOR CARRYING OUT THE INVENTION
[0028]
In automatic doors, the door that closes the passage is supported so that it can be opened / closed swinging around its end side and moved back and forth in the direction of the passage, and around a single vertical axis near the end side A drive mechanism equipped with a rotating rotating body is provided, and the door is opened and closed and moved back and forth by the rotation of the driving rotating body. We realized the purpose of being able to perform.
[Example 1]
[0029]
Embodiment 1 of the present invention will be described below with reference to the drawings.
1, 2, and 3 are a side view, a plan view, and a front view, respectively, of the automatic door according to the first embodiment.
[0030]
The automatic door G according to the first embodiment is used as a security gate. This automatic door G is composed of a pair of left and right doors 1 that close the passage T, and each door 1 is opened and closed by a drive mechanism 3 provided on an upper frame 2 installed across the upper side of the passage. And moved back and forth.
[0031]
4 and 5 are a partially cutaway front view and a perspective view showing the opening / closing structure of the door 1. The upper end surface of the door 1 is provided with a guide rail 4 having a constant thickness formed in a flat annular elliptical shape along the longitudinal direction of the door. In addition, the drive mechanism 3 includes a drive rotator 6 that is driven to rotate about the longitudinal axis p by the electric motor 5 and a roller-shaped guide member 7 that is disposed in parallel with a fixed interval at a location on the passage side of the drive rotator 6. Is provided. The guide rail 4 is sandwiched between the drive rotator 6 and the guide member 7.
[0032]
A guide rail 8 having the same specifications is also provided downward on the lower end surface of the door 1, and roller-shaped guide members 9 and 10 are concentric with the drive rotating body 6 and the guide member 7 on the passage floor surface. The lower guide rail 8 is sandwiched between these guide members 9 and 10 from inside and outside.
[0033]
Here, it is necessary that the upper guide rail 4 and the drive rotor 6 are in contact with each other without relative slip. As an example of the means, the main part about the guide rail 4 and the drive rotary body 6 is illustrated in FIG. As shown in FIG. 6, a structure in which the gear portion 11 is formed on the outer peripheral surface of the drive rotating body 6 and the gear portion 12 that meshes with the gear portion 11 is formed on the entire outer periphery of the guide rail 4 is effective.
[0034]
According to the above configuration, when the contact point between the drive rotator 6 and the guide rail 4 is determined, the minimum rail thickness direction at the contact point coincides with the center line H connecting the drive rotator 6 and the guide member 7. The posture of the guide rail 4, that is, the posture of the door 1 is uniquely determined.
[0035]
As shown in FIG. 1 or 2, the electric motor 5 of the drive mechanism 3 is controlled to operate by a control device (not shown), and this control device is configured to control and operate based on information from the verification device 13. Yes. The verification device 13 can use various known authentication systems. For example, the verification device 13 uses a data storage medium such as a magnetic card or an IC card, or image data such as a face, retina, or fingerprint. Alternatively, the weight or other data that uses the other measurement data as the verification data is appropriately selected.
[0036]
Next, operation | movement of this automatic door G is demonstrated based on the stroke diagram of FIGS.
[0037]
In a state where the automatic door G is closed (the state shown in FIG. 7 or FIG. 13), the top of one end of the guide rail 4 in each door 1 is sandwiched between the drive rotating body 6 and the guide member 7.
[0038]
In FIG. 7, in order for a passing object M such as a passer to pass through the automatic door G from the left to the right, first, a predetermined verification procedure is performed by the verification device 13 provided in the gate G. Is transmitted to the control device. In the control device, it is determined whether or not the collation result from the collation device 13 has been received. If no collation result is received, the control device waits for reception, and if received, the collation result is appropriate or inappropriate. It is determined whether it is a thing. And when a collation result is inadequate, opening of the door 1 is not performed but the automatic door G is maintained by the obstruction | occlusion state. Then, only when the collation result is appropriate, an activation command is issued to the drive mechanism 3 and the electric motor 5 starts to drive the drive rotor 6 to rotate.
[0039]
As shown in FIGS. 8 and 9, when the electric motor 5 is started, the drive rotator 6 rotates in contact with the vicinity of the top (near the end) of the small curvature of the guide rail 4, so that the door 1 is driven to rotate. The body 6 and the guide rail 4 are rapidly swung forward and swinging around the contact portion. Then, the door surface of the door 1 reaches a posture along the passage wall (a state in which the surface of the door 1 is substantially parallel to the passage wall).
[0040]
When the contact point between the drive rotator 6 and the guide rail 4 reaches a gently convex region near the straight line beyond the top of the guide rail 4, the door 1 is moved by the rotation of the drive rotator 6 as shown in FIG. 10. It moves to the rear along the passage wall without disturbing the passing object M in the open posture.
[0041]
When the contact point between the drive rotator 6 and the guide rail 4 reaches the vicinity of the other top of the guide rail 4, the door 1 is connected to the drive rotator 6 and the guide rail 4 as shown in FIGS. 11 to 13. It closes and swings forward rapidly around the contact area, quickly turns around behind the passing object M and closes the passage T.
[0042]
As described above, in the automatic door G of this example, when the passing object M that has been collated and authenticated based on a predetermined authentication system approaches the door 1, the door 1 is opened and swung forward, and the passing object M As the door 1 moves forward in the passage T, the door 1 in the open posture quickly turns around behind the traffic object M and is closed. If the unauthorized traffic object passes the authenticated traffic object M, the movement of the door 1 continues. Even if it tries to do so, it will be threatened by the door 1 that is about to be quickly closed behind the previous traffic object M, and the following movement will be restrained.
[Example 2]
[0043]
14 to 19 show a second embodiment of the automatic door G according to the present invention. This automatic door G is used for stricter access control at important facilities and the like. Specifically, a pair of left and right doors 1 configured in the same manner as in the first embodiment is configured in such a manner that two sets are arranged before and after the passage T with a predetermined interval.
[0044]
Therefore, about the automatic door G which concerns on Example 2, it demonstrates centering on the operation | movement. 14 to 19 are stroke diagrams of the door opening / closing operation.
[0045]
In FIG. 14, in order for the article M to pass through the automatic door G from the left to the right, first, a predetermined verification procedure is performed by the verification device 13 provided in the automatic door G. Sent to.
[0046]
In the control device, it is determined whether or not the collation result from the collation device 13 has been received. If no collation result is received, the control device waits for reception, and if received, the collation result is appropriate or inappropriate. It is determined whether it is a thing.
[0047]
When the collation result is appropriate, first, as shown in FIGS. 15 and 16, the door 1 on the front (left side in the figure) is opened and swung to open the passage T.
[0048]
Next, as shown in FIG. 17, as the passing object M moves forward, the door 1 moves rearward along the passage wall while maintaining the opened state. For this reason, it does not get in the way of the traffic object M when moving backward. Thereafter, as shown in FIG. 18, the door 1 closes and swings, so that the door 1 quickly turns around behind the passing object M and closes the passage T as shown in FIG. 19.
[0049]
Next, whether or not there is a single article M between the front and rear doors 1 is appropriately determined by the detection means L described later. When it is determined that there is only one traffic object M, as shown by the phantom line in FIG. 19, the back door 1 swings open and swings as in the case of the front door 1, and the traffic object M Is allowed to pass.
[0050]
When it is determined that the passing object M is not single, the opening and swinging of the door 1 on the back side is not executed, and the passing object M is confined between the front and rear doors 1, It will be notified to the management center. Therefore, even if the object 1 that has been authenticated by the authentication system can follow and move and pass through the front door 1, a plurality of objects are constrained between the front and rear doors 1. , Simultaneous passage is impossible.
[0051]
Further, when it is determined that the collation result is inappropriate, the front door 1 is opened to allow entry of the passing object M (this operation is the same as when the collation result is appropriate). ). However, in this case, the opening operation of the door 1 on the back side is not executed, and as a result, the passing object M whose matching result is inappropriate is also restrained between the front and rear doors 1. This is communicated to the management center and appropriate measures are taken.
[0052]
In addition, as the detection means L utilized for discrimination | determination of whether the traffic thing M is single, when the traffic thing M is a person, the following can be considered.
[0053]
1. The determination is made based on the area data obtained from the image data taken with a CCD camera or the like.
2. The photographed image data is analyzed by an image recognition technique to discriminate a person's head, torso, arms, legs, etc., and determine the number, length, area, volume, shape, and the like.
3. Judgment is made from position information obtained by a plurality of infrared sensors or ultrasonic sensors whose detection ranges are adjusted.
4). Judgment is made based on the number and area of legs by a sheet-like touch sensor placed in the passage.
5. The number, area, volume, etc. of the object are determined and determined by an infrared light emitting unit and a plurality of light receiving units installed on the upper or lower part of the passage or on the left and right sides.
6). Judgment is made based on the weight obtained from the pressure sensor installed in the passage (the weight of the object M).
7).
[0054]
Such arrangement of the detection means L is appropriately selected for the ceiling, floor, wall surface of the passage T, the door 1 itself, the upper frame 2, and other components of the automatic door G.
[Example 3]
[0055]
FIG. 20 is a plan view of the automatic door G according to the third embodiment. As shown in the figure, this automatic door G has three doors 1 (a), 1 (b) and 1 (c) which are opened and closed with the structure shown in the first example on both sides of the passage T. In the closed state of the passage, the front and rear doors 1 (b), 1 (c) are in an open posture along the passage wall, and the central door 1 (a) is arranged. Is in a closed posture projecting into the passage T.
[0056]
FIG. 21 and FIG. 22 are both stroke diagrams showing the door opening / closing operation. As shown in FIGS. 20 to 22, in the drive mechanism 3 of each door 1 (a), door 1 (b), and door 1 (c), the drive rotating body 6 and the guide member 7 always maintain the horizontal alignment. However, it is supported by a rotating parallel quadruple link structure (not shown) so as to turn around the vertical fulcrum q. For this reason, the relative positional relationship (horizontal one-line posture) between the corresponding drive rotator 6 and the guide member 7 does not change. Note that the horizontal row orientation described above is a relationship in which the drive rotator 6 and the guide member 7 are spaced apart in the direction substantially perpendicular to the passage T by the thickness of the guide rail 4.
[0057]
According to this configuration, when a passage opening command is issued, the drive mechanism 3 itself is pivoted and each drive mechanism 3 is activated. Here, the door 1 (a) in the closed position is opened and swung forward, whereas the front door 1 (b) moves rearward along the passage wall, and the rear door 1 (c) is swung forward and goes around behind the traffic object M. When the traffic object M is a single object, the door 1 (c) is stopped in the closed position and the other door 1 (a) The door 1 (b) is stopped in an open posture along the passage wall. In addition, when the traffic object M is continuous, the above operation is continuously performed. That is, an operation similar to that of a revolving door is performed in a half space of the revolving door.
[Example 4]
[0058]
FIG. 23 is a plan view of the automatic door G according to the fourth embodiment. The automatic door G according to the fourth embodiment is arranged so that the upper frame 2 thereof is inclined with respect to the passage T in a plan view and obliquely crossed. In FIG. 23, the passage T is in the direction from the lower left to the upper right, and the automatic door G indicates that the longitudinal side of the upper frame 2 is in the horizontal direction. The same configuration as in the first and second embodiments will be described briefly.
[0059]
And each of the two doors 1 with which the automatic door G is provided is comprised so that the channel | path T may be obstruct | occluded in two places independently. Further, because the automatic door G crosses the passage T in an oblique direction, each door 1 closes the passage T at a position where it swings and rotates from the upper frame 2. Depending on the angle at which the automatic door G is inclined with respect to the passage T, the length of each door 1 in the longitudinal direction of the door is increased to such an extent that the two doors 1 are buffered when trying to fit in the upper frame 2. It is necessary to do. FIG. 23 shows a case where the sum of the lengths of the doors 1 in the longitudinal direction of the doors is longer than the longitudinal side of the upper frame 2. However, even in such a case, as will be described in detail in the following description of the operation, there is no timing at which the two doors 1 are simultaneously positioned in the upper frame 2, so each door 1 actually buffers. There is nothing.
[0060]
Each of the two doors 1 is opened / closed and moved back and forth by rotating a driving rotary body (not shown) provided near the wall W of the passage T of each door 1 with an electric motor (not shown). To do. This point is common to the first embodiment. However, in the fourth embodiment, a control device (not shown) controls the operation of each electric motor independently, and individually opens and closes the two doors 1 and moves them back and forth.
[0061]
FIGS. 24 to 36 are process diagrams of the door opening / closing operation according to the fourth embodiment.
[0062]
In FIG. 24, when the passing object M is located in front of the lower left door 1, the verification result is transmitted from the verification device (not shown) provided to the automatic door G to the control device (not shown). In the following description, the door 1 arranged at the lower left is called the front door 1, and the door 1 arranged at the upper right is called the back door 1.
[0063]
When the collation result is appropriate, first, as shown in FIGS. 25 to 27, the front door 1 is opened and swinged, and the passage T is opened. Next, as shown in FIG. 28, the door 1 moves rearward while maintaining the opened state as the passing object M moves forward. For this reason, it does not get in the way of the traffic object M when moving backward. Thereafter, as shown in FIG. 29, the door 1 closes and swings, so that the door 1 quickly turns around behind the passing object M and closes the passage T as shown in FIG.
[0064]
Next, the passing object M at the position of FIG. When it is determined that there is only one traffic object M, as shown in FIG. 31, the door 1 on the back side opens and swings, and the passage T is opened. Next, as shown in FIG. 32, as the passing object M moves forward, the door 1 on the back side moves backward while maintaining the opened state. For this reason, it does not get in the way of the traffic object M when moving backward. Then, as shown in FIGS. 33 to 35, the door 1 closes and swings, so that the door 1 quickly turns around behind the passing object M and closes the passage T as shown in FIG.
[0065]
On the other hand, when it is determined at the timing of FIG. 30 that the passing object M is not single, the opening and swinging of the rear door 1 is not executed. Also, if it is determined at the timing of FIG. 24 that the collation result is inappropriate, the door 1 on the front side is opened to allow entry of the traffic object M, and the opening operation of the door 1 on the back side is performed. Not executed. And in any case, as a result, the passing object M is restrained between the front and rear doors 1.
[0066]
According to this configuration, the passage T can be opened / closed at two places in the front and rear by one automatic door G, and the cost advantage is great. Further, the occupied area can be saved.
[Example 5]
[0067]
FIGS. 37 and 38 are a plan view and a front view of the automatic door according to the fifth embodiment, FIG. 39 is an enlarged view showing a holding mechanism of the automatic door, and FIG. 40 shows a door opening / closing structure of the fifth embodiment. FIG. 41A and FIG. 41B are plan views showing the door opening and closing structure of the fifth embodiment.
[0068]
The upper and lower ends of the door 1 in this example are provided with guide portions 15 formed in an elliptical shape that is flat in the longitudinal direction of the door, and an endless belt 16 is wound around each guide portion 15. Further, the lower end of the door 1 is provided with a guide rotating body 17 such as a ball or a caster wheel that rolls and moves on the passage floor, and supports the weight of the door 1. Further, each drive mechanism 3 is driven to rotate the endless belt 16 at a fixed position between the drive rotator 6 and the door 1, and a drive rotator 6 that is rotated around the longitudinal axis p by the electric motor 5. A pair of front and rear guide rollers 18 for winding and guiding the body 6 are provided. Furthermore, a holding mechanism 21 that holds the door 1 is provided at the upper end and the lower end of each door 1 on which the drive mechanism 3 such as the guide roller 18 is provided.
[0069]
As shown in FIG. 39, the holding mechanism 21 includes a first bearing portion 22, a first rail 24, a second bearing portion 26, and a second rail 28. As shown in the figure, the first rail 24 extends inside the upper end surface of the door 1 so as to connect both side ends of the door 1 in the longitudinal direction. The first bearing portion 22 is slidably provided along the first rail 24, and only the shaft portion of the first bearing portion 22 protrudes from the upper surface of the door 1. A second bearing portion 26 that is freely connected to the shaft portion of the first bearing portion 22 is provided at the lower portion of the upper frame 2. The second bearing portion 26 is provided so as to be slidable along the second rail 28. The second rail 28 is fixedly laid in the direction crossing the passage T in the upper frame 2. In other words, the second rail 28 is disposed in parallel with the longitudinal direction of the door 1 when in the closed position. One end of the second rail 28 is positioned at substantially the same position as the end of the first rail 24 on the drive mechanism 3 side when the door 1 is in the closed position, and extends from the one end to the center of the passage T. ing. However, the length of the second rail 28 is shorter than that of the first rail 24, and is, for example, about the thickness of the door 1 (the length on the short axis side).
[0070]
Similarly, a holding mechanism 21 is also provided at the lower end of the door 1. The holding mechanism 21 on the lower end side is accommodated in a position where the second bearing portion 26 and the second rail 28 are dug down the passage T. In addition, since the 2nd bearing part 26 and the 2nd rail 28 are the channel | path wall side by planar view, and are arrange | positioned under the door 1, it does not become an obstacle for the to-be-passed object M which passes the channel | path T. FIG.
[0071]
As shown in FIGS. 41 (a) and 41 (b), the holding mechanism 21 configured as described above causes the door 1 itself to move with the driving rotary body 6 and the pair of guide rollers as the door 1 opens and closes and swings back and forth. The door 1 is held while allowing it to approach 18 or move away.
[0072]
Further, it is necessary that the guide portion 15 and the endless belt 16 are in contact with each other without relative slip. An example of the means is illustrated in FIG. As shown in the drawing, the endless belt 16 is constituted by a toothed belt (timing belt) having a tooth portion 19 on the inner periphery, and a tooth portion 20 that meshes with the tooth portion 19 is formed on the entire outer periphery of the guide portion 15. Is effective. In addition, it is desirable that the drive rotating body 6 also includes a tooth portion 6 a that meshes with the endless belt 16.
[0073]
In addition, the pair of guide rollers 18 is desirably arranged so as to be aligned in the same direction as the passage T. The guide roller 18 is preferably arranged in relation to the drive rotator 6 so that a line connecting the center point between the guide rollers 18 and the drive rotator 6 is perpendicular to the passage T. Further, the separation between the guide rollers 18 is preferably smaller than the thickness of the door 1 (the length of the door 1 in the minor axis direction). Thereby, the movement (posture) of the door 1 can be suitably regulated by the pair of guide rollers 18. That is, the circumscribed line in the vicinity of the center of the pair of guide rollers 18 when viewed in plan is restricted so as to be always substantially parallel to the line connecting the pair of guide rollers 18 (that is, the passage direction).
[0074]
42 and 43 are stroke diagrams illustrating the opening / closing operation of the door 1 having such a configuration.
In the closed state of the passage, as shown in FIG. 37, the door 1 is in a closed posture across the passage, and as shown in FIG. 42, the door 1 is rotated as the endless belt 16 is rotated by the rotation of the drive rotor 6. As shown in FIG. 43, the door 1 is closed and swung while moving backward, as the endless belt 16 is pivoted to the open posture along the passage wall. The door 1 is in a closed posture in which the left and right ends are reversed.
[Example 6]
[0075]
FIG. 44 is a side view of the automatic door according to the sixth embodiment, and FIG. 45 is a control block diagram according to the sixth embodiment. In the automatic door G according to this example, a plurality (seven in this embodiment) of infrared sensors K1, K2, K3, K4, K5, K6, and K7 that detect a passing object M are provided in the upper frame 2. . Hereinafter, it is abbreviated as infrared sensor K unless otherwise distinguished. Each infrared sensor K is arranged in a line along the traveling direction of the passing object M, and is provided in a posture in which the lower side is the detection range. In addition, the infrared sensors K are arranged at predetermined intervals so that the detection ranges do not overlap each other. FIG. 44 schematically shows the detection range with a one-dot chain line.
[0076]
In this embodiment, the detection ranges of the infrared sensors K1, K2, and K3 are on the entrance side from the door 1 (left side of the door 1 in FIG. 44), and the detection ranges of the infrared sensors K5, K6, and K7 are on the exit side of the door 1. (Right side of door 1 in FIG. 44). Further, the detection range of the central infrared sensor K4 is in the vicinity of the closing position of the door 1.
[0077]
As shown in FIG. 45, each infrared sensor K is connected to the control unit 31 together with the collation device 13, and the control unit 31 controls the drive mechanism 3 based on the detection results of the respective infrared sensors K and the collation sensor 13. Manipulate. Note that the door 1 and its drive mechanism 3 are the same as those described in the fifth embodiment, and a description thereof will be omitted. However, the configurations of the door 1 and the drive mechanism 3 are not limited to this, and the configurations described in other embodiments may be applied.
[0078]
Next, the operation of the automatic door G according to the sixth embodiment will be described. FIG. 46 is a flowchart showing the operation procedure of the automatic door G, and FIGS. 47 to 51 are stroke diagrams showing the door opening / closing operation of the sixth embodiment.
[0079]
<Step S1> Is the verification result appropriate?
The traffic object M first performs a predetermined verification procedure with a verification device 13 (not shown) provided at the entrance of the automatic door G (left end in FIG. 47). The collation device 13 transmits the collation result to the control unit 31. Here, when a collation result is appropriate, it moves to step S2. If the collation result is inappropriate, the process proceeds to step S13, and the control unit 31 performs a predetermined abnormality process and issues an abnormality report. In the following description, the process of step S13 will be simply described as “performing abnormal processing”.
[0080]
<Step S2> Is the infrared sensor K1 turned on?
When the detection result that the object is sensed is output from the infrared sensor K1, and the detection result that the object is not sensed is output from the other infrared sensors K2 to K7 to the control unit 31, this causes 48, it is determined that the passing object M has advanced to the detection range of the infrared sensor K1. In the figure, the infrared sensor K in the ON state is clearly shown by being painted black. In this case, the process proceeds to step S3. When a detection result that is sensed from at least one of the infrared sensors K2 to K7 is output, the process proceeds to step S13 to perform an abnormality process. In the following description, detecting the object by the infrared sensor K is simply described as “turning on”, and not detecting the object by the infrared sensor K is described as “turning off”.
[0081]
<Step S3> Open the door.
The control unit 31 operates the drive mechanism 3 to swing each door 1 open as shown in FIG. Thereby, the passage T is opened.
[0082]
<Step S4> Was the infrared sensors K2 and K3 turned on in this order, and were the infrared sensors K1 and K2 turned off again?
When the infrared sensors K2 and K3 are turned on in this order and the infrared sensors K1 and K2 are turned off again, it is determined that the passing object M has traveled to just before the closing position of the door 1 as shown in FIG. Then, the process proceeds to step S5. Note that there is no limitation on the timing at which the infrared sensor K2 (K3) is turned on and the timing at which the infrared sensor K1 (K2) is turned off again (the same applies hereinafter). In addition, when the infrared sensors K2 and K3 are not turned on in this order, or the infrared sensors K other than the infrared sensor K3 (for example, K1 and K7) are turned on when the infrared sensors K1 and K2 are turned off. In step S13, abnormality processing is performed.
[0083]
<Step S5> Move the door backward
The control unit 31 operates the drive mechanism 3 to move the door 1 rearward along the passage wall while maintaining the state where the passage T is opened as shown in FIG.
[0084]
<Step S6> Was the infrared sensor K4 turned on and the infrared sensor K3 turned off again?
When the infrared sensor K4 is turned on and the infrared sensor K3 is turned off, it is determined that the passing object M has advanced to the closed position of the door 1 as shown in FIG. 50, and the process proceeds to step S7. If the infrared sensor K3 other than the infrared sensor K4 is turned on when the infrared sensor K3 is turned off, the process proceeds to step S13 to perform abnormality processing.
[0085]
<Step S7> Starts closing and swinging the door
The control unit 31 operates the drive mechanism 3 to start closing and swinging the door 1 and close the passage T as shown in FIG. And it moves to the position which does not hit the passing thing M.
[0086]
<Step S8> Was the infrared sensor K5 turned on and the infrared sensor K4 turned off again?
When the infrared sensor K5 is turned on and the infrared sensor K4 is turned off again, as shown in FIG. 51, it is determined that the passing object M has exceeded the closed position of the door 1, and the process proceeds to step S9. If the infrared sensor K4 other than the infrared sensor K5 is turned on when the infrared sensor K4 is turned off, the process proceeds to step S13 to perform abnormality processing.
[0087]
<Step S9> Close the door to the extent that no follower can enter it.
The control unit 31 operates the drive mechanism 3 to close and swing the door 1 as shown in FIG. 51, and closes the door 1 to the extent that a subsequent person cannot enter.
[0088]
<Step S10> Was the infrared sensors K6 and K7 turned on in this order, and were the infrared sensors K5 and K6 turned off again?
When the infrared sensors K6 and K7 are turned on in this order and the infrared sensors K5 and K6 are turned off, the passing object M has traveled to the exit of the passage T (the right end in FIG. 52) as shown in FIG. Determination is made and the process proceeds to step S11. If the infrared sensors K6 and K7 are not turned on in that order, or if the infrared sensors K other than the infrared sensor K7 are turned on when the infrared sensors K5 and K6 are turned off, the process proceeds to step S13 and an abnormality is detected. Process.
[0089]
<Step S11> Close the door completely
The control unit 31 operates the drive mechanism 3 to swing the door 1 to the closing position as shown in FIG.
[0090]
As described above, in the sixth embodiment, since the plurality of infrared sensors K that sense the passing object M are arranged along the passage T, the position of the passing object M on the passage T can be suitably detected. .
Moreover, since the control part 31 which operates the drive mechanism 3 based on the detection result of these several infrared sensor K and moves / swings the door 1 is provided, according to the position of the to-be-carried object M on the channel | path T The position of the door 1 can be controlled. As a result, the passage T can be opened and closed accurately even if the speed of the traffic M traveling through the passage T is different, so that the passage of the traffic M can be performed smoothly, and the passage of the successor of the traffic M can be achieved. Can be prevented.
[Example 7]
[0091]
The automatic door according to the seventh embodiment is configured such that two pairs of left and right doors 1 configured in the same manner as in the fifth embodiment are arranged at predetermined intervals before and after the passage T. Then, 11 infrared sensors K described in the sixth embodiment are provided from the entrance to the exit of the passage T (referred to as infrared sensors K1, K2,..., K11 from the entrance to the exit, respectively) (see FIG. 53). ). Note that Example 7 will be described with reference to only process diagrams showing opening and closing of the doors shown in FIGS. 53 to 61.
[0092]
In this embodiment, the infrared sensors K1 to K3 have a detection range from the entrance of the automatic door G to the front door 1 (left side in the figure). Similarly, the infrared sensor K4 indicates the closing position of the front door 1, the infrared sensors K5 to K7 indicate the range between the front and rear doors 1, the infrared sensor K8 indicates the closing position of the back door 1, and the infrared sensor K9. ˜K11 each has a range from the back door 1 to the exit of the automatic door G as a detection range.
[0093]
Furthermore, between the front and rear doors 1, detection means L is provided for detecting whether or not there is a single traffic object M. As the detection means L, the CCD camera exemplified in the second embodiment is appropriately applied. Each infrared sensor K and detection means L are connected to a single control unit 31. Note that the control unit 31 is connected to the verification device 13 and that the drive mechanism 3 is operated based on the detection results of the infrared sensor K and the verification device 13 as in the sixth embodiment.
[0094]
Next, the operation of the automatic door G according to the seventh embodiment will be described with reference to FIGS. It should be noted that the process overlapping with that of Example 6 will be described briefly.
[0095]
First, the passing object M performs a predetermined verification procedure at the entrance of the automatic door G (see FIG. 53). When an appropriate collation result is obtained, when the infrared sensor K1 is turned on, it is determined that the article M has traveled the passage T, and the door 1 is opened (FIG. 54). Thereafter, as in the sixth embodiment, the door 1 is moved / swinged in accordance with the forward movement of the passing object M. When the passing object M reaches the detection range of the infrared sensor K7, the front door 1 is completely closed to close the passage T (see FIGS. 54 to 58). At this time, the back door 1 is not opened. Further, in a series of processes, when the infrared sensors K1 to K7 are sequentially turned on and the infrared sensors K1 to K6 are not sequentially turned off again, for example, an infrared sensor K (infrared sensor other than the predetermined infrared sensor K) is used. (Including K8 to 11) is turned on, the abnormality process as described in step S13 of the sixth embodiment is performed.
[0096]
Next, the detection means L determines whether or not there is a single passing object M positioned between the front and back doors 1. As a result, when it is determined that there is only one traffic object M, as shown in FIG. 59, the door 1 at the back is opened and swung to allow the passage of the traffic object M. When it is determined that the traffic object M is not single, abnormal processing such as reporting to the management center is performed in a state where the traffic object M is confined between the front and rear doors 1.
[0097]
Thereafter, the infrared sensors K8 to K11 are sequentially turned on as the passing object M passes through the back door 1 and proceeds to the exit. Based on such a detection result, the control unit 31 moves the back door 1 backward (see FIG. 60) and closes and swings the passage T to close the passage T (FIG. 61).
[0098]
In each of the above-described embodiments, when the automatic door G is the doorway, the drive mechanism 3 operates in reverse for a passing object M that passes in the opposite direction (from right to left in the figure). The opening operation is executed at. Further, in the sixth and seventh embodiments, the opening operation of the passage T can be performed by appropriately changing the design of the control performed by the control unit 31 based on the detection result of each infrared sensor K in response to the passage in the reverse direction. Will be executed.
[0099]
The present invention is not limited to the above-described embodiment, and can be modified as follows.
[0100]
(1) In the said Example 1- Example 4, the guide rail 4 is not restricted to the said shape, For example, it can also form in the flat ellipse shape which connected the circular arc part of both ends with the linear part.
[0101]
(2) In each embodiment, the drive rotating body 6 is rotationally driven by the electric motor 5, but is not limited thereto. It can change suitably to other actuators illustrated by a hydraulic motor, an air motor, etc. Moreover, about each Example, although the electric motor 5 was arrange | positioned in the upper frame 2, it is not restricted to this. For example, it can be changed so as to be provided under the automatic door G. According to this, stability can be increased and vibration damping can be enhanced.
[0102]
(3) In the first to fourth embodiments described above, the pair of left and right doors 1 are configured to be driven by the separate drive mechanisms 3, respectively. You may comprise so that it may drive.
[0103]
(4) In the first to fourth embodiments described above, if the drive rotating body 6 and the guide member 7 that sandwich the lower guide rail 8 from inside and outside are provided and configured to be driven above and below the door 1, Opening / closing swinging and back-and-forth movement are further ensured and smooth. In this case, the driving rotary bodies 6 acting on the upper and lower guide rails 4 and 8 may be provided on the same rotary shaft driven by the electric motor 5, or the upper and lower driving rotary bodies 6 may be synchronized. You may drive separately by the controlled electric motor.
[0104]
(5) In the first to fourth embodiments, the drive rotating body 6 rotates while being in contact with the outer peripheral side of the guide rail 4, but is not limited thereto. For example, you may arrange | position the drive rotary body 6 so that the inner peripheral side of the guide rail 4 may be contacted. Further, two or more drive rotators 6 may be arranged so as to contact the inner peripheral side and the outer peripheral side of the guide rail 4, respectively.
[0105]
(6) In the above-described fifth embodiment, the structure in which the tooth portion 20 is formed on the entire outer periphery of the guide portion 15 is shown, but the present invention is not limited to this. For example, as shown in FIG. 62, the tooth portion 20 is formed only in a gently convex region close to the straight line of the door 1 in a plan view (in other words, a region having a large curvature that curves in the long axis direction of the door 1). Also good. Even if the tooth portion is provided near the top (near the end portion) of the small curvature, the tooth portion 19 of the endless belt 16 is not sufficiently engaged, and slipping is likely to occur. Therefore, by configuring as in the above modification, the tooth portion 20 can be formed only in a range where the force from the drive mechanism 3 is reliably transmitted.
[0106]
(7) In Example 5 described above, the toothed belt is illustrated as the endless belt 16, but the present invention is not limited thereto. Various known belts and various chains may be employed as appropriate.
[0107]
(8) In the above-described sixth and seventh embodiments, the control unit 31 is configured to move / close the door 1 based on the detection result of the infrared sensor K. However, the correspondence between the detection result and the control of the door 1 is as follows. It can be changed as appropriate. Specifically, in the fifth embodiment, the control for opening the door 1 is performed on the condition that the infrared sensor K1 is turned on, but may be changed to be performed on the condition that the infrared sensor K2 is turned on. .
[0108]
(9) In the above-described Examples 6 and 7, the infrared sensor K is configured to detect the position of the traffic object M on the passage T. However, if the traffic object M can be detected, it can be changed appropriately. it can. Specifically, it can be replaced with an ultrasonic sensor, an image sensor, an image recognition device, an infrared distance sensor for measuring a distance, or the like.
[0109]
(10) In Examples 6 and 7 described above, seven or eleven infrared sensors K are provided, but the number is not limited to this, and may be increased or decreased as appropriate. Further, by increasing the number of infrared sensors K, it is possible to more accurately determine the position of the traffic object M on the passage T. In response to this, the control unit 31 can finely control the movement / swing of the door 1.
[0110]
In addition, the infrared sensor K is provided in the upper frame 2, but is appropriately selected as the ceiling, floor, wall surface of the passage T other than the upper frame 2, the door 1 itself, and other components of the automatic door G. .
[0111]
(11) In each of the above-described embodiments, the rotation fulcrum of the drive rotator 6 can be flexibly moved backward in the opening direction by an external force, or can be rotated backward while maintaining an appropriate torque. It is also possible to provide a buffer function when a passing object collides with the closed door 1.
[0112]
(12) Although the automatic door G of each embodiment described above includes the two doors 1, it is not limited to this configuration. For example, the automatic door G may have a configuration including only a single door 1 or a configuration including three or more doors 1 in a horizontal row. Even if the automatic door G has only a single door 1, the passage T can be opened and closed.
[0113]
(13) In each embodiment, the pair of doors 1 are configured to open and close symmetrically. However, the present invention is not limited to this. The left and right doors 1 can be individually opened and closed and rotated. FIG. 63 shows a plan view of an automatic door according to this modified embodiment. As shown in the figure, the passage T can be divided into two lines T1 and T2, and the left and right doors 1 can be opened and closed independently for each of the lines T1 and T2. In addition, one of the two drive rotators 6 is close to the wall of the passage, and the other is the center of the passage. Thus, the position of the drive rotator 6 does not necessarily have to be near the wall of the passage.
[0114]
(14) The automatic door G according to each embodiment may be a human being or a thing passing through the door 1. In the case of an object, the automatic door G according to the present invention is used for management and control of the entry and exit of the object.

Claims (11)

The door that closes the passage is supported so that it can be opened / closed swingable around its end side, and can be moved back and forth in the direction of the passage, and it rotates around a single longitudinal axis near the end side. Deploying a drive mechanism with a rotating body,
The door is configured to swing open and close and move back and forth by rotation of the drive rotator,
At least one of the upper and lower ends of the door is provided with a guide rail having a constant thickness formed in an annular shape flat in the door longitudinal direction,
Deploying a guide member facing the drive rotator with a certain interval,
These drive rotors and guide members contact and support the guide rail in a non-slipable manner from inside and outside,
An automatic door characterized in that the guide rail and the door are integrally opened and closed and moved back and forth by the rotation of the drive rotating body. The door that closes the passage is supported so that it can be opened / closed swingable around its end side, and can be moved back and forth in the direction of the passage, and it rotates around a single longitudinal axis near the end side. Deploying a drive mechanism with a rotating body,
The door is configured to swing open and close and move back and forth by rotation of the drive rotator,
The endless belt is wound around the door in a non-slipable manner, and the endless belt is wound around the drive rotating body,
The drive mechanism includes a pair of guide rollers that guide the endless belt at a fixed position between the drive rotating body and the door;
An automatic door characterized in that the endless belt is rotated by rotation of the drive rotating body so that the door is opened and closed and moved back and forth. The door that closes the passage is supported to be able to open, close and swing around its end and to move back and forth in the direction of the passage, and to rotate around a single vertical axis near the wall of the passage Deploy a drive mechanism with a body,
The door is configured to swing open and close and move back and forth by rotation of the drive rotator,
At least one of the upper and lower ends of the door is provided with a guide rail having a constant thickness formed in an annular shape flat in the door longitudinal direction,
Deploying a guide member facing the drive rotator with a certain interval,
These drive rotors and guide members contact and support the guide rail in a non-slipable manner from inside and outside,
An automatic door characterized in that the guide rail and the door are integrally opened and closed and moved back and forth by the rotation of the drive rotating body. The door that closes the passage is supported to be able to open, close and swing around its end and to move back and forth in the direction of the passage, and to rotate around a single vertical axis near the wall of the passage A drive mechanism having a body is arranged, and the door is opened and closed and moved back and forth by the rotation of the drive rotator,
The endless belt is wound around the door in a non-slipable manner, and the endless belt is wound around the drive rotating body,
The drive mechanism includes a pair of guide rollers that guide the endless belt at a fixed position between the drive rotating body and the door;
An automatic door characterized in that the endless belt is rotated by rotation of the drive rotating body so that the door is opened and closed and moved back and forth. In the automatic door according to any one of claims 1 to 4,
An automatic door characterized in that the door is configured to be movable back and forth in a posture in which the door surface is along the wall of the passage. In the automatic door in any one of Claims 1-5,
The automatic door further comprises a holding mechanism for holding the door so that it can be opened and closed and moved back and forth. In the automatic door in any one of Claims 1-6,
An automatic door characterized in that the door has an oval shape in plan view. In the automatic door in any one of Claims 1-7,
A sensor for detecting a position of a passing object on the passage;
Control means for operating the drive mechanism based on the detection result of the sensor;
An automatic door characterized by further comprising: The automatic door according to claim 8,
The sensors are a plurality of infrared sensors that sense traffic.
Each infrared sensor is arrange | positioned along the said channel | path, The automatic door characterized by the above-mentioned. In the automatic door according to claim 8 or claim 9,
An automatic door characterized in that the control means operates the drive mechanism to close the passage as the passing object passes when passing the passing object. In the automatic door in any one of Claims 8-10,
Furthermore, it has a detecting means for determining whether or not a traffic object is single,
The automatic door is characterized in that the control means allows the passage of the passing object only when the passing object is single based on the detection result of the detection means.

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