JP5639404B2 - Automatic door device - Google Patents

Description

  The present invention relates to an automatic door device including a door motor that opens and closes a door and an emergency control unit that controls opening and closing of the door in an emergency.

  Conventionally, as shown in Patent Document 1 below, in an automatic door device, an automatic door is mechanically used for evacuation or fire prevention in the event of a power failure due to a fire or the like, or when an emergency signal is input to a fire alarm, smoke detector, or the like. Providing emergency devices that open or close is practiced. In other words, the emergency device is provided with a reversing take-up wheel around which a coil spring is wound on a driven wheel such as a chain that drives an automatic door, and when the power is cut off in the event of a fire or the like, the solenoid is excited. Thus, the driven wheel and the reverse winding vehicle are mechanically connected to each other, and the automatic door is opened or closed by the restoring force of the winding spring.

  Further, as shown in Patent Document 2 below, in an automatic door device in which an AC power source and a battery power source are connected to an automatic door controller, the battery power source is charged by the AC power source during normal times, and the battery power source from the AC power source during a power failure The automatic operation of the automatic door is performed by the controller, the emergency operation of the automatic door is performed by the controller, and the emergency signal from the outside is memorized in the emergency and the automatic door is forcibly closed by the controller. What is comprised so that it may perform is known.

Japanese Patent Publication No. 60-16552 JP-A 64-43686

  As disclosed in Patent Document 1, when the door is mechanically opened and closed by a leaf spring in an emergency, the door is driven only in one of a predetermined opening direction and a closing direction. In addition, it is necessary to provide a normal driving device that electrically opens and closes the door during normal operation and an emergency driving device that mechanically opens and closes the door in an emergency such as a fire. For this reason, there are problems such as a complicated structure and a high manufacturing cost.

  On the other hand, as disclosed in the above-mentioned Patent Document 2, when an emergency operation of an automatic door is performed by a controller by automatically switching from an AC power source to a battery power source in the event of an emergency such as a fire, There is an advantage that the door can be driven in either the opening direction or the closing direction by the controller without providing an emergency driving device that mechanically opens and closes the door. However, in the event of an emergency such as the occurrence of a fire, when the door is used as a fire door, the door is driven in the closing direction at a low speed by the controller, and the door is kept closed. The door must be manually opened against the urging force of the drive mechanism that drives the door in the closing direction, which may be an obstacle to emergency evacuation.

  The present invention has been made in view of the above-described problems, and can appropriately close a door in an emergency with a simple configuration, and easily and quickly open the door as needed. It aims to provide an automatic door device that can be used.

  The invention according to claim 1 is an automatic door device that includes a door motor that opens and closes a door and an emergency control unit that controls the door to be closed in an emergency. The emergency control unit includes a door A motor control unit that controls the door motor to operate in the closing direction of the door and a door detection unit that detects whether the door is moving in the closing direction are provided, and the door closing operation is performed in an emergency. When the door detection unit detects that the door is not moving in the closing direction, the motor control unit performs control to intermittently operate the door motor in the door closing direction. It is composed.

  According to a second aspect of the present invention, in the automatic door device according to the first aspect of the invention, the door is moved in the opening direction by the door detection unit when the control for operating the door motor in the closing direction of the door is executed. When this is detected, the operation of the door motor is stopped.

  In the invention according to claim 3, in the automatic door device according to claim 1 or 2, it is detected by the door detection unit that the door starts to move in the closing direction from the state in which the door moves in the opening direction. In this case, or when it is detected that the door in the movement stop state starts to move in the closing direction, the door motor is operated in the closing direction of the door.

  According to a fourth aspect of the present invention, in the automatic door device according to any one of the first to third aspects, the door detection unit moves the door according to the output signal of the encoder that detects the rotation of the door motor. It is comprised so that only may be detected.

  According to a fifth aspect of the present invention, in the automatic door device according to any one of the first to fourth aspects, a first input unit for inputting a door closing signal in an emergency and a door closing signal in an emergency are input. The second input unit is installed in parallel, and when the input signals of the first and second input units do not match each other, the door motor is operated in the door closing direction. .

According to a sixth aspect of the present invention, in the automatic door device according to the fifth aspect, when the input signals of the first and second input units do not match each other, a storage unit for storing the input history of the signals is provided. It is provided.

  According to a seventh aspect of the present invention, in the automatic door device according to the fifth aspect, information for inputting information on whether or not another door provided at a position different from the door is in an emergency control state. A receiving unit is provided, and when the input signals of the first and second input units do not match each other, door control corresponding to the input signal of the information receiving unit is executed.

  The invention according to claim 8 is the automatic door device according to any one of claims 1 to 4, wherein the signal input unit for inputting the door closing signal in an emergency and the door separate from the door in an emergency. An information receiving unit that receives a closing signal output to the control means for other doors provided at the position, and the input signal of the signal input unit and the received signal of the information receiving unit are inconsistent with each other In this case, the door motor is operated in the closing direction of the door.

  The invention according to claim 9 is the automatic door device according to claim 8, wherein the input history of the signal when the input signal of the signal input unit and the received signal of the information receiving unit do not match each other. Is provided.

  According to a tenth aspect of the present invention, in the automatic door device according to any one of the first to ninth aspects, a battery for supplying a drive current to the door motor when a power failure occurs in an emergency is provided, and the battery is charged. A first battery check unit for detecting whether or not the battery is in a state and a second battery check unit for detecting whether or not the battery is in a charged state are installed in parallel.

  The invention according to claim 11 is the automatic door device according to any one of claims 1 to 10, wherein a door tip sensor that detects a load acting on the door tip of the door and a moving speed of the door are detected. Speed detection means, and the door sensor detects that no load is applied to the door edge of the door, and the speed detection means detects that the door moving speed is slower than normal. In this case, the drive voltage of the door motor is increased.

  In the invention according to claim 1, in the event of an emergency such as an earthquake or fire, the motor control unit of the emergency control unit executes control to operate the door motor in the door closing direction, thereby In an automatic door device configured to be used as a fire door or the like, when the door detection unit detects that the door is not moving in the closing direction in an emergency control state in which the door is closed. Since the door motor is operated intermittently in the door closing direction, the movement of the door is stopped in the middle of closing the door for some reason, or the door is in a closed state. Therefore, it is possible to prevent the operation of driving the door in the closing direction from being constantly continued. Therefore, when an evacuee who wants to evacuate from the building in the emergency operation manually opens the door locked while the door is stopped or in the middle of closing, the operation of the door motor is temporarily stopped. There is an advantage that the door can be opened with a light force by pulling the door in the opening direction at the time. Moreover, after the evacuees are evacuated, there is an advantage that the door can be maintained in the closed state by the driving force in the closing direction intermittently applied to the door from the door motor.

  According to a second aspect of the present invention, when the door detection unit detects that the door is moving in the opening direction during execution of the control for operating the door motor in the door closing direction, the door motor is operated. Since it is configured to stop, there is an advantage that the door can be evacuated quickly by effectively and easily opening the door with a light force.

  In the invention which concerns on Claim 3, when it detects that the door started to move to the closing direction from the state which has moved to the opening direction by the door detection part, the evacuee who was opening the door, for example, When it is detected that the door is operating in the closing direction, or when it is detected that the door in the movement stop state has started to move in the closing direction, etc., it is detected in the closing direction of the door. Since the door motor is configured to operate, there is an advantage that the door can be effectively used as a fire door or the like by promptly shifting the door to the closed state after the evacuee retreats.

  In the invention according to claim 4, when the door detection unit detects only the door moving direction according to the output signal of the encoder, the current position of the door is detected according to the output signal of the encoder. Compared to the case of the above configuration, necessary information can be obtained with a simple configuration. In addition, even when the endless belt of the opening / closing drive mechanism has a tooth jump, the door can be reliably shifted to a closed state in an emergency with a simple configuration according to the output signal of the encoder.

  In the invention according to claim 5, the first input part for inputting the door closing signal in an emergency and the second input part for inputting the door closing signal in an emergency are installed in parallel, and the first and second Since the door motor is operated in the closing direction of the door when the input signals of the input section do not match each other, the closing signal can be accurately detected due to a failure in one of the first and second input sections. If there is a situation where it is not possible to input to the door, safety side control is performed to quickly and surely shift the door to the closed state without requiring an operation such as closing the door after confirmation by the administrator. There is an advantage that you can.

  In the invention according to claim 6, when the input signals of the first and second input units do not match each other, the structure is provided with the storage unit for storing the input history of the signals. There is an advantage that it is possible to accurately verify whether the above situation has occurred for the reason.

  In the invention which concerns on Claim 7, the information receiving part which inputs the information of whether the other door provided in the position different from the said door is in an emergency control state is provided, and said 1st, 2nd input When the input signals of the parts do not match each other, the door control corresponding to the input signal of the information receiving part is executed, so that the second door is in a normal operation state even though the other doors are in a normal operation state. It effectively prevents the occurrence of a malfunction that immediately shifts to the emergency control state when a door closing signal is input due to a failure of the first input unit or the second input unit. be able to.

  In the invention which concerns on Claim 8, the signal input part which inputs the closing signal of the said door at the time of emergency, and the information receiving part which receives the closing signal output to the other door provided in the position different from the said door at the time of emergency When the input signal of the signal input unit and the reception signal of the information receiving unit do not match each other, the door motor is operated in the door closing direction. While simplifying, there is an advantage that appropriate door opening / closing control can be executed with reference to the control state of other doors.

  In the invention according to claim 9, when the input signal of the signal input unit and the received signal of the information receiving unit do not match each other, a storage unit for storing the input history of the signal is provided. There is an advantage that it is possible to accurately verify why the above situation has occurred.

  According to the tenth aspect of the present invention, a battery for supplying a drive current to the door motor in the event of a power failure in an emergency is provided, and a first battery check unit that detects whether or not the battery is in a charged state; Since the second battery check unit for detecting whether or not the battery is in a charged state is installed in parallel, the state of charge of the battery is normal even if one of the battery check units fails. Whether the door motor can be reliably operated even when a power failure occurs in an emergency.

  In the invention which concerns on Claim 11, the door-end sensor which detects the load which acts on the door-end of a door, and the speed detection means which detects the moving speed of a door are provided, and load is applied to the door-end of the door by the said door-end sensor. When it is detected that the door is not operating and the speed detection means detects that the door moving speed is slower than normal, the drive voltage of the door motor is increased. Even when the running resistance of the door is increased due to deformation of the door rail or the like due to heat of the door, etc., there is an advantage that the door can be quickly and surely closed in an emergency while ensuring safety to people.

It is a block diagram showing an embodiment of an automatic door device concerning the present invention. It is a flowchart which shows the basic control operation | movement of an automatic door apparatus. It is a flowchart which shows the control operation | movement of a closing signal detection process. It is a flowchart which shows the opening / closing control operation in emergency. It is a time chart which shows the opening / closing control operation in emergency. It is a flowchart which shows normal opening / closing control operation | movement. It is a block diagram which shows another embodiment of the automatic door apparatus which concerns on this invention. It is a flowchart which shows another embodiment of control operation | movement of a closing signal detection process. It is a block diagram which shows another embodiment of the automatic door apparatus which concerns on this invention. It is a block diagram which shows another embodiment of the automatic door apparatus which concerns on this invention. It is a flowchart which shows adjustment control operation | movement of a motor drive force.

  FIG. 1 shows an embodiment of an automatic door device according to the present invention. The automatic door device outputs a control signal to a door 1 provided at the entrance of a building, an opening / closing drive mechanism 3 having a door motor 2 for opening / closing the door 1, and a door motor 2 of the opening / closing drive mechanism 3. The door control means 4 for controlling the opening and closing of the door 1, the disaster prevention control panel 5 for outputting a closing signal for closing the door 1 in an emergency such as a fire, and the door motor in the event of a power failure in an emergency And a battery 6 for driving 2.

  The opening / closing drive mechanism 3 has an endless belt 7 installed on the upper side of the door 1, and the endless belt 7 is driven by a door motor 2 so that the door 1 is reciprocated between an open position and a closed position. It is configured to let you. The door motor 2 is integrally provided with an encoder 8 that detects the rotation direction of the door motor 2 and outputs a detection signal to the door control means 4.

  The door control means 4 outputs to the motor driver unit 10 a motor driver unit 10 for supplying driving electric power to the door motor 2 and an operation command signal corresponding to a detection signal output from a sensor outside the figure during normal operation. Thus, there is provided a CPU section 11 having a normal time control section 21 for performing control such as operating the door motor 2 to open and close the door 1.

  The door control means 4 is provided with a first battery check unit 12 for detecting whether or not the battery 6 is in a charged state and a second battery check unit 13 installed in parallel, and for the battery 6. A first charging / discharging switching unit 15 that switches charging / discharging and a second charging / discharging switching unit 16 are installed in parallel.

  Further, the door control means 4 includes a first input unit 17 for inputting a closing signal output from the disaster prevention control panel 5 to the CPU unit 11 in an emergency such as a fire, and a second input unit 18 in parallel. The 1st output part 19 which outputs the answer back signal which shows that the said closure signal was input into the CPU part 11 to the disaster prevention control panel 5 and the 2nd output part 20 are installed in parallel. .

  The CPU 11 of the door control means 4 operates the door motor 2 by outputting an operation command signal corresponding to a detection signal or the like output from a sensor (not shown) to the motor driver 10 at normal times, thereby opening the door 1. The disaster prevention control panel 5 in the event of an emergency such as the occurrence of a fire in response to an input signal from at least one of the normal input control unit 21 and the first input unit 17 or the second input unit 18. When it is confirmed that the closing signal is output from the emergency control unit 22 for controlling the door 1 to be closed, and the inputs of the first and second input units 17 and 18 as described later. A storage unit 23 is provided for storing an input history of signals when it is confirmed that the signals do not match each other.

  The emergency control unit 22 includes a motor control unit 24 that controls the door motor 2 to operate in the closing direction of the door 1 by the power supplied from the battery 6 in the event of a power failure in the event of a fire. And a door detector 25 for detecting whether the door 1 is moving in the closing direction by determining the rotation direction of the door motor 2 in accordance with the output signal of the encoder 8.

  The motor control unit 24 moves the door motor 2 to the door when the door detection unit 25 detects that the door 1 is not moving in the closing direction while the door 1 is being closed. It is comprised so that the control which operates intermittently in the closing direction of 1 may be performed. For example, in the event of an emergency, the control signal for operating the door motor 2 in the closing direction of the door 1 is output from the motor control unit 24, but the door motor 2 is in a rotation stopped state for some reason and the door 1 is in the closing direction. When the door detection unit 25 detects that the door has not moved, an operation command signal and an operation stop signal for the door motor 2 are output from the motor control unit 24 to the door motor 2 every predetermined time. It is comprised so that.

  Further, the motor control unit 24 determines that the door 1 is moved in the opening direction by the door detection unit 25 when the control for operating the door motor 2 in the closing direction of the door 1 is performed, for example, from the motor control unit 24. Although the control signal for operating the door motor 2 in the closing direction of the door 1 is output, the door motor 2 is in the reverse rotation state by an evacuee or the like manually opening the door 1 or the like. When it is detected by the door detection unit 25, it is configured to execute a control to stop the operation of the door motor 2 for a predetermined time of about 1 second by outputting the operation stop signal.

  Further, when the door detection unit 25 detects that the door 1 has started to move in the closing direction from the state in which the door 1 has moved in the opening direction, or the door 1 in the movement stopped state has started to move in the closing direction. In other words, the manual operation for moving the door 1 in the closing direction is performed in a state where the refugee or the like is manually opening the door 1 or the door motor 2 is stopped. Is detected by the door detection unit 25, the motor control unit 24 is configured to control the door motor 2 to operate in the closing direction of the door 1 by outputting the operation command signal. Yes.

  A basic control operation executed in the automatic door device will be described based on a flowchart shown in FIG. When the basic control operation starts, first, control of a closing signal detection process, which will be described later, is executed (step S1), and then it is detected whether or not there is a closing signal in the control of the closing signal detection process (step S2). . If it is determined YES in step S2, the emergency control unit 22 performs door 1 closing control corresponding to an emergency such as a fire as described later (step S3), and in step S2 described above. When it is determined NO, the normal time control unit 21 performs normal door opening / closing control (step S4).

  Next, the control operation of the closing signal detection process executed in step S1 of the basic control operation will be described based on the flowchart shown in FIG. When the control operation starts, it is first determined whether or not the closing signal of the door 1 is input from both the first input unit 17 and the second input unit 18 (step S11), and YES is determined. If it is determined that there is a closing signal (step S12), an answer back signal indicating that the control for closing the door 1 is executed in an emergency is output to the disaster prevention control panel 5 (step S13), and then The control operation is terminated. When it is determined in step S12 that there is a closing signal, the door 1 is in a controlled state in an emergency by operating an alarm provided near the door 1 or turning on a warning light. You may comprise so that it may alert | report.

  When it is determined NO in step S11 and it is confirmed that the door 1 closing signal is not input from both the first input unit 17 and the second input unit 18, the first input unit It is determined whether or not the door 1 closing signal is input from only one of the first input unit 17 and the second input unit 18 (step S14). If NO, that is, the first input unit 17 and the second input unit 18 When it is confirmed that the closing signal is not input in both of the input units 18, after determining that there is no closing signal (step S15), the control operation of the closing signal detection process is ended.

  On the other hand, it is determined as YES in step S14 and the door 1 closing signal is input only from either the first input unit 17 or the second input unit 18, that is, the input of the first input unit 17 If it is confirmed that the signal is different from the second input signal, the input history of the signal is stored in the storage unit 23 (step S16), and then the process proceeds to step S12 to indicate that there is a closing signal. to decide.

  Next, the emergency closing control operation executed in step S3 of the basic control operation shown in FIG. 2 will be described based on the flowchart shown in FIG. 4 and the time chart shown in FIG. When the control operation is started, a control signal for operating the door motor 2 at a low speed in the closing direction of the door 1 is output at a time t1 when it is determined that there is a closing signal of the door 1 in the control operation of the closing signal detection process. After (step S21), it is determined according to the output signal of the encoder 8 whether the door 1 is moving in the closing direction (step S22). If it is determined YES in step S22 and it is confirmed that the door 1 is moving in the closing direction in accordance with the control signal, the process returns to continue the closing operation of the door 1.

  On the other hand, it is determined NO in step S22, and the control signal for operating the door motor 2 at a low speed in the closing direction of the door 1 is output, but the door 1 has not moved in the closing direction. When it is confirmed that the door 1 moves in the opening direction or is in a stopped state, the state in which the door 1 has moved in the opening direction or the stopped state of the door 1 is, for example, over a certain time of about 1 second. It is determined whether or not it continues over the time according to the output signal of the encoder 8 (step S23). If NO is determined in step S24, the process returns to step S21 and the above control operation is repeated.

  When it is determined YES in step S23 and the state in which the door 1 does not move in the closing direction is confirmed to have continued for a certain period of time from time t2 to time t3, at this time t3. Then, the operation signal output to the door motor 2 is stopped to stop the operation of the door motor 2 (step S24). Next, it is determined according to the output signal of the encoder 8 whether or not the door 1 has started to move in the closing direction due to a manual operation for opening the door 1 or the like (step S25). In step S26, it is determined whether or not a predetermined time of about 1 second has elapsed after the operation of the door motor 2 is stopped. If NO is determined, the process returns to step S25 to perform the control operation. repeat.

  When it is determined YES in step S26 and it is confirmed that a predetermined time has elapsed after the door motor 2 is stopped, the process proceeds to step S27, and after executing the closing signal detection process control shown in FIG. It is determined whether or not the state determined that there is a closing signal in the control continues (step S28). If YES is determined in this step S28, the process returns to step S21 to repeat the above control operation.

  As described above, the control for rotating the door motor 2 in the direction in which the door 1 is moved in the closing direction for about 1 second from the time t3 and the control for maintaining the door 1 in the operation stopped state for about 1 second. Repeatedly, the control for intermittently operating the door motor 2 in the closing direction of the door 1 is executed. If it is determined that the door 1 is moving in the opening direction of the door 1 in the state where the closing signal is present, and if it is confirmed that this state continues, the above-described operation is started from time t4. Control is performed to maintain the door motor 2 in the operation stop state until time t5 when it is confirmed that the door 1 opening operation state has been completed.

  Next, the normal control operation executed in step S4 of the basic control operation shown in FIG. 2 will be described based on the flowchart shown in FIG. When the normal control operation starts, first, the door motor 2 is operated in accordance with detection signals from various sensors (not shown) such as a start sensor, so that the door 1 is opened and closed (step S31). Next, after executing the closing signal detection process control shown in FIG. 3 (step S32), it is confirmed whether or not it is determined that the closing signal is present by the control (step S33), and YES is determined. When the normal control operation is finished, the state shifts to the emergency control state shown in FIG.

  If it is determined NO in step S33 and it is confirmed that there is no closing signal, it is determined whether or not a predetermined time has elapsed since the previous battery check (step S34). If it is determined, the process returns and the control operation is repeated. On the other hand, when it is determined NO in step S34 and it is confirmed that a predetermined time has elapsed since the previous battery check, the first and second charge / discharge switching units 15 and 16 are discharged. (Step S35).

  Next, it is determined whether or not a signal indicating that the battery voltage is normal is output in each of the first and second battery check units 12 and 13 (step S36). The control operation is terminated. If NO is determined in step S36, whether or not the output signals of the first and second battery check units 12 and 13 match, that is, the first and second battery check units 12 and 13 In both cases, it is determined whether or not a signal indicating that the battery voltage is not normal is output (step S37). If it is determined as YES in step S37 and it is confirmed that the signal indicating that the battery voltage is not normal is output in both the first and second battery check units 12 and 13, the battery is 6 is executed (step S38), the process returns to step S31.

  On the other hand, it is determined NO in step S37, and the output signals of the first and second battery check units 12 and 13 do not match, that is, only from one of the first and second battery check units 12 and 13. A signal indicating that the battery voltage is normal is output, and it is confirmed that a signal indicating that the battery voltage is not normal is output from the other of the first and second battery check units 12 and 13. In such a case, after the input history of the signal is stored in the storage unit 23 (step S39), the process proceeds to step S31 and the charging control of the battery 6 is executed.

  In the automatic door device including the door motor 2 that opens and closes the door 1 and the emergency control unit 22 that controls the door closing operation in an emergency as described above, the emergency control unit 22 includes a door A motor control unit 24 that controls the door motor 2 to operate in the closing direction 1 and a door detection unit 25 that detects whether or not the door 1 is moving in the closing direction. When the door detection unit 25 detects that the door 1 is not moving in the closing direction while the operation is being performed, the door motor 2 is intermittently operated in the closing direction of the door 1. Since it is configured to be executed by the motor control unit 24, the door 1 can be properly closed in an emergency with a simple configuration, and the door 1 can be easily and quickly opened by manual operation as necessary. There is a point.

  That is, in the above embodiment, the door motor is driven in the closing direction of the door 1 by the motor control unit 24 of the emergency control means 22 in response to the door 1 closing signal output from the disaster prevention control panel 5 in the event of an emergency such as a fire. In the automatic door device configured to use the door 1 as a fire door by executing the control to activate the door 2, the door detection unit 25 in the emergency control state in which the door 1 is closed. When it is detected that the door 1 is not moving in the closing direction, the door motor 2 is intermittently operated in the closing direction of the door 1, so that the door 1 is in the middle of closing the door 1 for some reason. Although the movement is stopped, or the door 1 is closed, the operation for driving the door 1 in the closing direction is continuously continued. It is possible to prevent the door or the like.

  Therefore, when the evacuees who are evacuating from the building in the emergency operation manually open the door 1 locked in the stopped state or in the middle of closing, the operation of the door motor 2 is temporarily stopped. By pulling the door 1 in the opening direction at this point, there is an advantage that the opening operation can be performed with a light force. Moreover, after the evacuees are evacuated, there is an advantage that the door 1 can be maintained in the closed state by the driving force in the closing direction intermittently applied from the door motor 2 to the door 1.

  Moreover, in the said embodiment, at the time of execution of the control which operates the door motor 2 in the closing direction of the door 1, it is given to the door 1 by the door motor 2 that the door 1 is moving to the open direction by the said door detection part 25. When it is detected that the evacuee is moving the door 1 in the opening direction against the driving force, the operation of the door motor 2 is stopped. It is possible to evacuate quickly with an effective and easy opening operation with a light force.

  In particular, as shown in the above-described embodiment, when the door detection unit 25 detects that the door 1 starts to move in the closing direction from the state in which the door 1 moves in the opening direction, the door 1 has been opened, for example. When it is detected that the evacuee is operating the door 1 in the closing direction, or when it is detected that the door 1 in the movement stop state starts to move in the closing direction, the door 1 is closed. Since the door motor 2 is configured to operate in the direction, there is an advantage that the door 1 can be effectively used as a fire door or the like by promptly shifting the door 1 to the closed state after the evacuee retreats.

  Note that the moving position of the door 1 may be detected according to the output signal of the encoder 8 built in the door motor 2. However, when the door detection unit 25 detects only the door moving direction according to the output signal of the encoder 8 as shown in the above embodiment, the door 1 corresponds to the output signal of the encoder 8. Compared to the case where the present position is detected, necessary information can be obtained with a simple structure. Moreover, even when the endless belt 7 of the opening / closing drive mechanism 3 has a tooth jump, the door 1 can be reliably moved to the closed state in an emergency with a simple configuration according to the output signal of the encoder 8.

  Moreover, in the said embodiment, while installing the 1st input part 17 and the 2nd input part 18 which input the closing signal of a door at the time of emergency, the input signal of this 1st, 2nd input parts 17 and 18 is installed. When the doors 2 do not match each other, the door motor 2 is operated in the closing direction of the door 1, so that one of the first and second input parts 17, 18 fails, and the disaster prevention control panel When the situation that the closing signal output from 5 cannot be input correctly occurs, the door 1 is quickly opened without requiring an operation such as notifying the administrator and closing the door 1 after confirmation. In addition, it is possible to execute the safety side control of reliably shifting to the closed state.

  Further, as shown in the above-described embodiment, when the input signals of the first and second input units 17 and 18 do not match each other, when the storage unit for storing the input history of the signals is provided, There is an advantage that the reason why the above situation has occurred can be accurately verified after the fact.

  In the embodiment, the battery 6 is provided for supplying a drive current to the door motor 2 when a power failure occurs in an emergency, and the first battery check unit 12 detects whether the battery 6 is in a charged state. Since the second battery check unit 13 is installed in parallel, even when one of the battery check units 12 and 13 fails, the battery 6 is accurately checked whether the state of charge is normal. Thus, it is possible to reliably operate the door motor 2 when a power failure occurs in an emergency.

  The door motor 2 is operated in the closing direction of the door 1 when the input signals of the first and second input parts 17 and 18 for inputting the closing signal of the door 1 in an emergency do not match each other. Instead of the embodiment, as shown in FIG. 7, by performing communication with the control means 26 for other doors provided at a position different from the door 1, the other doors are controlled in an emergency. It is good also as a structure which provided the information receiving part 27 which receives the information of whether it is in a state in the door control means 4. FIG.

  If it is determined YES in step S14 of the closing signal detection process control shown in FIG. 8 and it is determined that the input signal of the first input unit 17 is different from the second input signal, the signal is determined in step S16. Is stored in the storage unit 23 (step S16), and the closing signal is input to the other doors according to the signal received from the control unit 26 for the other doors via the information receiving unit 27. (Step S17), if it is determined as YES, the process proceeds to step S12, where it is determined that there is a closing signal, and it is determined as NO in step S17, and the other doors are in the normal operation state If it is confirmed that there is a closed signal, the process may proceed to step S15 to determine that there is no closing signal.

  When configured as described above, the door 1 is closed due to a failure of the first input unit 17 or the second input unit 18 even though the other doors are in a normal operation state. When a situation occurs in which a signal is input, it is possible to effectively prevent a malfunction that immediately shifts to an emergency control state.

  In addition, the first input unit 17 for inputting the door closing signal in the emergency and the second input unit 18 are installed in parallel, and an answerback signal indicating that the closing signal is input to the CPU unit 11 is provided. Instead of the above embodiment in which the first output unit 19 and the second output unit 20 that are output to the disaster prevention control panel 5 are installed in parallel, as shown in FIG. The signal output unit 28 and the other door control means 26 provided at a position different from that of the door 1 make communication with the other door in an emergency state. The information receiving unit 27 that receives information on whether or not there is provided may be provided in the door control means 4.

  Then, the input signal of the signal input unit 29 and the received signal of the information receiving unit 27 are compared with each other, for example, the door closing signal is not input from the signal input unit 29. Regardless, when it is confirmed from the information receiving unit 27 that a closing signal is input to another door, the door motor 2 is operated in the closing direction of the door 1 and the signal input unit When the 29 input signals and the received signal of the information receiving unit 27 do not match each other, the input history of the signals may be stored in the storage unit 23. In the case of such a configuration, it is possible to execute appropriate door 1 opening / closing control with reference to the control state of other doors while simplifying the structure of the door control means 4 and for what reason after the fact. There is an advantage that it is possible to accurately verify whether or not the above situation has occurred.

  As shown in FIG. 10, a door-end sensor 30 that detects a load acting on the door-end of the door 1 and a speed detection unit 31 that detects a moving speed of the door 1 are provided. By adjusting the drive voltage of the door motor 2 according to the detection signal of the detection unit 31, the control for adjusting the drive force is executed between Step S21 and Step S22 of the emergency closing control shown in FIG. You may comprise as follows.

  FIG. 11 shows the adjustment control of the motor driving force. When the control operation starts, it is first determined whether or not the moving speed V of the door 1 detected by the speed detector 31 is equal to or lower than a preset reference speed (step S41). If it is determined as YES in step S41 and it is confirmed that the moving speed of the door 1 is equal to or lower than the reference speed for some reason, a predetermined load is applied to the door in the door sensor 30. Is detected (step S42). If YES is determined, the door 1 is in contact with a person or an object, so the moving speed of the door 1 decreases. The control operation is terminated when it is determined that the state has been reached.

  When it is determined NO in step S42, it is determined whether or not the state is continuously generated for a predetermined number of times (step S43), and when it is determined YES, the door motor 2 is The travel resistance of the door 1 is calculated from the drive voltage and the travel speed of the door 1 (step S44), and the travel speed of the door 1 is determined based on the calculated travel resistance and the upper limit torque determined by the rules. A drive voltage for increasing the reference speed is calculated (step S45). Then, the operation control of the door motor 2 is executed based on the calculated value of the drive voltage while not exceeding the preset upper limit drive voltage (step S46).

  When it is detected by the door sensor 30 that no load is applied to the door edge of the door as described above, and the speed detection means 31 detects that the moving speed of the door 1 is slower than normal. In addition, according to the configuration in which the drive voltage of the door motor 2 is increased within a predetermined range, the running resistance of the door 1 increases due to deformation of the door rail in an emergency such as an earthquake. However, there is an advantage that the door 1 can be quickly and surely closed in an emergency while ensuring safety to a person.

DESCRIPTION OF SYMBOLS 1 Door 2 Door motor 6 Battery 8 Encoder 12 1st battery check part 13 2nd battery check part 17 1st input part 18 2nd input part 22 Emergency control part 23 Memory | storage part 24 Motor control part 25 Door detection part 26 For other doors Control means 27 Information receiver 30 Door sensor 31 Speed detector

Claims (11)

  In an automatic door device having a door motor that opens and closes a door and an emergency control unit that controls the door to be closed in an emergency, the emergency control unit operates the door motor in the door closing direction. A motor control unit for controlling the door and a door detection unit for detecting whether or not the door is moving in the closing direction, and the door detection unit in a state where the door closing operation is performed in an emergency. When the door detects that the door is not moving in the closing direction, the motor control unit performs control for intermittently operating the door motor in the door closing direction. Door device.   When the control for operating the door motor in the closing direction of the door is executed, when the door detection unit detects that the door is moving in the opening direction, the operation of the door motor is stopped. The automatic door device according to claim 1.   When the door detection unit detects that the door has started to move in the closing direction from the state in which the door is moving in the opening direction, or has detected that the door in the movement stopped state has started to move in the closing direction. The automatic door device according to claim 1 or 2, wherein a door motor is operated in a closing direction of the door.   The said door detection part was comprised so that only the moving direction of a door might be detected according to the output signal of the encoder which detects rotation of a door motor, The any one of Claims 1-3 characterized by the above-mentioned. Automatic door device.   A first input unit for inputting a door closing signal in an emergency and a second input unit for inputting a door closing signal in an emergency are installed in parallel, and the input signals of the first and second input units are mutually connected. The automatic door device according to any one of claims 1 to 4, wherein a door motor is operated in a closing direction of the door when they do not coincide with each other. 6. The automatic door device according to claim 5 , further comprising a storage unit that stores an input history of the signals when the input signals of the first and second input units do not match each other.   Provided with an information receiving unit for inputting information on whether or not another door provided at a position different from the door is in an emergency control state, and the input signals of the first and second input units do not match each other In this case, the automatic door device according to claim 5, wherein door control corresponding to an input signal of the information receiving unit is executed.   A signal input unit for inputting the door closing signal in an emergency, and an information receiving unit for receiving a closing signal output to a control means for another door provided at a position different from the door in an emergency. The door motor is operated in the closing direction of the door when the input signal of the signal input unit and the received signal of the information receiving unit do not match each other. The automatic door device according to any one of 4.   9. The automatic unit according to claim 8, further comprising a storage unit that stores an input history of the signal when the input signal of the signal input unit and the received signal of the information receiving unit do not match each other. Door device.   A battery for supplying a drive current to the door motor when a power failure occurs in an emergency, a first battery check unit for detecting whether or not the battery is in a charged state, and whether or not the battery is in a charged state The automatic door device according to any one of claims 1 to 9, wherein the second battery check unit to be detected is installed in parallel.   It has a door tip sensor for detecting a load acting on the door tip of the door and a speed detecting means for detecting the moving speed of the door, and the door tip sensor detects that no load is acting on the door tip of the door. The drive voltage of the door motor is increased when the speed detecting means detects that the moving speed of the door is slower than normal time. The automatic door apparatus of any one of Claims.

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