JP5690883B2 - Automatic door device - Google Patents

Description

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

  A drive mechanism is provided to open and close the door and the door using a motor as a drive source. When an object such as a person is detected by an external sensor and an internal sensor provided on the outside and inside of the door, the door is opened and closed. In an automatic door that performs an operation, a door controller that operates a drive mechanism that opens and closes the door when an object is detected by an internal sensor or an external sensor is provided, and an electric lock that locks the door by operating an electromagnetic solenoid is provided in the drive mechanism. Are known (for example, see Patent Document 1).

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

Specifically, the lock opening / closing mode or the normal opening / closing mode is selected and executed by the door opening / closing mode selection means of the control calculation unit of the door controller. When the lock opening / closing mode is executed, the lock control means drives the electric lock in the fully closed position of the door to lock the door.
Then, the lock opening / closing mode object detection sensor input determination means is executed, and the object detection signal from the external sensor input unit is not received by the control calculation unit, but the object detection signal from the internal sensor input unit is received by the control calculation unit Like that. Thereby, the object detection signal from the external sensor is not accepted by the control calculation unit, and the door is not opened or closed even if the object detection signal is output from the external sensor.

On the other hand, when the object detection signal from the internal sensor is input to the control calculation unit, the door is unlocked by driving the electric lock by the unlock control means.
After the unlock control means is executed, a door opening / closing command is output from the control calculation unit, and the door is opened and closed. When the door is closed and reaches the fully closed position again, the door is locked by the locking control means.

On the other hand, when the normal open / close mode is executed, the normal open / close mode object detection sensor input determination means is executed, and object detection signals from the internal sensor input unit and the external sensor input unit are received.
When an object detection signal is input to the control calculation unit from either the internal sensor or the external sensor, a door opening / closing command is output from the control calculation unit to open / close the door.

In this way, since the electric lock is locked and unlocked using the control calculation unit of the door controller and the door is opened and closed, the electric lock control device that has been conventionally installed separately from the door controller becomes unnecessary. Yes.
In addition, the door can be locked not only in the fully closed position of the door but also in the fully open position. As a result, when an automatic door device is installed in, for example, a ship, the door in the fully closed position or the fully open position can be prevented from being opened or closed arbitrarily due to the shaking, and safety is improved. It is supposed to be.

JP 2005-240273 A

According to the automatic door device described in Patent Document 1, the electromagnetic solenoid is de-energized by turning on the open / close mode switch, the door is released, and the energized open / close mode is executed. When the open / close mode switch is turned off, the electromagnetic solenoid is energized, the door is locked, and the lock open / close mode is executed.
However, in automatic door devices installed on site, there are cases where electric locks cannot be installed, and even if electric locks can be installed, electric locks may not be used. In such cases, electromagnetic solenoids are used. An automatic door device is installed at the site with an open / close mode switch for specifying whether or not to do so.

  For this reason, the conventional automatic door device is equipped with an open / close mode changeover switch, regardless of whether or not an electric lock is used on site, and when the electric lock is used by operating the switch. Accordingly, the automatic door device must be used in the normal open / close mode or the locked open / close mode, which is extremely unreasonable in terms of cost, workability, and ease of handling. Have.

In addition, there are two types of conventional electric locks, an energized lock type electric lock and a non-energized lock type electric lock. Also in the conventional automatic door device, two types, an energized locking type electric lock and a non-energized locking type electric lock, are used according to the type of the electric lock.
However, in the conventional automatic door device, the type of electric lock to be used is determined in advance, and a controller that matches the type of electric lock is used. Depending on the type of lock, the reverse operation will occur, causing problems. For this reason, when the type of the electric lock is changed, there is a problem that the controller must be exchanged for the type of the electric lock.

  One object of the present invention is to use the fact that an energizing voltage to an electromagnetic solenoid can be detected when the electromagnetic solenoid is connected to a door control, and whether the electromagnetic solenoid is not connected or not is determined based on the presence or absence of a detected energizing voltage. An object of the present invention is to provide an automatic door device capable of automatically selecting and executing a normal opening / closing mode when not connected and an opening / closing mode when locked.

  Another object of the present invention is to provide an automatic door device capable of recognizing the type of electric lock and performing control suitable for the type of electric lock even if the type of electric lock used is changed. is there.

In order to solve the above problems, the invention according to claim 1 includes a door and a drive mechanism for opening and closing the door using a motor as a drive source. When an object is detected by an internal sensor or an external sensor, the door is In an automatic door device comprising a door controller that operates the drive mechanism that opens and closes, and an electric lock that operates the electromagnetic solenoid to lock the door is provided in the drive mechanism,
The door controller,
A speed control unit for turning control drive said motor,
A control arithmetic unit that controls the opening and closing operation of the door and outputs a closing operation command to said speed control unit,
An electromagnetic solenoid connection detection unit that detects connection of the electromagnetic solenoid and sends a solenoid connection signal to the control calculation unit;
With
Before Symbol control arithmetic unit,
To determine the presence or absence of connection of the electromagnetic solenoid based on the presence or absence of a solenoid connection signal outputted from the electromagnetic solenoid connection detector,
When said electromagnetic solenoid is connected, it performs unlocking by a non-energized before Symbol electromagnetic solenoid when the unlock signal is inputted,
The front SL door when the electromagnetic solenoid is unlocked signal is connected is input is unlocked when fully closed,
Detecting internal and objects outside of the door, is fully closed and during the opening and closing operation the door accepts detection of the object, when receiving a discovery of the object in either the internal or external perform the opening and closing operation of the door And
Locked when the door is fully closed when the electromagnetic solenoid is connected and no unlock signal is input,
Detecting an object in the interior of the door, the door is fully closed, but does not accept the detection of the object body, during opening and closing operations are also accepts both internal and external human body detection signal, the detection result unlocking the object in the internal and, for opening and closing operation of the door
Has the function to execute the open / close mode when locked,
When it is determined that the electromagnetic solenoid is not connected and the normal opening / closing mode is selected, the door stroke value is measured and stored as a reference door stroke value,
When an object is detected inside and outside the door, the detection of the object is accepted when the door is fully closed and during the opening and closing operation, the detection of the object is accepted either inside or outside the door, and the stored door Based on the reference door stroke value, the door is opened and closed in the opening direction,
After the detection of the object is not input from the inside or the outside and the fully opened position is detected, after a predetermined door opening time has elapsed, the drive control is performed in the door closing direction based on the stored reference door stroke value,
When an object is detected on the opening / closing path of the door while the door is closing, the door is driven in the opening direction.
It has a function of executing a normal open / close mode .

In order to solve the above-mentioned problem, the invention according to claim 2 is provided with a door and a drive mechanism for opening and closing the door using a motor as a drive source. When an object is detected by an internal sensor or an external sensor, In an automatic door device comprising a door controller that operates the drive mechanism that opens and closes, and an electric lock that operates the electromagnetic solenoid to lock the door is provided in the drive mechanism,
The door controller,
A speed control unit for driving and controlling the motor;
A control calculation unit that outputs an opening / closing operation command to the speed control unit to control the opening / closing operation of the door;
An electromagnetic solenoid energization voltage detection unit that detects an energization voltage to the electromagnetic solenoid and sends a solenoid connection signal indicating the presence or absence of connection of the electromagnetic solenoid to the control calculation unit according to the presence or absence of the energization voltage;
A switching signal is input by a locking method changeover switch that switches between a method of locking an electric lock that is locked and unlocked by the electromagnetic solenoid and a method of switching between an energized locking type and a non-energized locking type. Locking method changeover switch input part to output,
With
The control calculation unit is
Determining the presence or absence of connection of the electromagnetic solenoid based on the presence or absence of a solenoid connection signal output by detecting the energization voltage to the electromagnetic solenoid from the electromagnetic solenoid connection detection unit;
Determine whether the locking method of the electric lock locked / unlocked by the electromagnetic solenoid is an energized locking type or a non-energized locking type,
When the electromagnetic solenoid is connected, the electromagnetic solenoid is deenergized based on the unlocking signal to perform unlocking based on the locking method of the electric lock,
When the electromagnetic solenoid is connected and input, when the door is fully closed, the electric lock is unlocked, and in the case of a non-energized locking type, the electromagnetic solenoid is energized to be unlocked,
An object is detected inside and outside the door, the detection of the object is accepted when the door is fully closed and during the opening and closing operation, and when the detection of the object is accepted either inside or outside, the door opening and closing operation is executed.
When the electromagnetic solenoid is connected and no unlock signal is input, and the door is fully closed and the electric lock is determined to be energized and locked, the electromagnetic solenoid is energized and locked. If the non-energized locking type is stored, the electromagnetic solenoid is deenergized and locked.
An object is detected inside the door, and no object detection is accepted when the door is fully closed, but both internal and external human body detection signals are accepted during the opening and closing operation. The door has an opening / closing operation.
When it is determined that the electromagnetic solenoid is not connected and the normal opening / closing mode is selected, the door stroke value is measured and stored as a reference door stroke value,
When an object is detected inside and outside the door, the detection of the object is accepted when the door is fully closed and during the opening and closing operation, the detection of the object is accepted either inside or outside the door, and the stored door Based on the reference door stroke value, the door is opened and closed in the opening direction,
After the detection of the object is not input from the inside or the outside and the fully opened position is detected, after a predetermined door opening time has elapsed, the drive control is performed in the door closing direction based on the stored reference door stroke value,
It has a function of executing a normal opening / closing mode for driving the door in the opening direction when an object is detected on the opening / closing path of the door while the door is closing.

  According to a third aspect of the present invention, by energizing the electromagnetic solenoid, the plunger of the electromagnetic solenoid protrudes against the urging member, and the tooth It is characterized by being configured to engage between the teeth of the attached manual pulley.

  According to a fourth aspect of the present invention, the energizing / locking type electric lock according to the third aspect of the invention is configured such that a locking method changeover switch input is assigned to an array terminal of a connector for connecting to the door control, and the terminals are opened. It is characterized by being configured in a state.

  According to a fifth aspect of the present invention, there is provided the electromagnetic solenoid according to the second aspect, wherein the non-energized locking type electric lock is retracted against the urging member by releasing the energization of the electromagnetic solenoid. The plunger is configured to engage between the teeth of the toothed manual pulley by the action of the biasing force of the biasing member.

  According to a sixth aspect of the present invention, the non-energized lock type electric lock according to the fifth aspect of the present invention is configured by assigning a locking method changeover switch input to an array terminal of a connector for connecting to the door control, and between the terminals. It is characterized by being configured in a short circuit state.

  According to the first aspect of the present invention, it is possible to detect the energization voltage to the electromagnetic solenoid when the electromagnetic solenoid is connected to the door control, and the electromagnetic solenoid is not connected depending on the presence or absence of the detected energization voltage. The connection can be determined, and the normal opening / closing mode can be automatically selected and executed when not connected, and the locking opening / closing mode can be automatically selected and executed when connected.

  Further, according to the invention described in claim 1 of the present application, it is not necessary to install and operate the open / close mode switch regardless of whether or not an electric lock is used in the field, and the electromagnetic solenoid is connected to the door control. At the same time, it is possible to automatically execute the normal open / close mode or the lock open / close mode.

  According to the second aspect of the present invention, even if the type of electric lock to be used is changed, the type of electric lock can be recognized and control suitable for the type of electric lock can be performed. Even if the types of electric locks are different, both types of energized lock type electric locks and non-energized lock type electric locks can be used properly without changing the setting of the door control.

  Further, according to the invention described in claim 2 of the present application, the deenergization of the energized locking type electric lock of the energized locking type that the electromagnetic solenoid is locked when energized and the deenergized type of the lock that is locked when the electromagnetic solenoid is deenergized. It can be used for both types of lockable electric locks.

  According to the third and fourth aspects of the present invention, the locking method of the electric lock can be automatically determined when connected to the door control, the operability and the work efficiency are improved, and the erroneous setting of the locking method is avoided. can do.

  According to the invention described in claims 5 and 6, the locking method of the electric lock can be automatically discriminated when connected to the door control, the operability and work efficiency are improved, and the erroneous setting of the locking method is avoided. can do.

1 is an overall schematic diagram showing a first embodiment of an automatic door device according to the present invention. It is a partial enlarged view of the automatic door apparatus shown in FIG. FIG. 2 is an enlarged rear view of the electric lock portion of the automatic door device shown in FIG. 1. It is the whole schematic including the block diagram of the door controller of the automatic door apparatus shown in FIG. 1 is an overall schematic diagram illustrating an example of an embodiment of an automatic door device according to the present invention. It is a figure for demonstrating the kind of electric lock. It is a figure which shows the unconnected state and connected state of an electromagnetic solenoid.

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

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

In FIG. 1, an automatic door device 1 of this embodiment includes a door 2 and a drive mechanism 3 for opening and closing the door 2.
The drive mechanism 3 has a known configuration (see Japanese Patent Application Laid-Open No. 2005-240273) and is provided on the mounting lateral base 4 and includes a motor 5 as a drive source and a transmission mechanism 6. ing. The driving force from the motor 5 is transmitted to the door 2 through the transmission mechanism 6 so that the door 2 is opened and closed.

In this embodiment, the motor 5 is constituted by a brushless DC motor, and is attached to an attachment member 7 attached to the attachment lateral base 4 as shown in FIG. The motor 5 incorporates a Hall IC 8 for rotationally driving the motor 5 as a magnetic pole position sensor.
The pulse signal generated from the Hall IC 8 as the magnetic pole position sensor is proportional to the amount of movement of the door 2 and has a structure in which there is no slip between the motor output shaft 5a and the door 2, so that the door is counted by counting the pulse signal. The position, speed, and direction of 2 can be controlled.

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

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

  The second belt mechanism 10 includes a second toothed main driving pulley 15 and a second toothed driven pulley 16, and the second toothed main driving pulley 15 and the second toothed driven pulley 16 are provided with second teeth. The belt 17 is wound around.

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

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

Further, the automatic door device 1 of the present embodiment is provided with an internal sensor 25 and an external sensor 26 inside and outside the door 2, respectively, so that a person is not caught between the doors 2 when the door 2 is opened and closed. A safety light switch 27 is provided (see FIG. 4).
When an object such as a person is detected by either the internal sensor 25 or the external sensor 26 by the safety light switch 27, an object detection signal is input from the internal sensor 25 or the external sensor 26 to a control calculation unit of a door controller described later. As long as the door 2 is opened and an object such as a person passing through the door 2 is detected by the safety light switch 27, the open state of the door 2 is continued, and the internal sensor 25, the external sensor 26, and the safety light switch 27 The door 2 is closed when no object such as a person is detected in any of them.

  Further, in the automatic door device 1 of the present embodiment, a forced unlocking switch input unit 45 for turning off the energization of an electromagnetic solenoid 31 for forcibly unlocking an electric lock 29 described in detail later, and a forced unlocking switch A forced unlocking switch 28 for operating the input unit 45 is provided (see FIG. 4).

The automatic door device 1 of this embodiment is provided with an electric lock 29 for locking the door 2. The electric lock 29 is provided in the vicinity of the first toothed main driving pulley 12 as shown in FIGS.
The electric lock 29 has a known configuration, and for example, an electric lock type electric lock that locks when an electromagnetic solenoid is energized is used. The electric lock 29 includes an electromagnetic solenoid 31 having a case 30 attached to the attachment member 7. A plunger 32 attached to the case 30 of the electromagnetic solenoid 31 and a distal end side of the plunger 32 are described in detail. And a restraining rod 33 attached thereto.

  A spring receiver 34 is formed on the rear end side of the plunger 32 (the side opposite to the first toothed main driving pulley 12), and a spring 35 is interposed between the spring receiver 34 and the case 30. . The plunger 32 is biased by the spring 35 in the rear end direction (the direction opposite to the first toothed main pulley 12).

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

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

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

Furthermore, the door controller 36 includes an electromagnetic solenoid energization voltage detection unit 65 that connects the electromagnetic solenoid 31 and detects an energization voltage to the electromagnetic solenoid 31 when the electromagnetic solenoid 31 is energized by the electromagnetic solenoid energization unit 38. .
When the electromagnetic solenoid 31 is connected, when the energization voltage to the electromagnetic solenoid 31 is detected, the electromagnetic solenoid energization voltage detection unit 65 outputs a solenoid connection signal and transmits it to the control calculation unit 39.

The door controller 36 receives an object detection signal from the internal sensor 25 and inputs the object detection signal to the control calculation unit 39, and receives an object detection signal from the external sensor 26. An external sensor input unit 43 that inputs the object detection signal to the control calculation unit 39 and a safety beam that receives the object detection signal from the safety beam switch 27 and inputs the object detection signal to the control calculation unit 39. And a switch input unit 44.
Further, the door controller 36 receives the forced unlocking signal from the forced unlocking switch 28 that outputs the unlocking signal for unlocking the electric lock 29 by deenergizing the electromagnetic solenoid 31 and outputs the forced unlocking signal to the control calculation unit. 39 is provided with a forced unlocking switch input unit 45 for outputting to 39.

The control calculation unit 39 includes an electromagnetic solenoid connection determination unit 46, determines whether or not the electromagnetic solenoid 31 is connected based on the presence or absence of a solenoid connection signal output from the electromagnetic solenoid connection detection unit 65, and connects the electromagnetic solenoid 31. The result of determination of the presence or absence of is stored in the storage unit 41.
Further, the control calculation unit 39 includes a door opening / closing mode selection unit 47 that selects a door opening / closing mode pattern based on a determination result of whether or not the electromagnetic solenoid 31 is connected by the electromagnetic solenoid connection determination unit 46. The door opening / closing mode selection means 47 selects the door opening / closing mode pattern when the electromagnetic solenoid connection determination means 46 determines that the electromagnetic solenoid 31 is connected, selects the door opening / closing mode pattern, and determines the electromagnetic solenoid connection determination. When the means 46 determines that the electromagnetic solenoid 31 is not connected, the door opening / closing mode pattern in the normal opening / closing mode is selected.

  Further, when the electromagnetic solenoid connection determination means 46 determines that the electromagnetic solenoid 31 is connected, the control calculation unit 39 unlocks from the forced unlocking switch 28 input to the forced unlocking switch input unit 45. Based on the signal, there is provided unlocking control means 48 for performing the unlocking of the electric lock 29 by deenergizing the electromagnetic solenoid 31.

In the control calculation unit 39, when the electromagnetic solenoid connection determination means 46 determines that the electromagnetic solenoid 31 is not connected, the stroke value of the door 2 is measured and the stroke value is stored in the storage unit 41 as the reference door stroke value. A door stroke side length mode 49 is executed.
In the control calculation unit 39, when it is determined by the electromagnetic solenoid connection determination means 46 that the electromagnetic solenoid 31 is connected, the unlocking control means 48 deenergizes the electromagnetic solenoid 31 and executes the unlocking of the electric lock 29. After the door is released, the door stroke side length mode 49 for measuring the stroke value of the door 2 and storing the stroke value in the storage unit 41 as the reference door stroke value is executed.

The control calculation unit 39 includes a locking opening / closing mode 50 for performing the opening / closing control of the door 2 during locking, or a normal opening / closing mode 51 for performing the opening / closing control of the door 2 when the door 2 is not locked.
The locking open / close mode 50 includes forced unlocking switch input determining means 52, in which the electromagnetic solenoid 31 is connected and the unlocking signal is forcibly unlocked from the forced unlocking switch 28. It is determined whether or not an input is made to the switch input unit 45.

When the forced unlocking switch input determining means 52 determines that the forced unlocking switch 28 is on and the unlocking signal is input from the forced unlocking switch 28 to the forced unlocking switch input unit 45, the unlocking control means 53. Thus, when the door 2 is fully closed, the electromagnetic solenoid 31 is de-energized, the electric lock 29 is driven, the restraining rod 33 is moved away from the inter-tooth space 12a of the first toothed main driving pulley 12, and the electric lock 29 is unlocked.
Thus, the unlocking control means 53 unlocks the door 2 in the locked state when the object detection signal is input from the internal sensor 25 in the locking open / close mode 50.

When the electric lock 29 is unlocked by the unlock control means 53, the first object detection sensor input determination means 54 is executed.
The first object detection sensor input determination means 54 receives object detection signals from both the internal sensor input unit 42 and the external sensor input unit 43. That is, when the door 2 is in the fully closed position, the object detection signal of the safety light switch input unit 44 is not accepted, but is accepted during the opening / closing operation of the door 2. Further, when the first object detection sensor input determination unit 54 receives an object detection signal from either the internal sensor input unit 42 or the external sensor input unit 43, the first object detection sensor input determination unit 54 lengthens in the door stroke side length mode 49, and the storage unit 41 A predetermined opening / closing operation of the door 2 is executed on the basis of the door stroke stored in.

  In the unlocking opening / closing mode 50, when the forced unlocking switch input determining means 52 determines that the forced unlocking switch 28 is off and no unlocking signal is input from the forced unlocking switch 28 to the forced unlocking switch input unit 45. The locking control means 55 energizes the electromagnetic solenoid energizing section 38 to drive the electric lock 29 and the restricting rod 33 protrudes between the teeth 12 a of the first toothed main driving pulley 12 to lock the door 2.

When the electric lock 29 is locked by the lock control means 55, the second object detection sensor input determination means 56 is executed. That is, when the forced unlocking switch 28 is off, the locking control means 55 is executed, and when the door 2 is fully closed, the electric lock 29 is locked and the second object detection sensor input determination means 56 is executed.
The second object detection sensor input determination means 56 accepts only the object detection signal from the internal sensor input unit 42. When the door 2 is fully closed, the object detection signals of the external sensor input unit 42 and the safety light switch input unit 44 are not accepted, but both human body detection signals are accepted during the opening / closing operation of the door 2. When the object detection signal of the internal sensor input unit 42 is received, the unlock control means 55 is executed to unlock the electric lock 29, and then the side length is set in the door stroke side length mode 49 and stored in the storage unit 41. A predetermined door opening / closing operation is executed based on the door stroke.

When it is determined that the electromagnetic solenoid 31 is not connected (electromagnetic solenoid is not connected) based on the determination result of whether the electromagnetic solenoid 31 is connected or not by the electromagnetic solenoid connection determination unit 46 of the control calculation unit 39, the door opening / closing mode selection unit 47. Thus, the door opening / closing mode pattern of the normal opening / closing mode 51 is selected.
When the door opening / closing mode pattern of the normal opening / closing mode 48 is selected by the door opening / closing mode selection means 47, the object detection executed after the unlocking control means 53 unlocks the electric lock 29 in the locking opening / closing mode 50. The same first object detection sensor input determination means 54 as the sensor input determination means is executed.

  The first object detection sensor input determination means 54 receives object detection signals from both the internal sensor input unit 42 and the external sensor input unit 43. That is, when the door 2 is in the fully closed position, the object detection signal of the safety light switch input unit 44 is not accepted, but is accepted during the opening / closing operation of the door 2. Further, when the first object detection sensor input determination unit 54 receives an object detection signal from either the internal sensor input unit 42 or the external sensor input unit 43, the first object detection sensor input determination unit 54 lengthens in the door stroke side length mode 49, and the storage unit 41. A predetermined opening / closing operation of the door 2 is executed on the basis of the door stroke stored in.

The control calculation unit 39 opens and closes based on the reference door stroke value stored in the storage unit 41 when an object detection signal is input from the internal sensor input unit 42 or the external sensor input unit 43 to the control calculation unit 39. An opening drive control means 58 for transmitting a door opening / closing command to the speed control unit 37 in a control pattern and controlling the motor 5 in the opening direction of the door 2 is provided.
Further, the control calculation unit 39 includes a fully open position detecting means 59 for detecting the fully open position of the door 2.

The control calculation unit 39 includes a closing drive control means 60. The closing drive control means 60 receives no object detection signal from the internal sensor input section 42 or the external sensor input section 43 to the control calculation section 39, detects the fully open position by the fully open position detection means 59, and then opens a predetermined door. After the elapse of time, a door opening / closing command is transmitted to the speed control unit 37 with an opening / closing control pattern based on the reference door stroke value stored in the storage unit 41 to drive-control the motor 5 in the closing direction of the door 2.
Further, the control calculation unit 39 includes a fully closed position detecting means 61 for detecting the fully closed position of the door 2.

  The fully open position detection means 59 and the fully closed position detection means 61 compare and calculate the reference door stroke value obtained in the door stroke side length mode 49 and the number of pulses counted by the Hall IC 8 when the door 2 is opened and closed. The fully open position or the fully closed position of the door 2 is detected.

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

  During the opening / closing operation of the door 2, the operation of the second object detection sensor input determination means 56 in the locking opening / closing mode 50 causes the control calculation unit 39 to receive not only the internal sensor input unit 42 but also the object from the safety light switch input unit 44. A detection signal is also accepted (only the object detection signal from the external sensor input unit 43 is ignored and not accepted). Thereby, even if a passerby stops on the opening and closing track of the door 2 during the closing operation of the door 2, the object detection signal of the safety light switch 27 is accepted and the motor 5 is driven in the opening direction. A passerby is not caught in the door 2 and is safe.

  The control calculation unit 39 configured as described above outputs an opening / closing command for the door 2 after the object detection signal is input from the internal sensor input unit 42 and the unlocking control means 52 is executed in the locking opening / closing mode 50, When the forced unlocking switch 28 is ON in the lock opening / closing mode 50 or in the normal opening / closing mode 51, the door 2 is turned on when an object detection signal is input from either the internal sensor input unit 42 or the external sensor input unit 43. The opening / closing command is output.

  The operation of the automatic door device 1 of the present embodiment configured as described above will be described.

When power is turned on in the automatic door device 1, the electromagnetic solenoid 31 is de-energized, and then the electromagnetic solenoid connection determination means 46 is executed in the control calculation unit 39 to measure the stroke value of the door 2 and use the stroke value as the reference door stroke. A door stroke side length mode 49 for storing the value in the storage unit 41 as a value is executed.
In this door stroke side length mode 49, the motor 5 is driven by a command from the control calculation unit 39, and the door 2 is driven at a low speed by the stroke length of the door 2 and is proportional to the rotation speed of the motor 5 from the Hall IC 8. The pulse signal is counted, and the count value is stored in the storage unit 41 as a reference door stroke value. The pulse signal is synthesized by the pulse synthesizing circuit 40 and input to the control calculation unit to be counted.

The lock opening / closing mode 50 is executed when the electromagnetic solenoid 31 is detected to be connected by the electromagnetic solenoid energization voltage detector 65 and the forced unlocking switch 28 is turned on.
The normal open / close mode 51 is executed when the electromagnetic solenoid 31 is not connected by the electromagnetic solenoid energization voltage detector 65 and the forced unlocking switch 28 is turned off.

When the forced unlocking switch input determining means 52 in the locking open / close mode 50 determines that the forced unlocking switch 28 is on and the unlocking signal is input from the forced unlocking switch 28 to the forced unlocking switch input unit 45 explain.
When the opening / closing mode in which the electric lock 29 of the locking opening / closing mode 50 is locked is executed, first, on the condition that the fully opened position of the door 2 is detected by the fully opened position detecting means 59, an electromagnetic solenoid is operated by the locking control means 55. The energization unit 38 energizes the electromagnetic solenoid 31 to pull out the restraining rod 33 from the inter-tooth space 12a of the first toothed main pulley 12. As a result, the door 2 is unlocked.

  When the door 2 is in the fully closed position, both the object detection signals from the internal sensor input unit 42 and the external sensor input unit 43 are received by the action of the first object detection sensor input determination means 54, and the safety light switch 27 The human body detection signal is not accepted. Thereby, an object such as a person is detected by the internal sensor 25 and the external sensor 26, and any object detection signal from the internal sensor input unit 42 and the external sensor input unit 43 is received by the control calculation unit 39. When such an object detection signal is input, the motor 5 is driven in the opening direction of the door 2 to open / close the door 2 with a predetermined opening / closing control pattern based on the reference door stroke value.

  During the opening / closing operation of the door 2, an object detection signal from the safety light switch input unit 44 as well as the internal sensor input unit 42 and the external sensor input unit 43 is received by the action of the first object detection sensor input determination unit 54. Thereby, even if a passerby stops on the opening and closing track of the door 2 during the closing operation of the door 2, the object detection signal of the safety light switch 27 is accepted and the motor 5 is driven in the opening direction. Passers are not caught in the door and are safe.

When the forced unlocking switch 28 is turned on in the forced unlocking switch input determining means 52 in the unlocking opening / closing mode 50 and it is determined that the unlocking signal is not input from the forced unlocking switch 28 to the forced unlocking switch input unit 45. explain.
When the opening / closing mode in which the electric lock 29 of the locking opening / closing mode 50 is unlocked is executed, first, on the condition that the fully closed position of the door 2 is detected by the fully closed position detecting means 61, the locking control means 55. By energizing the electromagnetic solenoid 31 from the electromagnetic solenoid energizing section 38, the restraining rod 33 protrudes between the teeth 12a of the first toothed main driving pulley 12. As a result, the door 2 is locked.

  In the lock opening / closing mode 50, when the door 2 is in the fully closed position, only the object detection signal from the internal sensor input unit 42 is received by the control calculation unit 39 by the second object detection sensor input determination means 56, Object detection signals from the sensor input unit 43 and the safety light switch input unit 44 are ignored and cannot be accepted.

  In this state, when an object such as a person is detected by the internal sensor 25, an object detection signal is input from the internal sensor 25 to the internal sensor input unit 42, and the internal sensor input unit 42 outputs an object detection signal to the control calculation unit 39. input. When an object detection signal is input from the internal sensor input unit 42 to the control calculation unit 39, the control calculation unit 39 executes the unlocking control means 52 to deenergize the electromagnetic solenoid 31, and the restraining rod 33 has the first teeth. The door 2 is disengaged from the inter-tooth space 12a of the main driving pulley 12. Then, after the execution of the unlocking control means 57 (after unlocking), the control calculation unit 39 opens and closes the door with respect to the speed control unit 37 with an opening / closing control pattern based on the reference door stroke value stored in the storage unit 41. A command is transmitted to drive and control the motor 5 in the opening direction of the door 2. Then, when the fully open position detecting means 59 detects the fully open position of the door 2, the control calculation unit 39 stops driving the motor and then drives and controls the motor 5 in the closing direction of the door 2 after a predetermined door opening time has elapsed. .

  During such opening control of the door 2, the reference door stroke value stored in the storage unit 41 is compared with the number of pulses input from the pulse synthesis circuit 40 to the control calculation unit 39 during the opening / closing operation, thereby calculating the door 2 Open / close control is performed by grasping the position of.

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

  During the opening / closing operation of the door 2, the control calculation unit 39 accepts not only the internal sensor input unit 42 but also the object detection signal from the safety light switch input unit 44 by the action of the second object detection sensor input determination means 56 (external Only the object detection signal from the sensor input unit 43 is ignored and not accepted). Thereby, even if a passerby stops on the opening and closing track of the door 2 during the closing operation of the door 2, the object detection signal of the safety light switch 27 is accepted and the motor 5 is driven in the opening direction. A passerby is not caught in the door 2 and is safe.

  When the door 2 is opened and closed and the fully closed position detecting means 61 detects that the door 2 has reached the fully closed position, the locking control means 55 is executed to lock the door 2.

Next, the normal opening / closing mode 51 will be described.
When the normal opening / closing mode 51 is executed, the electromagnetic solenoid 31 is de-energized, the restraining rod 33 is disengaged from the inter-tooth space 12a of the first toothed main pulley 12, and the door 2 is unlocked.

When the door 2 is in the fully closed position, both the object detection signals from the internal sensor input unit 42 and the external sensor input unit 43 are received by the action of the first object detection sensor input determination means 54, and the safety light switch 27 The human body detection signal is not accepted. Thereby, an object such as a person is detected by the internal sensor 25 and the external sensor 26, and any object detection signal from the internal sensor input unit 42 and the external sensor input unit 43 is received by the control calculation unit 39. When such an object detection signal is input, the motor 5 is driven in the opening direction of the door 2 to open / close the door 2 with a predetermined opening / closing control pattern based on the reference door stroke value.
Since it is not necessary to execute the unlock control means 48 in the normal opening / closing mode 51, the control calculation unit 39 immediately controls the opening / closing of the door 2 when the object detection signal is input. In the door 2 opening / closing control, the number of pulses obtained by the control calculation unit 39 counting the reference door stroke value stored in the storage unit 41 and the input pulse signal is the same as in the locking opening / closing mode 47. And the brake position, fully opened position, and fully closed position during the opening / closing operation of the door 2 are detected, and predetermined high speed operation, deceleration operation, and low speed operation are executed in advance.

  During the opening / closing operation of the door 2, an object detection signal from the safety light switch input unit 44 as well as the internal sensor input unit 42 and the external sensor input unit 43 is received by the action of the first object detection sensor input determination unit 54. Thereby, even if a passerby stops on the opening and closing track of the door 2 during the closing operation of the door 2, the object detection signal of the safety light switch 27 is accepted and the motor 5 is driven in the opening direction. Passers are not caught in the door and are safe.

  FIG. 5 is an overall schematic diagram including a block diagram of a door controller of an automatic door device showing a second embodiment of the automatic door device according to the present invention, and FIG. 6 is an energized lock type electric lock and a non-energized lock type electric lock shown in FIG. FIG. 7 is a diagram showing the connection state of the lock, and FIG. 7 is a diagram showing the principle of detecting the energized voltage when the electromagnetic solenoid is connected.

In FIG. 5, the automatic door device 1 according to the second embodiment includes a door controller 36. The door controller 36 transmits and closes the door 2 by transmitting a door activation signal to the motor 5 and also locks and unlocks the electric lock 29.
In the automatic door device 1 of the first embodiment, an energized locking type electric lock that is a type of energizing locking that is locked when the electromagnetic solenoid 31 is energized is used. May occur, and when the energization of the electromagnetic solenoid 31 is stopped, the electric lock may be required to be locked. That is, there is a case where a non-energized locking type electric lock that is a non-energized locking type that is locked when de-energized is used.
The automatic door device 1 according to the second embodiment can be used for either an energized locking type electric lock or a non-energized locking type electric lock having different locking methods.

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

The door controller 36 receives an object detection signal from the internal sensor 25 and inputs the object detection signal to the control calculation unit 39, and receives an object detection signal from the external sensor 26. An external sensor input unit 43 that inputs the object detection signal to the control calculation unit 39 and a safety beam that receives the object detection signal from the safety beam switch 27 and inputs the object detection signal to the control calculation unit 39. And a switch input unit 44.
Further, the door controller 36 receives the forced unlocking signal from the forced unlocking switch 28 that outputs the unlocking signal for unlocking the electric lock 29 by deenergizing the electromagnetic solenoid 31 and outputs the forced unlocking signal to the control calculation unit. 39 is provided with a forced unlocking switch input unit 45 for outputting to 39.

  Further, the door controller 36 includes an electromagnetic solenoid energization voltage detection unit 68 that connects the electromagnetic solenoid 31 and detects an energization voltage to the electromagnetic solenoid 31 when the electromagnetic solenoid 31 is energized by the electromagnetic solenoid energization unit 38. .

  Further, the door controller 36 switches the locking method when the locking method of the electric lock 29 is changed (from the energized locking type electric lock to the non-energized locking type electric lock, or from the non-energized locking type electric lock to the energized locking type). To the electric lock), a locking method changeover switch input unit 67 is provided which receives a method changeover signal from the locking method changeover switch 66 and outputs the method changeover signal to the control calculation unit 39.

Whether the electric lock 29 is an energized locking type electric lock or a non-energized locking type electric lock is determined by connecting to the terminal of the connector connected to the end of the connection wire of the electromagnetic solenoid 31 of the electric lock 29. ing. That is, when the electric lock 29 is an energized locking type electric lock, as shown in FIG. 6 (A), among the terminals of the connector to which the connection wire of the electromagnetic solenoid 31 of the electric lock 29 is connected, the solenoid input terminals a, b to connect the connection wires of the electromagnetic solenoid 31, previously made previously locked mode switching switch input terminal c, and d as open.
Further, when the electric lock 29 is a non-energized locking type electric lock, as shown in FIG. 6B, among the terminals of the connector for connecting the connection wires of the electromagnetic solenoid 31 of the electric lock 29, the solenoid input terminals a, The connection wire of the electromagnetic solenoid 31 is connected to b, and the locking method changeover switch input terminals c and d are connected in a short-circuited state and are made in advance .

  Thus, the connection state of the connector terminal connected to the connection electric wire of the electromagnetic solenoid 31 of the electric lock 29 when the electric lock 29 is an energized locking type electric lock and when the electric lock 29 is a non-energized locking type electric lock. Therefore, simply installing a connector for receiving the connector of the electric lock 29 on the door control 36 side enables easy attachment without erroneous connection.

The control calculation unit 39 includes electromagnetic solenoid connection determination means 70, determines whether or not the electromagnetic solenoid 31 is connected based on the presence or absence of a solenoid connection signal output from the electromagnetic solenoid connection detection unit 65, and connects the electromagnetic solenoid 31. The result of determination of the presence or absence of is stored in the storage unit 41.
Whether or not the electromagnetic solenoid 31 is connected by the electromagnetic solenoid connection determining means 70 is determined based on the presence or absence of a solenoid connection signal output from the electromagnetic solenoid connection detection unit 65.
That is, when the electromagnetic solenoid 31 is not connected, as shown in FIG. 7A, since the connection terminals are in an open state (open), the energization voltage to the electromagnetic solenoid 31 is 0V.

Further, when the electromagnetic solenoid 31 is connected, as shown in FIG. 7B, the connection terminals are short-circuited (short-circuited), so that the energization voltage to the electromagnetic solenoid 31 is a predetermined voltage (for example, 24V).
The electromagnetic solenoid connection determination means 70 determines whether or not the electromagnetic solenoid 31 is connected based on the presence or absence of a solenoid connection signal (voltage value) output from the electromagnetic solenoid connection detection unit 65.
When the electromagnetic solenoid 31 is connected and the energization voltage to the electromagnetic solenoid 31 is detected, the electromagnetic solenoid energization voltage detection unit 68 outputs a solenoid connection signal and transmits it to the control calculation unit 39.

  In addition, the control calculation unit 39 includes door opening / closing mode selection means 71 for selecting a door opening / closing mode pattern based on the determination result of whether or not the electromagnetic solenoid 31 is connected by the electromagnetic solenoid connection determination means 70. The door open / close mode selection means 71 selects the lock open / close mode and selects the door open / close mode pattern when the electromagnetic solenoid connection determination means 70 determines that the electromagnetic solenoid 31 is connected, and determines the electromagnetic solenoid connection determination. When the means 70 determines that the electromagnetic solenoid 31 is not connected, the opening / closing mode pattern of the door 2 in the normal opening / closing mode is selected.

When the electromagnetic solenoid connection determining means 70 determines whether the electromagnetic solenoid 31 is connected or not, and the door opening / closing mode selection means 71 selects the door 2 opening / closing mode pattern, the control calculation unit 39 uses the locking method determining means 72 to The locking method of the electric lock 29 attached to the transmission mechanism 6 is determined.
Further, when the control operation unit 39 determines that the electromagnetic solenoid 31 is connected by the electromagnetic solenoid connection determination means 70, the control operation unit 39 unlocks from the forced unlocking switch 28 input to the forced unlocking switch input unit 45. Based on the signal, there is provided unlocking control means 73 for each locking method for performing the unlocking of the electric lock 29 by deenergizing the electromagnetic solenoid 31.

In the control calculation unit 39, when the electromagnetic solenoid connection determining means 70 determines that the electromagnetic solenoid 31 is not connected, the stroke value of the door 2 is measured and the stroke value is stored in the storage unit 41 as the reference door stroke value. The door stroke side length mode 74 is executed.
In the control calculation unit 39, when the electromagnetic solenoid connection determination unit 70 determines that the electromagnetic solenoid 31 is connected, the locking method determination unit 72 locks the electric lock 29 connected to the door control 36. Is an energized locking electric lock or a non-energized locking electric lock.

  In the control calculation unit 39, when the locking method determining unit 72 determines the locking method of the electric lock 29, the electromagnetic solenoid 31 is matched with the locking method of the electric lock 29 by the locking method-specific unlocking control unit 73. Is turned off and the electric lock 29 is unlocked to release the door, and then the door stroke side for measuring the stroke value of the door 2 and storing the stroke value in the storage unit 41 as the reference door stroke value The long mode 74 is executed.

The control calculation unit 39 includes a locking opening / closing mode 75 for performing opening / closing control of the door 2 at the time of locking or a normal opening / closing mode 76 for performing opening / closing control of the door 2 when the door 2 is not locked.
The locking open / close mode 75 includes forced unlocking switch input determining means 77, in which the electromagnetic solenoid 31 is connected and the unlocking signal is forcibly unlocked from the forced unlocking switch 28. It is determined whether or not an input is made to the switch input unit 45.

When the forced unlocking switch input determining means 77 determines that the forced unlocking switch 28 is on and the unlocking signal is input from the forced unlocking switch 28 to the forced unlocking switch input unit 45, the unlocking by the locking method is performed. The electric lock 29 is unlocked by the control means 78.
In this way, the unlocking control means 78 for each locking method unlocks the door 2 in the locked state when the object detection signal is input from the internal sensor 25 in the locking open / close mode 75. Yes.

Then, when the electric lock 29 is unlocked by the unlocking control means 78 for each locking method, the first object detection sensor input determination means 79 is executed.
The first object detection sensor input determination means 79 is adapted to accept object detection signals from both the internal sensor input unit 42 and the external sensor input unit 43. That is, when the door 2 is in the fully closed position, the object detection signal of the safety light switch input unit 54 is not accepted, but is accepted during the opening / closing operation of the door 2. Further, when the first object detection sensor input determination unit 54 receives an object detection signal from either the internal sensor input unit 42 or the external sensor input unit 43, the first object detection sensor input determination unit 54 lengthens in the door stroke side length mode 49, and the storage unit 41 A predetermined opening / closing operation of the door 2 is executed on the basis of the door stroke stored in.

  In the unlocking open / close mode 75, when the forced unlocking switch input determining means 77 determines that the forced unlocking switch 28 is off and no unlocking signal is input from the forced unlocking switch 28 to the forced unlocking switch input unit 45. The door 2 is locked by the locking control means 80 according to the locking method.

Then, when the electric lock 29 is locked by the locking control unit 80 according to the locking method, the second object detection sensor input determination unit 81 is executed. That is, when the forced unlocking switch 28 is OFF, the locking control means 80 for each locking method is executed, the electric lock 29 is locked when the door 2 is fully closed, and the second object detection sensor input determination means 81 is executed. To do.
The second object detection sensor input determination means 81 accepts only the object detection signal from the internal sensor input unit 42. When the door 2 is fully closed, the object detection signals of the external sensor input unit 42 and the safety light switch input unit 44 are not accepted, but both human body detection signals are accepted during the opening / closing operation of the door 2. When the object detection signal from the internal sensor input unit 42 is received, the locking control unit 80 for each locking method is executed to unlock the electric lock 29, and then the side length is set in the door stroke side length mode 74 and stored in the storage unit 41. A predetermined door opening / closing operation is executed based on the door stroke.

If it is determined that the electromagnetic solenoid 31 is not connected (electromagnetic solenoid is not connected) based on the determination result of whether the electromagnetic solenoid 31 is connected or not by the electromagnetic solenoid connection determination means 70 of the control calculation unit 39, the door opening / closing mode selection means 71 Thus, the door opening / closing mode pattern of the normal opening / closing mode 76 is selected.
When the door opening / closing mode pattern of the normal opening / closing mode 76 is selected by the door opening / closing mode selection means 71, the operation is executed after the electric lock 29 is unlocked by the unlocking control means 78 for each locking method in the locking opening / closing mode 75. The same first object detection sensor input determination means 79 as the object detection sensor input determination means is executed.

  The first object detection sensor input determination means 79 is adapted to accept object detection signals from both the internal sensor input unit 42 and the external sensor input unit 43. That is, when the door 2 is in the fully closed position, the object detection signal of the safety light switch input unit 54 is not accepted, but is accepted during the opening / closing operation of the door 2. Further, when the first object detection sensor input determination unit 79 receives an object detection signal from either the internal sensor input unit 42 or the external sensor input unit 43, the first object detection sensor input determination unit 79 lengthens in the door stroke side length mode 74, and the storage unit 41 A predetermined opening / closing operation of the door 2 is executed on the basis of the door stroke stored in.

The control calculation unit 39 opens and closes based on the reference door stroke value stored in the storage unit 41 when an object detection signal is input from the internal sensor input unit 42 or the external sensor input unit 43 to the control calculation unit 39. An opening drive control means 83 is provided that transmits a door opening / closing command to the speed control unit 37 in a control pattern and controls driving of the motor 5 in the opening direction of the door 2.
Further, the control calculation unit 39 includes a fully open position detecting means 84 for detecting the fully open position of the door 2.

The control calculation unit 39 includes a closing drive control unit 85. The closing drive control means 85 receives no object detection signal from the internal sensor input section 42 or the external sensor input section 43 to the control calculation section 39, detects the fully open position by the fully open position detection means 84, and then opens a predetermined door. After the elapse of time, a door opening / closing command is transmitted to the speed control unit 37 with an opening / closing control pattern based on the reference door stroke value stored in the storage unit 41 to drive-control the motor 5 in the closing direction of the door 2.
In addition, the control calculation unit 39 includes a fully closed position detecting unit 86 for detecting the fully closed position of the door 2.

  The fully open position detector 84 and the fully closed position detector 86 compare and calculate the reference door stroke value obtained in the door stroke side length mode 74 and the number of pulses counted by the Hall IC 8 when the door 2 is opened and closed. The fully open position or the fully closed position of the door 2 is detected.

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

  During the opening / closing operation of the door 2, the operation of the second object detection sensor input determination means 81 in the lock opening / closing mode 75 causes the control calculation unit 39 to receive an object from the safety light switch input unit 44 as well as the internal sensor input unit 42. A detection signal is also accepted (only the object detection signal from the external sensor input unit 43 is ignored and not accepted). Thereby, even if a passerby stops on the opening and closing track of the door 2 during the closing operation of the door 2, the object detection signal of the safety light switch 27 is accepted and the motor 5 is driven in the opening direction. A passerby is not caught in the door 2 and is safe.

  In the lock opening / closing mode 75, the control calculation unit 39 configured as described above issues an opening / closing command for the door 2 after an object detection signal is input from the internal sensor input unit 42 and the unlocking control means 78 for each locking method is executed. When an object detection signal is input from either the internal sensor input unit 42 or the external sensor input unit 43 when the forced unlocking switch 28 is turned on in the locking open / close mode 75 or in the normal open / close mode 76 The door 2 is opened and closed.

  The operation of the automatic door device 1 of the present embodiment configured as described above will be described.

  When the automatic door device 1 is turned on, the electromagnetic solenoid 31 is de-energized, and then the electromagnetic solenoid connection determination means 70 is executed in the control calculation unit 39. The door opening / closing mode selection means 71 selects the opening / closing mode pattern of the door 2. The Then, the locking method determining means 72 determines the locking method of the electric lock 29 attached to the transmission mechanism 6, and the locking method-specific unlocking control means 73 sets the electromagnetic solenoid 31 in accordance with the locking method of the electric lock 29. The door lock side length for measuring the stroke value of the door 2 and storing the stroke value as the reference door stroke value in the storage unit 41 after executing the unlocking of the electric lock 29 in a non-energized state to release the door. Mode 74 is executed.

  In this door stroke side length mode 74, the motor 5 is driven by a command from the control calculation unit 39 to cause the door 2 to travel at a low speed by the stroke length of the door 2, and is proportional to the rotational speed of the motor 5 from the Hall IC 8. The pulse signal is counted, and the count value is stored in the storage unit 41 as a reference door stroke value. The pulse signal is synthesized by the pulse synthesizing circuit 40 and input to the control calculation unit to be counted.

The unlocking opening / closing mode 75 is executed when the electromagnetic solenoid 31 is detected to be connected by detection of the energizing voltage in the electromagnetic solenoid energizing voltage detector 68 and the forced unlocking switch 28 is turned on.
The normal open / close mode 76 is executed when the electromagnetic solenoid 31 is not connected by detecting the energization voltage in the electromagnetic solenoid energization voltage detection unit 68 and the forced unlocking switch 28 is turned off.

When the forced unlocking switch input determining means 77 in the unlocking open / close mode 75 determines that the forced unlocking switch 28 is on and the unlocking signal is input from the forced unlocking switch 28 to the forced unlocking switch input unit 45. explain.
When the opening / closing mode in which the electric lock 29 of the locking opening / closing mode 75 is locked is executed, first, on the condition that the fully opened position of the door 2 is detected by the fully opened position detecting means 84, the locking control means 80 for each locking method is used. Thus, the door 2 is unlocked.

  When the door 2 is in the fully closed position, both the object detection signals from the internal sensor input unit 42 and the external sensor input unit 43 are received by the action of the first object detection sensor input determination means 79, and the safety light switch 27 The human body detection signal is not accepted. Thereby, an object such as a person is detected by the internal sensor 25 and the external sensor 26, and any object detection signal from the internal sensor input unit 42 and the external sensor input unit 43 is received by the control calculation unit 39. When such an object detection signal is input, the motor 5 is driven in the opening direction of the door 2 to open / close the door 2 with a predetermined opening / closing control pattern based on the reference door stroke value.

  During the opening / closing operation of the door 2, an object detection signal from the safety light switch input unit 44 as well as the internal sensor input unit 42 and the external sensor input unit 43 is received by the action of the first object detection sensor input determination unit 79. Thereby, even if a passerby stops on the opening and closing track of the door 2 during the closing operation of the door 2, the object detection signal of the safety light switch 27 is accepted and the motor 5 is driven in the opening direction. Passers are not caught in the door and are safe.

When the forced unlocking switch input determining means 77 in the locking open / close mode 75 determines that the forced unlocking switch 28 is on and the unlocking signal is not input from the forced unlocking switch 28 to the forced unlocking switch input unit 45. explain.
When the opening / closing mode in which the electric lock 29 of the locking opening / closing mode 75 is unlocked is executed, first, on the condition that the fully-closed position of the door 2 is detected by the fully-closed position detecting means 86, the locking by the locking method is performed. The door 2 is locked by the control means 80.

  In the lock opening / closing mode 75, when the door 2 is in the fully closed position, only the object detection signal from the internal sensor input unit 42 is received by the control calculation unit 39 by the second object detection sensor input determination means 81, Object detection signals from the sensor input unit 43 and the safety light switch input unit 44 are ignored and cannot be accepted.

  In this state, when an object such as a person is detected by the internal sensor 25, an object detection signal is input from the internal sensor 25 to the internal sensor input unit 42, and the internal sensor input unit 42 outputs an object detection signal to the control calculation unit 39. input. When an object detection signal is input to the control calculation unit 39 from the internal sensor input unit 42, the control calculation unit 39 executes the unlocking control means 78 for each locking method, and the door 2 is unlocked. Then, after the execution of the unlocking control means 82 for each locking method is completed (after unlocking), the control calculation unit 39 applies an opening / closing control pattern based on the reference door stroke value stored in the storage unit 41 to the speed control unit 37. Then, a door opening / closing command is transmitted to drive-control the motor 5 in the opening direction of the door 2. Then, when the fully open position detecting means 84 detects the fully open position of the door 2, the control calculation unit 39 stops driving the motor, and then drives and controls the motor 5 in the closing direction of the door 2 after a predetermined door opening time elapses. .

  During such opening control of the door 2, the reference door stroke value stored in the storage unit 41 is compared with the number of pulses input from the pulse synthesis circuit 40 to the control calculation unit 39 during the opening / closing operation, thereby calculating the door 2 Open / close control is performed by grasping the position of.

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

  During the opening / closing operation of the door 2, the control calculation unit 39 receives not only the internal sensor input unit 42 but also the object detection signal from the safety light switch input unit 44 by the action of the second object detection sensor input determination means 81 (external Only the object detection signal from the sensor input unit 43 is ignored and not accepted). Thereby, even if a passerby stops on the opening and closing track of the door 2 during the closing operation of the door 2, the object detection signal of the safety light switch 27 is accepted and the motor 5 is driven in the opening direction. A passerby is not caught in the door 2 and is safe.

  When the opening / closing operation of the door 2 is performed and the fully closed position detecting means 86 detects that the door 2 has reached the fully closed position, the locking control means 78 for each locking method is executed and the door 2 is locked.

Next, the normal opening / closing mode 76 will be described. When the normal opening / closing mode 76 is executed, the door 2 is in an unlocked state.
When the door 2 is in the fully closed position, both the object detection signals from the internal sensor input unit 42 and the external sensor input unit 43 are received by the action of the first object detection sensor input determination means 79, and the safety light switch 27 The human body detection signal is not accepted. Thereby, an object such as a person is detected by the internal sensor 25 and the external sensor 26, and any object detection signal from the internal sensor input unit 42 and the external sensor input unit 43 is received by the control calculation unit 39. When such an object detection signal is input, the motor 5 is driven in the opening direction of the door 2 to open / close the door 2 with a predetermined opening / closing control pattern based on the reference door stroke value.

  In the normal opening / closing mode 76, it is not necessary to execute the locking method determination means 72 and the locking method-specific unlocking control means 73, so that the control calculation unit 39 immediately performs the opening / closing control of the door 2 when the object detection signal is input. Do. In the door 2 opening / closing control, the number of pulses obtained by counting the reference door stroke value stored in the storage unit 41 and the input pulse signal by the control calculation unit 39 is the same as in the locking opening / closing mode 71. And the brake position, fully opened position, and fully closed position during the opening / closing operation of the door 2 are detected, and predetermined high speed operation, deceleration operation, and low speed operation are executed in advance.

  During the opening / closing operation of the door 2, an object detection signal from the safety light switch input unit 44 as well as the internal sensor input unit 42 and the external sensor input unit 43 is received by the action of the first object detection sensor input determination unit 79. Thereby, even if a passerby stops on the opening and closing track of the door 2 during the closing operation of the door 2, the object detection signal of the safety light switch 27 is accepted and the motor 5 is driven in the opening direction. Passers are not caught in the door and are safe.

DESCRIPTION OF SYMBOLS 1 Automatic door apparatus 2 Door 3 Drive mechanism 4 Horizontal mounting base 5 Motor 5a Motor output shaft 6 Transmission mechanism 7 Mounting member 7a Box part 8 Hall IC
DESCRIPTION OF SYMBOLS 9 1st belt mechanism 10 2nd belt mechanism 11 Deceleration mechanism 12 1st toothed main driving pulley 12a Inter-tooth 12b Tooth 13 First toothed driven pulley 14 First toothed belt 15 Second toothed main driving pulley 16 Second toothed Driven pulley 17 Second toothed belt 18 Connector 19 Reduction mechanism input shaft 20 Small diameter gear 21 Reduction mechanism output shaft 22 Large diameter gears 23 and 24 Bearing 25 Internal sensor 26 External sensor 27 Safety light switch 28 Forced unlocking switch 29 Electric lock 30 Case 31 Electromagnetic Solenoid 32 Plunger 33 Restraint Rod 34 Spring Receiver 35 Spring 36 Door Controller 37 Speed Control Unit 38 Electromagnetic Solenoid Energizing Unit 39 Control Calculation Unit 40 Pulse Synthesis Circuit 41 Storage Unit 42 Internal Sensor Input Unit 43 External Sensor Input Unit 44 Safety Beam switch input part 45 Forced unlocking switch input Unit 46 Electromagnetic Solenoid Connection Determination Means 47 Door Open / Close Mode Selection Means 49 Door Stroke Side Length Mode 50 Locking Open / Close Mode 51 Normal Open / Close Mode 52 Forced Unlock Switch Input Determination Means 53 Unlock Control Means 54 First Object Detection Sensor Input Determination Means 55 Locking control means 56 Second object detection sensor input determination means 59 Fully open position detection means 61 Fully closed position detection means 65 Electromagnetic solenoid connection detection unit

Claims (6)

A door and a drive mechanism for opening and closing the door using a motor as a drive source; and a door controller for operating the drive mechanism for opening and closing the door when an object is detected by an internal sensor or an external sensor. In an automatic door device in which an electric lock for operating and locking an electromagnetic solenoid is provided in the drive mechanism,
The door controller,
A speed control unit for driving and controlling the motor;
A control calculation unit that outputs an opening / closing operation command to the speed control unit to control the opening / closing operation of the door;
An electromagnetic solenoid connection detection unit that detects connection of the electromagnetic solenoid and sends a solenoid connection signal to the control calculation unit;
With
The control calculation unit is
Determine the presence or absence of electromagnetic solenoid connection based on the presence or absence of a solenoid connection signal output from the electromagnetic solenoid connection detection unit,
When the electromagnetic solenoid is connected, when the unlocking signal is input, the electromagnetic solenoid is deenergized and unlocked,
When the electromagnetic solenoid is connected and the unlocking signal is input, the door is unlocked when fully closed,
An object is detected inside and outside the door, the detection of the object is received when the door is fully closed and during the opening and closing operation, and the door opening and closing operation is executed when the detection of the object is received either inside or outside the door,
Locked when the door is fully closed when the electromagnetic solenoid is connected and no unlock signal is input,
An object is detected inside the door, and when the door is fully closed, the detection of the object is not accepted, but both the inside and outside human body detection signals are accepted during the opening and closing operation, and the object is unlocked when the object is detected inside, It has a function to open and close the door, and to open and close the door.
When it is determined that the electromagnetic solenoid is not connected and the normal opening / closing mode is selected, the door stroke value is measured and stored as a reference door stroke value,
When an object is detected inside and outside the door, the detection of the object is accepted when the door is fully closed and during the opening and closing operation, the detection of the object is accepted either inside or outside the door, and the stored door Based on the reference door stroke value, the door is opened and closed in the opening direction,
After the detection of the object is not input from the inside or the outside and the fully opened position is detected, after a predetermined door opening time has elapsed, the drive control is performed in the door closing direction based on the stored reference door stroke value,
An automatic door device having a function of executing a normal opening / closing mode for driving the door in an opening direction when an object is detected on the opening / closing path of the door while the door is being closed. A door and a drive mechanism for opening and closing the door using a motor as a drive source; and a door controller for operating the drive mechanism for opening and closing the door when an object is detected by an internal sensor or an external sensor. In an automatic door device in which an electric lock for operating and locking an electromagnetic solenoid is provided in the drive mechanism,
The door controller,
A speed control unit for driving and controlling the motor;
A control calculation unit that outputs an opening / closing operation command to the speed control unit to control the opening / closing operation of the door;
An electromagnetic solenoid energization voltage detection unit that detects an energization voltage to the electromagnetic solenoid and sends a solenoid connection signal indicating the presence or absence of connection of the electromagnetic solenoid to the control calculation unit according to the presence or absence of the energization voltage;
A switching signal is input by a locking method changeover switch that switches between a method of locking an electric lock that is locked and unlocked by the electromagnetic solenoid and a method of switching between an energized locking type and a non-energized locking type. Locking method changeover switch input part to output,
With
The control calculation unit is
Determining the presence or absence of connection of the electromagnetic solenoid based on the presence or absence of a solenoid connection signal output by detecting the energization voltage to the electromagnetic solenoid from the electromagnetic solenoid connection detection unit;
Determine whether the locking method of the electric lock locked / unlocked by the electromagnetic solenoid is an energized locking type or a non-energized locking type,
When the electromagnetic solenoid is connected, the electromagnetic solenoid is deenergized based on the unlocking signal to perform unlocking based on the locking method of the electric lock,
When the electromagnetic solenoid is connected and an unlocking signal is inputted, the electric lock is unlocked when the door is fully closed, and in the case of a non-energized locking type, the electromagnetic solenoid is energized and unlocked. West,
An object is detected inside and outside the door, the detection of the object is received when the door is fully closed and during the opening and closing operation, and the door opening and closing operation is executed when the detection of the object is received either inside or outside the door,
When the electromagnetic solenoid is connected and no unlock signal is input, and the door is fully closed and the electric lock is determined to be energized and locked, the electromagnetic solenoid is energized and locked. If the non-energized locking type is stored, the electromagnetic solenoid is deenergized and locked.
An object is detected inside the door, and no object detection is accepted when the door is fully closed, but both internal and external human body detection signals are accepted during the opening and closing operation. The door has an opening / closing operation.
When it is determined that the electromagnetic solenoid is not connected and the normal opening / closing mode is selected, the door stroke value is measured and stored as a reference door stroke value,
When an object is detected inside and outside the door, the detection of the object is accepted when the door is fully closed and during the opening and closing operation, the detection of the object is accepted either inside or outside the door, and the stored door Based on the reference door stroke value, the door is opened and closed in the opening direction,
After the detection of the object is not input from the inside or the outside and the fully opened position is detected, after a predetermined door opening time has elapsed, the drive control is performed in the door closing direction based on the stored reference door stroke value,
An automatic door device having a function of executing a normal opening / closing mode for driving the door in an opening direction when an object is detected on the opening / closing path of the door while the door is being closed. The electric lock type electric lock is
3. The electromagnetic solenoid according to claim 2, wherein by energizing the electromagnetic solenoid, the plunger of the electromagnetic solenoid protrudes against the urging member and engages between teeth of the toothed manual pulley. 4. Automatic door device. The electric lock type electric lock is
The automatic door device according to claim 3, wherein a lock method switch input is assigned to an array terminal of a connector for connecting to the door control, and the terminals are opened. The non-energized locking electric lock is
By releasing energization of the electromagnetic solenoid, the plunger of the electromagnetic solenoid that has been retracted against the biasing member is engaged between the teeth of the toothed manual pulley by the action of the biasing force of the biasing member. The automatic door device according to claim 2, wherein the automatic door device is a thing. The non-energized locking electric lock is
The automatic door device according to claim 5, wherein a lock type switch input is assigned to an array terminal of a connector for connecting to the door control, and the terminals are short-circuited.

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