JP7056993B1 - Electric sliding door device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electric sliding door device capable of reliably closing a door without leaving it closed and preventing the door from violently colliding with a door contact when the door is closed. SOLUTION: An electric sliding door device is configured to hang a belt that suspends and supports a door between drive and driven pulleys arranged apart from each other, and drives the door by a motor via the drive pulley. An electric sliding door device equipped with a control device that controls a motor based on an output from a magnetic position sensor that generates a pulse according to the rotation of the motor, wherein the control device is based on the output from the magnetic position sensor. When moving the door in the opening direction, the motor is stopped so that the door can be opened manually, and when the door is moved in the closing direction, the motor is driven to automatically close the door. It is configured as follows. [Selection diagram] Fig. 2

Description

The present invention relates to an improvement of a sliding door device provided at an entrance / exit in a building, and more particularly to an electric sliding door device configured to automatically close.

Traditionally, there are self-closing sliding door devices that are configured to open manually and close automatically. In the self-closing sliding door device, a guide rail is arranged above the entrance / exit of the building frame, the door is suspended from the guide rail via a movable suspension vehicle, and a coil spring is provided between the door and the building frame. It is configured so that when the user manually opens the door against the force of the coil spring, the door is automatically closed by the restoring force of the coil spring when the door is opened.
Such a conventional self-closing sliding door device is to prevent the door from colliding vigorously with the door on the fully closed side and generating noise when the door is automatically closed by the restoring force of the coil spring. An air type damper, a hydraulic type damper, and the like for absorbing the impact on the door contact of the door are provided (Patent Document 1).

Japanese Unexamined Patent Publication No. 2007-77580

However, the air type or hydraulic type damper has a problem that the braking force changes greatly depending on the temperature, and as a result, the braking force changes depending on the temperature of the four seasons.
Specifically, when the temperature is low, the braking force increases, and when the temperature is high, the braking force decreases. For example, if the braking force of the pneumatic or hydraulic damper is adjusted according to the summer temperature, the temperature is low in spring.・ In the fall and winter, the braking force becomes too high, causing the problem that the door is not completely closed and remains closed. If the closing force of the coil spring is increased in order to prevent the coil spring from being left unclosed, a large opening force is required at the time of manual opening, which causes a problem that the manual opening operation becomes troublesome.
Conversely, if the braking force of the pneumatic or hydraulic damper is adjusted according to the spring, autumn, and winter seasons, it will not be possible to obtain sufficient braking force against the restoring force of the coil spring when the door is closed in the summer. As a result, when the door is closed, the door collides violently with the door contact, and not only the collision noise is generated, but also the door, the sash, and the sliding door device main body are damaged or damaged when it is repeated.
For this reason, in the conventional self-closing sliding door device, not only is there a burden that the braking force of the pneumatic or hydraulic damper must be adjusted according to the season, but also maintenance costs related to the adjustment are incurred, and in some cases, maintenance costs are incurred. Has the problem that repair costs for doors and sashes may also be incurred.
The present invention solves the above-mentioned problems of the conventional self-closing sliding door device, eliminates the need to adjust the braking force of the pneumatic or hydraulic damper according to the season, and provides the opening force required for manual opening. An object of the present invention is to provide an electric sliding door device capable of reliably closing a door without making it large and preventing the door from violently colliding with a door stop when the door is closed. There is.

In order to achieve the above object, in the electric sliding door device according to the present invention, a belt is hung between a drive pulley and a driven pulley arranged apart from each other, and the door is suspended from the belt. A magnetic position sensor that supports and drives a door by driving the drive pulley with a motor and generates a pulse in response to the rotation of the motor, and the output from the magnetic position sensor. An electric sliding door device including a control device for controlling the operation of the motor. When the control device moves the door in the opening direction based on the output from the magnetic position sensor, the motor is stopped and manually operated. It is characterized in that it is configured to open the door and to execute a semi-automatic drive mode in which the motor is driven to automatically close the door when the door is moved in the closing direction.
Preferably, the control device executes a semi-automatic drive mode in which the motor is stopped when the door is moved in the open direction, and the motor is driven when the door is moved in the closed direction to automatically close the door. In the semi-automatic drive mode, the control device monitors whether or not the moving speed of the door becomes lower than a predetermined value when the door is moving in the opening direction based on the output from the magnetic position sensor. However, when the moving speed of the door in the opening direction becomes lower than a predetermined value, the drive current may be supplied to the motor to move the door in the closing direction.
Further, in the semi-automatic drive mode, whether or not the moving speed of the door becomes lower than a predetermined value when the door is moving in the closing direction based on the output from the magnetic position sensor. When the door is restrained and the moving speed of the door in the closing direction becomes lower than the predetermined value, the supply of the drive current to the motor is stopped, the door is stopped, and the door is stopped. When the door is moved in the open or closed direction during, it may be configured to perform a drive stop operation mode in which the power supply to the motor is resumed and the door is moved in the closed direction.
Furthermore, in the semi-automatic drive mode, whether or not the moving speed of the door becomes lower than a predetermined value when the door is moving in the closing direction based on the output from the magnetic position sensor. When a binding force is applied to the door and the moving speed of the door in the closing direction becomes lower than a predetermined value, the current value of the drive current supplied to the motor is lowered to resist the binding force. When the motor is continuously driven with low torque and the door moves in the closing direction during low torque operation, the drive current supplied to the motor is returned to the original current value and the door is moved in the closing direction. It may be configured to execute a continuous drive mode. In this case, a fully open maintenance range that defines a predetermined distance from the fully open position of the door is set as a parameter in the control device, and when the door is in the fully open maintenance range while the door is being moved in the closing direction in the continuous drive mode. , When the moving speed of the door becomes lower than the predetermined value, the supply of the drive current to the motor is stopped to stop the door, and when the door is moved in the open direction or the closed direction while the door is stopped, the motor It is also possible to reactivate the power supply to the door and move the door in the closing direction.
Preferably, the control device can be configured to be switchable between the drive stop operation mode and the continuous drive mode.
Further, a fully open side deceleration start point at a position opened by a predetermined distance from the fully open position of the door is set as a parameter in the control device, and the control device is used while the door is manually moved in the open direction. The position and speed of the door are monitored based on the output of the magnetic position sensor, and if the maximum speed exceeds a predetermined speed when the door reaches the fully open side deceleration start point, a drive current is supplied to the motor. It may be configured to perform deceleration control to slow down the speed of the door.
Furthermore, the control device may be configured to be capable of inputting a fire alarm signal, and when the fire alarm signal is input, an emergency closed drive that operates a motor to drive the door in the closing direction in preference to other operations. It may be configured to execute the mode. In this case, the control device may be configured so that the delay time can be input as a parameter, and in the emergency closing drive mode, after the fire alarm signal is input and after the delay time elapses, the door is driven in the closing direction. Can be configured to start.

In the electric sliding door device according to the present invention, a belt is hung between a drive pulley and a driven pulley arranged apart from each other, a door is suspended and supported on the belt, and the drive pulley is motorized. A magnetic position sensor that is configured to drive a door by driving with a motor and generates a pulse according to the rotation of the motor, and a control device that controls the operation of the motor based on the output from the magnetic position sensor. When the control device moves the door in the opening direction based on the output from the magnetic position sensor, the motor is stopped so that the door can be opened manually. , When moving the door in the closing direction, it is configured to drive the motor and execute the semi-automatic drive mode that automatically closes the door, so the braking force of the pneumatic or hydraulic damper is adjusted according to the season. It is not necessary to carry out the operation, the door can be closed reliably without leaving the door closed without increasing the opening force required for manual opening, and the door is prevented from colliding violently with the door stop when the door is closed. Will be possible. For example, sliding doors installed in hospital rooms such as hospitals often use sliding doors that open and close manually in order to detect people and prevent them from opening automatically. There is a possibility of forgetting to close the door, but according to the electric sliding door device according to the present invention, there is no possibility of forgetting to close the door, and the restoring force of the coil spring is applied as in the conventional sliding door device. It is configured to automatically close the door using a motor instead of using it to automatically close the door, so it does not require an pneumatic or hydraulic damper and naturally depends on the season. It also eliminates the need to adjust the braking force of pneumatic or hydraulic dampers.
Further, the control device is set to execute a semi-automatic drive mode in which the motor is stopped when the door is moved in the open direction and the motor is driven when the door is moved in the closed direction to automatically close the door. In the semi-automatic drive mode, the control device determines whether or not the moving speed of the door becomes lower than a predetermined value when the door is moving in the opening direction based on the output from the magnetic position sensor. When the speed of movement of the door in the opening direction becomes lower than a predetermined value, the user manually operates the door by supplying a drive current to the motor to move the door in the closing direction. It is possible to close the door automatically just by releasing the door after opening it.
Further, in the semi-automatic drive mode, whether or not the moving speed of the door becomes lower than a predetermined value when the door is moved in the closing direction based on the output from the magnetic position sensor. When the door is restrained and the moving speed of the door in the closing direction becomes lower than the predetermined value, the supply of the drive current to the motor is stopped, the door is stopped, and the door is stopped. When the door is moved in the open or closed direction, the door is kept open by resuming the power supply to the motor and executing the drive stop operation mode in which the door is moved in the closed direction. If the user wants to do so, the user can temporarily stop the door moving in the closing direction with his / her hand or foot, and then keep the door open even if he / she releases his / her hand or foot. In the configuration that automatically closes the door by using the restoring force of the coil spring like the conventional sliding door device, when the user wants to keep the door open, the user keeps the door stopped by hand or foot. The burden on the user is heavy because it must be done, and in particular, the burden on the user is that the door must be stopped with a force that resists the restoring force of the coil spring while the user keeps the door stopped. However, such a problem does not occur in the electric sliding door device according to the present invention. In addition, when the user wants to close the door that is kept open, the user can start the door closing operation by the motor by moving the door slightly in the opening direction or the closing direction, so that the burden of closing the door is burdensome. It also reduces the chance of forgetting to close the door.
Further, in the semi-automatic drive mode, whether or not the moving speed of the door becomes lower than a predetermined value when the door is moved in the closing direction based on the output from the magnetic position sensor. When a binding force is applied to the door and the moving speed of the door in the closing direction becomes lower than a predetermined value, the current value of the drive current supplied to the motor is lowered to counter the binding force. If the door does not move and the motor is continuously driven with low torque and the door moves in the closed direction during low torque operation, the drive current supplied to the motor is returned to the original current value and the door is continuously moved in the closed direction. By configuring to execute the drive mode, if the user wants to keep the door open, the user can keep the door open simply by stopping the door moving in the closing direction with his hand or foot. When the user removes his / her hand or foot from the door and opens the door, the door closes automatically, so he / she never forgets to close the door. Also, while the user stops and restrains the door with his hands or feet, the current value of the drive current supplied to the motor is reduced, so the door should be closed automatically using the restoring force of the coil spring. Compared to the conventional sliding door device configured in, the door can be stopped with a light force.
Furthermore, when the fully open maintenance range that defines a predetermined distance from the fully open position of the door is set as a parameter in the control device and the door is moving in the closing direction in the continuous drive mode, the door is in the fully open maintenance range. , When the moving speed of the door becomes lower than the predetermined value, the supply of the drive current to the motor is stopped to stop the door, and when the door is moved in the open direction or the closed direction while the door is stopped, the motor By configuring the control device so as to restart the power supply to the door and move the door in the closing direction, the user can temporarily move the door moving in the closing direction in the fully open maintenance range, such as a hand or a foot. After that, the door can be kept open even if the hands and feet are released.
Further, by configuring the control device so that the drive stop operation mode and the continuous drive mode can be switched, the door can be driven in the optimum semi-automatic drive mode according to the usage environment.
Furthermore, a fully open side deceleration start point located at a predetermined distance from the fully open position of the door is set as a parameter in the control device, and the control device is used while the door is manually moved in the open direction. , Monitors the position and speed of the door based on the output of the magnetic position sensor, and supplies drive current to the motor if the door exceeds a predetermined maximum speed when it reaches the fully open side deceleration start point. By configuring it to perform deceleration control that slows down the speed of the door, when the user manually opens the door, the speed of opening the door is too fast and the door collides violently with the door contact on the fully open side, which is unpleasant. No collision noise is generated, and no damage or damage is caused to the door or door stop.
In addition, the control device is configured to be capable of inputting a fire alarm signal, and when the fire alarm signal is input, an emergency closed drive mode is provided in which the motor is operated so as to drive the door in the closing direction in preference to other operations. By configuring it to execute, it is possible to automatically close the door in the event of an emergency such as a fire, regardless of the operating state of the semi-automatic drive mode.
Further, the control device is configured so that the delay time can be input as a parameter, and in the emergency closing drive mode, after the fire alarm signal is input and the delay time elapses, the driving in the closing direction of the door is started. By configuring in this way, it is possible to secure a time for a person in the room to leave the room in an emergency such as a fire, and then it is possible to automatically close the door.

It is a figure explaining the whole structure of the electric sliding door device which concerns on this invention. It is an operation flowchart of the drive stop operation mode which is one of the semi-automatic drive modes in the electric sliding door apparatus shown in FIG. It is an operation flowchart of the continuous drive mode which is one of the semi-automatic drive modes in the electric sliding door apparatus shown in FIG.

Hereinafter, embodiments of the electric sliding door device according to the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a diagram illustrating an overall configuration of an electric sliding door device according to the present invention, in which reference numeral 1 is for driving a door, reference numeral 1a is for a handle provided on the door 1, and reference numeral 2 is for opening and closing the door 1. Reference numeral 3 indicates a control device (door controller) for controlling the operation of the drive mechanism 2.
The drive mechanism 2 includes a motor 4 and a magnetic position sensor 5 that generates a pulse signal proportional to the amount of rotation of the motor 4, and the output of the motor 4 is transmitted to a drive toothed pulley 6 via a deceleration mechanism (not shown). It is configured to drive the toothed belt 8 stretched between the driving toothed pulley 6 and the driven toothed pulley 7. The door 1 is attached to the toothed belt 8 via a connector (unsigned) having a well-known structure, whereby the door 1 can be driven by the drive mechanism 2.
In FIG. 1, reference numeral 9 indicates a fully closed side door stopper, reference numeral 10 indicates a fully open side door stopper, and the door 1 opens and closes between the fully closed side door stopper 9 and the fully open side door stopper 10. It works.
The motor 4 is, for example, a three-phase brushless motor, and the magnetic position sensor 5 is three Hall ICs that detect the magnetic poles N and S of the rotor of the motor and generate a pulse proportional to the amount of rotation of the motor. obtain. The configuration of the motor 4 and the magnetic position sensor 5 is not limited to this embodiment, and any motor and sensor can be used.
In the electric sliding door device configured as described above, the control device 3 drives the door 1 in the semi-automatic drive mode based on the output of the magnetic position sensor 5. Here, the semi-automatic drive mode refers to a drive mode in which the door 1 is manually driven when the door 1 is opened, and is automatically driven via the drive mechanism 2 when the door 1 is closed.

The control device 3 includes a pulse synthesis unit 11, a control calculation unit 12, an open / close drive control unit 13, drive condition selection and setting means 14 to 16, and signal input units 17 to 19.
Here, the pulse synthesis unit 11, the control calculation unit 12, and the open / close drive control unit 13 may be functional blocks realized by a program operating on the microcomputer provided in the control device 3, but a circuit element or the like is used. It can also be realized by a dedicated control circuit configured in the above.

The pulse synthesis unit 11 described above inputs pulse signals output from the three Hall ICs constituting the magnetic position sensor 5, respectively, and inputs the position velocity pulse signal S1 and the three pulse signals obtained by synthesizing the three pulse signals. The direction determination signal S2 determined by the order is generated and output to the control calculation unit 12.

The drive condition selection and setting means 14 to 16 include a semi-automatic drive mode selection means 14, a passage extension timer setting means 15, and a maximum motor current setting means 16 during open / close operation.
The semi-automatic drive mode selection means 14 has two types in which the behavior of the door 1 is different after the movement of the door 1 in the closing direction is forcibly stopped while the door 1 is being moved in the closing direction by the drive device 2. It is a means for selecting a semi-automatic drive mode, and may be configured by, for example, a DIP switch which is a well-known switch element. The two types of semi-automatic drive modes will be described later.
The passage extension timer setting means 15 is a timer for setting a time for starting automatic closing of the door 1 in the emergency closing drive mode in which the door 1 in the open state is automatically closed in an emergency such as a fire. The emergency closed drive mode will be described later.
The maximum motor current setting means 16 during the opening / closing operation is a means for setting the maximum value of the current supplied to the motor 4 for the opening / closing operation of the door 1.
The signals of the drive condition selection and setting means 14 to 16 described above are input to the control calculation unit 12.

The signal input units 17 to 19 include an automatic fully open signal input unit 17 for inputting a signal from the fully closed signal transmitting means 20, an automatic fully open signal input unit 18 for inputting a signal from the fully open signal transmitting means 21, and a stop signal. It is composed of a stop signal input unit 19 for inputting a signal from the transmission means 22, and the signals input in these signal input units 17 to 19 are input to the control calculation unit 12.

The control calculation unit 12 includes a position / speed / direction monitoring unit 12a, a door restraint time monitoring unit 12b, a speed / rotation direction and motor current value determination unit 12c, and a storage unit 12d, and is a position speed input from the pulse synthesis unit 11. Based on the pulse signal S1 and the direction determination signal S2, the parameters set in the semi-automatic drive mode selection means 14, the passage extension timer setting means 15, and the maximum motor current setting means 16 during open / close operation are stored in advance in the storage unit 12d. According to the operation mode program, the speed and rotation direction of the motor 4 and the current value supplied to the motor 4 are determined, and the speed command (speed command value) and the rotation direction command (rotation direction command value) are sent to the open / close drive control unit 13. And the motor current command (motor current command value) is output, and the open / close drive control unit 13 manually opens the door 1 and uses the drive mechanism 2 provided with the motor 4 during normal use in accordance with these commands. The motor 4 is configured to drive the door 1 so as to automatically close the door 1 electrically. Further, the control calculation unit 12 is configured to input a deceleration start point (deceleration start position) from a deceleration start point setting means (not shown). The deceleration start point can be set at a position at a predetermined interval from the fully open position and the fully closed position of the door 1, and deceleration control for decelerating the moving speed of the door from the deceleration start point to the fully closed position or the fully open position is executed. Can be used to

In the electric sliding door device of the present embodiment configured as described above, in normal use, the user manually opens the door 1, opens the door 1, and then uses the drive mechanism 2 provided with the motor 4. The drive mechanism 2 is configured to be controlled by the control device 3 so as to operate in the semi-automatic drive mode in which 1 is automatically closed. As described above, the semi-automatic drive mode has two types of drive modes. The drive mode is preselected by the semi-automatic drive mode selection means 14.
The two types of drive modes are a drive stop operation mode and a continuous drive mode.
In the drive stop operation mode, if the operation of the door 1 is forcibly stopped while the door 1 is automatically closed by using the drive mechanism 2, the operation of the door 1 is stopped, and then the door 1 is stopped. This is a mode in which the door 1 is operated in the closed direction again by using the drive mechanism 2 when 1 is manually moved in the open direction or the closed direction.
In the continuous drive mode, when the operation of the door 1 is forcibly stopped while the door 1 is automatically closed by using the drive mechanism 2, the operation torque of the door 1 is lowered to reduce the torque of the door. This is a mode in which the operating torque of the door 1 is returned to the normal operating torque when the door 1 is continuously operated and the door 1 is released and starts to move again.
In addition to the semi-automatic drive mode described above, the electric sliding door device has an emergency closed drive mode that automatically closes the door 1 in an emergency, an automatic fully open drive mode that forcibly opens the door 1, and a forced stop of the door 1. Can be operated in door stop mode.

The operation of the electric sliding door device according to this embodiment will be described below.
First, when the power is turned on with the door 1 in an arbitrary position, as an initial setting operation, the control calculation unit 12 causes the pulse synthesis unit 11 to travel at low speeds to the fully open position and the fully closed position, respectively. The pulse input from the magnetic position sensor 5 is counted, and this counted value is stored in the storage unit 12d as a reference door stroke value. As a result, the control calculation unit 12 compares and calculates the reference stroke value that is the reference of the door 1 and the actually counted number of pulses, and based on the count value that counts the pulses from the magnetic position sensor 7. , Detects the current position of the door 1. Further, the control calculation unit 12 compares and calculates the reference door stroke value and the actually measured pulse count value, so that the brake position, the fully open position and the fully closed position, and the deceleration start position during the operation of the door 1 ( The deceleration start point) can be detected based on the pulse count value.
After the above-mentioned initial setting operation, the control device 3 stops the supply of the drive current to the motor 4 in a state where the door 1 is stopped at the fully closed position, and causes the door 1 to stand by at the fully closed position.
This allows the user to manually open the door 1. When the user opens the door 1, the control device 3 drives the door 1 in a semi-automatic drive mode in which the door 1 is automatically closed. As described above, this semi-automatic drive mode has two types of drive modes (drive stop operation mode and continuous drive mode), and the drive mode is selected via the semi-automatic drive mode selection means 14.

Next, the operation of the two types of semi-automatic drive modes in the electric sliding door device according to the present embodiment will be described with reference to the flowcharts of FIGS. 2 and 3.
FIG. 2 is a flowchart for explaining a drive stop operation mode, which is one of the semi-automatic drive modes.
(1) Drive stop operation mode:
In the control device 3, with the door 1 fully closed and stopped, the current supply to the motor 4 is stopped and made to stand by (step 1), and the door 1 is manually operated in the position / speed / direction monitoring unit 12a. It is monitored whether or not it is moved in the fully open direction (step 2).
When the door 1 is moved in the fully open direction, the control device 3 uses the position velocity pulse signal S1 and the direction determination signal S2 input from the pulse synthesizer 11 based on the detection pulse from the magnetic position sensor 5 to position the door 1. -The speed / direction monitoring unit 12a monitors whether the moving speed of the door 1 is lower than the predetermined default value (minimum speed) (step 3), and the moving speed of the door is lower than the predetermined default value. Then, it is determined that the door has stopped, and a drive current capable of moving the door at a predetermined speed and torque in the rotation direction in the closing direction is supplied to the motor 4 to move the door 1 in the closing direction (step 4).
While the door 1 is being driven in the closed direction, the control device 3 monitors whether or not the moving speed of the door 1 becomes lower than a predetermined default value (minimum speed) in the position / speed / direction monitoring unit 12a ((minimum speed)). Step 5).
When the moving speed of the door 1 reaches the deceleration start point on the fully closed side at a speed higher than the predetermined value (minimum speed) (step 6), the control device 3 decelerates the moving speed of the door (step 7). It monitors whether the door 1 reaches the fully closed position (step 8), and when the door 1 reaches the fully closed position, the drive current supply to the motor 4 is stopped and the door 1 is stopped (step 9). , Return to the fully closed stop standby state (step 1).
When the moving speed of the door 1 becomes lower than the predetermined default value (minimum speed) in step 5, the control device 3 causes the door restraint time monitoring unit 12b to set the moving speed of the door 1 to the predetermined default value (predetermined value). It monitors whether the state lower than the minimum speed exceeds the predetermined restraint time (step 10), and if it exceeds the predetermined restraint time, it is determined that the door 1 is forcibly stopped by the user. Then, the supply of the drive current to the motor 4 is stopped to stop the door 1 (step 11).
After the door 1 is stopped, the control device 3 monitors whether the door 1 has moved in the open direction or the closed direction in the position / speed / direction monitoring unit 12a (step 12), and the door 1 is opened or closed. When the door 1 moves in the direction, the drive current is started to be supplied to the motor 4 again by using it as a trigger to drive the door 1 in the fully closed position direction (step 4).
According to the drive stop operation mode described above, the user can manually open the door 1, and after opening the door 1, the motor 4 can automatically close the door 1. Further, if the user stops the door 1 with his / her hand, foot, or the like while the door 1 is closed, the door 1 stops at that position. Therefore, for example, when the user wants to keep the door 1 open for the reason of bringing in medical equipment in a hospital or the like, the user simply stops the door 1 with his / her hand or foot while the door 1 is automatically closed. Allows the door 1 to be kept open. When closing the door 1 from the open state of the door 1, the user only needs to move the door 1 slightly in the opening direction or the closing direction, which triggers the door 1 to close automatically.

Next, the continuous drive mode, which is one of the semi-automatic drive modes, will be described with reference to FIG.
(2) Continuous drive mode:
In the control device 3, with the door 1 fully closed and stopped, the current supply to the motor 4 is stopped and made to stand by (step 1), and the door 1 is manually operated in the position / speed / direction monitoring unit 12a. It is monitored whether or not it is moved in the fully open direction (step 2).
When the door 1 is moved in the fully open direction, the control device 3 uses the position velocity pulse signal S1 and the direction determination signal S2 input from the pulse synthesizer 11 based on the detection pulse from the magnetic position sensor 5 to position the door 1. -The speed / direction monitoring unit 12a monitors whether the moving speed of the door 1 is lower than the predetermined default value (minimum speed) (step 3), and the moving speed of the door is lower than the predetermined default value. Then, it is determined that the door has stopped, and a drive current capable of moving the door at a predetermined speed and torque in the rotation direction in the closing direction is supplied to the motor 4 to move the door 1 in the closing direction (step 4).
While the door 1 is being driven in the closed direction, the control device 3 monitors whether or not the moving speed of the door 1 becomes lower than a predetermined default value (minimum speed) in the position / speed / direction monitoring unit 12a ((minimum speed)). Step 5).
When the moving speed of the door 1 reaches the deceleration start point on the fully closed side at a speed higher than the predetermined value (minimum speed) (step 6), the control device 3 decelerates the moving speed of the door (step 7). It monitors whether the door 1 reaches the fully closed position (step 8), and when the door 1 reaches the fully closed position, the drive current supply to the motor 4 is stopped and the door 1 is stopped (step 9). , Return to the fully closed stop standby state (step 1).
When the moving speed of the door 1 becomes lower than the predetermined default value (minimum speed) in step 5, the control device 3 causes the door restraint time monitoring unit 12b to set the moving speed of the door 1 to the predetermined default value (predetermined value). It is monitored whether the state lower than the minimum speed exceeds the predetermined restraint time (step 10), and if the predetermined restraint time is exceeded, the door 1 is forcibly stopped by the user. Then, the position / speed / direction monitoring unit 12a determines whether or not the door 1 is within the fully open maintenance range (step 11). Here, the fully open maintenance range can be set to a predetermined distance from the fully open position of the door, and in this embodiment, the fully open maintenance range is set between the fully open position of the door and the deceleration start position on the fully open side. ..
When the door 1 is not in the fully open maintenance range, the control device 3 reduces the drive current supplied to the motor 4 to a value lower than the normal current value (specifically, resists the binding force of the door by the user). Then, the value is lowered so that the door does not move in the closing direction), and the door is continuously driven in the closing direction with a low current value (step 12).
While the door 1 is continuously driven with a low current value, the control device 3 monitors whether the door 1 is moving in the open direction or the closed direction in the position / speed / direction monitoring unit 12a (step 13). ), When the door 1 moves in the open direction or the closed direction, it is determined that the restraint of the door by the user has been released, the drive current to the motor 4 is increased to the normal current value again, and the door 1 is moved to the normal value. It is driven in the closed direction by the current value (step 4).
When the control device 3 determines in step 11 that the door 1 is in the fully open maintenance range, the control device 3 stops the supply of the drive current to the motor 4 and stops the door 1 (step 14). After the door 1 is stopped, the control device 3 monitors whether the door 1 is moving in the open direction or the closed direction in the position / speed / direction monitoring unit 12a (step 13), and the door 1 is in the open direction or the open direction or. When the door 1 is moved in the closed direction, the user determines that the door 1 has been moved in the open direction or the closed direction, supplies the drive current of the normal current value to the motor 4 again, and causes the door 1 to have the normal current value. It is driven in the closed direction (step 4).
According to the continuous operation mode described above, the user can manually open the door 1, and after opening the door 1, the motor 4 can automatically close the door 1. Further, if the user stops the door 1 with his / her hand, foot, or the like while the door 1 is closed, the door 1 is stopped at that position due to the binding force of the user. Since the motor 4 is continuously driven at a low current value even while the door 1 is stopped, when the user releases the door 1, the motor 4 slowly starts the door 1 to move in the closing direction, which causes the door 1 to move slowly in the closing direction. As a trigger, the drive current to the motor 4 is increased to the normal current value, returns to the normal speed, moves in the closing direction, and automatically closes. As a result, if you want to keep the door 1 temporarily open, the door 1 will stop while the user stops the door 1 with your hands, feet, etc., and the restraint by the user will be released. When the door 1 is closed, the door 1 is automatically closed, so that the user does not need to move the door 1 slightly in the opening direction or the closing direction in order to close the door 1 as in the drive stop operation mode. The burden is further reduced. Further, for example, when the door 1 is to be kept open for a certain period of time due to the delivery of medical equipment in a hospital or the like, the user is automatically closing the door 1 while the door 1 is in the fully open maintenance range. It is possible to keep the door 1 open simply by stopping the door 1 with a hand, a foot, or the like. When closing the door 1 from the open state of the door 1, the user only needs to move the door 1 slightly in the opening direction or the closing direction, which triggers the door 1 to close automatically.

The electric sliding door device according to the present embodiment can be driven in an emergency closed drive mode in addition to the semi-automatic drive mode described above.
The emergency closed drive mode will be described below.
The electric sliding door device according to the present embodiment is configured so that a fire alarm signal from a fire alarm can be input to the control device 3 from the fully closed signal transmitting means 20.
When the fire alarm signal is input from the fully closed signal transmitting means 20 to the control calculation unit 12 via the automatic fully closed signal input unit 17, the control calculation unit 12 gives priority to other operations to the open / close drive control unit 13. A command to drive the door 1 in the closing direction is output, and the waiting door 1 is automatically closed at the fully open position or an arbitrary intermediate position.
Here, the delay time (for example, 0 to 30 seconds) is input as a parameter to the control calculation unit 12 by the traffic extension timer setting means 15. This delay time is the time to start the automatic closing of the open door 1 after the fire alarm signal is input, and the control calculation unit 12 automatically closes the door 1 in the open state after the delay time elapses after the fire alarm signal is input. Perform closure. Since the fire alarm signal is transmitted at the same time as the sound of the fire alarm, the passage time for a person in the room to leave the room can be secured by providing the delay time.
Next, the automatic fully open drive mode will be described.
The electric sliding door device according to this embodiment has an automatic fully open drive mode. When the fully open signal is input from the fully open signal transmitting means 21 via the automatic fully open signal input unit 18, the control device 3 controls the motor 4 to drive the door 1 to the fully open position in preference to other operations. Executes the automatic fully open drive mode. In the automatic fully open drive mode, the control device 3 keeps the door 1 in the fully open position until the door 1 is manually moved in the closed direction or a fire alarm signal is input when the door 1 reaches the fully open position. Will be done.
Finally, the door stop mode will be described.
The electric sliding door device according to this embodiment has a door stop mode. When the stop signal is input from the stop signal transmitting means 22 via the stop signal input unit 19, the control device 3 stops the supply of the drive current to the motor 4 and closes the door 1 in preference to other operations. Stop it. This makes it possible to stop the door 1 at an arbitrary position. In the door stop mode, the control device 3 keeps the door 1 in the stopped state until the door 1 is manually moved in the open or closed direction or a fire alarm signal is input.

As described above, according to the electric sliding door device according to the present embodiment, the door 1 can be opened manually when the door 1 is opened, and the door 1 is automatically closed by the motor 4 when the door 1 is closed. Therefore, unlike the pneumatic cylinder and the hydraulic cylinder, it is not necessary to make adjustments depending on the season, and the door 1 can always be closed with the optimum operation.
Further, by configuring the door 1 to be closed by using the motor 4, it is possible to keep the door 1 open or automatically close the door 1 in an emergency, if necessary.
Further, by configuring the door 1 to be driven by the motor 4, the door 1 can be opened by the motor 4 instead of manually, if necessary.

In the above embodiment, in the semi-automatic drive mode, the power supply to the motor 4 is stopped while the door 1 is moving in the opening direction, but for example, while the door 1 is moving in the opening direction. In addition, the position / speed / direction monitoring unit 12a monitors the position and speed of the door 1, and when the door 1 reaches the deceleration start point on the fully open side, the predetermined speed (maximum speed) is exceeded. It is also possible to supply the drive current to the motor 4 to reduce the speed of the door 1.

1 Door 2 Drive mechanism 3 Control device 4 Motor 5 Magnetic position sensor 6 Drive toothed pulley 7 Driven toothed pulley 8 Toothed belt 9 Fully closed side door stopper 10 Fully open side door stopper

11 Pulse synthesis unit 12 Control calculation unit 12a Position / speed / direction monitoring unit 12b Door restraint time monitoring unit 12c Speed / rotation direction and motor current value determination unit 12d Storage unit 13 Open / close drive control unit 14 Semi-automatic drive mode selection means 15 Traffic extension Timer setting means 16 Maximum motor current setting means during open / close operation 17 Automatic fully open signal input unit 18 Automatic fully open signal input unit 19 Stop signal input unit 20 Fully closed signal transmission means 21 Fully open signal transmission means 22 Stop signal transmission means

Claims (8)

A belt is hung between a drive pulley and a driven pulley arranged apart from each other, the door is suspended and supported by the belt, and the door is driven by driving the drive pulley with a motor. Consists of
An electric sliding door device including a magnetic position sensor that generates a pulse according to the rotation of the motor and a control device that controls the operation of the motor based on the output from the magnetic position sensor.
The control device is based on the output from the magnetic position sensor.
When moving the door in the opening direction, the motor is stopped so that the door can be opened manually, and when the door is moved in the closing direction, the motor is driven to automatically close the door. In the electric sliding door device configured as
The control device executes a semi-automatic drive mode in which the motor is stopped when the door is moved in the open direction, and the motor is driven when the door is moved in the closed direction to automatically close the door.
In the semi-automatic drive mode, the control device monitors whether or not the moving speed of the door becomes lower than a predetermined value when the door is moving in the opening direction based on the output from the magnetic position sensor. However, when the moving speed of the door in the opening direction becomes lower than the predetermined value, the drive current is supplied to the motor to move the door in the closing direction.
An electric sliding door device that features this. In the semi-automatic drive mode, the control device monitors whether or not the moving speed of the door becomes lower than a predetermined value when the door is moving in the closing direction based on the output from the magnetic position sensor. However, when a binding force is applied to the door and the moving speed of the door in the closing direction becomes lower than a predetermined value, the supply of drive current to the motor is stopped to stop the door, and the door is stopped. The electric sliding door device according to claim 1 , wherein when the door is moved in the open direction or the closed direction, the power supply to the motor is restarted and the drive stop operation mode for moving the door in the closed direction is executed. .. In the semi-automatic drive mode, the control device monitors whether or not the moving speed of the door becomes lower than a predetermined value when the door is moving in the closing direction based on the output from the magnetic position sensor. However, when a binding force is applied to the door and the moving speed of the door in the closing direction becomes lower than a predetermined value, the current value of the drive current supplied to the motor is lowered, and the door moves against the binding force. Continuous drive mode in which the motor is continuously driven with low torque that does not move, and when the door moves in the closed direction during low torque operation, the drive current supplied to the motor is returned to the original current value and the door is moved in the closed direction. The electric sliding door device according to claim 1 or 2 , wherein the motor is performed. The control device has a fully open maintenance range as a parameter that defines a predetermined distance from the fully open position of the door.
While the door is moving in the closed direction in the continuous drive mode, when the door is in the fully open maintenance range and the moving speed of the door becomes lower than a predetermined value, the supply of the drive current to the motor is stopped and the door is stopped. The electric sliding door according to claim 3 , wherein when the door is moved in the open direction or the closed direction while the door is stopped, the power supply to the motor is restarted and the door is moved in the closed direction. Device. The electric sliding door device according to claim 3 or 4 , wherein the control device is configured so that the drive stop operation mode and the continuous drive mode can be switched. The control device has, as a parameter, a fully open side deceleration start point at a position separated from the fully open position of the door by a predetermined distance.
The control device monitors the position and speed of the door based on the output of the magnetic position sensor while the door is manually moved in the open direction, and is predetermined when the door reaches the fully open side deceleration start point. The electric sliding door device according to any one of claims 1 to 5 , wherein when the maximum speed is exceeded, a deceleration control for supplying a drive current to the motor to reduce the speed of the door is executed. .. The control device is configured to be capable of inputting a fire alarm signal, and when the fire alarm signal is input, executes an emergency closed drive mode in which the motor is operated to drive the door in the closing direction in preference to other operations. The electric sliding door device according to any one of claims 1 to 6 , wherein the electric sliding door device is configured as follows. The control device is configured to be able to input a delay time as a parameter, and in the emergency closing drive mode, after the fire alarm signal is input and after the delay time elapses, the driving in the closing direction of the door is started. The electric sliding door device according to claim 7 , wherein the electric sliding door device is configured.

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