JP7483574B2 - Automatic door opening and closing device - Google Patents

Description

The present invention relates to an automatic door opening and closing device.

An electric door closer that automatically opens and closes a door is known (see, for example, Patent Document 1).
When the door is manually pushed or the start switch is operated in a standby mode in which the door is in a fully closed position, the electric door closer transitions from the standby mode to a first door opening mode, which is an automatic opening/closing mode. In the first door opening mode, the door moves through a first opening section at a first speed, and when the door reaches a second opening section, the electric door closer transitions to a second door opening mode. In the second door opening mode, the door moves through a second opening section at a second speed slower than the first speed. The door opens to a set fully open position and stops.

JP 2019-190160 A

However, since the electric door closer opens the door automatically, there is a risk that the door may collide with a user or an object in front of the door. The electric door closer transitions to a stop mode when it collides with an obstacle, but since the door stops after colliding with the obstacle, there is a risk that luggage may be damaged.
In addition, when the door starts to open, the electric door closer moves the door to the set fully open position unless the door collides with an obstacle or is intentionally stopped by a person. For this reason, for example, when opening and closing a front door with the electric door closer, the inside of the front door is exposed every time the front door is opened, making it difficult to block the view from outside.

The objective of the present invention is to provide an automatic door opening and closing device that can reduce the possibility of the door colliding with a user or the like when it is automatically opened, and can minimize the door opening angle to limit visibility from outside.

The automatic opening and closing device of the present invention comprises a drive device that causes the door to open, and a control device that controls the drive device. When the control device detects an instruction to open the door in the fully closed position, it operates the drive device to move the door from the fully closed position to a first opening angle position that is set between the fully closed position and the fully open position of the door and pauses there, when it detects that the door stopped at the first opening angle position has been moved in the opening direction by manual operation, it operates the drive device to move the door in the opening direction in conjunction with the manual operation, and when it detects that the movement of the door in the opening direction by manual operation has been released, it stops the movement of the door.

The automatic opening and closing device of the present invention comprises a drive device that causes the door to open, and a control device that controls the drive device. When the control device detects an instruction to open the door in the fully closed position, it operates the drive device to move the door from the fully closed position to a first opening angle position that is set between the fully closed position and the fully open position of the door and pauses there, and when it detects that the door stopped at the first opening angle position has been moved in the opening direction by manual operation, it operates the drive device to move the door in the opening direction, and when it detects that the door has been stopped by manual operation, it stops the movement of the door.

The automatic door opening and closing device of the present invention can reduce the possibility of the door colliding with a user or the like when it is automatically opened, and can minimize the door opening angle, limiting visibility from outside.

1 is a schematic diagram showing a door to which an automatic opening and closing device according to a first embodiment of the present invention is attached. 1 is a block diagram showing a configuration of an automatic opening/closing device according to a first embodiment; 5A to 5C are schematic diagrams illustrating an opening operation of the first embodiment. 5A to 5C are schematic diagrams illustrating a closing operation of the first embodiment. 5 is a flowchart illustrating an opening operation according to the first embodiment. 5 is a flowchart illustrating a closing operation according to the first embodiment. 10 is a flowchart illustrating an opening operation according to a second embodiment.

[First embodiment]
Hereinafter, an automatic door opening/closing device 1 according to a first embodiment of the present invention will be described with reference to the drawings. As shown in Fig. 1, the automatic door opening/closing device 1 of this embodiment is a device for opening and closing a door 10. The door 10 is attached to an opening frame (not shown) of an entrance of a building via a hinge (not shown) so as to be capable of opening and closing.

As shown in FIG. 2 , the automatic opening/closing device 1 includes a drive device 2, a control device 3, and a setting device 4.
The control device 3 controls the drive device 2 to control the opening and closing operation of the door 10. The control device 3 of this embodiment is connected to the drive device 2, the setting device 4, the electric lock unit 5, the communication control unit 6, the sensor unit 7, and the receiving unit 8.

The drive device 2 is controlled by the control device 3 to drive the door 10 to open and close. The drive device 2 includes a main body 21 attached to the upper part of the interior surface of the door 10, an arm 22 having one end rotatably attached to the main body 21, a link 23 having one end rotatably connected to the other end of the arm 22, and a bracket 24 rotatably connected to the other end of the link 23. The bracket 24 is attached to the opening frame.
Although not shown, an electric motor and a drive shaft rotated by the electric motor are provided inside the main body 21. The drive shaft is disposed in the vertical direction, and its upper end protrudes from the upper surface of the main body 21. One end of an arm 22 is attached to the upper end of the drive shaft.

When the electric motor is driven by the door opening/closing control of the control device 3, the drive device 2 automatically drives the door 10 to open and close. In addition, when the door 10 is manually opened or closed, the drive device 2 can detect that the door has been opened or closed because the drive shaft of the electric motor rotates in conjunction with the movement of the arm 22, and outputs the door movement direction and movement speed to the control device 3 as a passive operation trigger signal in accordance with the rotation direction and rotation speed of the drive shaft.

The setting device 4 is composed of a touch panel with a touch operation detection sensor built into the monitor, and various functions are set by operating the touch panel. The setting values set by the setting device 4 are stored in the memory unit 31 of the control device 3.

The electric lock unit 5 locks and unlocks the door 10 in response to a locking/unlocking control signal from the control device 3. Furthermore, the electric lock unit 5 is configured to be able to notify the control device 3 of the locked/unlocked state of the electric lock and the open/closed state of the door 10.
The communication control unit 6 is a device capable of communicating with the wireless LAN in the house. Therefore, by using an app registered on the smartphone, the smartphone and the control device 3 can communicate with each other via the Internet, the wireless LAN in the house, and the communication control unit. Therefore, the opening/closing control and the locking/unlocking control of the door 10 can be performed from the smartphone app, and the control device 3 can notify the smartphone app of the opening/closing state and the locking/unlocking state of the door 10.

The sensor unit 7 is configured with a proximity sensor and a touch sensor. The sensor unit 7 is installed on the indoor wall next to the door 10, and detects when a user approaches the sensor unit 7 or touches the sensor unit 7, and transmits the detection signal to the control device 3 to lock and unlock the electric lock and automatically open and close the door 10.

The receiving unit 8 is configured to include a card reader, a remote control receiver, a short-range wireless device such as Bluetooth (registered trademark), etc. The receiving unit 8 is installed on the indoor wall surface next to the door 10, similar to the sensor unit 7. The receiving unit 8 receives key information from an IC card key, a remote control, or a smartphone capable of communicating with the short-range wireless device, and transmits the key information to the control device 3 to operate the locking and unlocking of the electric lock and the automatic opening and closing of the door 10.
In addition, the receiving unit 8 is also provided on the handle on the outside of the door 10, and key information can be transmitted from the outside of the door by bringing an IC card key close to the handle from the outside of the door, or by performing locking and unlocking operations using a remote control or smartphone app.

Next, the opening and closing operations of the door 10 according to this embodiment will be described.
First, as advance preparation, the first opening angle position, the first opening speed, the second opening angle position, the second opening speed, the fully open position, the third opening speed, the first closing angle position, the first closing speed, and the second closing speed can be set by operating the setting device 4. Note that these setting values may be initial settings stored in the storage unit 31 at the time of shipment from the factory, and may be changed by a user or the like by operating the setting device 4 as necessary.
FIG. 3 is a diagram showing the various opening angle positions set during the opening operation of the door 10, in which the fully closed position is indicated as A0, the first opening angle position as A1, the second opening angle position as A2, and the fully open position as A3.
The first opening angle position A1 is a position where the door 10 is temporarily stopped when it is automatically opened from the fully closed position A0. The first opening angle position A1 can be set by the rotation angle (first angle) of the door 10 from the fully closed position A0. Therefore, the first angle can be set by the user operating the setting device 4 to input the first angle. The first angle may be set, for example, in the range of about 15 degrees to 25 degrees, and may be an angle that ensures a space for the user to insert parts of the body, such as the legs, shoulders, and arms.
In this embodiment, an upper limit of the first angle is set, and the user cannot set an angle larger than this upper limit, for example, 25 degrees.
The first opening speed is a moving speed when the door 10 is automatically moved from the fully closed position A0 to the first opening angle position A1 by the drive unit 2. This first opening speed can be set by the user, but the upper limit is preset and is set to a low speed equal to or lower than a predetermined speed.

The second opening angle position A2 is a position indicating a range in which the drive unit 2 assists in moving the door 10 when the door 10 stopped at the first opening angle position A1 is moved manually. The second opening angle position A2 can be set by a rotation angle (second angle) of the door 10 from the fully closed position A0, and is, for example, 90 degrees.
The second opening speed is a moving speed when the door 10 is automatically moved from the first opening angular position A1 to the second opening angular position A2, as in a second embodiment described later.

The fully open position A3 is a stop position of the door 10 when it is fully open. The fully open position A3 can be set by the rotation angle of the door 10 from the fully closed position A0, and is, for example, 100 degrees. Note that the fully open position A3 only needs to be equal to or greater than the second opening angle position A2, and may be the same position as the second opening angle position A2.
The third opening speed is a moving speed when the door 10 is automatically moved from the second opening angle position A2 to the fully open position A3.

FIG. 4 is a diagram showing the closing angular positions set during the closing operation of the door 10, in which the door stop position is indicated as B0, the first closing angular position as B1, and the fully closed position as B2.
The door stop position B0 is a position where the door 10 is stopped during the opening operation of the door 10. The first closing angle position B1 may be the same as the first opening angle position A1 or may be a different position. In the initial setting, the first closing angle position B1 is the same as the first opening angle position A1, and is set separately when the first closing angle position B1 is set by the setting device 4.
The first closing speed is a moving speed when the door 10 is automatically moved by the drive unit 2 from the door stop position B0 to the first closing angle position B1.
The second closing speed is a moving speed when the door 10 is automatically moved from the first closing angle position B1 to the fully closed position B2 by the drive unit 2. The second closing speed can be set by the user, but the upper limit is preset and is set to a low speed equal to or lower than a predetermined speed.

[Opening operation control]
Next, the opening operation control of the door 10 by the control device 3 (step S10) will be described with reference to the flowchart of FIG.
When the door 10 is in a fully closed state, the control device 3 first determines whether or not there is an unlocking command (step S11). If the control device 3 determines NO in step S11, it waits until there is an unlocking command.
Unlocking can be instructed by holding an IC card key over the receiving unit 8, by pressing an unlock button on a remote control (portable device), or by pressing an unlock button on a smartphone app. Unlocking can also be instructed by bringing the body close to the sensor unit 7 or by touching it while holding the remote control or smartphone, i.e., while communicating with the receiving unit 8. For this reason, even if you return home with luggage in both hands, you can instruct unlocking by bringing a part of your body, such as your shoulder, close to the sensor unit 7 while holding the remote control or smartphone.

When the control device 3 detects that an unlocking command has been received and determines YES in step S11, it controls the electric lock unit 5 to unlock the door (step S12).
Then, the control device 3 controls the drive device 2 to open the door 10 to the first opening angle position A1 at the first opening speed (step S13). Since the first opening angle position A1 is set in advance and stored in the storage unit 31, the control device 3 knows the motor drive amount required to move the door 10 from the fully closed position B2 to the first opening angle position A1, and can move the door 10 to the first opening angle position A1 and stop it.

Next, the control device 3 determines whether the door 10 has been moved in the opening direction by manual operation (step S14). When the user places his/her hands on a handle or the like to open the door 10 stopped at the first opening angle position A1, the drive shaft of the electric motor rotates, and the control device 3 can detect that the door has been moved in the opening direction by manual operation. In addition, if the user has both hands full, the door 10 can also be opened by inserting a part of the body, such as a shoulder or leg, into the interior side of the door 10 stopped at the first opening angle position A1 and pushing the door 10 in the opening direction with that part of the body. In other words, manual operation means that the user uses their body to move the door 10.

When the control device 3 determines NO in step S14, it maintains the state in which the movement of the door 10 is stopped (step S15).
If the control device 3 determines YES in step S14, it performs follow-up assistance by controlling the drive device 2 to match the speed at which the user manually opens the door 10 (step S16). By performing follow-up assistance, the drive device 2 operates in conjunction with the speed at which the door 10 is opened, allowing the user to open the door 10 with less force.

The control device 3 determines whether the position of the door 10 is equal to or greater than the second opening angle position A2 (step S17). If the determination in step S17 is NO, the control device 3 returns to step S14 and continues the process.
Therefore, when the manual movement of the door 10 is stopped between the first opening angle position A1 and the second opening angle position A2, the control device 3 determines NO in step S14 and stops the movement of the door 10 in step S15. This allows the user to open the door 10 to an angle required for entering or exiting.
When the movement of the door 10 is stopped and the manual movement of the door 10 is resumed, a YES determination is made in step S14, and the user can manually open the door 10 while receiving the following assistance in step S16.

When the door 10 is opened in step S16 and reaches the second opening angle position A2, the control device 3 determines YES in step S17 and executes step S18. In step S18, the door 10 is automatically opened to the fully open position A3 at the third opening speed, and the opening operation is terminated while maintaining the fully open state.

[Closing Operation Control]
Next, the closing operation control of the door 10 by the control device 3 (step S20) will be described with reference to the flowchart of FIG.
When the door 10 is in a fully open state or when the door 10 is stopped between the first opening angle position A1 and the second opening angle position A2, the control device 3 determines whether or not there is an instruction to close the door 10 (step S21). If the determination in step S21 is NO, the control device 3 waits until there is an instruction to close the door 10.
The command to close the door 10 can be given by holding an IC card key over the receiving unit 8, by pressing a lock button on a remote control, or by pressing a lock button on a smartphone app. In addition, while holding the remote control or smartphone, i.e., while communicating with the receiving unit 8, the command to close the door 10 can also be given by bringing the body close to the sensor unit 7 or by performing a touch operation.
In addition, since a receiving unit 8 and a sensor unit 7 are also provided on the indoor side, the closing operation of the door 10 can be instructed from the indoor side when the resident returns home.

When the control device 3 detects that a command has been issued to close the door and judges YES in step S21, it controls the drive device 2 to automatically close the door 10 to the first closing angle position B1 at a first closing speed (step S22).
After the door 10 reaches the first closing angle position, the control device 3 automatically closes the door 10 to the fully closed position B2 at the second closing speed (step S23). Since the second closing speed is set to a low speed equal to or lower than a predetermined speed, the door 10 is closed to the fully closed position at the low speed.
When the door 10 is closed in the fully closed position, the control device 3 controls the electric lock unit 5 to automatically lock the door (step S24).

[Effects of the First Embodiment]
When an instruction to unlock the door 10 is received, the automatic opening/closing device 1 automatically executes the operations of unlocking and opening the door 10 in conjunction with each other, thereby improving convenience compared to a case in which the unlocking operation and the operation of opening the door 10 are performed separately.
In addition, when the door 10 is opening, the door 10 is temporarily stopped at the first opening angle position A1 by the control of the control device 3, so that it is possible to prevent a user or baggage from colliding with the automatically moving door 10.

Furthermore, since the first opening speed at which the door 10 moves to the first opening angle position A1 is set by the user, by setting the first opening speed to a low speed, the user can sense and respond to the movement of the door 10 when it begins to open, making it easier to prevent the user from colliding with the door 10. Also, since the user can set the first opening speed, it can be set to be easy to use for each user, improving convenience.

Since the door 10 temporarily stopped at the first opening angle position A1 can be moved in the opening direction by manual operation, the first opening angle position A1 does not need to be set to an angle large enough for a user to enter or exit, but can be set to a minimum angle that ensures a space for part of the body to enter in order to open the door 10, so that the door 10 can be set so that the door 10 will not collide with a user even if the user is standing in front of the door 10.
In addition, when the door 10 is temporarily stopped at the first opening angle position A1, the door 10 can be moved in the opening direction by inserting part of the user's body, such as a leg or shoulder, between the wall and the door 10 and pushing the door 10. Therefore, even if the user has luggage in both hands, the door 10 can be opened manually.

When the door 10 temporarily stopped at the first opening angle position A1 is moved in the opening direction by manual operation, the drive device 2 is operated in conjunction with the manual operation to move the door 10, so that the drive device 2 can assist the door 10 by following the manual movement of the door 10, and the door 10 can be moved with a light force.
When the movement of the door 10 in the opening direction by manual operation is released, the movement of the door 10 is stopped, so the door 10 can be stopped at any position. Therefore, the door 10 can be opened to an angle necessary for the user to enter or exit, and exposure of the interior space inside the door 10 can be minimized, so that it is also possible to limit views from outside.

When the door 10 moves to the second opening angle position A2, it is automatically moved to the fully open position A3, so there is no need to manually open the door 10 to the fully open position A3, and the door 10 can be easily fully opened. In addition, the second opening angle position A2 and the fully open position A3 can be set by the user, improving user convenience.

When closing the door 10, a command to close the door 10 can be issued from inside the room via the sensor unit 7 and the receiving unit 8, so the user can issue a command to close the door 10 from inside the room after confirming that there are no obstacles on the movement path of the door 10. This makes it possible to prevent the door 10 from colliding with the user or an obstacle when the door 10 is closing.
In addition, since there is no need to go outside the room and manually hold the handle of the door 10 in order to close the door 10, user convenience can be improved.
Furthermore, since the door 10 operates at a low speed when closing from the first closing angle position B1 to the fully closed position B2, it is possible to prevent fingers from getting pinched.
Furthermore, when the door 10 is closed in the fully closed position B2, it is automatically locked, improving convenience.
Since the user can set the first opening angle position A1 etc. using the setting device 4, it can be set to suit each user, improving usability.

[Second embodiment]
Next, a second embodiment of the present invention will be described with reference to the flowchart of Fig. 7. This embodiment differs from the first embodiment in the operation when the door 10 stopped at the first opening angle position A1 is manually opened during the opening operation, but other processing is the same as in the first embodiment, so the description will be simplified.
In the second embodiment, when the opening operation of step S30 is performed, the control device 3 determines whether or not there is an unlocking command, similar to step S11 of the first embodiment (step S31). If the control device 3 determines YES in step S31, it executes steps S32 and S33, which are the same processes as steps S12 and S13 of the first embodiment, and temporarily stops the door 10 at the first opening angle position A1.

Next, the control device 3 determines whether or not the door 10 has been manually moved in the opening direction (step S34), similarly to step S14 in the first embodiment.
Then, when the control device 3 judges YES in step S34, it automatically opens the door 10 to the second opening angle position A2 at the second opening speed (step S35). That is, in the first embodiment, the door 10 is moved by a follow-up assist linked to a manual operation, but in this embodiment, when the door 10 is moved slightly by a manual operation, the control device 3 starts a control to automatically open the door 10 to the second opening angle position A2, and thereafter, the door 10 automatically moves at the second opening speed even without a manual operation.

The control device 3 determines whether a manual operation to stop the door 10 has been performed while the door 10 is moving from the first opening angle position A1 to the second opening angle position A2 (step S36). If the control device 3 determines YES in step S36, it stops the movement of the door 10 (step S37). After that, if the door 10 is manually moved in the opening direction again, it determines YES in step S34, and the door 10 automatically opens at the second opening speed (step S35).

If the control device 3 judges NO in step S36, it judges whether the position of the door 10 is equal to or greater than the second opening angle position A2 (step S38), similar to step S18 in the first embodiment. If the position of the door 10 has not reached the second opening angle position A2, the control device 3 judges NO in step S38 and continues the process from step S35.
When the control device 3 determines YES in step S38, it automatically opens the door 10 to the fully open position A3 at the third opening speed (step S39), similarly to step S18 in the first embodiment.
The closing operation of the second embodiment is the same as that of the first embodiment, and therefore a description thereof will be omitted.

[Effects of the Second Embodiment]
The second embodiment can also achieve the same effects as the first embodiment.
Furthermore, when the door 10, which has been temporarily stopped at the first opening angle position A1, is moved in the opening direction by manual operation, the drive unit 2 is operated to automatically move the door 10 to the second opening angle position A2, so that the user does not have to manually move the door 10 to the second opening angle position A2 and the door 10 can be moved automatically.

[Modification]
The present invention is not limited to the configurations described in the above embodiments, and modifications within the scope of the present invention that can achieve the object of the present invention are included in the present invention.
The control device 3 may be configured to be able to switch between the opening operation of the first embodiment and the opening operation of the second embodiment, thereby allowing the user to select an operation method that is convenient for the user.
In the above embodiment, the second opening angular position A2 and the fully open position A3 are set separately, but the second opening angular position A2 may be set to coincide with the fully open position A3.

[Summary of the invention]
The automatic door opening and closing device of the present invention comprises a drive device which causes the door to open, and a control device which controls the drive device, and when the control device detects an instruction to open the door in a fully closed position, it operates the drive device to move the door from the fully closed position to a first opening angle position which is set between the fully closed position and the fully open position of the door and temporarily stops the door, when it detects that the door which has stopped at the first opening angle position has been moved in the opening direction by manual operation, it operates the drive device to move the door in the opening direction in conjunction with the manual operation, and when it detects that the movement of the door in the opening direction by manual operation has been released, it stops the movement of the door.
According to the present invention, the automatic opening and closing device temporarily stops the door at the first opening angle position under the control of the control device during the door opening operation, thereby preventing a user or luggage from colliding with the automatically moving door.
Furthermore, since the door that is temporarily stopped at the first opening angle position can be moved in the opening direction by manual operation, the first opening angle position does not need to be set to an angle large enough for a user to enter or exit, but can be set to the minimum angle that ensures space for part of the body to enter in order to open the door, so that the door can be set so that it will not collide with a user even if they are standing in front of it.
Furthermore, when the door is temporarily stopped at the first opening angle position, the user can push the door by placing a part of the user's body, such as a leg or shoulder, between the door and the wall in which the opening to be opened or closed by the door is provided, thereby moving the door in the opening direction. Therefore, the user can manually open the door even if he or she has luggage in both hands.
In addition, when the door that has been temporarily stopped at the first opening angle position is moved in the opening direction by manual operation, the drive device is operated in conjunction with the manual operation to move the door, so that the drive device can assist in following the manual movement of the door, and the door can be moved with a light force.
Furthermore, when the manual movement of the door in the opening direction is released, the door stops moving, allowing the door to open to only the angle required for the user to enter or exit, and exposure of the inside of the door is kept to a minimum, limiting views from outside.

The automatic door opening and closing device of the present invention comprises a drive device which causes the door to open, and a control device which controls the drive device, and when the control device detects an instruction to open the door in a fully closed position, it operates the drive device to move the door from the fully closed position to a first opening angle position which is set between the fully closed position and the fully open position of the door and pauses there, when it detects that the door stopped at the first opening angle position has been moved in the opening direction by manual operation, it operates the drive device to move the door in the opening direction, and when it detects that the door has been stopped by manual operation, it stops the movement of the door.
According to the present invention, the automatic opening and closing device temporarily stops the door at the first opening angle position under the control of the control device during the door opening operation, thereby preventing a user or luggage from colliding with the automatically moving door.
Furthermore, since the door that is temporarily stopped at the first opening angle position can be moved in the opening direction by manual operation, the first opening angle position does not need to be set to an angle large enough for a user to enter or exit, but can be set to the minimum angle that ensures space for part of the body to enter in order to open the door, so that the door can be set so that it will not collide with a user even if they are standing in front of it.
Furthermore, when the door is temporarily stopped at the first opening angle position, the user can push the door by placing a part of the user's body, such as a leg or shoulder, between the door and the wall in which the opening to be opened or closed by the door is provided, thereby moving the door in the opening direction. Therefore, the user can manually open the door even if he or she has luggage in both hands.
Furthermore, when the door that has been temporarily stopped at the first opening angle position is moved in the opening direction by manual operation, the drive device is activated to automatically move the door, so the door can be moved without the user having to move it.
Furthermore, when the door is stopped manually, its movement stops at that point, allowing the door to be opened only to the angle required for the user to enter or exit, and exposure to the inside of the door is kept to a minimum, limiting views from outside.

The automatic door opening and closing device of the present invention may further include a setting device for setting a first opening speed, and the control device may move the door at the first opening speed to the first opening angle position and temporarily stop the door.
Since the first opening speed is set and the door moves from the fully closed position to the first opening angle position at the first opening speed, by setting the first opening speed to a low speed, the user can sense the movement of the door when it starts to open and respond, and can prevent collision with the door. Also, since the user can set the first opening speed, it can be set to be easy to use for each user, improving convenience.

In the automatic door opening and closing device of the present invention, it is preferable that when the door moves in the opening direction from the first opening angle position to a second opening angle position set between the first opening angle position and the fully open position, the control device automatically moves the door to the fully open position.
When the door moves to the second opening angle position, it is automatically moved to the fully open position, so there is no need to manually operate the door to the fully open position, and the door can be easily fully opened.

1...automatic opening and closing device, 2...drive device, 3...control device, 4...setting device, 5...electric lock unit, 6...communication control unit, 7...sensor unit, 8...receiving unit, 10...door, 21...main body, 22...arm, 23...link, 24...bracket, 31...memory unit.

Claims (3)

A drive unit that causes the door to open;
A control device that controls the drive device,
The control device includes:
When detecting a command for an opening operation for the door in a fully closed position, the drive device is operated to move the door from the fully closed position to a first opening angle position that is set between the fully closed position and the fully open position of the door, and the door is temporarily stopped;
When it is detected that the door stopped at the first opening angle position has been moved in the opening direction by a manual operation, the drive device is operated to move the door in the opening direction in conjunction with the manual operation, and when it is detected that the movement of the door in the opening direction by the manual operation has been released, the movement of the door is stopped ;
When the door moves in an opening direction from the first opening angle position to a second opening angle position that is set between the first opening angle position and the fully open position, the door is automatically moved to the fully open position.
An automatic door opening and closing device. A drive unit that causes the door to open;
A control device that controls the drive device,
The control device includes:
When detecting a command for an opening operation for the door in a fully closed position, the drive device is operated to move the door from the fully closed position to a first opening angle position that is set between the fully closed position and the fully open position of the door, and the door is temporarily stopped;
When it is detected that the door stopped at the first opening angle position has been moved in the opening direction by a manual operation, the drive device is operated to move the door in the opening direction, and when it is detected that the door has been stopped by a manual operation, the movement of the door is stopped ;
When the door moves in an opening direction from the first opening angle position to a second opening angle position that is set between the first opening angle position and the fully open position, the door is automatically moved to the fully open position.
An automatic door opening and closing device. The automatic door opening and closing device according to claim 1 or 2,
A setting device for setting a first opening speed is provided,
The control device includes:
The automatic door opening and closing device comprises a door opening mechanism that opens and closes the door at the first opening speed to the first opening angle position and then stops the door.

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