JPH0228670B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device for an automatic opening/closing door.

An automatic door opens and closes by winding a belt around a driving pulley and a driven pulley that are rotated forward and backward by a motor, connecting this belt to the door, and automatically opening and closing the door by rotating the motor forward and backward. .

Conventional control devices include a switch for detecting the deceleration point and stopping point on the door movement path, and a dock for turning the switch on and off, and when the dot turns on the switch for detecting the deceleration point. There is a known device that decelerates the motor and stops the motor when a switch for detecting a stop point is turned on, thereby allowing the door to open and close smoothly.

However, with this structure, wiring to each switch is troublesome, and each switch must be correctly installed at a predetermined position.

Therefore, the applicant first detected counting pulses from the AC waveform from the tachogenerator driven by the motor that moves the door to open and close them, and used a counting circuit to calculate the counting pulses and a predetermined door stroke. Addition and subtraction are performed to index and detect the current position of the door, and based on this, the door is controlled to move and stop at low speed,
We proposed a control device that opens and closes the door at low speed once the power is turned on, automatically measures the length of the door stroke during the closing operation, and determines the door stroke based on the measured value.

In such a control device, it is necessary to detect when the door reaches the opening and closing stroke ends during automatic door stroke length measurement.

Additionally, the door position feedback pulse (i.e.
Since it would be expensive to use a detector that can also determine direction (pulses for counting), we use the motor that drives the door to drive a tachometer generator, and the tachometer generates pulses with a frequency proportional to the rotational speed of the motor that cannot determine direction. Since the current position of the door is detected by taking it out and counting the pulses, it is naturally difficult to control the position with such precision.
A deceleration point command signal is output based on the detected current position of the door, but since the current position of the door cannot be detected with high accuracy, the stopping point is normally driven at a low speed after deceleration, and some method is used to indicate when the stroke end has been reached. Since it is necessary to detect when the door reaches the stroke end and stop the motor, a device is required to detect when the door has reached the stroke end.

The present invention was made in view of the above circumstances, and its purpose is to detect a counting pulse proportional to the amount of door movement, and add or subtract this counting pulse and a predetermined door stroke. Provides a stroke end detection device for an automatic opening/closing door control device that detects when the door has reached its stroke end, in a control device that detects the current position of the door and controls the opening, closing, and stopping of the door based on the detected position. It is to be.

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an overall schematic explanatory diagram, in which a motor M is connected to a drive pulley 2 via a reducer 1, a belt 4 is wound around the drive pulley 2 and a driven pulley 3, and the belt 4 is provided with a door. 5 are connected by a connector 6, and the door 5 is configured to be opened and closed by rotating a motor M in forward and reverse directions.

A tachogenerator (alternating current generator) 7 is connected to the motor M, the output of which is inputted to a main control circuit 11 via a rectifying and smoothing circuit 8, a speed control circuit 9, and a pulse generation circuit 10, as well as a main control circuit 11. A human body detection signal R ₁ is inputted to the circuit 11 from a human body detector 12 such as a mat switch or a phototube, and a predetermined control signal is inputted to the speed control circuit 9 based on the signal R ₁ to drive and control the motor M.

Next, details of each member will be explained.

As shown in FIG. 2, the tachogenerator 7 is connected to the rotating shaft of the motor M, and generates an AC voltage waveform as the motor M rotates.The generated voltage and the frequency of the generated AC waveform become high when the rotational speed of the motor M is high. , becomes low when small.

As shown in FIG. 2, the rectifying and smoothing circuit 8 is for full-wave rectification of the output voltage (AC waveform) of the tachogenerator 7 using a diode bridge circuit 13 and converting it into a DC voltage using a smoothing circuit 14. An output voltage V ₁ proportional to V 1 is input to the speed control circuit 9 .

The pulse generating circuit 10 half-wave rectifies the AC waveform from the tachometer generator 7 as shown in FIG.
The section is extracted, shaped into a waveform, and outputted to the main control circuit 11 as a plurality of rectangular waves proportional to the door movement amount as counting pulses _P1 .

The speed control circuit ₉ , as _shown in _FIG . A speed control pulse generation circuit 17 outputs gate pulses for speed control to the first and second AND gates 16 ₁ , 16 ₂ , and the output voltage V ₁ is the high speed/low speed setting voltage V _H , V The operational amplifier 18 outputs a brake signal to the third AND gate ₁₆₃ when the signal becomes larger than _L , and the brake gate pulse is output to the third AND gate 1 by the brake signal of the operational amplifier 18.
Brake pulse generation circuit 19 outputting to 6 ₃ ,
It is equipped with a stop switch 20, etc. that causes the output voltage _V1 to flow to ground in response to a stop signal ST, and the forward rotation command _R2 is input to the first AND gate ₁₆₁ , and the reverse rotation command _R3 is input to the second AND gate ₁₆₂ . , the outputs of the first and second AND gates 16 ₁ and 16 ₂ are input to the first and second OR gates 21 _{1 and 21 2, and the outputs of the first and second AND gates 16 1} and 16 ₂ are input to the third AND gate 16 .
The output of _{No. 3} is input to the first and second OR gates 21 ₁ and 21 ₂ , and when the forward rotation command R ₂ is input, the gate pulse for speed control is sent from the first AND gate 16 ₁ to the first OR gate 21 ₁ is output after
Gate G ₁ of triax 22 ₁ for forward rotation of motor M
is input. Furthermore, when the reverse rotation command _R3 is input, the motor M is supplied with the reverse try-out signal 2 from the second AND gate ₁₆₂ via the second OR gate ₂₁₂ .
2 is input to gate G ₂ of ₂ .

Because of this, the motor M is maintained and driven at the set high speed and low speed, and when the stop signal ST is input, the stop switch 20 is turned ON and the motor M is braked, so that the door 5 is high speed/
It is opened and closed at low speed and then stopped.

As shown in FIG. 3, the main control circuit 11 includes a counting circuit 23 that counts the counting pulse P ₁ from the pulse generating circuit 10 and detects the current position of the door;
A command circuit 24 that controls the door opening/closing sequence and the counting circuit 23, a door opening/closing stroke setting device 25, an opening movement deceleration point setting device 26, a closing movement deceleration point setting device 27,
First and second comparison circuits 28 ₁ and 28 ₂ , a stroke end detection device 29, and the like are provided.

As shown in FIG. 4, the stroke end detection device 29 includes a circuit 40 for detecting the rising edge of the counting pulse _P1 , a circuit 41 for detecting the falling edge, a counter 43 for counting the pulses of the reference oscillator 42, and a pulse number setting device. 44, a comparator 4 that compares the pulses of the counter 43 and the pulses of the pulse number setter 44;
5, a flip-flop 46, the signal from the rise detection circuit 40 is sent to the latch terminal of the flip-flop 46, and the signal from the comparator 45 is sent to the latch terminal of the flip-flop 46.
A stroke end signal _R6 is inputted to the D terminal of the flip-flop 46 and sent to the command circuit 24 from the Q terminal of the flip-flop 46, and operates as described below to indicate that the door 5 has reached the stroke end. To detect.

That is, the reference oscillator 42 always oscillates the reference pulse P' at a constant frequency as shown in Figure 5.
The oscillated reference pulse P' is counted by the counter 43, and the falling edge detection circuit 4 of the counting pulse _P1
Since the counter 43 is reset by the falling detection signal _R7 of 1, the counter 43 receives the counting pulse.
Count how many reference pulses P' are oscillated during the cycle of _P1 .

Here, the cycle of the counting pulse P ₁ becomes shorter as the rotational speed of the motor M (that is, the moving speed of the door 5) is faster, so when the door 5 is moving at high speed, it is counted by the counter 43. When the number of reference pulses is small and the robot is moving at low speed, the number of reference pulses counted by the counter 43 increases.

On the other hand, the number of reference pulses P' that is counted by the counter 43 when the rotational speed of the motor M is determined to be that the door 5 has substantially stopped at a speed lower than the minimum operating speed is set in the pulse number setting device 44.

Then, a comparator 45 compares the reference pulse number N ₁ counted by the counter 43 and the set pulse number N ₂ of the pulse number setter 44, and outputs a signal to the D terminal of the flip-flop 46 when N ₁ > N ₂ . do.

On the other hand, the signal input to the D terminal of the flip-flop 46 is latched to the Q terminal at the rising edge signal R ₈ of the counting clock pulse P ₁ and outputs a stroke end signal R ₆ to the command circuit 24.

Therefore, when the door 5 reaches the stroke end, the moving speed of the door 5 decreases and the rotational speed of the motor M also decreases, so the cycle of the counting pulse _P1 becomes longer and the reference pulse counted by the counter 43 Since the number increases and N ₁ >N ₂ , a signal is input from the comparator 45 to the flip-flop 46, and a stroke end signal R ₆ is input from the flip-flop 46 to the command circuit 24.

Note that when the detection of the stroke end is prohibited, such as when the door 5 is stopped, or when the flip-flop 46 is reset, the reset signal _S1 may be inputted from the command circuit 24 to the reset terminal of the flip-flop 46.

Next, details of each circuit in the main control circuit 11 will be explained along with the operation.

When the human body detection signal R ₁ is input to the command circuit 24 with the door 5 closed, the door open signal (that is, normal rotation command) R ₂ is sent to the speed control circuit 9, the first AND gate 30 ₁ , and the counting circuit 23 and input the start signal _R4 to the counting circuit 23,
A high speed signal H is input to the speed control circuit 9.

As a result, the motor M is rotated forward at high speed, and the door 5 is moved open at high speed.

At the same time, the counting pulse P ₁ is sent to the counting circuit 2.
3, but the counting circuit 23 receives the door open signal.
Since the down count mode is set by _R2 , the stroke value set by the door opening/closing stroke setter 25 is sequentially subtracted by the clock pulse _P1 ,
The results are sequentially input to the first comparison circuit 28 ₁ .

When the subtraction result (actual door current position) input to the first comparison circuit ₂₈₁ matches the set value of the opening movement deceleration point setter 26, the coincidence signal _R5 is inputted to the first AND gate ₃₀₁ . The low speed signal L is ANDed with the door open signal _R2 and inputted from the OR gate 31 to the speed control circuit 9, and the motor M is switched to low speed.

When the door 5 is fully opened and reaches the stroke end, the stroke end detection device 29 detects that the stroke end has been reached, and inputs the detection signal R ₆ to the command circuit 24 to signal a stop signal.
ST is output to the speed control circuit 9 to stop the motor M.

Thereafter, the command circuit 24 sends a door close signal (that is, a reverse rotation command) _R3 to the second AND gate ₃₀₂ and the speed control circuit 9 based on the door opening/closing sequence, and also switches the counting circuit 23 to an up-count mode (addition mode).

Then, in the same manner as described above, the door is moved to close at high speed until the value indicating the current position of the door, that is, the amount of door movement, matches the setting value of the closing movement deceleration point setter 27.
After that, the low speed command L from the second comparison circuit 28 ₂ , the second AND gate 30 ₂ and the OR gate 31 is input to the speed control circuit 9, and the low speed closing movement is performed based on the low speed setting voltage V _L , and the stroke end is reached. Then, it is detected by the stroke end detection device 29, and the motor M is stopped by the detection signal _R6 .

The present invention is as described above, and when the reference pulse number N 1 generated during one cycle of the counting pulse P ₁ proportional to the amount of movement of the door ₅ is greater than the set reference pulse number N ₂ , a stroke end signal is generated. Since the output is a counting pulse P ₁ that detects the current position of door 5
Using this, it is possible to detect that the door 5 has reached the stroke end.

In addition, the set reference pulse number N ₂ is the reference pulse number N ₂ that is emitted during one cycle of the counting pulse P ₁ when the door 5 is considered to have stopped at a speed lower than the minimum operating speed. The stroke end signal can be output before 5 completely stops.
When the door 5 comes into contact with a door stop having a cushion function, a stroke end signal is output to stop the motor M, and after that, the door 5 is coasted and pressed against the door stop to completely stop.

Therefore, after the door 5 hits the door stop that has a cushion function, it will be pressed against the door stop by coasting, and the door 5 will come to a slow stop and the shock at the time of stopping can be significantly reduced. It can prevent damage to each part.

[Brief explanation of drawings]

The drawings show embodiments of the present invention.
2 and 3 are detailed explanatory diagrams of each circuit, FIG. 4 is a detailed explanatory diagram of the stroke end detection device, and FIG. 5 is a table diagram explaining its operation. M is the motor, 5 is the door, 7 is the tacho generator,
42 is a reference oscillator, 44 is a pulse number setter, 45
is a comparator.

Claims (1)

[Claims] 1 Detects a counting pulse P ₁ proportional to the amount of movement of the door 5, adds and subtracts this counting pulse P ₁ and a predetermined door stroke to detect the current position of the door, and based on that, detects the current position of the door. In a control device for an automatic opening/closing door that controls opening/closing movement, the counting pulse
A means for detecting the number of reference pulses _N1 generated by the reference oscillator 42 during one cycle of _P1 , and a means for detecting the number of reference pulses N1 generated by the reference oscillator ₄₂ during one cycle of pulse P1 for counting when the door 5 is considered to have substantially stopped at a speed lower than the minimum operating speed. a pulse number setting device 44 which sets the number N ₂ of reference pulses to be oscillated by the reference oscillator ₄₂ ;
A stroke end detection device for an automatic opening/closing door control device, comprising a comparator 45 that compares N _{1 and outputs a stroke end signal when N 1 >} N ₂ .