JPH0229154B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention allows a door that is to close an opening in a wall to slide freely along the wall surface, and when the opening is closed, one side of the door is stored almost flush with one side of the wall. The present invention relates to an automatic opening/closing device for a sliding door in which sliding and storage of the door is driven by a single prime mover, and is particularly suitable for an opening/closing device for a sliding door for a vehicle.

There are two main types of sliding door opening/closing methods. The first opening/closing method is a simple one-way sliding method along a track laid along a wall or the outside surface of a car body, such as those used in houses and railroad cars. The second method is automobiles,
Particularly used in van-type automobiles, when the door is closed, the outer panel of the door is retracted almost flush with the outer panel of the vehicle body, and when the door is opened, the door is swung outward from the outer panel of the body, and then It is of a type that allows the outside to slide along the outer skin of the body.

In the sliding door of the second method, first and second guide rails are provided at the apex and bottom of the opening of the automobile body, and the door at a position corresponding to the vertical center of the opening slides on the outside of the body. A third guide rail is attached to each of the outer panels, one end of the guide rail in the sliding direction of the door is curved in an arc shape toward the inside of the automobile body, and a guide device attached to the other end of the door in the sliding direction is By making the guide device slidable on the third guide rail and attached to one end in the sliding direction of the door slidable on the first and second guide rails, and if necessary, the guide device can be slid on the door of the guide device. By making the installation rotatable, when the opening in the car body is closed, the outer panel of the door can be stored in almost the same plane as the outer panel of the body, and when the door is opened, the outer panel of the door can be retracted from the body in the initial stage. It is swung out so that it floats outward from the outer panel, and then slid along the surface of the outer panel of the body.

When attempting to automatically open and close such a second type of sliding door using a prime mover, such as an electric motor, the door swings out to the outside of the body and slides along the surface of the body. must be done simultaneously or separately. If these were to be driven by separate prime movers, at least two prime movers would be required, and the timing would need to be adjusted between the outward swinging motion and the sliding movement along the outer surface of the body.

The present invention enables the sliding of the door and the swinging out of the door substantially perpendicular to the sliding direction to be performed separately or by a single prime mover, regardless of the shape of the guide rail or the method of guiding the door along the guide rail of the guide device. An object of the present invention is to provide an automatic opening/closing device that can be operated by synthesis.

The drawings show one embodiment of the present invention, and the sliding door of a van-type vehicle is normally shown in FIGS. 1 and 2.
As shown in the figure, when a door 3 is to close an opening 2 for getting on and off or loading/unloading cargo provided on the side of a car body 1, its outer surface is the outer surface of the body 1 in a position where the opening 2 is closed. body 1 when opening opening 2.
After being swung out to the outside of the outer surface of the body 1, it is slid toward the rear of the automobile parallel to the outer surface of the body 1. For this purpose, the automobile body 1 is provided with first guide rails 4 along the top and bottom edges of the opening 2, respectively.
A second guide rail 5 (FIG. 3) is provided, and a third guide rail 5 (FIG. 3) is provided on the outer panel surface of the body 1 rearward from the opening 2 in the direction of travel of the vehicle at a position corresponding to the vertical center of the opening 2. A guide rail 6 is provided (hereinafter, "front" or "rear" refers to the front or rear with respect to the forward direction of the automobile), and the front end of each of these rails 4, 5, and 6 is curved toward the inside of the body 1. Make it into a tight shape. Then, guide devices 8, 9, 10 supporting one or more rollers 7, 7 that engage with the guide rails 4, 5, 6, respectively, are placed at the top position A at the front end of the door 3 and at the bottom position B. Also, the door 3 is provided on the inner surface of the rear end at the center position C in the vertical direction, and the door 3 is connected to the guide rails 4, 5,
It is configured to slide along 6. The positions of the first and second guide rails 4 and 5 corresponding to the opening 2 are substantially symmetrical, and their curved shapes are also substantially the same. Further, the weight of the door 3 is usually supported by the body 1 by the second guide rail 5 and the third guide rail 6.

In the sliding door automatic opening/closing device of the present invention, in the sliding door device which is made slidable by at least one guide rail as described above, a prime mover is placed at a position D below the rear end of the opening 2 of the body 1. A machine casing containing a gear transmission device is provided rotatably around a vertical axis with respect to the body, and a drive wheel rotatably provided at the tip of an arm protruding from the machine casing is rotated via the gear transmission device. The driving mechanism controls the sliding movement of the door along the outer surface of the body, and also controls the swinging of the door by rotating the machine casing based on the reaction force of the driving torque applied to the gear transmission device. This is intended to cause the door to swing out and slide.

FIG. 3 is a sectional view of an embodiment of the present invention, and FIG. 4 is a top view showing the swinging and sliding conditions of the door. In the figure, opening 2 of body 1
A fixing member having a cylindrical wall portion 12 having a central axis perpendicular to the upper surface of the floor plate 11 and a support plate 13 bridging the inner cavity of the cylindrical wall portion 12 on the floor plate 11 facing the floor plate 11. 14 is fixed by its flange 15, and a machine housing body 17 is rotatably supported on the cylindrical wall portion 12 via a bearing 16 about the central axis of the cylindrical shaft portion 13.

The lid body 19, which forms the machine housing 18 together with the machine housing body 17, has a stepped portion 1 formed by recessing the upper surface thereof.
A motor 20 is fixed to 9' as a prime mover, and its output shaft 21 is inserted coaxially with the central axis into a cylindrical wall 22 that protrudes into the inner cavity of the machine housing body 17 at the center of the lid body 19, and is connected to the sun gear. 23 is fixed coaxially with the rotation center axis of the machine housing body 17, that is, the center of the cylindrical wall portion 12.

Inside the machine casing body 17 is the sun gear 2.
A planetary carrier 25 that rotatably supports at least one, preferably a plurality of planetary pinions 24 meshing with the planetary pinions 24 is disposed rotatably about the rotation center axis as will be described later. Ring gear 26 meshing with
is connected to an annular rotating ring 27 formed concentrically with the ring gear 26, and the inner circumferential wall of the rotating ring 27 is rotatable concentrically with the central axis of rotation via a bearing 28 on the cylindrical wall 2. By being supported, a first planetary gear mechanism is configured in which the sun gear 23, planetary pinion 24, and ring gear 26 are arranged in a plane perpendicular to the rotation center axis. The planetary carrier 25 is connected to the planetary pinion 2.
4, and a shaft portion 30 extending coaxially with the rotation center axis.
9 and the lower end of the shaft portion 30 are carved with cylindrical, conical, or spherical recesses 31 and 32 whose centers are on the rotation center axis. Engaging elements 33 each having a spherical surface, for example, a rigid ball, are engaged with each other, and these engaging elements 33, 3
3, the planetary carrier 25 is rotatably supported between the output shaft 21 and a support shaft 13' that projects above the central axis of the support plate 13 of the fixed member 17.

A second sun gear 34 is formed around the shaft portion 30 of the planetary carrier 25, and the sun gear 34 includes a plurality of second planetary pinions rotatably supported on the cylindrical wall portion 12 of the fixed member 14. A ring gear 36 that meshes with the planetary pinion 35 is formed integrally with the inner circumference of the machine casing body 17 or is fixed to the machine casing body 17. These sun gear 34, planetary pinion 35, and ring gear 36 are a second planetary gear mechanism arranged in a plane perpendicular to the rotational center axis, and reduce the rotation of the planetary carrier 25 to reduce the rotation speed of the machine casing body 17. reduction gear device 3 that transmits to
7.

An arm 40 is provided on the outer wall of the machine housing body 17 in the radial direction.
A short shaft 41 is attached to the free end of the arm 40 by means such as shrink fitting, one end of the arm rod 42 is attached to the short shaft 41 by a bearing 43, and a drive wheel 44 is attached to the bearing. 45, 45, respectively, and a cylindrical drive surface 46 with a large friction coefficient is formed on the outer periphery of the drive wheel 44, and an annular drive surface with a small outer diameter is formed by the drive surface 46. A driven wheel 47 is fixed coaxially to the drive surface 46. Further, a short shaft 48 is fixed to the free end of the arm rod 42 parallel to the short shaft 41, and a roller 49 is rotatably supported on the short shaft 48. The distance between the drive wheel 44 and the drive surface 46 is set equal to the thickness of an engagement edge 54 of a guide member 50, which will be described later. As shown in the figure, when the driving surface 46 is made of elastic rubber or synthetic rubber fixed to the circumferential surface of the driving wheel 44, or when the circumferential surface 49' of the roller 49 is made of a similar material, the driving surface 46 and The distance between the roller 49 and the peripheral surface 49' is made smaller than the plate thickness of the engaging edge 54.

A drive belt 60 is stretched between the outer circumferential surface of the rotating wheel 27 and the outer circumferential surface of the driven wheel 47.
It is configured to transmit the rotation of the rotating wheel 27 to the driving wheel 44 via the belt 60 and the driven wheel 47.

On the inner surface of the door 3, there is a linear guide member 80 formed from a metal plate and having a required length in the width direction of the door 3 along the front-rear direction of the automobile, and mounting fittings 51, 51 provided at both ends of the guide member 80. It is fixed by The guide member 50 is arranged substantially parallel to the outer plate surface of the body 1 and its longitudinal direction is in the moving direction of the door 3, and is attached to the peripheral surface 49' of the roller 49 from the attachment edge 53 to the inner plate 52 of the door 3. An engaging edge 54 is formed over the entire length of the arm 40 and bent toward the side opposite to the mounting edge 53 at a distance greater than the diameter of the arm 40 . It is disposed and held between a drive wheel 44 and a roller 49 disposed at the free end.

In the embodiment of the present invention configured as described above, when driving the motor 20 to rotate the output shaft 21, the sun gear 23 of the first planetary gear mechanism
The planetary pinion 24 that meshes with the sun gear 23 rotates, and the ring gear 26 that meshes with the planetary pinion 24 rotates. On the other hand, the torque that rotationally drives the sun gear 23 causes the planetary pinion 24 to rotate.
The planetary carrier 25 is rotated to make it revolve around the sun gear 34 formed on its shaft portion 30, and the planetary pinion 35, which is rotatably supported on the cylindrical wall portion 12 of the machine body 17, is rotated. Rotate the ring gear 36 at the
is rotated to cause the machine casing body 17 to which the ring gear 36 is fixed to be rotated in a direction opposite to the direction of rotation of the sun gear 34 and the planetary carrier 25. Therefore, when the rotation of the machine housing body 17 is stopped by resistance, the planetary carrier 25 is not rotated and the first planetary pinion 24 does not revolve, so the ring gear 26 rotates in the opposite direction to the rotation direction of the sun gear 23. A rotary wheel 2 that is rotationally driven in the direction and fixed to the ring gear 26
7 is rotated, and the drive wheel 44 is rotated in the opposite direction to the rotation direction of the sun gear 23 via the belt 60 stretched between the rotary wheel 27 and the driven wheel 27. That is, when the machine casing body 17 is rendered unrotatable due to resistance from external force, all of the drive torque of the motor 20 is consumed by the rotation of the drive wheels 44. On the other hand, when the drive wheel 44 is rendered unrotatable due to resistance from an external force, the ring gear 26 cannot rotate, so all of the drive torque of the motor 20 is applied to the rotation of the planetary carrier 25, that is, to the gears 34, 35, The reduction ratio of the planetary gear transmission 37 constituted by the sun gear 23
It is consumed for rotational drive to rotate in the opposite direction to the direction of rotation of the motor.

When the resistance due to the external force applied to the rotation of the machine casing body 17 and the drive wheel 44 is small, the driving torque of the motor 20 is
Torque inversely proportional to the resistance applied to the drive wheels 7 and the drive wheels 44 is distributed to drive them in the same rotational direction. As is clear from FIG. 4, the drive wheel 44
The rotational driving force applied to the drive wheel 44 acts on the engagement edge 54 of the guide member 50 sandwiched between the drive surface 46 of the drive wheel 44 and the peripheral surface 49' of the roller 49, causing the door 3 to move along the engagement edge. 54 in the length direction,
The rotational driving force applied to the machine casing body 17 is generated by the guide member 5 held between the drive wheel 44 and the roller 79.
0, the door is swung out in a direction perpendicular to the length direction of the engaging edge 54.

To explain the action of moving the door 3 with reference to FIGS. 2 and 4, when the motor 20 is driven while the door 3 is blocking the opening 2, the door 3 is moved.
In the initial stage of opening, each guide rail 4, 5,
6, rollers 7 of guide devices 8, 9, and 10, respectively;
Since the portion where 7 engages is curved for swinging out the door 3, the door 3 is guided by the guide member 5.
Rotation of the drive wheel 44 that attempts to slide in the longitudinal direction of the zero engagement edge 54 is blocked or is strongly resisted. Therefore, most of the driving torque of the motor 20 is used to rotate the machine casing body 17.
7 is rotated in the direction of arrow F around the central axis of the cylindrical wall portion 12 of the fixed member 14, and the arm 4
The door 3 is swung outward along the curved portions of the guide rails 4, 5, and 6 by gripping the guide member 50 by a drive wheel 44 and a roller 45 provided at the tip of the door. When the door swings out, the door 3 is guided from the curved portion of the guide rails 4, 5, and 6 to the transition portion parallel to the outer panel of the body 1, and the resistance to its sliding is reduced. , the drive torque of the motor 20 is also distributed to the rotational drive of the drive wheel 44, and the drive surface 46 of the drive wheel 44 is connected to the guide member 50.
The door 3 is moved parallel to the outer plate of the body 1 along the guide rails 4, 5, and 6 by frictionally driving the engaging edge 54 of When the door 3 is guided to the part arranged in the guide rails 4, 5,
6 and the rollers 7, 7 provided on the door 3, the drive torque of the motor 20 is consumed only for frictional driving of the drive wheel 44 against the engagement edge 54, and the door 3 is moved by the motor 20. The driving torque causes the body 1 to move in a direction parallel to the outer panel. Thus, the door 3 completely opens the opening of the body 1, and when the door 3 reaches the open end position, a limit switch or the like is activated to stop the power supply to the motor 20.

In this embodiment, at the position where the rollers 7, 7 of the guide devices 8, 9, 10 escape from the curved portions of the guide rails 4, 5, 6, a stopper 38 is provided to stop further rotation of the machine housing body 17. It is preferable that the flange 15 of the fixing member be erected, and that the main body 17 of the machine be provided with an end plate 39 protruding from the outer periphery thereof, which engages with the stopper 38.

To close the door 3, the motor 20 is energized with a current opposite to that when the door 3 is opened, and its output shaft 21 is driven to rotate in the opposite direction of rotation when the door is opened. While the rollers 7, 7 of the guide devices 8, 9, 10 of the door 3 are engaged with the linear portions of the guide rails 4, 5, 6, a large resistance is applied to the rotation of the machine casing body 17. The drive torque of the motor 20 is consumed exclusively by the drive wheel 44 sliding parallel to the body outer plate of the door 3, and when the rollers 7, 7 reach the curved portions of the guide rails 4, 5, 6, the drive torque of the drive wheel 44 is consumed. As the resistance in the rotational direction of the machine casing body 17 gradually decreases, the drive torque of the motor 20 is gradually distributed more to the rotational drive of the machine casing body 17 and less to the rotational drive of the drive wheels 44, 3 via the arm 40 in a direction perpendicular to the outer surface of the body 1, and the door 3 is moved inside the opening 2. When the body 1 of the door 3 stops sliding in the front-rear direction, the rotation of the main body 17 moves around the rear edge of the door 3 through the contact portion between the roller 49 and the engaging edge 54 of the guide member 50. It is pulled inward to completely store the outer panel of the door 3 on the same plane as the outer panel of the body 1. At this time, a limit switch or the like is activated to drive the motor 20.
This is to stop the power supply to.

A first planetary gear mechanism consisting of a sun gear 23, a planetary pinion 24, and a ring gear 26 that govern the sliding of the door 3, and a sun gear 34, a planetary pinion 35, and a ring gear that govern the outward swinging and inward retraction of the door. 36 are both arranged in a plane perpendicular to the rotation center axis of the machine housing body 17, and the planetary gear 25 of the first planetary gear mechanism has its upper end connected to the output shaft of the prime mover 20. 21 or the sun gear 23, and the lower end is supported on the support plate 13 or the support column 13' by engaging elements 33, 33 each having a spherical surface on the rotation center axis, so that the machine casing 18 can be made smaller, and the door 3 The speed for sliding parallel to the door skin is determined by the reduction ratio of the first planetary gear mechanism, and the torque for movement perpendicular to the door skin is determined by the reduction ratio of the reduction gear 37 by the second star gear mechanism. The planetary gear reduction device 3 generates a torque for moving the door 3 at the initial stage of opening from the closed position or at the position immediately before bringing the door into the closed state.
It can be made larger due to the presence of 7.

Further, the engaging element 33 formed with a spherical surface such as the hard ball,
33 are engaged with recesses 31 and 32 provided on the rotation center axis at the upper and lower ends of the planetary carrier 25, so that the planetary carrier 25 is connected to the output shaft 21 or the sun gear 2 by the engaging elements 33 and 33.
3 and the machine casing body 17, and are configured together with a first planetary pinion 24 and a second sun gear 34, which are held or formed on the carrier 25, respectively. Due to the centripetal action of the gear mechanism, even if there is variation in the machining accuracy of each gear of both planetary gear mechanisms, this is absorbed, resulting in less gear noise, and the support of the spherical engagers 33, 33 reduces contact resistance. . If the planetary carrier 25 were supported by a bearing on the machine housing body 17 or the fixed member 14, the rotational center axis of the planetary carrier 25 would be secured, but the variation in the machining accuracy would not be absorbed, which would cause gear noise. In contrast, the engagement support using the spherical engager 33 eliminates the need for a bearing and a structure for supporting this bearing, and the machine housing 18
It has great practical effects in terms of downsizing and reducing noise. Note that the support 13' installed on the support plate 13 of the fixed member 14 is connected to the support 13'.
When configured with a screw rod screwed into the shaft, by rotating the screw rod and adjusting the protrusion height along the rotation center axis direction of the support 13', the output shaft 21 or the sun gear 23 can be connected to the planetary shaft. carrier 2
It is possible to adjust the play in the axial direction with respect to 5.

In addition, in this embodiment, the driving surface 46 and the peripheral surface 49' are formed of elastic rubber or synthetic rubber on the peripheral surface 49' of the driving wheel 44 and the roller 49. ring 44
Alternatively, it is sufficient to form it on either one of the rollers 49. In this case, the drive wheel 44 is made of metal and a tooth profile is carved on the drive surface 46, while a tooth profile is formed on the engaging edge 54 of the guide member 50 for engagement. It is also possible to do so. Further, as a rotational connection means between the rotating wheel 27 and the driven wheel 47, the rotating wheel 27 and the driven wheel 47
It is also possible to form sprockets or teeth on the parts and rotationally connect them with a chain or intermediate gear.

Furthermore, as in the illustrated embodiment, a drive wheel 47 is rotatably supported at the free end of the arm 40 by a short shaft 41, and an arm rod 42 is rotatable about the short shaft 41. When the roller 79 is supported by the arm 42, the arm rod 42 is moved from the closed position of the door 3 shown by the solid line in FIG.
Since the arm 40 can be rotated about the short axis 41 with respect to 0, no unreasonable force is applied when the arm 40 is rotated, and the engaging edge 54 of the guide member 50 can be rotated regardless of the curvature of the guide rails 4, 5, and 6. can be formed into a straight line.

In addition, the planetary carrier 25 and the machine housing body 1
7 is a speed reduction device that rotationally connects the carrier 2.
The present invention is not limited to the planetary gear reduction device 37 shown in the drawings, and may be any mechanism that uses the shaft portion 30 of No. 5 as an input shaft to rotate the main body 17 at a reduced speed about its rotation center axis.

Further, although an electric motor is most easily used as a prime mover, a fluid motor using pressurized gas or hydraulic pressure can also be used in places where other power sources can be used, such as in railway cars and factory facilities.

In the above explanation, an example of the sliding door of a van-type automobile was described, but it can of course be used for opening and closing doors of general vehicles such as railway cars, and it can also be used for entrances and exits, windows, etc. of buildings and other structures. It can also be applied to automatic opening/closing devices for doors, doors, etc. in openings in walls, and can be useful for maintaining liquid-tightness and airtightness of these openings.

As described in detail above, the present invention provides a guide device attached to a door that is installed along a wall to provide at least one
The door is engaged with a guide rail to guide the door along the guide rail, and when closing an opening formed in the wall, one side of the door is stored almost flush with one side of the wall. In such a sliding door, a guide member is fixed on the other side of the door parallel to the sliding direction of the door, and a rotation center perpendicular to the mounting floor is fixed to the fixing member provided on the mounting floor fixed to the wall. A machine casing is provided rotatably around the shaft, a prime mover is disposed on the cover plate of the machine casing so that the rotation center axis of the output shaft is on the rotation center axis, and the output shaft of the prime mover is disposed within the machine casing. A planetary gear mechanism consisting of a sun gear formed or fixed to the sun gear, a planetary pinion meshing with the sun gear, and a ring gear meshing with the planetary pinion is arranged in a plane perpendicular to the rotation center axis, and the ring gear is concentric with the ring gear. The planetary carrier is rotatably supported by the machine casing by the inner periphery of an integral annular rotating ring, and a shaft portion of a planetary carrier that rotatably supports the planetary pinion is disposed coaxially with the rotational center axis. death,
An engaging element having a spherical surface having a center on the rotation center axis is interposed between the upper surface of the planetary carrier and the output shaft or the sun gear of the prime mover, and the engaging element is interposed between the upper surface of the planetary carrier and the output shaft or the sun gear, and the engagement element is interposed between the lower end surface of the shaft portion of the planetary carrier and the fixing element. An engager having a spherical surface having a center on the rotation center axis is interposed between the support plate of the member and the planetary carrier is interposed between the fixed member and the output shaft or the sun gear by the spherical surface of the engager. The planetary carrier is rotatably supported, and a rotational speed reduction device is configured between the planetary carrier and the machine casing to rotatably connect the two, an arm is formed protruding from the machine casing, and a free end of the arm is provided with an arm. A drive wheel with a roller-shaped drive surface formed on the outer circumferential surface and a roller are arranged in parallel and rotatable, and the engaging edge of the guide member fixed to the door is connected to the drive surface of the drive wheel and the circumferential surface of the roller. The rotating wheel and the driving wheel are interposed between the door and the driving wheel, and the driving torque of the prime mover is transmitted to the driving wheel via the planetary gear mechanism and the rotating wheel, and the door is attached to the wall. The door is rotated approximately perpendicularly to the wall by the rotation of the arm by applying a torque that causes the door to slide in the direction along the axis, and a rotational speed reduction device from the planetary carrier of the planetary gear mechanism to rotate the machine casing around the central axis of rotation. The torque is distributed between the two directions.

According to the present invention, by rotation of a single prime mover in a single direction, the door is swung outward from the position housed in the opening in the wall in the same plane as the wall surface, regardless of the shape of the guide rail. The door can be opened by sliding the door approximately parallel to the wall, and the door can be closed by sliding the door from the open position along the wall and then retracting the door to its original position in the opening in the wall. In particular, the rotational movement of the machine casing that swings the door outward or retracts it from the outside can increase the torque according to the reduction ratio of the rotational speed reduction device, so This is conveniently done when opening and closing doors that close an opening to which a sealing device is attached, or heavy doors.

Furthermore, in the present invention, when disposing the planetary carrier of the planetary gear mechanism that distributes the torque in the machine casing, the planetary carrier of the planetary gear mechanism that distributes the torque is arranged between the output shaft of the prime mover or the sun gear of the planetary gear mechanism attached to the shaft, and the fixed member. Both ends of the planetary carrier in the axial direction are rotatably supported via spherical engagers such as steel balls whose center is on the rotation center axis of the machine casing. Moreover, even if there are variations in precision during machining of each gear of the planetary gear mechanism, this can be absorbed, making it an extremely useful system that simplifies the overall configuration and reduces the risk of gear noise. It can be said that it is an invention.

[Brief explanation of drawings]

Fig. 1 is a side view of an automobile with a sliding door, Fig. 2 is a schematic diagram showing the sliding state of the guide rail and the door, Fig. 3 is a cross-sectional side view of essential parts in an embodiment of the present invention, Fig. 4 shows a partially cutaway top view. In the figure, 1 is the body, 2 is the opening, 3 is the door, 4,
5 and 6 are guide rails, 8, 9, and 10 are guide devices, 18 is a machine casing, 17 is a main body of the machine, 23 is a sun gear of a planetary gear mechanism, 24 is a planetary pinion, 25 is a planetary carrier, 26 is its ring gear, 27 is a rotating wheel, 37 is a planetary gear reduction device, 44 is a drive wheel, 46 is a drive surface thereof, 4
7 is a driven wheel, 50 is a guide member, 54 is an engaging edge thereof, 60 is a belt, 31 and 32 are recesses, and 33 is an engaging element.

Claims (1)

[Scope of Claims] 1. A wall in which an opening is formed, a door to close the opening, at least one guide rail attached to the wall along the opening direction of the door, and a door for closing the opening. a guide device that is attached and slidable on the guide rail, so that when the door closes the opening, one side of the door is stored substantially flush with one side of the wall, and when the door is opened, In the sliding door that is guided by the guide device to slide substantially parallel to the side surface of the wall, a guide member is fixed to the other side surface of the door in parallel to the sliding direction of the door, and is fixed to the wall. A machine casing is provided on a fixed member provided on a related mounting floor so as to be rotatable around a rotation center axis perpendicular to the mounting floor, and a lid plate of the machine casing has an output shaft rotating on the rotation center axis. A planetary gear mechanism comprising: a prime mover disposed so as to have a central axis; a sun gear formed or fixed to the output shaft of the prime mover within the machine casing; a planetary pinion meshing with the sun gear; and a ring gear meshing with the planetary pinion. are arranged in a plane perpendicular to the rotation center axis, and the ring gear is rotatably supported on the machine casing by the inner periphery of an integral annular rotating ring formed concentrically with the ring gear, and the planetary A shaft portion of a planetary carrier that rotatably supports a pinion is disposed coaxially with the rotational center axis, and a space on the rotational center axis is provided between the upper surface of the planetary carrier and the output shaft of the prime mover or the sun gear. an engaging element having a spherical surface centered on the rotation center axis, and an engaging element having a spherical surface centered on the rotation center axis interposed between the lower end surface of the shaft portion of the planetary carrier and the support plate of the fixed member. interposed between the fixed member and the output shaft or the sun gear, the planetary carrier is rotatably supported by the spherical surface of the engaging element, and a rotational speed reduction device is configured between the planetary carrier and the machine casing. An arm is formed protruding from the machine casing, and a drive wheel and a roller having a roller-shaped drive surface formed on the outer peripheral surface are arranged in parallel at the free end of the arm so that the two can rotate freely. an engaging edge of a guide member fixed to the door is sandwiched between a drive surface of the drive wheel and a circumferential surface of the roller, and rotationally connects the rotary wheel and the drive wheel; The drive torque of the prime mover is transmitted to the drive wheel via the planetary gear mechanism and the rotary wheel to cause the door to slide in the direction along the wall, and the drive torque is transmitted from the planetary carrier to the drive wheel via the rotational speed reduction device. A sliding door opening/closing device characterized in that the sliding door opening/closing device is configured to distribute torque for rotating the door around the central axis of rotation and moving the door in a direction substantially perpendicular to the wall by the rotation of the arm. 2. A cylindrical, conical, or spherical recess having a center on the rotation center axis is formed on the upper surface of the planetary carrier and the lower end edge of the shaft portion thereof, and the spherical engaging element is engaged with the recess. A sliding door opening/closing device according to claim 1, characterized in that: 3. A support plate of the fixed member has a support protruding from its upper surface coaxially with the rotation center axis, and the spherical engager is connected between the lower end surface of the shaft of the planetary carrier and the upper end surface of the support support. 2. The sliding door opening/closing device according to claim 1, wherein the planetary carrier is supported by the support pillar by being interposed between the support pillars. 4. The spherical engager is a steel ball, and the steel ball has a cylindrical, conical, or The sliding door opening/closing device according to claim 2 or 3, wherein the sliding door opening/closing device is press-fitted into a spherical recess and retained in engagement. 5. The slide according to claim 3, wherein the support is formed by threading a screw rod onto the support plate, and the height thereof is adjustable in the direction of the rotation center axis. Door opener. 6. The rotation speed reduction device includes a second sun gear formed on or fixed to a shaft portion of the planetary carrier concentrically with the rotation center axis, and a second sun gear rotatably supported by the fixed member. A planetary gear reduction device in which a second planetary pinion that meshes with the gear, and a second ring gear that is formed or fixed on the machine casing and meshes with the second planetary pinion are arranged in a plane perpendicular to the rotation center axis. A sliding door opening/closing device according to claim 1, characterized in that: