JPH05280249A - Opening and closing device - Google Patents

Abstract

PURPOSE:To avoid collision between an opening and closing member and an obstacle and to rapidly remove caught foreign object so that the successively operation of opening and closing members can be restarted. CONSTITUTION:When a closing switch is manipulated during successive operation of a plurality of opening and closing members 3a, 3b in an opening direction, only one of the opening members 3a, 3b on operation is inverted during the operation. Further, when an opening switch is manipulated during successive operation of the opening and closing members 3a, 3b, only one of the members 3a, 3b on operation is inverted during the operation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an opening / closing device for sequentially operating a plurality of opening / closing members, and can be used, for example, for opening / closing doors and various covers of railway vehicles.

[0002]

2. Description of the Related Art For example, when a plurality of opening / closing members which rotate around a hinge axis are used to open and close a door or a cover of a vehicle, the opening / closing members are superposed on each other with a sealing member in a closed position in order to close an opening. ..

The plurality of opening / closing members overlapping each other in the closing position cannot collide with each other or completely close the opening unless they are opened / closed in a certain order. for that reason,
There is used an opening / closing device that sequentially operates each opening / closing member in the opening direction by operating the opening switch and sequentially operates in the closing direction by operating the closing switch.

Conventionally, in such an opening / closing device, an emergency stop function is provided in order to avoid the opening / closing member from colliding with an obstacle or to remove the foreign matter sandwiched between the opening / closing member and the vehicle body. Was there.

[0005]

However, when the inertial mass of the opening / closing member is large, there is a problem that the opening / closing member will collide with an obstacle even if it is stopped in an emergency. Further, when an air actuator is used as an actuator for operating the opening / closing member, it takes time for compressed air to completely escape from the air actuator, and even if an emergency stop is performed, force is exerted on a foreign object sandwiched between the opening / closing member and the vehicle body. There is a problem that foreign substances cannot be removed immediately while they are still working.

It is an object of the present invention to provide an opening / closing device that can solve the above-mentioned problems of the prior art.

[0007]

A feature of the present invention is that an opening / closing device in which a plurality of opening / closing members are sequentially operated in an opening direction by operating an opening switch and are sequentially operated in a closing direction by operating a closing switch. In the above, by operating the closing switch during the sequential operation of the opening / closing member, only the opening / closing member in the middle of the opening operation is reversed in the closing direction during the operation, and the opening / closing member is sequentially operated in the closing direction. By operating the opening switch in the inside, only the opening / closing member which is in the middle of the closing operation during the operation is inverted in the opening direction.

[0008]

According to the structure of the present invention, when the closing switch is operated while the opening / closing member is operating sequentially in the opening direction,
At the time of the operation, only the opening / closing member that is performing the opening operation is reversed in the closing direction. As a result, the amount of operation in the opening direction due to the inertial mass of the opening / closing member can be reduced as compared with the case where the opening / closing member in the middle of the opening operation is emergency stopped, and the reversing operation is performed in the closing direction in a short time. Also, since only the opening / closing member that opens when the closing switch is operated does not reverse, the other opening / closing members do not reverse, so that when opening and closing again, the opening / closing member does not move unnecessarily. You can eliminate waste of time.

Similarly, if the opening switch is operated while the opening / closing member is sequentially operating in the closing direction, only the opening / closing member that is closing at the time of the operation is reversed in the opening direction. As a result, the amount of operation in the closing direction due to the inertial mass of the opening / closing member can be reduced compared to the case where the opening / closing member in the middle of the closing operation is stopped in an emergency, and the reversing operation is performed in the opening direction in a short time. In addition, since only the opening / closing member that is closing when the opening switch is operated does not reverse, the other opening / closing members do not reverse, so that when operating again in the closing direction, unnecessary movement of the opening / closing member may occur. You can eliminate waste of time.

[0010]

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

FIG. 1 shows two large and small left and right doors (opening / closing members) 3a for opening and closing openings 2 formed at the front and rear ends of a railway vehicle 1.
3b, each door 3a, 3b covers a through hood (not shown) housed at the front and rear ends of the vehicle. Each of the doors 3a and 3b has hinge shafts 4a and 4b and auxiliary hinge shafts 5a and 5b on the fixed side vehicle body.
Has the portions 3a ', 3b' which are attached to each other in the closed position and overlap each other in the front and rear via a seal. In the present embodiment, the left door 3a is opened earlier than the right door 3b and is closed later.

The lower ends of the hinge shafts 4a and 4b penetrate the floor plate 6 of the vehicle body and are attached to the bottom wall 7 via bearings 8a and 8b, and the upper ends penetrate the ceiling plate 9 and flange joints to the actuator units 10a and 10b. 11a, 1
It is detachably connected via 1b. The actuator units 10a and 10b are arranged between the ceiling plate 9 and the roof 12, and are detachably attached to the upper surface of the ceiling plate 9 with bolts (not shown). Each hinge axis 4
a and 4b have a pair of arms 13a, 14a, 13b, 1
4b is fixed, and each arm 13 of one hinge shaft 4a is fixed.
a and 14a are connected to the left door 3a so as to be rotatable relative to the center of the vertical axis, and the arms 13b and 14b of the other hinge shaft 4b are connected to the right door 3b so as to be rotatable relative to the center of the vertical axis. Further, the auxiliary arms 15a,
15b is relatively rotatably connected, the auxiliary arm 15a of one auxiliary hinge shaft 5a is relatively rotatably connected to the left door 3a about the vertical axis, and the auxiliary arm 15b of the other auxiliary hinge shaft 5b is right door 3b. It is connected to the center of the vertical axis so as to be relatively rotatable. Then, the actuator units 10a, 1
The left and right doors 3a and 3b are opened and closed by rotating the hinge shafts 4a and 4b by 0b.

One actuator unit 10a is
As shown in FIG. 2, a housing (holding member) 20a,
A pair of air cylinders 21a and 22a held inside the housing 20a and the air cylinders 21a and 22a.
racks 23a, 24a connected to the telescopic rod of a,
It has a gear 25a arranged between both racks 23a and 24a and meshed with both racks 23a and 24a, and an electromagnetic valve 26a held inside the housing 20a. A mounting seat 28a is provided on the outer periphery of the housing 20a, and a through hole 29a for a bolt for connecting to the ceiling plate 9 is formed in the mounting seat 28a. Its gear 25a
Are concentrically connected to the output shaft 27a, and the output shaft 27a
Are rotatably held in the housing 20a via bearings. The output shaft 27a is coaxially connected to the one hinge shaft 4a via the flange joint 11a.

As shown in FIG. 9, the electromagnetic valve 26a thereof is shown.
Is a two-position switching type, and has a port 31a communicating with one air chamber of each air cylinder 21a, 22a in one actuator unit 10a via a pipe and a pipe for the other air chamber of each air cylinder 21a, 22a. , A port 32a communicating with the outside air pressure source via the connector 19a shown in FIG. 1, and an exhaust port 3
4a. Further, the electromagnetic valve 24a has a solenoid 35a for closing operation and a solenoid 36a for opening operation, and the respective solenoids 35a, 36a are connected to the control device 40 via the connector 18a shown in FIG.

The control device 40 can be composed of, for example, a programmable controller having an input / output interface, a central processing unit, a storage device, and a clock circuit. The position detecting sensors 41a and 42a of the left door 3a are connected to the control device 40 via the connector 18a. In the present embodiment, the closing detection sensor 41a is configured by the limit switch that is turned on when the telescopic rod of one air cylinder 21a is contracted, and the open detection sensor is formed by the limit switch that is turned on when the telescopic rod of the other air cylinder 22a is contracted. 42a is configured.

The other actuator unit 10b is
It has the same configuration as the one actuator unit 10a. That is, as shown in FIG. 2, a housing (holding member) 20b, a pair of air cylinders 21b and 22b held inside the housing 20b, and a rack 23b connected to the telescopic rods of the air cylinders 21b and 22b. , 24b, a gear 25b arranged between the racks 23b, 24b and meshing with the racks 23b, 24b, and an electromagnetic valve 26b held inside the housing 20b. Its housing 20b
A mounting seat 28b is provided on the outer periphery of the mounting seat 28b.
A through hole 29b for connecting a bolt to the ceiling plate 9 is formed in the. The gear 25b is concentrically connected to the output shaft 27b, and the output shaft 27b is rotatably held in the housing 20b via a bearing. Its output shaft 27
b is the flange joint 11 on the other hinge shaft 4b.
It is connected to the coaxial center via b.

As shown in FIG. 9, the electromagnetic valve 26b thereof.
Is a two-position switching type, and a port 31b communicating with one air chamber of each air cylinder 21b, 22b in the other actuator unit 10b via a pipe and a pipe for the other air chamber of each air cylinder 21b, 22b. , A port 32b communicating with the outside air pressure source via the connector 19b shown in FIG. 1, and an exhaust port 3
4b and. Further, the electromagnetic valve 24b has a closing operation solenoid 35b and an opening operation solenoid 36b, and each solenoid 35b, 36b is the control device 4 described above.
0 through the connector 18b shown in FIG.

Position control sensors 41b and 42b of the right door 3b are connected to the control device 40 through the connector 18b. In this embodiment, one air cylinder 21
A closing detection sensor 41b is configured by a limit switch that is turned on by contraction of the telescopic rod of b, and an opening detection sensor 42b is configured by a limit switch that is turned on by contraction of the telescopic rod of the other air cylinder 22b.

As a result, one air cylinder 21a in one actuator unit 10a expands and the other air cylinder 22a contracts, whereby the gear 2
5a rotates in one direction, this rotation is transmitted from the output shaft 27a to one hinge shaft 4a, the opening operation of the left door 3a is performed, and one air cylinder 21a contracts and the other air cylinder 22a moves. Left door 3a by extending
Is closed. Similarly, as one air cylinder 21b of the other actuator unit 10b expands and the other air cylinder 22b contracts, the gear 25b rotates in one direction, and this rotation changes from the output shaft 27b to the other hinge shaft 4b. The right door 3b is opened, and the one air cylinder 21b is contracted and the other air cylinder 22b is expanded, so that the right door 3b is closed.

A power switch 44 for opening and closing a control power source, a push button switch 45 for opening both doors 3a and 3b, and a push button switch 46 for closing both doors 3a and 3b are connected to the control device 40. There is. Then, the control device 40
Both doors 3a, 3 according to the program stored in the storage device of
b sequence control is performed. Hereinafter, the sequence control will be described based on the flowcharts of FIGS.

First, when the power switch 44 is operated to be turned on (step 1), the initialization timer is started (step 2), and it is judged whether or not the initialization time is up (step 3).
If the initialization time has not expired, the door opening / closing input is rejected, and even if the door opening / closing switches 45, 46 are turned on, the air cylinders 21a, 21b,
The internal pressure states of 22a and 22b do not change (step 4).

Next, it is judged whether or not the right door 3b to be closed first is in the closed position (step 5). Right door 3b
Is a closed position, the closing solenoid 35 of the right door 3b
A closing signal is output to b, and the signal output state is held (step 6). In step 5, right door 3b
Is not in the closed position, the solenoid 3 for opening the right door 3b
An opening signal is output to 6b, the signal output state is maintained, and the right door 3b is in the opening position (step 7).

Next, it is judged whether or not the left door 3a to be closed later is in the closed position (step 8). Left door 3a
Is a closed position, the closing solenoid 35 of the left door 3a
A closing signal is output to a and the signal output state is held (step 9). In step 5, the left door 3a
Is not in the closed position, the solenoid 3 for opening the left door 3a
An opening signal is output to 6a, the signal output state is maintained, and the left door 3a is in the opening position (step 10).

When the initialization time is up in step 3, the opening / closing input refusal is released, and control is performed according to the operation of the opening / closing switches 45 and 46 (step 11). In addition, the initialization time is controlled by steps 4 to 10 for each door 3a, 3a.
It is set to a time longer than the time required to position b in the open position or the closed position. Thus, by turning on the power switch 44, the doors 3a and 3b are positioned at either the open position or the closed position. Further, the left door 3a that should be closed later is not closed first. Further, even if the door that is in the closed position is in the open position when the maintenance and inspection before the control is performed, or even if the door in the open position is in the closed position, each door 3a, Since 3b is set so as to maintain the current state, it is possible to prevent collision with an obstacle or the like.

Next, as shown in FIG. 4, when an opening / closing input is made by operating the opening switch 45 or the closing switch 46 (step 12), the operation time limit timer is started (step 13). This operation time limit timer is provided for each door 3a due to noise or the like after completion of door opening / closing control.
This is to turn off the control power after a certain operating time required for the normal opening / closing control of the doors 3a and 3b has passed so that the 3b does not malfunction.

Next, it is judged whether or not the operating time limit time has expired (step 14),
If the time is not up, it is determined whether the right door 3b is in the closed position (step 15). If the right door 3b is in the closed position, it is determined whether or not there is an opening input by pressing the opening switch 45 (step 16).

If there is an opening input in step 16, as shown in FIG. 5, the opening solenoid 3 of the left door 3a is opened.
An open signal is output to 6a, and the signal output state is held (step 17). Next, it is judged whether or not the left door 3a is in the open position (step 18), and if it is not in the open position, it is judged whether or not there is a closing input by pressing the closing switch 46 (step 19). If there is no closing input, it is judged whether or not the operation time limit time is up (step 20), and if it is not up, the process returns to step 17. Next, when it is determined in step 18 that the left door 3a is in the open position, an opening signal is output to the opening solenoid 36b of the right door 3b as shown in FIG. 6, and the signal output state is maintained ( Step two
1). Next, it is judged whether or not the right door 3b is in the open position (step 22), and if it is not in the open position, it is judged whether or not there is a close input (step 23). It is judged whether or not the time is up (step 24), and if it is not up, the process returns to step 21. When it is determined in step 22 that the right door 3b is in the open position, the control power source is turned off.
The control becomes FF (step 25). As a result, both doors 3a and 3b are in the open position. The electromagnetic valves 26a and 26b are held at their current positions by the self-holding pneumatic circuit when the control power supply is turned off.

When it is determined in step 15 that the right door 3b is not in the closed position, it is determined whether the left door 3a is in the closed position (step 26). When the left door 3a is in the closed position, both doors 3a and 3b are in the open position by the control procedure of steps 16 to 25. That is,
When it is detected that at least one of the doors 3a and 3b is in the closed position, the opening operation of the doors 3a and 3b can be started. Further, since the left door 3a is first opened and then the right door 3b is opened, both doors 3a and 3b do not collide with each other.

Then, if there is a closing input in step 19, a closing signal is output to the closing solenoid 35a of the left door 3a, and this signal output state is held (step 27). Next, it is judged whether or not there is an opening input again (step 28), and if there is no opening input, step 2
Left door 3 until the operating time limit time is up at 9
The closing operation of a is performed. As a result, when it becomes necessary to avoid a collision with an obstacle during the sequential operation of the left door 3a in the opening direction, only the left door 3a can be reversed in the closing direction, so that the obstacle can be swiftly moved. You can avoid collisions.
Further, if the opening input is made again in step 28, the opening operation of the left door 3a is performed again. When the operation time limit time is up in step 20 or step 29 by performing the reversing operation of the left door 3a, the control power is turned off and the control is terminated.
Alternatively, in order to open both doors 3a and 3b, the power switch 44 is turned on again and the opening switch 45 is turned on.
To do.

When a closing input is made in step 23, a closing signal is output to the closing solenoid 35b of the right door 3b and the signal output state is held (step 3).
0). Next, it is judged whether or not there is an opening input again (step 31), and if there is no opening input, a step 32 is performed.
Right door 3b until the operating time limit time is up at
Is closed. As a result, if it becomes necessary to avoid a collision with an obstacle during the sequential operation of the right door 3b in the opening direction, only the right door 3b can be reversed in the closing direction, and the right door 3b can be swiftly operated. You can avoid collisions. Further, when the opening input is made again in step 31, the opening operation of the right door 3b is performed again. At this time, since the left door 3a is held in the open position and does not perform an unnecessary reversing operation in the closing direction, the opening operation can be restarted without wasting time.
When the operation time limit time is up in step 24 or step 32 by performing the reversing operation of the right door 3b, the control power is turned off and the control ends. Therefore, the opening operation of the right door 3b is performed. To do this, the power switch 44 is turned on again and the opening switch 45 is turned on.

Next, when it is determined in step 26 that the left door is not in the closed position, it is determined whether the left door 3a is in the open position (step 33). When the left door 3a is in the open position, it is determined whether or not there is a close input (step 34).

If there is a closing input in step 34, as shown in FIG. 7, the closing solenoid 3 of the right door 3b is closed.
A close signal is output to 5b and the signal output state is held (step 35). Next, it is judged whether or not the right door 3b is in the closed position (step 36), and if it is not in the closed position, it is judged whether or not there is an opening input (step 3).
7) If there is no opening input, it is judged whether or not the operation time limit time is up (step 38), and if it is not up, the process returns to step 35. Next, when it is determined in step 36 that the right door 3b is in the closed position, as shown in FIG.
A closing signal is output to a and the signal output state is held (step 39). Next, it is judged whether or not the left door 3a is in the closed position (step 40), and if it is not in the closed position, it is judged whether or not there is an opening input (step 4).
1) If there is no opening input, it is judged whether or not the operation time limit time is up (step 42), and if it is not up, the process returns to step 39. When it is determined in step 40 that the left door 3a is in the closed position, the control power supply is turned off and the control ends (step 43). As a result, both doors 3a and 3b are in the closed position. The control power source of each of the electromagnetic valves 26a and 26b is turned on.
When it becomes FF, it is held at the current position by the self-holding circuit.

That is, the closing operation of both doors 3a and 3b can be started only when it is determined in step 33 that the left door 3a to be closed later is in the open position. As a result, it is possible to prevent a situation in which the right door 3b, which should be closed first, is not closed later and the doors 3a and 3b cannot be completely closed.

When there is an opening input in step 37, an opening signal is output to the opening solenoid 36b of the right door 3b, and this signal output state is held (step 44). Next, it is judged again whether or not there is a close input (step 45), and if there is no close input, the step 4
Right door 3 until the operating time limit time is up at 6
The opening operation of b is performed. As a result, when it is necessary to avoid collision with an obstacle or remove foreign matter during the sequential operation of the right door 3b in the closing direction, only the right door 3b can be inverted in the opening direction, and the obstacle can be swiftly removed. It is possible to avoid a collision with an object and to remove a foreign object sandwiched between the right door 3b and the vehicle body.
When the closing input is made again in step 45, the closing operation of the right door 3b is performed again. When the operation time limit time is up in step 38 or step 44 by performing the reversing operation of the right door 3b, the control power is turned off and the control ends.
Alternatively, in order to close both doors 3a and 3b, the power switch 44 is turned on again and the closing switch 46 is turned on.
To do.

When the opening input is made in step 41, an opening signal is output to the opening solenoid 36a of the left door 3a, and this signal output state is held (step 4).
7). Next, it is judged again whether or not there is a close input (step 48), and if there is no close input, step 49.
Left door 3a until the operating time limit time is up at
Is opened. As a result, when it becomes necessary to avoid collision with an obstacle or to remove a foreign object during the sequential operation of the left door 3a in the closing direction, only the left door 3a can be reversed in the opening direction, and the obstacle can be swiftly damaged. It is possible to avoid a collision with an object and to remove foreign matter sandwiched between the left door 3a and the vehicle body. When the closing input is made again in step 48, the closing operation of the left door 3a is performed again. At this time, since the right door 3b is held at the closed position and does not perform an unnecessary reversal operation in the opening direction, the closing operation can be restarted without wasting time.
When the operation time limit time is up in step 42 or step 49 by performing the reversing operation of the left door 3a, the control power is turned off and the control ends, so the closing operation of the left door 3a is performed. For this purpose, the power switch 44 is turned on again and the closing switch 46 is turned on.

According to the above embodiment, the actuator units 10a and 10b are attached to the vehicle body and the output shaft 27
The left and right doors 3a and 3b can be opened and closed by simply connecting the a and 27b to the hinge shafts 4a and 4b. Therefore,
Even if the installation space for mounting the actuator units 10a, 10b on the upper ends of the hinge shafts 4a, 4b is small, they can be easily mounted. Further, since the actuator units 10a and 10b can be removed only by releasing the connection between the vehicle body and the hinge shafts 4a and 4b, maintenance and inspection can be easily performed. Further, each actuator unit 10a, 10b has a pair of air cylinders 21a, 21b, 22a, 22b built therein, and racks 23a, 23b, 24a, 24b connected to the telescopic rods of each air cylinder 21a, 21b, 22a, 22b.
The gears 25a, 25b meshing with the two racks 23a, 23
b, 24a, 24b, and its gear 25a,
Output shafts 27a and 27b are connected to 25b. As a result, in generating the output shaft torque required for the opening / closing drive, the gears 25a and 25b have a small diameter and the air cylinder 21
The stroke of a, 21b, 22a, 22b can be shortened,
The actuator units 10a and 10b can be downsized.

The present invention is not limited to the above embodiment. For example, in the above embodiment, the present invention is applied to the opening / closing device of the door for the through hood at the front and rear ends of the vehicle, but it is also applicable to the opening / closing device of the covers of the coupler and the headlight, and the opening / closing device of three or more opening / closing members. .. Further, an electric motor or a hydraulic cylinder may be used as the actuator as long as it can generate a driving force for opening and closing the opening / closing member.

[0038]

According to the opening / closing device of the present invention, the reverse operation of only the opening / closing member that is actually operating during the sequential operation of the plurality of opening / closing members avoids the collision between the opening / closing member and the obstacle. In addition, it is possible to quickly remove the foreign matter that has been sandwiched, and moreover, it is possible to efficiently restart the sequential operation of the opening / closing members without wasting the opening / closing members.

[Brief description of drawings]

FIG. 1 is a perspective view of a door according to an embodiment of the present invention.

FIG. 2 is a plan view of an actuator unit according to an embodiment of the present invention.

FIG. 3 is a diagram showing a flowchart according to an embodiment of the present invention.

FIG. 4 is a diagram showing a flowchart according to an embodiment of the present invention.

FIG. 5 is a diagram showing a flowchart according to an embodiment of the present invention.

FIG. 6 is a diagram showing a flowchart according to an embodiment of the present invention.

FIG. 7 is a diagram showing a flowchart according to an embodiment of the present invention.

FIG. 8 is a diagram showing a flowchart according to an embodiment of the present invention.

FIG. 9 is an explanatory diagram of a configuration of a switchgear according to an embodiment of the present invention.

[Explanation of symbols]

 3a, 3b Door 45 Opening switch 46 Closing switch

Claims (1)

[Claims] 1. An opening / closing device in which a plurality of opening / closing members are sequentially operated in an opening direction by operating an opening switch and are sequentially operated in a closing direction by operating a closing switch,
By operating the closing switch during the sequential operation of the opening / closing member, only the opening / closing member during the opening operation reverses to the closing direction during the operation, and the opening / closing member is sequentially operating in the closing direction. By the operation of the opening switch, only the opening / closing member which is in the middle of the closing operation during the operation is reversed in the opening direction.