JPH09287349A - Emergency damper of automatic door device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to easily and safely open a door without suddenly reducing speed of the door in the case of service interruption and without giving any sense of disharmony to passersby. SOLUTION: A motor 4 opening and closing doors 2a and 2b is driven with a motor drive unit 14. A CPU 6 supplies a control signal to the unit 14. The CPU 6 supplies forward signal, reverse signal, PWM1 signal, PWM1/PWM2 switching signal to the unit 14 for operating the door in a normal state. In order to operate damping force on the door in the case of emergency, the PWM2 signal and PWM1/PWM2 switching signal from a PWM2 signal generation circuit 18 are supplied to the unit 14. When service interruption occurs in the CPU 6, a control section changes the PWM1/PWM2 switching signal from H level to L level. By the constitution, the unit 14 controls the motor 4 in accordance with the PWM2 signal.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic braking device for braking a door when an emergency such as a power failure or a failure occurs in the automatic door device.

[0002]

2. Description of the Related Art In an automatic door apparatus, a control device provided in the automatic door apparatus controls a door when the door is opening or the door is closing, for example, when a power failure occurs. become unable. At this time,
Due to the moving inertia, the door advances as it is. Therefore,
If an object, such as a person, is passing through the door when the door is closing, there is a risk of the person colliding with the door. Also, if there is a power failure while the door is opening,
There is a possibility that the door may move beyond the predetermined open position, collide with the door frame, etc., and be damaged. Therefore, an emergency braking device may be provided in the automatic door device.

An example of the emergency braking device is Japanese Patent Laid-Open No. 54-54
There is one such as that disclosed in Japanese Patent Publication No. 51234. This emergency braking device is a door opening / closing device that opens and closes an elevator door by a motor, in which a braking resistor is connected to an armature of the motor to perform so-called dynamic braking to reduce the speed of the door when a power failure occurs.

However, in this emergency braking device, the braking resistor remains connected to the armature of the motor until the power failure is restored. Therefore, for example, if a power failure occurs while the door is still closed, even if a person tries to open the door manually to get outside, a large braking force is applied, and the door cannot be easily opened. There is a problem.

As an emergency braking device, there is one disclosed in, for example, Japanese Patent Laid-Open No. 6-108731. In this case, in an automatic door device that opens and closes a door by a motor, a braking resistor is connected to an armature of the motor for a certain period of time after a power failure. Therefore, the door can be easily opened and closed manually after a lapse of a certain time from the time of power failure. However, after a certain period of time from the power failure, the braking resistor is separated from the motor armature, so it moves according to the operating force applied to the door, and as a result, the speed of the door is reduced. There is a problem that it cannot be controlled. The same applies to the emergency braking device disclosed in Japanese Patent Laid-Open No. 54-51234, but since the braking resistor is connected to the armature of the motor immediately after a power failure, the speed of the door is rapidly reduced. Therefore, if there is a passerby at the time of power failure,
There was a problem that I felt something was wrong.

Further, as an emergency braking device, Japanese Patent Publication No.
Some of them are disclosed in Japanese Patent Publication No. 43781. In this, in the automatic door device that opens and closes the door by the motor, the connection of the braking resistor to the armature of the motor is stopped until the door moves to a certain distance in the opening direction from the closed position of the door, When the door moves beyond the above distance, a braking resistor is connected to the armature of the motor to apply dynamic braking.

In this emergency braking device, when a power failure occurs at the closed position of the door, the door can be easily opened by a certain distance, so that a person can easily escape to the outside. However, it may be necessary to open the door beyond the certain distance. In this case, when an attempt is made to open the door beyond the above-mentioned certain distance, there is a problem that the door cannot be easily opened because the dynamic braking is applied. In addition, when a power failure occurs in a state where the door is located outside the certain distance range, the braking resistor is immediately connected to the armature of the motor, so that the door suddenly decelerates, and the passerby feels uncomfortable.

Each of the above emergency braking devices has been mainly proposed as a countermeasure against a power failure. However, in an automatic door device, for example, a control device for controlling the door is used in addition to the motor for driving the door. However, even if a part of the control device fails, the control of the door may be lost. However, in each of the emergency braking devices described above, no measures are taken against the failure of the control device.

It is an object of the present invention to provide an emergency braking device which does not give a feeling of strangeness to a passerby without causing a sudden deceleration of the door even when a power failure occurs. Another object of the present invention is to provide an emergency braking device that can easily and safely open a door during a power failure. Another object of the present invention is to provide an emergency braking device that can apply braking even if a part of the control unit of the automatic door device fails. Other objects of the present invention will be clarified in the following description.

[0010]

According to a first aspect of the present invention, there is provided a motor for opening and closing a door, a drive unit for driving the motor, and a control unit for supplying a control signal to the drive unit. In the automatic door device provided with, the control unit,
A first braking part for normally operating the door and a second braking part for applying a braking force to the door in an emergency are provided. The control unit also has a determination unit that determines the state in which the control unit is placed. The determination unit selects either the first braking unit or the second braking unit and operates them. The situation judged by the judgment unit includes a normal state and an abnormal state. The abnormal state includes, for example, a failure state of the control unit itself, in addition to the power failure state as described above.

According to the first aspect of the present invention, when the determination unit determines that the door is in the normal state, the first braking unit operates the door normally. If the judgment unit judges that it is in an abnormal state,
The second braking portion applies a braking force to the door. Therefore, the door does not run out of control. In particular, even if a part of the control unit fails, braking force can be applied to the door,
The door will not run out of control, ensuring safety.

According to a second aspect of the present invention, in the same automatic door apparatus as that of the first aspect of the invention, the motor is driven by the electric power from the outside for supplying power to the automatic door apparatus for driving the control section and the inertia of the door. The electric power generated by the motor is superimposed and supplied to the control unit.

According to the second aspect of the present invention, in the normal state, the control section is operated by the electric power from the outside. Then, for example, when a power failure occurs, the motor is driven by the inertia of the door to supply the electric power generated by the motor to the control unit. Therefore, even if a power failure occurs, the door control is continued by the electric power of this motor, and the door movement is performed in the same way as before the power failure. There is no sense of incongruity. Then, the movement of the door due to inertia is gradually reduced. Along with this, the electric power generated by the motor also gradually decreases. Therefore, the control of the door is gradually stopped.

According to a third aspect of the present invention, in the same automatic door device as that of the first aspect of the invention, a controlled braking force is applied to the door, and when the supplied electric power falls below a certain value, it is inactivated. The braking unit which becomes the state is provided in the control unit or separately therefrom. Further, when the door is operated by an external force, electric power generated by a motor driven by the door is supplied to one or both of the control unit and the braking unit.

According to the third aspect of the invention, for example, when the door is operated by an external force, the electric power generated by the motor driven by the door is supplied to one or both of the control section and the braking section. As a result, the braking portion operates and exerts a controlled braking force on the door. Therefore, when the door is operated with a large external force and the motor generates electric power exceeding a certain value, the braking unit generates the braking force, and the door does not run away. Moreover, when the operating force is small and the motor is supplying only electric power below a certain value,
Since the braking portion is in the inoperative state, the door can be easily operated.

According to a fourth aspect of the present invention, in the same automatic door device as that of the first aspect of the present invention, the drive portion is provided with a braking portion that applies a controlled braking force to the door. The control unit applies a first braking signal for normally operating the door or a second braking signal for applying a braking force to the door in an emergency, and the door is operated by an external force. At this time, the electric power generated by the motor that drives the door is used as the power source of the braking unit provided in the driving unit.

According to the fourth aspect of the invention, the second braking signal is supplied to the braking portion in an emergency such as a power failure. At this time, when the door is operated by an external force, the electric power generated by the motor is supplied to the braking unit provided in the driving unit,
The braking unit applies a braking force to the door based on the second control signal. Therefore, even in an emergency, the door is braked and the door does not run out of control.

According to a fifth aspect of the present invention, in the same automatic door device as that of the first aspect of the present invention, the drive portion is provided with a braking portion that applies a controlled braking force to the door. The control unit applies a braking signal for applying a braking force to the door in an emergency, and the electric power generated by the motor driven by the door when the door is operated by an external force is generated by the control unit. It is used as a power source.

According to the fifth aspect of the invention, when the door is operated by an external force in an emergency such as a power failure, the electric power generated by the motor driven by the door is supplied to the control unit as a power source. This causes the control unit to operate, and a braking signal for applying a braking force to the door in an emergency is supplied to the braking unit provided in the drive unit, and the braking unit applies the braking force to the door. Therefore, even if the operating force for operating the door is large,
The door never runs out of control.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION

Description of One Embodiment Schematic Description of an Automatic Door Device FIG. 1 is a block diagram showing one embodiment of an automatic door device implementing an emergency braking device for an automatic door device according to the present invention. This automatic door device has doors 2a and 2b. The doors 2a, 2b rotate between a closed position in which the door openings are completely closed as shown in FIG. 1 and an open position in which the doors 2a, 2b are fully open to allow passersby to pass through the door openings. It swings around the centers 3a and 3b. A motor, for example, a DC step motor 4 is coupled to the doors 2a and 2b via a drive mechanism (not shown) to swing the doors 2a and 2b. Although not shown, the doors 2a, 2b
Is provided with a spring, and the doors 2a and 2b are pulled in the closing direction by the action force of the spring.

This automatic door device is a so-called swing door device. However, the control device for an automatic door device according to the present invention can be used with other types of automatic door devices, for example sliding doors.

Outline of Control Device for Automatic Door Device Control device for automatic door device (hereinafter referred to as control device)
1 controls opening and closing of the doors 2a and 2b. The control device 1
It has a CPU 6. A signal from an encoder 8 attached to the motor 4 is supplied to the CPU 6 in order to detect the rotation directions of the doors 2a and 2b and the positions of the doors 2a and 2b. When the sensor 10 detects that an object such as a person is approaching the doors 2a and 2b, the operation signal generated by the sensor 10 is also supplied to the CPU 6. Further, in cooperation with the signal from the encoder 8, the doors 2a, 2
A clock signal generator 11 is provided to detect the speed of b.

Various parameters required for operating the doors 2a, 2b are stored in the memory unit 12. A drive unit that drives the motor 4 in response to a signal from the CPU 6, for example, a motor drive unit 14 is also provided. The PWM2 signal generation circuit 18 is also provided in the control device 1. The power supply unit 16 for supplying power to the CPU 6, the encoder 8, the clock signal generator 11, the motor drive unit 14, and the PWM2 signal generation circuit 18 is also provided in the control device 1.

In the normal state, the CPU 6 has PWM1 / P
As the WM2 switching signal, a high (H) level signal instructing selection of the PWM1 signal is supplied to the motor drive unit 14. When the voltage supplied from the power supply unit 16 to the CPU 6 drops to a predetermined voltage due to a power failure or the like,
The CPU 6 uses the PW as the PWM1 / PWM2 switching signal.
A low (L) level signal for instructing selection of the M2 signal is supplied to the motor drive unit 14. When the motor drive unit 14 is instructed to select the PWM1 signal, the motor drive unit 14 uses the PWM1 signal and the direction signal to select the doors 2a and 2b.
Control. In addition, the motor drive unit 14 is
When instructed to select the WM2 signal, the PWM2 signal controls the doors 2a and 2b.

The direction signal includes a forward direction signal and a backward direction signal. When the forward direction signal is at the H level, the motor drive unit 14 rotates the motor 4 so as to move the doors 2a and 2b in the opening direction. When the backward signal is at the H level, the motor drive unit 14 is configured to lock the doors 2a, 2
The motor 4 is rotated so as to move b in the closing direction.

The motor drive unit 14 includes the motor 4
When rotating, the motor 4 is alternately controlled to be in a state of driving the motor 4 and a state of braking the motor 4 according to the PWM1 signal. When the PWM1 signal is at H level, the motor 4
Is driven, and when the PWM1 signal is at L level, the motor 4 is braked. The ratio of the H level period to one cycle of the PWM1 signal is called the duty ratio. By adjusting the duty ratio, the lengths of the driving period and the braking period of the motor 4 are adjusted. By adjusting these periods, the driving force and the braking force applied to the doors 2a and 2b can be adjusted. Such control is called drive and brake control.

Basic operation of the doors 2a and 2b Since the doors 2a and 2b rotate symmetrically, only the basic operation of the one door 2a will be described. FIG. 2 shows the relationship between the door speed and the door stroke when the door 2a ideally reciprocates between the open position OP and the closed position CP. As is clear from FIG. 2, the door 2a has a soft start control area SA and a stabilization waiting control area W when the door 2a is opened.
It moves from the closed position CP to the open position OP through A, the high speed control area HA, the brake control area BA, and the cushion control area CA. Also during the closing operation, the soft start control area SA, the stabilization waiting control area WA, and the high speed control area H are similarly provided.
It moves from the open position OP to the closed position CP via A, the brake control area BA, and the cushion control area CA.

In the high speed control area HA, the brake control area BA and the cushion control area CA, the CPU 6 sets the P
The duty ratio of the WM1 signal is compared with the target duty ratio determined according to the position of the door 2a, and feedback control is performed so that the difference between them is zero. This feedback control controls the speed of the door 2a in real time.

The CPU 6 controls the five control areas (soft start control area SA and stabilization waiting control area W shown in FIG. 2).
A, the high speed control area HA, the brake control area BA, and the cushion control area CA), the duty ratio of the PWM1 signal is adjusted as follows.

Soft start control When the doors 2a and 2b are opened, the operation signal of the sensor 10 is C
When supplied to PU6, the soft start control is started. In the soft start control, the duty ratio of the PWM1 signal is increased by a predetermined increment D _UC until the predetermined total number of steps S is reached. As shown in FIG. 2, the speed of the doors 2a and 2b increases as the duty ratio increases. At this time, as described above, the doors 2a and 2b are driven during the H level period of the PWM1 signal, and the brakes are applied to the doors 2a and 2b during the L level period. The reason for gradually increasing the speed of the doors 2a and 2b by the soft start is that the PWM1 having a large duty ratio is applied to the motor 4.
This is because even if a signal is supplied, the speed of the door 2a does not increase quickly due to the influence of the inertia of the door 2a, and the door 2a is rather impacted.

Stabilization waiting control The stabilization waiting control is performed after the soft start control.
In the stabilization waiting control, the final duty ratio in the soft start control is held for a predetermined time. Even at the final stage of the soft start control, the speed of the door 2a may not reach the speed corresponding to the duty ratio of the PWM1 signal. In the stabilization waiting control, the duty ratio at the final stage of the soft start control is maintained for a certain period of time, and it waits for the speed of the door 2a to follow the speed corresponding to this duty ratio. This stabilization waiting control may be omitted, and the soft start control may be immediately switched to the high speed control.

High Speed Control The high speed control is performed after the stabilization waiting control. In the high speed control, feedback control is performed so that the speed v _{x of the} door 2a matches a predetermined open high speed target speed v _oh . That is, the PW given to the motor drive unit 14
The duty ratio D _U (x) of the M1 signal is the duty ratio D of the previous time.
It is calculated by Equation 1 based on _U (x-1), the current speed v _x of the door 2a, the open high speed target speed v _oh, and the coefficient K.

[0033]

## EQU1 ## D _U (x) = D _U (x-1) -K (v _x -v _oh )

The coefficient K is a coefficient for converting the speed into the duty ratio. The speed of the motor 4 is controlled based on the calculated duty ratio D _U (x). In parallel with this, C
The PU 6 calculates the average duty ratio D _Ua (x). This average duty ratio D _Ua (x) is used to calculate the total number of steps in the next soft start control. The speed v _x is determined based on the signal from the encoder 8. That is, the number of clocks generated by the clock signal generator 11 is determined by the CPU 6 from the rise of one pulse signal generated by the encoder 8 to the rise of the next pulse signal, that is, during one cycle of the pulse signal. Calculated by counting. Since the distance that the door 2a moves from the time the encoder 8 generates a pulse signal to the time the next pulse signal is generated is known, the speed of the door 2a can be calculated by counting the number of clocks in this one cycle. Can be measured.

This high speed control is continued until the termination condition shown in equation 2 is satisfied.

[0036]

[Formula 2] N _x ≧ N−N ₄ −S _B · d _B

S _B is (D _U (x) / D _UC ). This will be required until the duty ratio becomes equal to the change D _UC if the duty ratio is decreased by the change D _UC from the current duty ratio D _U (x). Shows the total number of steps. The duty ratio D _U (x) corresponds to the current speed v _x , so if the current speed is decelerated by a speed corresponding to D _UC , S _B is D _UC
Represents the number of steps required to reduce to a speed corresponding to. d _B represents the continuation distance of each step of predetermined. Therefore, S _B · d _B represents the stroke N _B of the brake control region, which will be described later, that is required when decelerating from the current speed v _x as shown in FIG.

N ₄ is a stroke when the cushion stroke control is performed as shown in FIG. Therefore, the right side of the _equation 2 represents the open brake start position OBP at which the brake control should be started if the brake control is started at the current speed v _x . N _{x on} the left side of the equation 2 is the current door 2 obtained by counting the output of the sensor 10 by the counter in the CPU 6.
The position of a is shown. Therefore, the number 2 is the current door 2
It is determined whether or not the position N _x of a is the brake start position OBP at which the brake control needs to be started at the current speed v _x .

Brake Control Brake control is started when the ending condition of the equation 2 is satisfied. In the brake control, each step in the total number of steps S _B when the number 2 of the termination condition is satisfied S (S
The target speed v _b (S) is calculated for each of (1 to S _B ). Then, feedback control is performed so that the actual speed v _x becomes equal to the target speed v _b (S). That is, the target speed v _b (S) for each step is calculated by the equation 3.

[0040]

[Number 3] _{v b (S) = v bp} - _{[(v bp -v oc) / S} B ] · S

However, v _bp is the speed of the door 2a when the brake control is started as shown in FIG. v _oc is
It is a predetermined open cushion target speed. S is 1
One a value of up to S _B is increased from. This increase is
It is performed every time the door 2a moves by the continuous distance d _B.
Therefore, each deceleration target speed decreases by (v _bp −v _oc ) / S _B each time the door 2a moves by the continuous distance d _B , so the deceleration gradient is a constant value. Speed control is the number 4
It is performed by

[0042]

## EQU00004 ## D _U (x) = D _U (x-1) -K (v _x -v _b (S))

However, K is a coefficient for converting (v _x -v _b (S)) into a duty ratio. This brake control is v _b (S)
_Will continue until v _oc . By performing this brake control, the speed of the door 2a smoothly decreases while maintaining a substantially constant deceleration gradient. Therefore, the speed of the door 2a at the opening cushion start point OCP can be reduced to the opening cushion speed _vcc .

Cushion Control Cushion control is started after v _b (S) becomes v _oc . In the cushion control, feedback control is performed so that the speed of the door 2a becomes equal to _voc , which is the target speed at the transition point between the brake control and the cushion control. This control is performed based on Equation 5.

[0045]

## EQU5 ## D _U (x) = D _U (x-1) -K (v _x -v _oc )

The termination condition of this control is when v _x becomes 0 and N _x becomes N. In this cushion control, the speed of the door 2a can be made to match the open cushion target speed v _oc even if the running resistance changes from the predetermined open cushion stroke start point OCP to the open position OP of the door 2a. .

Closing Operation of Doors 2a and 2b In the case of closing operations of the doors 2a and 2b, when the doors 2a and 2b are in the open position OP and the operation signal is not input for a predetermined time, Similar to the above, soft start control, stabilization waiting control, high speed control, brake control, and cushion control are performed. However, in high-speed control, equation 6 is used instead of equation 2.

[0048]

[Formula 6] N _x ≤ N ₂ + S _B · N _B

N ₂ is a predetermined closed cushion stroke value as shown in FIG. In the numbers 3 and 5, v _oc
Instead, the closing cushion speed v _cc is used.

Description of Power Supply Unit 16 As shown in FIG. 4, the power supply unit 16 has a rectifying circuit 20 for converting an AC power supply of 120 V into a direct current. The rectified output of the rectifier circuit 20 is smoothed by the capacitor 22, and a DC voltage of 140 V, for example, is generated. This DC voltage is supplied to the FET bridge circuit 23 in the motor drive unit 14. Further, this DC voltage is a constant voltage power supply circuit 24 using a Zener diode.
Is set to, for example, a constant voltage of +12 V, each constituent element of the motor drive unit 14 and the PWM2 generation circuit 1
8. Further, this DC voltage is set to a voltage of, for example, +5 V by the switching power supply circuit 26 using feedback control, and is supplied to the CPU 6, the encoder 8 and the clock signal generator 11.

Description of the motor drive unit 14 The FET bridge circuit 23 of the motor drive unit 14
Has four FETs 231 to 234.
1, 233 drain-source conductive paths are connected in series to both ends of the capacitor 22. In addition, FET232,
The drain-source conductive path of 234 is also connected in series to both ends of the capacitor 22. The connection points of the drain-source conduction paths of the FETs 231 and 233 and the FETs 232 and 2
The motor 4 is connected between the connection point of the drain-source conductive path 34. Diodes D1 to D4 are connected in parallel to the conductive paths of the FETs 231 to 234, respectively.

The gates of the FETs 231 and 233 are provided with conduction switches 28 functioning as braking means.
Similarly, the conduction switch 3 is also provided to the gates of the FETs 232 and 234.
0 is provided. The continuity switch 28, when an H-level control signal is supplied as will be described later, turns on the FET 233.
Is turned on and the FET 231 is turned off. When the L level control signal is supplied, the conduction switch 28 is
233 is turned off and the FET 231 is turned on. Similarly, the conduction switch 30 also makes the FET 234 conductive when the H-level control signal is supplied, makes the FET 232 non-conductive, and the FET 23 when the L-level control signal is supplied.
4 is turned off and the FET 232 is turned on.

The control signal to the conduction switch 28 is NAND
It is supplied by gates 32a-38a and inverter 40a. The forward direction signal and the PWM1 signal are input from the CPU 6 to the NAND gate 32a. The forward signal becomes H level when the doors 2a and 2b are driven in the forward direction (opening direction). NAND gate 32a output and P
The WM1 / PWM2 switching signal is supplied to the NAND gate 34a. In a normal state, this switching signal is at H level, and in an abnormal state such as a power failure, this switching signal is at L level. For example, the voltage applied to the CPU 6 is detected by a detector (not shown), and when a voltage drop due to a power failure or the like is detected by this detector, the CPU 6 is reset, and as a result, this switching signal is at the L level. Becomes

This switching signal is inverted by the inverter 40a and is also supplied to the NAND gate 36a. The PWM2 signal is also supplied from the PWM2 signal generation circuit 18 to the NAND gate 36a. The outputs of the NAND gates 34a and 36a are supplied to the NAND gate 38a, and the output of the NAND gate 38a is supplied to the conduction switch 28 as the control signal.

Generally, in a NAND gate, when one input is at H level, the other input is inverted and output. Further, in the NAND gate, when one input is at the L level, the output is at the H level regardless of the other input.

Therefore, when the H-level positive direction signal is supplied to the NAND gate 32a, the NAND gate 32a outputs a signal obtained by inverting the PWM1 signal supplied to the other input to the NAND gate 34a. To do. In addition, the PW supplied to the NAND gate 34a
When the M1 / PWM2 switching signal is at the H level, the NAND gate 34a further inverts the input inverted PWM1 signal, that is, converts it into the PWM1 signal, and inputs it to the NAND gate 38a.

Since the NAND gate 36a is supplied with an L level signal obtained by inverting the PWM1 / PWM2 switching signal of H level by the inverter 40a,
The NAND gate 36a NANDs the output signal of H level
Supply to the gate 38a. Therefore, the NAND gate 38
The output of a is the PW supplied from the NAND gate 34a.
The M1 signal is inverted and supplied to the conduction switch 28.

When the forward signal is at L level, NA
The ND gate 32a supplies an H level output signal to the NAND gate 34a. The NAND gate 34a has an H
Since the level PWM1 / PWM2 switching signal is supplied, the NAND gate 34a outputs an L level signal obtained by inverting the PWM1 / PWM2 switching signal.
output to a. Therefore, the NAND gate 38a supplies the H level output signal to the conduction switch 28.

The control signal for the conduction switch 30 is NA
It is supplied by ND gates 32b, 34b, 36b, 38b and inverter 40b. NAND gate 32b, except that the reverse signal is supplied to NAND gate 32b
a, 34a, 36a, 38a, and the inverter 40a.

Therefore, when the backward signal is at L level,
When the PWM1 / PWM2 switching signal is at the H level, the conduction switching device 30 is supplied with the H level signal. Further, when the reverse direction signal is at H level and the PWM1 / PWM2 switching signal is at H level, the conduction switching unit 30 has the inverted PW.
The M1 signal is provided.

Therefore, when the forward direction signal is at the H level, the reverse direction signal is at the L level, and the PWM1 / PWM2 switching signal is at the H level, the FET 234 is in the conductive state and the FET 232 is in the non-conductive state. If the PWM1 signal is at the H level under this condition, the FET 231 conducts, a current flows through the FET 231, the motor 4, and the FET 234, and the motor 4 rotates the doors 2a and 2b in the opening direction. When the PWM1 signal is L level under the above conditions, the FET 231 is non-conductive, the FET 233 is conductive, the FETs 233 and 234, and the motor 4 constitute a dynamic braking circuit, and the motor 4 is braked. This state is shown in the first half of FIG.

When the forward direction signal is at the L level, the reverse direction signal is at the H level, and the PWM1 / PWM2 signals are at the H level, FE
T231 becomes non-conducting and FET 233 becomes conducting. Then, if the PWM1 signal is at the H level under this condition, the FET 232 becomes conductive and the FET 234 becomes non-conductive. As a result, FET232, motor 4, FET
An electric current flows through 233, and the motor 4 rotates the doors 2a and 2b in the closing direction. Under the above conditions, when the PWM1 signal becomes L level, the FET 231 becomes non-conductive and the FE
T233 becomes conductive, and the FETs 233 and 234 and the motor 4 form a dynamic braking circuit, and the motor 4 is braked. This state is shown in the center of FIG. At these times, the duty ratio of the PWM1 signal is changed as described above.

Further, when the PWM1 / PWM2 switching signal is at the L level, it is inverted to the H level by the inverters 40a and 40b, and the NAND gate 36a,
Since the PWM2 signal is supplied to the NAND gates 36a and 36b from the PWM2 generation circuit 18, the NAND gates 36a and 36b are supplied to the PWM2
NAND gates 38a and 38b are obtained by inverting the signals.
To supply. The NAND gates 34a and 34b are PWM
Since the 1 / PWM2 switching signal is at the L level, the H level signal is supplied to the NAND gates 38a and 38b. Therefore, the NAND gates 38a and 38b have the inverted P
The WM2 signal is inverted again and supplied to the conduction switching devices 28 and 30 as the PWM2 signal.

Therefore, when the PWM2 signal is at H level,
The FETs 231 and 232 become conductive to form a dynamic braking circuit together with the motor 4. Further, when the PWM2 signal is at the L level, the FETs 233 and 234 are rendered conductive and constitute the dynamic braking circuit together with the motor 4. This state is shown in the latter half of FIG. The duty ratio of the PWM2 signal is fixed to a value equal to or greater than the L level period during the H level period, for example, 70%.

In this way, the NAND gates 32a, 32 are
b, 34a, 34b, 38a, 38b control the braking of the motor 4 in the normal state, and thus correspond to the first braking portion. In addition, NAND gates 36a, 36b, 38a, 3
Since 8b controls the braking of the motor 4 in an emergency, it corresponds to the second braking portion. Inverters 40a and 40b
Corresponds to the judgment unit.

Description of Continuity Switch Since the continuity switches 28 and 30 have the same structure, only the continuity switch 28 will be described. As shown in FIG.
The conduction switch 28 includes a capacitor 40 and a changeover switch 4
0, and the changeover switch 40 has the NA as described above.
It is switched by the control signal supplied from the ND gate 38a. When the control signal is at the L level, as shown in FIG. 6A, the changeover switch 40 operates in the constant voltage power supply circuit 24.
To charge the capacitor 40 with a voltage of +12 V from the
It is applied between the sources to make the FET 233 conductive.

When the control signal is at the H level, the changeover switch 40 stops charging from + 12V and discharges the charging voltage of the capacitor 40 between the gate and the source of the FET 231, as shown in FIG. The FET 231 is turned on.

+1 applied to the continuity switch 28
When the voltage of 2V becomes lower than a predetermined voltage, for example, + 8.5V, the conduction switch 28 disconnects the capacitor 40 from the FETs 231 and 233 and disconnects the FETs 231 and 233, as shown in FIG. Make it non-conductive. The voltage drop as described above occurs, for example, during a power failure.

The FET 23 is controlled by the conduction switching devices 28 and 30.
When 3 and 234 conduct, dynamic braking is applied, and similarly when FETs 231 and 232 conduct, dynamic braking is applied. However, when the voltage applied to the conduction switches 28 and 30 is reduced, the conduction switches 28 and 30 are all F
The ETs 231 to 234 are made non-conductive, and the motor 4 becomes free. That is, no braking is applied.

Operation of Emergency Braking Device It is assumed that a power failure occurs while executing any of the soft start control, stabilization waiting control, high speed control, brake control and cushion control. Even if a power failure occurs, the voltage across the capacitor 22 does not immediately become zero, but gradually decreases. During this period, each NAND gate, inverter, PW
M2 signal generation circuit is operable, PWM1 / PWM
Since the 2 switching signal is at the H level, the same control as before the power failure is performed. When the voltage drops and the CPU 6 is reset, the PWM1 / PWM2 switching signal becomes L level. Thereby, as described above, the PWM2
While the signal is at the H level, the FETs 231 and 232 conduct, the dynamic braking is applied to the motor 4, and the PWM2 signal is at the L level.
When the level is set, the FETs 233 and 234 are turned on, and the dynamic braking is applied to the motor 4.

Then, as shown in FIG.
When the 2 signal is at the L level, the FETs 233 and 234 are rendered conductive, the motor 4 is dynamically braked, and the capacitors 40 of the conduction switches 28 and 30 are charged. This L
The level period is short as shown in FIG. However, when the speed of the doors 2a and 2b is high when the dynamic braking is applied, the voltage generated between the armatures of the motor 4 is large, so that the capacitor 40 is sufficiently charged. Therefore, P
When the WM2 signal becomes H level, as shown in FIG. 7C, the FET 23 is discharged by the discharge from the capacitor 40.
The FETs 1 and 232 are in the conductive state for a relatively long period of the H level period of the PWM2 signal, and the FET 23
The period during which the power generation braking by 1 and 232 is being applied becomes longer. As a result, the doors 2a and 2b are greatly decelerated.

On the other hand, when the speed of the doors 2a and 2b is slow,
Since the voltage generated between the armatures of the motor 4 is also small,
When the PWM2 signal is at L level, the capacitor 40 is hardly charged. Therefore, when the PWM2 signal becomes H level, as shown in FIG. 7B, the discharge of the capacitor 40 is completed within a relatively short period of the H level period,
The period in which the FETs 231 and 232 are at the H level is short. As a result, the doors 2a, 2b are not slowed down much. In this way, braking is performed according to the speed of the doors 2a, 2b when braking is applied.

It is assumed that the doors 2a and 2b are stationary in this way. In this state, the voltage from the constant voltage circuit 24 applied to the conduction switching devices 28 and 30 is also smaller than + 8.5V, so that the FETs 231, 232, and 23 are each.
3, 234 are in a non-conducting state. Further, the NAND gates 32a to 38a, 32b to 38b, the inverter 4
0a and 40b are also inactive. Therefore, the motor 4 is not braked, and the doors 2a and 2b are freely moved when the doors 2a and 2b are operated by an external force, for example, by hand. Further, the doors 2a and 2b try to be automatically closed by the action force of the spring.

The movement of the doors 2a, 2b causes the armature of the motor 4 to rotate, generating a voltage across the armature. This voltage is applied to the diodes D1 and D4 depending on the rotation direction of the motor 4.
Alternatively, it is rectified by D2 and D3 and supplied to the constant voltage power supply circuit circuit 24 and the switching power supply circuit 26, and these operate. That is, both the DC power source obtained by the rectifier circuit 20 and the capacitor 22 and the power source obtained by manually rotating the motor 4 are used as the constant voltage power source circuit 2
4. The switching power supply circuit 26 also operates, and each NAND gate 32a, 32b, 34a, 34b, 36a, 36.
b, 38a, 38b, inverters 40a, 40b, PW
The M2 signal generation circuit 18 operates.

When the speed at which the doors 2a and 2b are moved is high, the same braking as that when the speed of the doors 2a and 2b is high is performed, and the doors 2a and 2b are greatly decelerated. At this time, if the force applied to the doors 2a and 2b is the same as before, the speed of the doors 2a and 2b increases, but if the force increases, the doors are decelerated in the same manner as described above. Therefore, the speed of the doors 2a and 2b is substantially constant.

If the speed at which the doors 2a and 2b are moved is low, the same braking as that when the speed of the doors 2a and 2b is low is performed, and the doors 2a and 2b are not slowed down much. That is, even when the doors 2a and 2b are manually operated, the braking force is applied according to the speed of the doors 2a and 2b due to the operating force.

In this embodiment, the conduction switching section 2
Although 8, 30 and NAND gates 32a to 38a, 32b to 38b and inverters 40a and 40b are provided in the motor drive unit 14, they may be provided in the CPU 6 side.
Further, in this embodiment, the case of the power failure has been described, but the control device, for example, the CPU 6 fails, and the doors 2a, 2
If the PWM1 / PWM2 switching signal is generated when the control of b is disabled, it can be used even when the CPU 6 is out of order.

Other Embodiments FIG. 8 shows another embodiment. Since this embodiment uses the brushless three-phase motor 4a as the motor, the motor drive unit 14a has the same configuration as that of the above-described embodiment except that the configuration of the motor drive unit 14a is different. Equivalent portions are denoted by the same reference numerals, and description thereof is omitted. Also, P
No WM2 signal generation circuit is provided. The door that opens and closes may be a sliding door. In FIG. 8, for simplification of the drawing, the motor 4a shows only terminals for two phases. This motor 4a is a FET bridge circuit 2
3a. This FET bridge circuit 23a
Also, although there are actually three phases, FE for two phases is used for simplification.
Only T231a to 234a are shown. These FE
Diodes D1a to D4a are connected in parallel to the drain-source conductive paths of T231a to 234a.

The gates of the FETs 231a and 233a are
The conduction switch 28a is connected. FET 232a,
The conduction switch 30a is connected to the gate of 234a. These conduction switching devices 28a and 30a have the same configuration as the conduction switching devices 28 and 30 of the previous embodiment. Further, a conduction switch for another phase (not shown) is actually provided.

The conduction switch 28a includes a NAND gate 5
A control signal is supplied from 0a. A control signal is supplied from the NAND gate 50b to the conduction switch 30a.
The positive direction signal and the PWM1 signal are supplied from the CPU 6 to one input of the NAND gate 50a, as in the above embodiment. Both inputs of NAND gate 50a are
It is grounded by pull-down resistors 52a and 54a. Similarly, to the one input of the NAND gate 50b, the backward signal and the PW are supplied from the CPU 6 as in the above embodiment.
And the M1 signal. Both inputs of NAND gate 50a are grounded by pull-down resistors 52b and 54b.

When the forward direction signal is at the H level, the backward direction signal is at the L level, and the PWM1 signal is at the H level, the NAND gate 50a supplies the L level signal to the conduction switch 28a, and the forward direction signal is at the H level, Reverse signal is L level, P
When the WM1 signal is at L level, the NAND gate 50a
Supplies an H level signal to the conduction switch 28a. On the other hand, since the reverse signal is at the L level, the NAND gate 50b supplies the H level signal to the conduction switch 30a regardless of the change of the PWM1 signal.

When the forward signal is at the L level and the backward signal is at the H level, the NAND gate 50a sends the H level signal to the conduction switch 3 regardless of the change of the PWM1 signal.
0a. When the forward direction signal is at the L level, the reverse direction signal is at the H level, and the PWM1 signal is at the H level, the NAND gate 50b supplies the L level signal to the conduction switch 30a. When the forward signal is at the L level, the backward signal is at the H level, and the PWM1 signal is at the L level, the NAND gate 5
0b supplies an H level signal to the conduction switch 30a. Therefore, in the normal state in which the PWM1 signal, the forward direction signal, and the reverse direction signal are generated, the door control similar to that of the above-described embodiment is performed.

Further, even if the H-level value of the PWM1 signal decreases due to a power failure or the like, this is caused by the NAND gate 50.
Normal control is performed in accordance with the change in the H level and the L level of the PWM1 signal until the value reaches the boundary value between the H level and the L level in a and 50b. When the H level of the PWM1 signal drops to the boundary value, the NAND
The outputs of the gates 50a and 50b maintain the H level, and as a result, the motor 4a is dynamically braked and the doors 2a and 2b are decelerated. When the voltage between the armatures of the motor 4a decreases due to deceleration, the voltage from the constant voltage power supply circuit is increased by a predetermined value +
It becomes lower than 8.5V, and FETs 233a and 234a
Becomes a non-conductive state, and the motor 4a becomes a free state.

Eventually, when the door stops, the motor 4a
Since the is in a free state, when a person operates the door, the door easily moves. As a result, a voltage is generated between the armatures of the motor 4a. This voltage becomes a large voltage when the door is rapidly opened, and as shown in FIG. 9B, a voltage of +8.5 V or more is applied to the conduction switching devices 28a and 30a via the constant voltage power supply circuit. Further, at this time, the NAND gates 50a and 50b also become operable by the voltage from the constant voltage power supply circuit. Then, the NAND gate 50
Since the PWM1 signal input sides of a and 50b are grounded by the pull-down resistors 54a and 54b,
The NAND gates 50a and 50b supply the H level output to the conduction switches 28a and 30a. As a result, a large braking force is applied to the motor 4a, and the door speed becomes slow.

At this time, the voltage supplied to the conduction switches 28a and 30a is + based on the voltage generated between the armatures.
When it becomes lower than 8.5V, FETs 233a and 234
a becomes non-conducting, resulting in the door being free. At this time, if the force applied to the door is the same,
The voltage generated across the armature rises and is decelerated in the same manner as described above. Therefore, even if the door is operated with a large force, the voltage supplied to the conduction switching devices 28a and 30a is +
The door speed is maintained at a speed of about 8.5V.

If the door is opened slowly,
The voltage generated between the armatures of the motor 4a also decreases. Therefore, the continuity switchers 28a and 30 are connected via the constant voltage power supply circuit.
If the voltage supplied to a is also less than + 8.5V, the door can be easily operated. Thus, also in this embodiment, braking is applied according to the speed at which the door is opened.

Also in this embodiment, the same modifications as those of the previous embodiment are possible. For example, the NAND gates 50a and 50b may be provided on the CPU 6 side.
In addition, the terminal on the CPU 6 side that generates the PWM1 signal,
It is also possible to connect a pull-down resistor.

[Brief description of drawings]

FIG. 1 is a block diagram of an embodiment of an automatic door device that implements an emergency braking device according to the present invention.

FIG. 2 is a diagram showing a change in speed of a door in the same embodiment.

FIG. 3 is a diagram showing a control position of a door in the same embodiment.

FIG. 4 is a block diagram of a motor drive unit according to the same embodiment.

FIG. 5 is an operation explanatory diagram in the same embodiment;

FIG. 6 is an operation explanatory view of the conduction switch in the same embodiment.

FIG. 7 is an explanatory diagram of a state in which a brake is applied during emergency braking according to the same embodiment.

FIG. 8 is a block diagram of a motor drive unit according to another embodiment.

FIG. 9 is an operation explanatory diagram according to the other embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Control device 2a, 2b Door 4 Motor 6 CPU (control part) 14 Motor drive unit (drive part) 16 Power supply 18 PWM2 signal generation circuit

Claims (5)

[Claims] 1. An automatic door apparatus comprising: a motor for opening and closing a door; a drive section for driving the motor; and a control section for supplying a control signal to the drive section, wherein the control section controls the door. The first to operate normally
A braking part, a second braking part for actuating a braking force on the door in an emergency, and a judging part for judging the condition of the control part. An emergency braking device for an automatic door device that selects and operates one of the two braking parts. 2. An automatic door apparatus comprising a motor for opening and closing a door, a drive section for driving the motor, and a control section for supplying a control signal to the drive section. The external power supplied to the door device and the electric power generated by the motor when the motor is driven by the inertia of the door are superimposed and supplied to the control unit. Braking device. 3. An automatic door apparatus comprising a motor for opening and closing a door, a drive unit for driving the motor, and a control unit for supplying a control signal to the drive unit, wherein a controlled braking force is applied to the door. And a braking unit that is inactivated when the supplied power falls below a certain value in the control unit or separately from the control unit, and is driven by the door when the door is operated by an external force. An emergency braking device for an automatic door device, which supplies the electric power generated by the motor to one or both of the control unit and the braking unit. 4. An automatic door apparatus comprising a motor for opening and closing a door, a drive section for driving the motor, and a control section for supplying a control signal to the drive section, wherein a controlled braking force is applied to the door. A braking unit to be actuated is provided in the drive unit, and the control unit sends a first braking signal for normally operating the door or a second braking signal for applying a braking force to the door in an emergency. An automatic door device that applies power to the braking unit and uses the electric power generated by the motor driven by the door when the door is operated by an external force as a power source of the braking unit provided in the driving unit. Emergency braking device. 5. An automatic door device comprising a motor for opening and closing a door, a drive section for driving the motor, and a control section for supplying a control signal to the drive section, wherein a controlled braking force is applied to the door. A braking unit to be actuated is provided in the drive unit, and the control unit applies a braking signal for applying a braking force to the door in an emergency, and when the door is operated by an external force. An emergency braking device for an automatic door device in which electric power generated by the motor driven by a door is used as a power source for the control unit.