JPS60219976A - Brake controller of automatic door - Google Patents

Abstract

PURPOSE:To always smoothly move a door by outputting a pulse signal at an interval inversely proportional to the speed of an automatic door, and varying the duty ratio to intermittently operate brake means of the door. CONSTITUTION:A motor 4 is rotated at a relatively high speed to close a door 2 at a relatively high speed, and when the first door position sensor 14 senses the end of the door 2, the motor 4 is set to a generating control mode only during the prescribed braking time, then set to a free rotating mode only during the prescribed free time, these operations are alternately repeated by the control of a computer 13. When the second door position sensor 15 senses the end of the door 2, the motor 4 is rotated at a relatively low speed to completely close the door 2 at a low speed.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a brake control device for an automatic door, and more particularly to a brake control device for smoothly closing an automatic door.

The automatic door closing operation involves first closing the door within a certain range at a relatively high speed, then activating the brake means to roughly close the door while reducing the speed, and finally closing the door completely at a relatively low speed. From the viewpoint of smooth operation, it is preferable to perform the operation based on the following three steps.

However, when the door Wilt of the automatic door is different or when the installation situation of the automatic door changes, it is necessary to appropriately adjust the operation of the brake means, otherwise the operation will become awkward. For example, if the door is heavier than the door weight compatible with a given operation of the braking means, the brake operation will not be able to reduce the door speed sufficiently and the door will close in a crashing manner. On the other hand, if the door is too light,
Since the door speed suddenly drops to a low speed, the predetermined time required for the door to completely close becomes longer than necessary.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an automatic door brake control device that automatically adjusts the operation of the brake means in the above-mentioned cases and maintains smooth door operation at all times.

According to the present invention, there are provided a pulse output means for outputting a pulse signal at intervals inversely proportional to the door speed of an automatic door, a pulse sand detection means for detecting the number of pulse signals during a predetermined period, and outputting the pulse signal in accordance with the detected number of pulse signals. An automatic door having a structural element comprising a brake actuation means for intermittently operating the brake means of the door by changing the duty ratio so that the output of the pulse number detection means coincides with a predetermined set value. A brake ili control device is provided.

In the above configuration, the pulse output means may be configured to output a pulse signal by magnetically or optically detecting the teeth of a gear that rotates due to the movement of the door, for example. Alternatively, it may be configured to output pulses in synchronization with the rotation of a motor that drives the door. Furthermore, other known means may be used. In short, it is sufficient if the door outputs more pulses as the speed of the door increases. Note that the pulse waveform is not particularly limited as long as it is a countable waveform.

Further, in the above configuration, the pulse number detection means can be configured as a digital circuit using a timer circuit and a counter circuit, for example, or can be configured as an analog circuit using an integrating circuit.

Furthermore, instead of using such hardware, it may be configured using software using a computer.

Furthermore, in the above configuration, the brake actuation means can be configured in terms of hardware using a comparison circuit or the like, or may be configured in terms of software using a computer. In short, if the number of pulse signals detected when the brake means is activated at the duty ratio is greater than a predetermined set value, the duty ratio is increased, and conversely, if it is less, the duty ratio is lowered to intermittent the brake means. It is fine as long as it allows people to create something.

Note that, as the brake means, conventionally known brake means used in this field can be used.

Next, embodiments embodying the present invention will be described with reference to the accompanying drawings to provide an understanding of the present invention.

Here, FIG. 1 explains the configuration of an automatic door including an automatic door brake control device according to an embodiment of the present invention, and FIG. 2 shows a time chart of motor operation and brake operation.
FIG. 3 is a door movement characteristic diagram, and FIG. 4 is a circuit diagram of an example of a duty ratio adjustment circuit. Note that the present invention is not limited thereby.

In the automatic door 1 shown in FIG. 1, the door 2 is fixed to a heald 3, and is moved by a motor 4 via the heald 3.

A slit disk 6 is attached to the rotating shaft 5 of the motor 4, and a photosensor 7 detects the many slits and grooves provided on the slit disk 6 and outputs a pulse (No. 5). Pulse signals are output at intervals inversely proportional to the moving speed of these slit disks 6.
and photosensor 7 constitute pulse output means 8.

The pulse signal output from the pulse output means 8 is input to the counter 10 via the gate 9 and counted. The gate 9 is opened only while the timer 11 is on, which is turned on by a start signal from the computer 13 and turned off after a predetermined time. On the other hand, the counter 10 is cleared by the start signal.

Therefore, the count value of the counter 10 is
3 is the number of pulse signals for a predetermined time after outputting the start □ signal. These gates9. The counter 10 and the timer 11 constitute pulse number detection means.

The computer 13 controls the operation of the motor 4 to open the door 2.
It is also a brake actuation means that performs braking by dynamic braking of the motor 4. That is, to explain the closing operation of the door 2 as an example, first, the motor 4 is rotated at a relatively high speed to close the door 2 at a relatively high speed, and the end of the door 2 is moved by the first door position sensor 14. When detected, as shown in FIG. 2(b), the motor 4 is placed in the dynamic braking mode for a predetermined braking time TI, then placed in the free rotation mode for a predetermined free time TI, and these steps are repeated alternately. The second door position sensor 15 detects the door 2.
When the edge of is detected, the motor 4 is rotated at a relatively low speed to completely close the door 2 at a low speed.

Further, the computer 13 outputs a start signal to the counter 10 and the timer 11 when the first door position sensor 14 detects the edge of the door 2 .

Now, Figure 3 shows the braking duty ratio, that is, T
The movement characteristics of an overweight door, a proper weight door, and an underweight door when h/(TI, +T1) is constant are shown by characteristic curves A, m, and n, respectively. First, the O-A section on the vertical axis in Figure 3 is a section where the door 2 is closed at a relatively high speed.At this time, the rotation speed of the motor 4 is controlled to be constant by the computer 13, so the rotation speed of the motor 4 is controlled to be constant regardless of the weight of the door. The velocity, or the slope of the curve, is constant;
The time when the first door position sensor 14 is reached is t. is constant. Next, the A-B section is the braking section, and the door 2
is braked intermittently, but the braking effect is lower as the door weight increases, so the heavier door reaches the second door position in a short time without slowing down sufficiently, while the lighter Since the speed of the door immediately decreases, the door does not reach the second door position sensor 15 easily.As a result, the time at which the door reaches the second door position sensor 15 is 1..1
In the order of 2°t3, the sooner the door ff1f2t opens, the faster it will move.

Next, the B-C section is a section where the door 2 is closed at a relatively low speed, and since the rotation speed of the motor 4 is controlled to be constant by the computer 13, the speed, that is, the slope of the curve, is constant regardless of the door weight. , the time required for this section is also constant. Therefore, the time t when the door is completely closed, L5. t
6 is the time t.

+t2=same order as t3.

As can be seen from the discontinuity of the slope of the characteristic curve l at time t, the transition from the braking zone to the low speed zone is not smooth in the case of an overweight door. On the other hand, as can be seen from the fact that the time is the latest in the characteristic curve n,
For underweight doors, the time required for the door to fully close is too long. For these, the characteristic curve m
The movement is smooth, and the time it takes for the door to close completely is short.

By the way, if the time when the timer 11 opens the gate 9 is the time P shown in FIG. 3, then in the case of an overweight door, the number of pulses during which the door moves by a distance N not shown in FIG. Each time the counter 10 counts. Similarly, for a door with an appropriate weight, 2 is counted as the number of pulses while the door moves by a distance N2, and for a door with an underweight door, the door moves a distance N2. '! The number of pulses during movement by l N 3 is 61 (3).

As mentioned above, since the pulse signal is output at intervals inversely proportional to the door speed, the counted value ultimately determines the amount of door movement, and therefore the relationship Kl > K2 > K3.

The computer 13 is inputted with a set value in advance, and each time one closing operation is completed, the computer 13 compares the set value with the counted value of the counter 10 at that time.

If it is KID, make the value of Tb/(1゛b+"r+> a little thicker (and if K<D, make T/(TI, +T,) a little smaller. Now, as the setting 4N D, If the same value has been input, then when the count value is 1 (2g), it becomes >D, so for example, the braking time T is slightly extended and the braking time T is slightly shortened. The total time T → ㅅ1 is left unchanged, so that T
I.

/ Increase the value of (T, +T,) a little. Figure 2 (c
) shows this, where the extended braking time is shown as T' and the shortened braking time is shown as TI'.

Since the braking for the next closing operation will be performed at this slightly higher duty ratio, the braking effect will be a little stronger than the previous one, and a count value closer to 2 will be obtained. On the other hand, when the count value is 3, 3<D, so that, contrary to the above, the braking time TI is slightly shortened and the braking time T is extended. 2nd Shi I (d4
) indicates this, where the shortened braking time is T, and the extended braking time is T, -/.The braking effect is slightly weakened, and the count value approaches 2. will be obtained.

As mentioned above, the computer 13 automatically adjusts the braking duty ratio every time the door is closed, bringing the count 4JK closer to the set value. Zu, door 2
For example, as shown by the characteristic curve m in FIG. 3, three operations are performed with a predetermined smoothness.

FIG. 4 shows an example in which the means for adjusting the duty ratio is configured by a hardware circuit. When a brake signal is input to the duty ratio adjustment circuit 20, the flip-flop 21 is set at the rising edge of the brake signal. is,
Brake to the brake means through AND gate 22
The drive signal is turned on. Since the on-time counter 23 is set to the inverted output of the time setting counter 25 at the rising edge of the brake signal, it outputs a carry signal when it has counted the clocks by the value held by the time setting counter 25, and the carry signal is sent to the flip-flop 21. Reset. The brake drive signal then turns off. The carry signal of the on-time counter 23 is the carry signal of the off-time counter 2.
Since the non-inverted output of the time setting counter 25 is set to 4, when the clock is counted by the complement of the value held by the time setting counter 25, the off time counter 24 outputs a carry, and the OFF time counter 24 outputs a carry, and the OFF time counter 24 outputs a carry, and the OFF time counter 24 outputs a carry, and the OFF time counter 24 outputs a carry, and the OFF time counter 24 outputs a carry signal, and the OFF time counter 24 outputs a carry signal, and the OFF time counter 24 outputs a carry signal, and the OFF time counter 24 outputs a carry signal. At the same time, the on-time counter 23 again sets the inverted output of the time counter 25.The same process is repeated and a pulsed brake drive signal is output.The on-time of the brake drive signal is T in Figure 2
This corresponds to the value held by the time setting counter 25.

Also, the off time of the brake drive signal is the second
T in the figure is time, which is the time setting counter 2.
It corresponds to the value obtained by subtracting the holding value from the full count value of 5 (ie, the complement). If the up count signal is now input and the value held by the time setting counter 25 is increased, the on time will become longer and the off time will become shorter. In other words, the duty ratio increases. On the other hand, when the down count signal is input and the value held by the time setting counter 25 is increased, the on time becomes shorter and the off time becomes longer. In other words, the duty ratio becomes smaller. Therefore, for example, the microcomputer 13 shown in FIG.
The duty ratio can also be adjusted by outputting a brake signal, an up count signal, and a down count signal. Note that when the power is turned on, the settings are made with the initial setting switch 26 (16 is the time setting counter 25).
is set to

Another example is one in which the duty ratio is adjusted one or more times during one closing operation. Another example is one in which the door position is determined from a pulse signal and the door position sensor is omitted. Furthermore, the number of pulses that occur within a certain period of time from the start of the closing operation may be detected and the braking duty ratio may be automatically adjusted based on this. In this case, due to the action of inertia, the number of pulses counted for a heavier door is smaller.

It should be noted that the present invention can be applied to brake control during the opening operation of an automatic door, and it is also possible to apply the duty ratio obtained in the closing operation to the next opening operation, and vice versa. There is no pay.

As described above, the present invention provides a pulse output means for outputting a pulse signal at an interval inversely proportional to the door speed of an automatic door;
Pulse number detection means for detecting the number of pulse signals during a predetermined period and outputting it accordingly; and door braking means for changing a duty ratio so that the output of the pulse number detection means matches a predetermined set value. The present invention provides a brake control device for an automatic door, characterized in that it is equipped with a brake operation means that operates intermittently, whereby the operation of the brake means is automatically adjusted to adapt to changes in the situation, so that the The desired smooth door movement can be obtained.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of the configuration of an auto door including an auto door brake control device according to an embodiment of the present invention, Fig. 2 is a time chart of motor operation and brake operation, and Fig. 3 is a diagram showing door movement characteristics. 1 and FIG. 4 are examples of a duty ratio adjusting circuit. (Explanation of symbols) 1...Auto door 2...Door 3...Belt 4...Motor 6...Slit disc 7...Photo sensor 8...
Pulse output means 9...Gate 10...Counter
11... Timer 12... Pulse number detection means 13... Computer 20... Duty ratio adjustment circuit. Applicant Daihatsu Diesel Co., Ltd. Agent Patent Attorney Takeyu Honjo-1□-T-1

Claims (1)

[Claims] 1. Pulse output means that outputs a pulse signal at intervals inversely proportional to the door speed of the automatic door, pulse number detection means that detects the number of pulse signals during a predetermined period and outputs accordingly, and the pulse number detection means. 1. A brake control device for an automatic door, comprising a brake operating means for intermittently operating a door brake means by changing a duty ratio so that an output matches a predetermined set value.