JPH0228671B2 - - Google Patents

Description

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

Automatically opening/closing doors have a belt wrapped around a driving pulley and a driven pulley that are rotated forward and backward by a motor.This belt is connected to the door, and by rotating the motor forward and backward, the door automatically opens and closes along the rail. It is something that moves.

In such automatic opening/closing doors, abnormalities occur in the door, such as the rail being clogged with rocks and the like, making it impossible for the door to open and close smoothly, collision between the door and the human body, and a sudden increase in the sliding resistance of the door.

In the case of a door abnormality as described above, if current continues to flow through the motor to continuously drive the door, the motor will overheat and burn out.

That is, if the door comes into contact with some kind of obstacle before reaching the stroke end, an overload will be applied to the motor and the motor will burn out.

The present invention was developed in view of the above circumstances, and its purpose is to move the door in the opposite direction when an abnormality occurs, and then move it again at low speed, and if the abnormality occurs again, the door is stopped and the motor is turned off. To provide a control device for an automatic opening/closing door that prevents burnout, repeats the above-mentioned operation after a predetermined period of time, and opens/closes the door in a normal state if no abnormality occurs again. be.

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

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

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

Next, details of each member will be explained.

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

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

As shown in FIG. 2, the pulse generation circuit 10 half-wave rectifies the AC waveform from the tachometer generator 7, extracts the (+) part, shapes the waveform, and generates a plurality of rectangular waves proportional to the door movement amount as pulses for counting. It is output to the main control circuit 11 as _P1 .

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

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

As shown in FIG. 3, the main control circuit 11 includes a counting circuit 23 that counts the counting pulse P ₁ from the pulse generating circuit 10 and detects the current position of the door;
A command circuit 24 that controls the door opening/closing sequence and the counting circuit 23, a door opening/closing stroke setting device 25, an opening movement deceleration point setting device 26, a closing movement deceleration point setting device 27,
First and second comparison circuits 28 ₁ and 28 ₂ , a pulse interval check circuit 29, a collision detection circuit 30, and the like are provided.

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

When a person steps on the Matsuto switch 12, a human body detection signal is sent.
R ₁ is input to the command circuit 24, and the finger command circuit 24
The open signal R ₂ and counting start signal R ₄ are input to the speed control circuit 9 and the counting circuit 23.

The counting pulse P ₁ is input from the pulse generating circuit 10 to the counting circuit 23, and when the open signal R ₂ and the counting start signal R ₄ are input to the counting circuit 23, the opening width of the door (that is, the opening width of the door is The pulse number setting value corresponding to the maximum movement amount is the door opening/closing stroke setting device 2.
5 and starts counting down with the counting pulse _P1 to index and detect the current position of the door.

The contents of the counting circuit 23 (current position of the door) S ₁ is the first
Open movement deceleration point setter 26 by comparison circuit 28 ₁
is compared with the value _S2, and when _S2 ≧ _S1 , an open movement deceleration point signal _R5 is output.

Here, if the human body detection signal R ₁ is input from the initial state where the door is closed, S ₁ > S ₂
Therefore, since the opening movement deceleration point signal _R5 is not output from the first comparison circuit ₂₈₁ (state of L), the third
The AND gate 40 ₃ and the third OR gate 41 ₅ have an L output, and the second inverter 42 ₂ and the second OR gate 41 ₂ have an H output, so the second AND gate 4
₀₂ , the high speed drive signal H is input to the speed control circuit 9, and the motor M is driven in high speed normal rotation by the opening signal _R2 , and the door 5 is moved to open at high speed.

Then, by opening the door 5, the contents of the counting circuit 23 are sequentially down-counted by the counting pulse _P1 .
When the door 5 reaches the opening movement deceleration region, S ₂ ≧ S ₁ and the opening movement deceleration point signal R ₅ is output from the first comparison circuit _{28 1} (H state). , the third OR gate 41 ₃ becomes an H output, the second inverter 42 ₂ becomes an L output, and the second AND gate 40 ₂ becomes an L output (L state).
The fourth OR gate ₄₁₄ becomes an H output, the low speed drive signal L is input to the speed control circuit 9, and the open signal _R2
Accordingly, the motor M is driven to rotate at a low speed in the forward direction, and the door 5 is moved to open at a low speed.

When the door 5 is in the open state (reaching the end of the opening movement stroke), the content of the counting circuit 23 becomes "0".
Then, the origin region signal _R9 is output.

At the same time, a door stop signal _R7 is inputted from the pulse interval check circuit 29 to the command circuit 24, and a stop signal ST is inputted from the command circuit 24 to the speed control circuit 9, so that the motor M is stopped by braking.

In other words, the pulse interval check circuit 29
detects the pulse interval of the counting pulses, and outputs a door stop signal _R7 when the pulse interval becomes larger than a predetermined value.

When the human body detection signal R ₁ turns OFF in this state, a close signal R ₃ is sent from the command circuit 24 to the counting circuit 23.
and is output to the speed control circuit 9, and the high speed drive signal H is input to the speed control circuit 9 from the second AND gate ₄₀₂ , and the motor M is driven in high speed reverse direction by the closing signal _R3 , and the door 5 is closed at high speed. Moving.

On the other hand, the counting circuit 23 enters the up-count mode and receives the counting pulse from the pulse generating circuit 10.
The current position of the door to be closed is indexed and detected by up-counting using _P1 , and the set value _S3 of the closing movement deceleration point setter 27 is compared with the content _S1 of the counting circuit 23 in the same manner as described above. When S ₃ ≦ S ₁ , the closed movement deceleration point signal R ₆ is output, and the low speed drive signal L is output to the speed control circuit 9 via the fourth AND gate 40 ₄ , the third OR gate 41 ₃ , and the fourth OR gate 41 ₄ and motor M
is driven in a low speed reverse direction to move the door 5 to close at a low speed.

After that, the motor M is stopped at the end of the closing stroke, and the door 5 is stopped, as described above.

Note that the origin area signal _R9 is output when the content of the counting circuit 23 and the content of the door opening/closing stroke setting device 25 match.

The above explanation assumes that the door 5 opens and closes normally, and then the door 5 collides with an obstacle such as a stone or a human body on the rail, or the sliding resistance of the door 5 suddenly increases, etc. The operation when the movement of is obstructed will be explained.

When the movement of the door 5 is obstructed due to the above-mentioned cause, the rotational speed of the motor M sharply decreases, and the pulse interval of the counting pulse _P1 from the pulse generating circuit 10 suddenly becomes _longer . The collision detection circuit 30, which monitors pulse interval changes, detects a sudden change in the pulse interval and outputs a collision detection signal _R8 , and when the door 5 stops, the pulse interval check circuit 29 outputs a door stop signal R8. ₇ is output.

For example, when the collision detection signal _R8 or the door stop signal _R7 is output while the door 5 is moving to close, the first OR gate ₄₁₁ becomes an H output, and the origin area signal _R9 is output from the counting circuit 23. 1st because it is not
The inverter 42 ₁ has an H output, and the abnormality detection signal R ₁₀ is input to the command circuit 24 from the first AND gate 40 ₁ .

As a result, the command circuit 24 inputs the open signal R ₂ and the low-speed drive signal R ₁₁ to the speed control circuit 9, and drives the motor M in low-speed normal rotation to move the door 5 open at low speed, regardless of the contents of the counting circuit 23. .

At the same time, the command circuit 24 outputs the first abnormality signal _R12 , sets the flip-flop 43, and inputs an H output to the fifth AND gate ₄₀₅ .

When the door 5 reaches the end of its opening stroke, the closing signal R ₃ and low-speed drive signal R ₁₁ are input to the speed control circuit 9, and the door 5 is moved to close at a low speed.

At this time, the pulse interval check circuit 29
The door stop signal R ₇ is input to the first OR gate 41 ₁ , but the origin area signal R ₉ is output from the counting circuit 23 and the first inverter 42 ₁ outputs L, so the first AND gate 40 ₁ It becomes L output,
Abnormality detection signal _R10 is not input to command circuit 24.

When the above-mentioned cause for inhibiting the door movement disappears and the door 5 reaches the end of the closing movement stroke, the command circuit 24 causes the flip-flop 43 to
The flip-flop 43 is reset by outputting a reset signal _R13 to return to the normal operation control state.

Therefore, if the door 5 collides with a human body or a long object collides with the door 5 as it passes, an abnormality detection signal is generated.
If a person or a long object passes through the door 5 between the time _R10 is output and the door 5 moves open and closes again, the opening/closing operation is thereafter controlled as a normal door.

Furthermore, if the aforementioned cause of inhibiting door movement still exists and the closing movement of the door 5 is again inhibited, the abnormality detection signal R ₁₀ is again output from the first AND gate 40 ₁ in the same way as described above. 5 An emergency stop signal _R14 is input to the command circuit 24 from the AND gate ₄₀₅ ,
A stop signal ST is sent from the command circuit 24 to the speed control circuit 9
is input to stop the motor M and the door 5. At the same time, the command circuit 24 sends the timer 44
A set signal _R15 is output and the timer 44 is set.

Self-recovery signal after timer 44 times up
_R16 is input to the command circuit 24, and the command circuit 24 outputs an open signal _R2 and a low-speed drive signal _R11 , and the door 5 moves to open at a low speed.

Thereafter, the same operation as described above is repeated.

To summarize the above operation, if an abnormality occurs when the door 5 is opened/closed, the door 5 is moved at low speed in the opposite direction and then moved at low speed again to check for any abnormality.If there is no abnormality, it is normal. The opening/closing movement is controlled, and if the abnormality continues, the door 5 is stopped in an emergency and the power to the motor is stopped to prevent motor burnout, and the door 5 is moved in the opposite direction at a low speed or moved at a low speed after a set time. (in other words, self-recovery operation).

Therefore, if the door 5 collides with a human body, the door 5 will open and move, so it is safe.

Moreover, when a second abnormality occurs, the power supply to the motor is stopped, so that the motor does not burn out.

In addition, since the determination of the presence or absence of an abnormality and the automatic recovery operation are automatically repeated, there is no need for human intervention.

The present invention is as described above, and when the door 5 stops before reaching the closing stroke end while the door 5 is moving to close, the collision detection circuit 30 outputs a collision detection signal, and the collision detection circuit 30 outputs a collision detection signal, and the collision detection circuit 30 outputs a collision detection signal. The circuit drives the motor M in the reverse direction to move the door 5 open, and then the motor M is driven again in the normal direction at a low speed to move the door 5 back again at a low speed.

If the collision detection signal is outputted again during the closing movement at this low speed, the second circuit stops the motor M to stop the door 5, and after a certain period of time, drives the motor M in reverse to close the door 5. If the collision detection signal is not output when the door moves open, stops, and moves closed again at the low speed, the third circuit can switch to the normal opening/closing movement control state.

In this way, if the door 5 stops before reaching the closing stroke end, the collision detection signal is output again depending on whether the door 5 is moved open and closed again at low speed and the collision detection signal is output again. The cause of the door 5 stopping may be a fixed obstacle such as a stone on a rail, or a passing person or a long object that passes by before the door 5 closes again at low speed. If it is a fixed obstacle as described above, the door 5 is opened and moved to stop so that it does not collide with the obstacle again and prevents the motor from burning out. When an object passes through, the door 5 can be controlled to open and close normally, and since the door 5 closes again at low speed, the shock when colliding with an obstacle can be reduced, making it ideal as a control device for automatic opening and closing doors. Become something.

Further, the collision detection circuit 30 that detects that the door 5 has stopped before the end of the closing stroke outputs a collision detection signal based on the pulse interval of the counting pulse _P1 for detecting the current position of the door 5. Because of this structure, the collision detection circuit 30 can be installed in the control device instead of the door 5, and there is no need to wire the door 5 to the control device, which is not only preferable as an automatic opening/closing door, but also makes it possible to prevent the door 5 from becoming an obstacle. Not only when the door 5 collides with an object, but also when the sliding resistance of the door 5 suddenly increases and the door 5 stops, the collision detection signal can be output and the control can be performed in the same manner as described above.

[Brief explanation of drawings]

The drawings show embodiments of the present invention.
The figure is an overall explanatory diagram, and FIGS. 2 and 3 are detailed explanatory diagrams of each circuit. 5 is a door, 7 is a tachometer generator, 30 is a collision detection circuit, and M is a motor.

Claims (1)

[Claims] 1 Detects a counting pulse proportional to the amount of movement of the door 5 that is opened and closed by the motor M, and determines the current position of the door based on this counting pulse and a predetermined setting value of the door opening/closing stroke setting device 25. In a control device that detects a collision and controls the opening/closing movement of a door 5 based on the current position of the door, a door collision detection signal is output based on the pulse interval of the counting pulse when the door 5 is moving to close. a detection circuit 30, a first circuit that drives the motor M in reverse rotation based on the collision detection signal and then drives it in normal rotation again at low speed; A second circuit that stops the motor M when a collision detection signal is output again at the same time and drives the motor M in reverse after a certain period of time has elapsed, and a second circuit that drives the motor M in the reverse direction and stops the motor M at a low speed. 1. A control device for an automatic opening/closing door, comprising a third circuit that switches to a normal opening/closing movement control state when a collision detection signal is not output when the door is rotated.