JPH11264277A - Automatic door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve operability by detecting the displacement of the force applied to a handhold, and controlling the opening/closing means of a door with a control means based on its detection signal. SOLUTION: When a handhold 3 is moved in the opening direction 30R to open a door, the resistance value of the strain gauge r1 of a displacement detecting circuit 4 is decreased, the displacement signal S for opening a door main body 2 is outputted, and a control circuit outputs the drive signal Ed from an operation amplifier 15. The motor drive circuit 60 of an opening/closing drive device 6 receives the signal Ed, the motor drive signal D is fed to an electric motor 62 to rotate it in the prescribed direction, and the door 2 is opened by an opening/closing mechanism 7. When a hand is removed from the handhold 3 in the middle, no force is applied to the strain gauge r1, a bridge circuit 14 is balanced, the signal S is not outputted, the signal D is not fed to the motor 62, and the opening action of the door 2 is stopped. When the handhold 3 is moved in the closing direction 30L to close the door 2, the door 2 is closed nearly likewise. When the hand is removed in the middle, the closing action is stopped. Even an old person can open or close a large door easily.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic door capable of controlling the opening and closing of an automatic door in accordance with the power applied to a hand.

[0002]

2. Description of the Related Art In general, in a building where people enter and exit frequently, a large and relatively large door is provided. Since it is difficult to manually open and close such a door, it is configured as an automatic door that automatically opens and closes based on the operation of an ultrasonic sensor, a load sensor, a touch sensor, or the like.

However, in such an automatic door, the sensor may operate regardless of whether a person enters or exits.
As a result, there is a problem that the automatic opening and closing is performed carelessly.

For example, in an automatic door using an ultrasonic sensor, there is a problem that even if a person unrelated to entry / exit stops in front of the door, it opens. Further, an automatic door using a load sensor has a problem that the object is automatically opened even if an object is placed in front of the door, and the opened state is continued.

[0005] Further, such an automatic door is designed to open to the full opening at a predetermined constant speed when the sensor is actuated, then return to its original position and close. For this reason, even if you want to pass early, if you want to stop in front of the door and wait for it to open, or if you want to leave the door open when loading or unloading things, There is a defect that cannot be done.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and provides an automatic door capable of opening and closing the automatic door in accordance with the power applied to the hand. It is intended to be.

[0007]

According to the first aspect of the present invention,
In an automatic door with a handle on the door body,
Detecting means for detecting a displacement of the force applied to the handle and outputting a detection signal corresponding to the displacement, opening and closing means for opening and closing the door, and control for controlling the opening and closing means based on the detection signal from the detecting means. Means.

In the present invention, the displacement of the force applied to the handle of the door is detected by the displacement detecting means, and a signal corresponding to this displacement is taken into the control means. The control means controls the opening / closing means based on the output signal from the detection means to open / close the door. Thus, the door can be opened and closed according to the power applied to the hand.

[0009]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows a schematic configuration of an automatic door according to the present invention. In FIG. 1, an automatic door 1 includes a door body 2, a handle 3, and a displacement detection circuit 4.
A control circuit 5, an opening / closing drive device 6, an opening / closing mechanism 7,
And a current detection circuit 8.

The door main body 2 is a single door with a large open feeling and can be moved on a rail (not shown) provided on the floor 10 in the opening and closing direction. The door body 2 is provided with a handle 3 for opening and closing, and is held at a predetermined position in a balanced state by two springs 11L and 11R. At the time of opening and closing, the handle 3 moves in accordance with the movement of the hand.
L and 11R promptly return to the original predetermined position. The door main body 2 is provided with a strain gauge r1 which will be described later, which is fixed, and the strain gauge r1 is pressed by the handle 3 in the direction in response to the opening and closing of the door to receive distortion. .

The displacement detecting circuit 4 is a circuit for detecting a displacement of a force applied to the handle 3, and includes a bridge circuit 14 and a DC reference power source E. The bridge circuit 14 includes a strain gauge r1 and resistance elements R2, R3, R4.
A DC reference power source E is connected between the terminals b and d of the circuit 14. In the circuit 14, in the steady state where no force is applied to the handle 3, the resistance value of each element is selected such that r1.R3 = R2.R4. Circuit 1
The displacement signal S indicating the magnitude of the force applied to the handle 3 from the output terminals a to c of the handle 4, that is, the displacement of the force, is input to the control circuit 5 at the subsequent stage.

The resistance value of the strain gauge r1 increases and decreases based on the strain generated through the handle 3 when the door body 2 is opened and closed. The resistance value of the strain gauge r1 decreases when the door body 2 is opened, and increases when the door body 2 is closed.

The control circuit 5 raises the displacement signal S from the displacement detection circuit 4 to a drive voltage value sufficient to drive the electric motor 62 to rotate at a high torque that makes the mass of the door body 2 substantially zero. And has a high gain differential amplifier 15. The displacement signal S from the displacement detection circuit 4 is input to a positive / negative input terminal. When the potential of the positive input terminal is higher than the potential of the negative input terminal, the differential amplifier 15
When the potential of the positive input terminal is lower than the potential of the negative input terminal, the drive signal Ed of the positive DC voltage that causes the door body 2 to open is closed. Is output to the opening / closing drive device 6.

The differential amplifier 15 of the control circuit 5 includes:
When the detection current I is input from the current detection circuit 8 and the current I indicates an abnormal value, the operation is performed so as to stop the output of the drive signal Ed so that the electric motor 62 is not overloaded.

The opening / closing driving device 6 is a driving device for opening and closing the door main body 2 and includes a motor driving circuit 60 and an electric motor 62.

The motor drive circuit 60 is a circuit for converting the drive signal Ed from the control circuit 5 into a motor drive voltage signal D corresponding to the type of the electric motor 62. For example, when the electric motor 62 is a pulse motor, And outputs a motor drive voltage signal D of a predetermined pulse train. In this embodiment, since the electric motor 62 is of a DC type, the motor 62 has a motor drive voltage signal D having a positive DC voltage when the door body 2 is opened, and a negative voltage when the door body 2 is closed. Are supplied respectively.

The electric motor 62 is for moving the door body 2 in the opening / closing direction, and a small diameter gear 71 of the opening / closing mechanism 7 is provided on the rotating shaft 62A.

The opening / closing mechanism 7 includes a gear 71 meshing with each other,
72, 73, pulley 74, each pulley 75, wire 7
6 is comprised. The pulley 74 is the last gear 7
3, a wire 76 is connected to the pulley 74 and connected to the door body 2 via each pulley 75 as shown. Thereby, the motor 62
When the rotating shaft 62A rotates, the gears 71, 72, and 73 rotate sequentially in a predetermined direction.
6 is opened and closed. Each gear 71, 72, 73
Gear ratio is set larger as the mass of the door body 2 is heavier.

The current detection circuit 8 is a circuit for detecting a current (armature current) flowing through the electric motor 62, and is used to overload the door body 2 when the door body 2 opens and closes excessively or when an object or a person is caught. The state can be detected. The detection current I from the circuit 8 is output to the control circuit 5, and the rotation drive of the electric motor 62 is controlled. The present invention is not limited to this, and a configuration may be adopted in which an overload state is detected based on heat generation (temperature) of the electric motor 62.

Next, the operation of the automatic door 1 configured as described above will be described. First, when opening the automatic door 1,
Move the handle 3 in the opening direction 30R with your hand. Along with this, the strain gauge r of the displacement detection circuit 4 according to the movement of the handle 3
1 decreases, the differential amplifier 1 of the control circuit 5
From 5, a drive signal Ed of a positive DC voltage based on the displacement signal S indicating that the door body 2 is opened is output to the opening / closing drive device 6. The motor drive circuit 60 of the opening / closing drive device 6 includes:
In response to the drive signal Ed, a motor drive voltage signal D of a positive DC voltage for opening the door body 2 is supplied to the electric motor 62, and the electric motor 62 is driven to rotate in a predetermined direction. Accordingly, the rotation shaft 62A of the electric motor 62 rotates, and the gears 71, 72, 73 of the opening / closing mechanism 7 sequentially rotate in a predetermined direction in which the door body 2 opens. Due to this rotation, the pulley 74 also rotates integrally, so that the wire 76 is pulled in the illustrated arrow direction 76R, and the door body 2 starts to open.

When the handle 3 is released during the opening, no force is applied to the strain gauge r1, so that the bridge circuit 14 of the displacement detection circuit 4 is in an equilibrium state and the displacement signal S is not output. As a result, the motor drive voltage signal D is not supplied to the electric motor 62, and the opening operation of the door body 2 stops.

Further, when the door body 2 is opened beyond the opening, an overload is applied to the electric motor 62, so that an overcurrent flows. This overcurrent is detected by the current detection circuit 8, and the detection current I is taken into the control circuit 5. The differential amplifier 15 of the control circuit 5 stops the output of the drive signal Ed supplied to the opening / closing drive device 6 based on the detected current I, and prevents the electric motor 62 from rotating. This prevents overcurrent from flowing through the electric motor 62, thereby preventing burnout.

On the other hand, when closing the opened door body 2, the handle 3 is moved in the closing direction 30L. Accordingly, the resistance value of the strain gauge r1 of the displacement detection circuit 4 increases in accordance with the movement of the handle 3, so that the displacement signal is transmitted from the differential amplifier 15 of the control circuit 5 to the motor drive circuit 60 of the opening / closing drive device 6. A drive signal Ed of a negative DC voltage based on S is output. The motor drive circuit 60 receives the drive signal Ed and supplies a motor drive voltage signal D for closing the door body 2 to the electric motor 62. Along with this, the rotation shaft 62A of the electric motor 62 rotates, and the gears 71, 72 of the opening / closing mechanism 7,
73 sequentially rotate in a predetermined direction in which the door body 2 closes.
By this rotation, the pulley 74 also rotates integrally, so that
The wire 76 is pulled in the illustrated arrow direction 76L, and the door body 2 starts closing.

When the grip 3 is released during the closing, no force is applied to the strain gauge r1, so that the bridge circuit 14 of the displacement detection circuit 4 is in an equilibrium state, and the displacement signal S is not output. As a result, the motor drive voltage signal D is not supplied to the electric motor 62, and the closing operation of the door body 2 stops.

Further, if the same operation is continued even after the door body 2 is completely closed, an overload is applied to the electric motor 62, so that an overcurrent flows. This overcurrent is detected by the current detection circuit 8, and the detection current I is taken into the control circuit 5. The differential amplifier 15 of the control circuit 5 stops the output of the drive signal Ed supplied to the opening / closing drive device 6 based on the detected current I, and prevents the electric motor 62 from rotating. This prevents overcurrent from flowing through the electric motor 62, thereby preventing burnout.

When the door body 2 is opened and closed quickly, the handle 3 is moved rapidly, and when it is opened and closed slowly, it may be moved little by little.

As described above, the automatic door 1 of this embodiment is
In this configuration, the displacement of the force applied to the handle 3 is detected through the strain gauge r1, and the opening and closing control is performed based on the detection result. Therefore, even a large automatic door having a large mass can be easily opened and closed. . Therefore, even a child or an old man with poor strength can easily open and close. With an automatic door having such a configuration, even a door with a relatively heavy security structure can be installed at the entrance of a general house.

If the rotation torque of the electric motor 62 is sufficiently large, the door body 2 opens and closes at a speed faster than the opening and closing speed due to the arm force, so that the hand attached to the handle 3 follows the door body 2. As a result, it feels as if the mass of the door body 2 has become zero.

Further, since the gain of the differential amplifier 15 is sufficiently large, if an error occurs between the desired opening / closing position of the door main body 2 and the actual opening / closing position, the electric motor 62 is caused by the error.
Is driven again, and stops at the desired open / close position.

When the opening / closing operation of the door body 2 is suddenly stopped, the door body continues to be opened / closed by inertia force. However, by stopping the supply of the motor drive voltage signal D, the back electromotive force generated in the electric motor 62 As a result, the electric brake is applied. Further, each gear 71, 7 of the opening / closing mechanism 7
Since the gear ratios 2 and 73 are set large, the rotation of the last gear 73 stops immediately. Thereby, the rotation of the pulley 74 also stops, so that the door body 2 can be stopped at a desired position.

Further, in order to smoothly open and close the door body 2, a system configuration for accurately performing feedback control between the electric control system and the mechanism control system is provided, and the vibration of the transient response of the control system is minimized. What should I do?

The automatic door 1 is opened at a high speed,
Conversely, when closing, it may be configured to operate at a low speed.
Thereby, the impact when a person or an object is caught can be reduced, and the failure of the opening / closing drive device 6 due to a sudden overload can be prevented.

Next, another embodiment will be described with reference to FIG. FIG. 2 shows a schematic configuration of the automatic door according to the present invention. Note that the same reference numerals are given to the same circuits shown in FIG. 1 and the description of the operation is omitted. In the figure, an automatic door 200 includes a door body 2 and a handle 3.
, A displacement detection circuit 24, a control circuit 25, an open / close drive device 6, an open / close mechanism 7, and a current detection circuit 8.

The handle 3 of the door body 2 and the displacement detection circuit 24
Is integrally connected to a sliding terminal a of the potentiometer 40 described later.

The displacement detecting circuit 24 is a circuit for detecting the displacement of the force applied to the handle 3, and includes a potentiometer 40,
It comprises two DC reference power supplies E1 and E2.
The potentiometer 40 is a slide-type variable resistor provided with three terminals a, b, and c. The terminal a slides a resistor (total resistance value: r) between the terminals b and c. The DC reference power supply E is connected between the terminals b and c.
1 and E2 are connected in series, and the midpoint thereof is grounded. As a result, when the terminal a slides with the movement of the handle 3, the respective terminal voltages V1 and V2 generated according to the amount of change in the resistance between the terminals a and b and between the terminals a and c, Changes relatively. The relative voltages V1 and V2 are input to the control circuit 25 at the subsequent stage via the terminal a as a displacement signal S indicating the magnitude of the force applied to the handle 3, that is, the displacement of the force.

The terminal a of the potentiometer 40 is connected to the two springs 11 in a steady state where no force is applied to the handle 3.
L and 11R hold the resistance values between the terminals a and b and between the terminals a and c such that the resistance values between the terminals are approximately at the center indicating the r / 2 value. In this case, terminals ab,
Since there is no potential difference between the terminals a and c, no displacement signal S is output.

On the other hand, when the door body 2 is opened, the handle 3 moves to the right in the direction of the arrow 30R shown in FIG.
The inter-c voltage V2 increases, and a positive potential displacement signal S is output to the control circuit 25. Conversely, when the door body 2 is closed, the handle 3 moves to the left indicated by the arrow 30L, so that the terminal a-b voltage V1 rises and the negative potential displacement signal S
Is output. Thus, from the displacement detection circuit 24,
A positive / negative displacement signal S indicating the opening / closing direction and opening / closing amount of the door body 2 is output.

The control circuit 25 raises the displacement signal S from the displacement detection circuit 24 to a drive voltage value sufficient to drive the electric motor 62 to rotate at a high torque that makes the mass of the door body 2 substantially zero. And has a high gain amplifier 50. Thus, a drive signal Ed corresponding to a slight change in the movement of the handle 3 is supplied to the opening / closing drive device 6.

When the detection current I from the current detection circuit 8 indicates an abnormal value, the amplifier 50 operates to stop the output of the drive signal Ed so that the electric motor 62 is not overloaded. I do.

Next, the automatic door 20 constructed as described above is used.
The operation of 0 will be described. First, when opening the automatic door 200, the user moves the handle 3 in the opening direction 30R with his hand.
Along with this, the displacement detection circuit 24 matches the movement of the handle 3.
Of the potentiometer 40 slides in the same direction, the voltage V2 between the terminals a and c increases, and the positive potential displacement signal S is output to the control circuit 25.

The control circuit 25 amplifies the displacement signal S to a predetermined voltage value via the amplifier 50, and outputs a drive signal Ed to the motor drive circuit 60 of the opening / closing drive device 6. The motor drive circuit 60 receives the signal Ed and receives the signal Ed.
, A motor drive voltage signal D of a positive DC voltage for opening the door body 2 is supplied. Accordingly, the electric motor 62
Of the opening / closing mechanism 7 rotates.
2, 73 rotate sequentially in the predetermined direction in which the door body 2 opens. Due to this rotation, the pulley 74 also rotates integrally, so that the wire 76 is pulled in the illustrated arrow direction 76R, and the door body 2 starts to open.

When the handle is released from the handle 3 during the opening, no force is applied to the handle 3, and the terminal a of the potentiometer 40 is slid to the original position by the springs 11L and 11R. 24 does not output the displacement detection signal S. As a result, the motor drive voltage signal D is not supplied to the electric motor 62, and the opening operation of the door body 2 stops.

On the other hand, when closing the opened door body 2, the handle 3 is moved in the closing direction 30L. Accordingly, since the terminal a of the potentiometer 40 slides in the same direction, the voltage V1 between the terminals a and b increases, and the displacement signal S of the negative potential is output to the control circuit 25. The amplifier 50 of the control circuit 25 amplifies the displacement signal S with a high gain, and outputs a drive signal Ed of a negative DC voltage to the motor drive circuit 60. The motor drive circuit 60 receives the signal Ed and supplies the electric motor 62 with a motor drive voltage signal D of a negative DC voltage for closing the door body 2.

Accordingly, the rotating shaft 62 of the electric motor 62
A rotates, and the gears 71, 72, 73 of the opening / closing mechanism 7 sequentially rotate in a predetermined direction in which the door body 2 closes. By this rotation, the pulley 74 also rotates integrally, so that the wire 7
6 is pulled in the illustrated arrow direction 76L, and the door body 2
Begins to close.

When the electric motor 62 is overloaded when the door body 2 is opened and closed, an overcurrent is detected by the current detection circuit 8, and the detected current I is taken into the control circuit 25. The differential amplifier 50 of the control circuit 25 detects the detection current I
The drive signal Ed supplied to the opening / closing drive device 6 based on
Is stopped so that the electric motor 62 does not rotate. This prevents overcurrent from flowing through the electric motor 62, thereby preventing burnout.

Further, another embodiment will be described with reference to FIG. Note that the same reference numerals are given to the same circuits shown in FIG. 1 and the description of the operation is omitted. In FIG. 3, an automatic door 300 includes a door body 2, a handle 3,
It includes a displacement detection circuit 304, a control circuit 305, an opening / closing drive device 6, an opening / closing mechanism 7, and a current detection circuit 8.

The handle 3 is integrally connected to a movable core 314A of a differential transformer 314 described later fixed to the door body 2.

The displacement detection circuit 304 includes a differential transformer 314
, A signal generator OSC, and a signal processing circuit 315. The differential transformer 314 includes a primary winding L1
, A secondary winding L2, and a movable core 314A, and is an element that converts mechanical displacement of the movable core 314A into electrical displacement. A signal generator OSC is connected to the primary winding L1, and an output terminal of a secondary winding L2 provided with a center tap is connected to a signal processing circuit 315. In such a differential transformer 314, the movable core 31
When two AC voltages v1 and v2 are output in proportion to the position of 4A and no force is applied to the handle 3 of the door body 2, the amplitude of the AC voltage v1 is set to be equal to the amplitude of the AC voltage v2. I have.

The signal processing circuit 315 includes the differential transformer 31
4 is a circuit that performs signal processing such as arithmetic processing on the two AC signals v1 and v2 and the AC signal v2, and obtains a displacement signal S of a DC voltage corresponding to the signal difference.

The control circuit 305 is a high-gain differential amplifier 3
The displacement signal S from the displacement detection circuit 304 is input to the positive input terminal of the positive / negative input terminal. The DC input power supply E is connected to the negative input terminal.
Are connected, and a drive signal Ed corresponding to the level difference between the voltage value of the reference power supply E and the voltage value of the displacement signal S is output.

When the voltage value of the displacement signal S at the positive input terminal is higher than the DC reference voltage value E at the negative input terminal, the differential amplifier 316 drives a positive DC voltage driving signal to open the door body 2. Conversely, when the voltage value of the displacement signal S at the positive input terminal is lower than the voltage value E of the DC reference power supply at the negative input terminal, Ed is the negative DC voltage that causes the door body 2 to close. The drive signal Ed is output to the opening / closing drive device 6.

When the detection current I from the current detection circuit 8 indicates an abnormal value, the differential amplifier 316 operates to stop outputting the drive signal Ed, and the electric motor 62 is not overloaded. To do.

Next, the automatic door 30 constructed as described above is used.
The operation of 0 will be described. First, when the automatic door 300 is opened, the handle 3 is moved in the opening direction 30R with a hand. Accordingly, the movable core 314A of the differential transformer 314 is displaced in the same direction with the movement of the handle 3, so that the signal processing circuit 3
15 outputs a displacement signal S having a higher voltage value than the DC reference power supply E to the differential amplifier 316 of the control circuit 305.
As a result, the drive signal E of a positive DC voltage for opening the door body 2 is transmitted from the differential amplifier 316 to the opening / closing drive device 6.
d is output. Motor drive circuit 60 of opening / closing drive device 6
Receives the drive signal Ed, supplies a motor drive voltage signal D of a positive DC voltage to the electric motor 62, and drives the electric motor 62 to rotate in a predetermined direction.

The rotation shaft 62 of the electric motor 62
A rotates, and the gears 71, 72, 73 of the opening / closing mechanism 7 sequentially rotate in a predetermined direction in which the door body 2 opens. By this rotation, the pulley 74 also rotates integrally, so that the wire 76
Is pulled in the illustrated arrow direction 76R, and the door body 2 starts to open.

On the other hand, when closing the opened door body 2, the handle 3 is moved in the closing direction 30L. Accordingly, the movable core 314A of the differential transformer 314 moves with the movement of the handle 3.
Are shifted in the same direction, the signal processing circuit 315 outputs a displacement signal S having a lower voltage value than the DC reference power supply E to the differential amplifier 316 of the control circuit 305. Thus, the motor drive voltage signal D of a negative DC voltage that causes the door body 2 to close from the differential amplifier 316 to the opening / closing drive device 6.
Is supplied to the electric motor 62 to be driven to rotate in a predetermined direction.

Accordingly, the rotating shaft 62 of the electric motor 62
A rotates, and the gears 71, 72, 73 of the opening / closing mechanism 7 sequentially rotate in a predetermined direction in which the door body 2 closes. By this rotation, the pulley 74 also rotates integrally, so that the wire 7
6 is pulled in the illustrated arrow direction 76L, and the door body 2
Begins to close.

When the electric motor 62 is overloaded when the door body 2 is opened and closed, an overcurrent is detected by the current detection circuit 8 and is taken into the control circuit 305. The differential amplifier 316 of the control circuit 305 stops the output of the drive signal Ed supplied to the opening / closing drive device 6 based on the detected current I, and prevents the electric motor 62 from rotating. This prevents overcurrent from flowing through the electric motor 62, thereby preventing burnout.

In the three embodiments described above, two springs 11L and 11R are used for the handle 3 of each automatic door. However, the present invention is not limited to this, and the air / cylinder 4 as shown in FIG.
00 may be used. In FIG.
Cylinder 400 has two air cylinders 402, 404
And a piston 400A connected to a connecting rod 406 that moves integrally with the handle 401
It slides in 2,404. The internal volumes of the air cylinders 402 and 404 can be adjusted by pistons 402A and 404A provided respectively. In this case, the pistons 402A, 40
The movement of 4A may be performed via a manually or automatically controlled electric motor. Accordingly, the air pressure in each of the cylinders 402 and 404 can be adjusted, so that it is possible to arbitrarily change the feel of the reaction transmitted to the hand when the handle is opened and closed.

Although the automatic door is opened and closed by the electric motor 62, the present invention is not limited to this, and the automatic door may be opened and closed by a hydraulic or pneumatic cylinder.

Further, in the case of an automatic door 500 having two doors as shown in FIG.
04, the handle 3 and the displacement detection circuit 4, (24 or 3
04), the control circuit 5, (25 or 305), the opening / closing drive device 6, the opening / closing mechanism 7, and the current detection circuit 8 may be provided separately. In this case, the door opening / closing device 1 and the door opening / closing device 2 are configured so as to be able to open and close symmetrically.

Further, in the case of the automatic door 600 having a structure that opens forward or backward as shown in FIG. 6, the door opening / closing device rotates the rotation shaft 604 of the door main body 602 via gears, pulleys and the like. Be composed. In the case of two doors, a door opening / closing device may be separately provided. In this case, the handle 606 provided on the door body 602
Are configured to move back and forth. The displacement of the longitudinal force applied to the handle 606 is determined by, for example, the displacement detection circuit 1.
4 (see FIG. 1), this circuit 14
The strain gauge r1 may be configured to be pressed back and forth by the handle 606.

Although the state in which a person or an object is caught in the door body or the fully opened or closed state of the door body is detected based on the current flowing through the electric motor 62, the present invention is not limited to this. A contact switch may be provided at the edge or opening of the door body, and the detection may be performed based on the ON / OFF operation of this switch. Thus, burnout due to human safety and overload of the electric motor can be prevented.

[0063]

As described above, in the automatic door according to the present invention, the opening and closing can be performed according to the force of the hand applied to the handle, so that the automatic door can be opened and closed with human intention. Doors can be provided.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of an automatic door according to an embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of an automatic door according to another embodiment of the present invention.

FIG. 3 is a schematic configuration diagram of an automatic door according to another embodiment of the present invention.

FIG. 4 is an explanatory diagram showing a configuration of a handle provided with an air cylinder.

FIG. 5 is an explanatory view of an automatic door of a left-right opening / closing type having a two-door structure.

FIG. 6 is an explanatory view of a front-rear opening / closing automatic door having a single-door structure.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic door 2 Door body 3 Handle 4 Displacement detection circuit 5 Control circuit 6 Motor drive device 7 Opening / closing mechanism 8 Current detection circuit

Claims (1)

[Claims] 1. An automatic door in which a handle is provided on a door body, a displacement detecting means for detecting a displacement of a force applied to the handle and outputting a signal corresponding to the displacement, and an opening and closing for opening and closing the door. Means for controlling the opening and closing means based on an output signal from the displacement detecting means.