JP3257664B2 - Linear motor type automatic door - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear motor type automatic door for automatically opening and closing a door with a linear motor.

[0002]

2. Description of the Related Art In a linear motor, a Hall IC for magnetic detection is widely used for detecting the relative position between a stator or a permanent magnet on the mover or a coil on the mover or the stator. A linear motor type automatic door 210 using the Hall IC will be described with reference to FIG. In the stator 40, for example, a plurality of permanent magnets 48 are arranged at a pitch of 24 mm with alternating magnetic poles. On the other hand, mover 3
0 is provided with three coils 32a, 32b, 32c and three Hall ICs 34a, 34b, 34c respectively associated with the coils 32a, 32b, 32c.

The Hall ICs 34a, 34b, 34c
Is 1/3 of the magnetic pole pitch of the permanent magnet disposed on the stator.
8mm pitch. Then, the three Hall ICs 34a, 34b, 34c detect the polarity of the permanent magnet 48, and the coils 32a, 32b,
The excitation direction of 32c is switched. Three Hall ICs 34
The detection signals a, 34b, and 34c become pulses according to the operation of the mover 30, and the position of the mover 30 is calculated by counting the pulses.

On the other hand, in a linear motor type automatic door,
When the door 70 hits an obstacle or a pedestrian during the closing operation and rebounds in the opening direction, a reversing opening operation called a safety return is started for safety, and the door 70 is returned to the fully open state. This amount of rebound, that is, the amount of movement in the opposite direction,
Detected by output pulses of Hall ICs arranged at an 8 mm pitch, and when the number of pulses exceeds a preset number of pulses (for example, two pulses), the reversing opening operation of the door 70 is started.

[0005]

In order to increase the safety of the linear motor type automatic door, it is necessary to start the reversing opening operation promptly in order to increase the safety. It is necessary to increase the detection sensitivity by reducing However, when the reference pulse number is reduced, a safety return may be started due to a malfunction even though the door 70 does not rebound. Since there is play between the mover 30 and the door 70 connected to the mover 30, the mover 30 rattles at the time of deceleration of the door 70, and this is recognized as the rebound of the door 70. It is because.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problem, and an object of the present invention is to provide a linear motor type automatic door which has improved detection sensitivity of a reversing opening operation without causing a malfunction. To provide.

[0007]

To achieve the above object, a first aspect of the present invention is to provide a stator having a plurality of permanent magnets arranged therein.
And acceleration / constant speed /
The mover that moves at a reduced speed, the door connected to the mover, and the fixed
To detect the relative position between the armature side permanent magnet and the armature side coil
Linear motor type automatic door having a plurality of magnetic detection sensors
In the opening direction of the mover during the closing operation of the door
The amount of movement is detected based on the signal from the magnetic detection sensor.
Movement amount detecting means and the respective travel section groups each of the mover that
Reference value setting means for setting a reference value, and the movement amount detecting means
The movement amount detected in is compared with the reference value, and the movement amount
When the value is larger than the reference value, the closing door will spring
Control hand that reverses the door from the closing direction to the opening direction as it returns
And the reference value for the deceleration traveling section is
It is a technical feature that the value is larger than the reference value.

[0008]

[0009]

Further, the linear motor type automatic door according to the second aspect is characterized in that, in the first aspect , the reference value in the acceleration traveling section is smaller than the reference value in the constant speed traveling section.

[0011]

[0012]

[0013]

[Action] In the first aspect, the movement amount detecting means detects on the basis of the amount of movement in the opening direction of the movable element in the door closing operation to the signal from the magnetic detector. Further, a reference value is set by the reference value setting means for each traveling section of the mover. Then, the control means compares the movement amount detected by the movement amount detection means with the reference value, and when the movement amount is larger than the reference value, determines that the closing door has rebounded in the opening direction and closes the door in the closing direction. From the opening direction.

That is, since the reference value is set for each traveling section of the mover, the reference value for starting the reversing operation is reduced when traveling in a traveling section where the play of the mover is small. Increasing the detection sensitivity can increase the safety of the linear motor type automatic door.

In addition, the detection sensitivity in a deceleration running section where the movable element has large backlash is reduced, and malfunction can be prevented.

Furthermore, in claim 2, raise the detection sensitivity of the closing operation immediately after the start of the opening is wide sandwich the human body easy acceleration traveling section of the door, it is possible to further improve safety.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings. FIG. 1 shows a structure of a linear motor type automatic door according to a first embodiment of the present invention. The linear motor type automatic door 10 includes a door 70 and the door 70.
, And the automatic door is configured by mounting the drive unit 20 above an opening in a room in an office or the like. In FIG.
The state where the cover (not shown) of the drive unit 20 was removed is shown. In the drive unit 20, a coil movable linear motor 22 including a stator and a movable element for driving the door 70 and a control device 50 for controlling the linear motor 22 are provided. The control device 50 is supplied with 100 V commercial power from the outside via an electric wire 51.

A mover (to be described later) of the coil movable linear motor 22 is connected to a door 70 via a connection fitting 72. On the upper part of the door 70, a pair of roller support
4 and 74 are attached, and the roller support
Rollers 76, 76 supported by 4, 74 roll on rails 24 formed at the lower end of the drive unit 20, thereby supporting the door 70 slidably with respect to the drive unit 20.

FIG. 2 shows a cross section of the coil movable linear motor 22 shown in FIG. 1, and FIG. 3 shows a mover.
As shown in FIG. 3, the mover 30 includes a coil unit 32 accommodating three coils 32a, 32b, 32c of the same shape, and a magnetic detection sensor 34 composed of three Hall ICs.
a, 34b, and 34c. And each coil 32a, 32b,
Power supply line for supplying current to the magnetic detection sensor 3c;
The signal lines 4a, 34b, and 34c are connected to the control circuit 50 using power lines (not shown). The arrangement pitch of each of the magnetic detection sensors 34a, 34b, 34c is the same as the linear motor type automatic door 21 of the prior art described above with reference to FIG.
As with 0, the magnetic pole pitch of the permanent magnet 48 of the stator is 24 mm.
Are arranged at a pitch of 8 mm, which is 1/3.

As shown in FIG. 2, the mover 30 is movably mounted on a traveling portion 40 'of a stator 40 formed by an outer rail 42 and an inner rail 44, and is provided with a coil movable type 3 The phase brushless DC linear motor 22 is constituted. A yoke 46 is interposed between the outer rail 42 and the inner rail 44 so that permanent magnets 48
Are arranged in a plurality in the longitudinal direction. The permanent magnets 48, 48 have opposite polarities for those that are adjacent to each other in the longitudinal direction and those that are opposed to each other, and form a uniform magnetic field between the opposed permanent magnets 48, 48.

Next, the configuration of the control device 50 for controlling the linear motor type automatic door 10 will be described with reference to FIG. The control device 50 includes a CPU 52 that performs a control process, and the coils 32a, 32b, and 32c of the mover 30 illustrated in FIG.
Driving transistor 54 for sequentially exciting the
And the magnetic detection sensors 34a, 34b, 34c shown in FIG.
A traveling direction detector 58 for detecting the traveling direction of the mover 30 based on signals from the
A position sensor signal generator 64 for outputting a position signal (movement amount of the mover 30) of the mover 30 based on the signals from 4b and 34c, and magnetic detection sensors 34a, 34b and 34
c) a speed signal generator 66 for calculating the speed of the mover 30 based on the cycle of the signal from c, and a position signal (movement amount) generated by the position sensor signal generator 64, The movable element 3 is incremented or decremented based on the traveling direction detected at 58.
A position counter 60 for calculating a position of 0, a bounce determination criterion setter 62 for setting a reference value for determining whether or not the door 70 bounces according to the position calculated by the position counter 60; It is determined whether or not the amount of rebound is greater than the reference value set by the determination criterion setter 62. If the amount of rebound is greater than the reference value, a signal is sent to the CPU 52 to perform a safety return. It is configured.

The CPU 52 opens the door 70 based on a signal from a human body detection sensor 68 that detects a human body by infrared rays.
Further, when the human body is no longer detected by the human body detection sensor 68 and the signal is stopped, the door 70 is closed after a lapse of a predetermined time. Here, when opening and closing the door 70, the CPU 52
The speed of the mover 30 is controlled by switching the running mode according to the position. About this speed control, FIG.
Will be described with reference to FIG.

First, from the open end position (A) to the constant speed start position (B) shown in FIG. 9A, the mover 30 is accelerated at a predetermined acceleration α as an acceleration section. When the vehicle reaches the constant speed start position (b) and reaches the target speed v, the vehicle travels at a speed v as a constant speed section from this position (b) to the deceleration start position (c). After passing through the deceleration start position (c), the vehicle decelerates at an acceleration -β as a deceleration section until the vehicle reaches the closed end position (d).

Here, the open end position (a) shown in FIG.
In the acceleration section from to the predetermined position (b), the CPU 52
In order to control so as to generate the maximum thrust, the mover 30 accelerates smoothly. That is, the mover 30 and the mover 30
Mover 30 due to play between door 70 and door 70 connected to
Is the smallest. And the constant speed start position (b)
The CPU 52 performs a kind of feedback control so that the mover 30 runs at a constant speed v in the constant speed section from the deceleration start position (C). That is, when the speed input from the speed signal generator 66 shown in FIG. 4A exceeds the target speed v, the speed is decreased, and when the speed does not reach the target speed v, the speed is increased. That is, in the constant speed section (lower),
Since acceleration and deceleration are repeated around the target speed v, the play of the mover 30 becomes relatively large. Thereafter, in the deceleration section from the deceleration start position (c) to the closed end position (d),
The CPU 52 generates a thrust in the opposite direction (opening direction) so as to decelerate against the inertia force in the closing direction of the door 70 so as to decelerate at the acceleration −β, and is input from the speed signal generator 66. When the speed is lower than the target acceleration -β, the thrust in the opposite direction is increased, and when the speed exceeds the target acceleration -β, the thrust is reduced. That is, in the deceleration section (Hani),
Since the thrust is generated in the opposite direction and the increase / decrease of this value is repeated, the backlash of the mover 30 is maximized.

In the first embodiment of the present invention, as described above, the backlash of the mover 30 in the acceleration section (Ero), the constant speed section (Lower), and the deceleration section (Hani). Of the door 70 during the closing operation in each section because the size of the door 70 is different.
By making the criterion of the rebound judgment different, the detection sensitivity is increased and malfunction is prevented. This closing operation will be described with reference to the flowchart of FIG.

First, the CPU 52 determines whether or not to start the closing operation of the door 70 based on whether or not a predetermined time has elapsed since the signal from the human body detection sensor 68 shown in FIG. 4 disappears (S12). Here, when the closing operation is started (Yes in S12), the coils 32a, 32b, 32c of the mover 30 are sequentially excited so that the mover 30 runs in the closing direction (S14). Then, it is determined whether or not the door 70 has reached the closed end position (d) shown in FIG. 9A (S16). Until the closed end position (d) is reached (No in S16), the door 70 is reached.
It is determined whether the object has bounced off the human body or object, that is, has moved in the opening direction (S18). Here, as long as it does not move in the opening direction (No in S18), the process returns to step 14, and the closing operation is continued.

On the other hand, if the door 70 hits a human body or an object and rebounds (S18: Yes), first, it is determined whether the vehicle is traveling in a deceleration section (honey) shown in FIG. 9A (S20). If it is not the deceleration section (Hani) (S20 is N
o), it is determined whether the section is a constant speed section (low) (S24). Here, if it is not the constant speed section, the acceleration section (Ero)
, The magnetic detection sensors 34a, 34b, 34c
It is determined whether the mover 30 has moved in the opening direction by one signal (S26). Here, when the movement is performed by one (S26
Yes), immediately start a safety return (S
30).

Here, "for one sensor signal" refers to FIG.
Like the signal waveform of the sensor shown in (A), when the mover 30 is traveling in the closing direction, one signal (pulse) from the sensor is detected in the opposite (open) direction. Similarly, “two sensor signals” means that two signals (pulses) from the sensor are detected in opposite directions as shown in FIG. 6B, that is, at least 8 mm or more in opposite directions. It means that it has moved, and “for three sensor signals” means that three signals (pulses) from the sensor are detected in the opposite direction as shown in FIG.
It means that it has moved in the opposite direction by more than mm.

On the other hand, when the mover 30 is traveling in the constant speed section (lower) and the determination of the constant speed section in step 24 is Yes, the process proceeds to step 28.
It is determined whether the sensor signal has been moved by two signals. Here, when the mover 30 returns only one sensor signal (S28: No), the process returns to step 14. On the other hand, when the sensor signal has been moved by two (Yes in S28), a safety return is started (S30).

If the mover 30 is traveling in the deceleration section (honey) and the determination of the deceleration section in step 20 is YES, the process proceeds to step 22.
It is determined whether the mover 30 has moved by three sensor signals. Here, when only one or two sensor signals are returned (No in S22), the process returns to step S14. On the other hand, when three sensor signals have been moved (S2
2 is Yes), a safety return is started (S3)
0). After completion of the safety return, the process returns to step 12, and waits until conditions for restarting the closing operation of the door 70 are satisfied. Then, after the closing operation is started (S12, S14), when the mover 30 reaches the closed end position (d), the determination of the closed end position in step 16 is Yes, and all the processing ends.

[0031] In the first embodiment, most mover looseness <br/> luck small acceleration section - at (A B), the signal of the sensor 1
In the constant speed section (low) where the rattle of the mover is larger than the acceleration section with the output of the mover, the output of the two pieces and the deceleration section with the largest rattle of the mover (c) In (d), by setting the safety return to start with three outputs, the highest sensitivity is set within a range in which a malfunction due to rattling of the mover does not occur. In particular, since the sensitivity is enhanced in the acceleration section (Ero) and the constant speed section (Ro), the door 70 is safe because the opening width of the door 70 is large and the human body is easily pinched.

Next, a second embodiment of the present invention will be described with reference to FIGS. 9B and 7. The mechanical structure of the linear motor type automatic door of the second embodiment and the circuit configuration of the control device are the same as those of the first embodiment described above with reference to FIGS. Further, Oite the flowchart of FIG. 7, the reference to the same as the first embodiment described above processes the FIG. 5, the detailed description thereof is omitted.

First, after starting the closing operation of the door 70 (S12, S14), the CPU 52 keeps the human body until the door 70 reaches the closed end position (d) shown in FIG. It is determined whether the object has moved in the opening direction upon hitting an object (S1).
8). Here, unless it moves in the opening direction (S18 is N
o), returning to step 14, and continuing the closing operation.

On the other hand, when the door 70 hits a human body or an object and rebounds (S18: Yes), it is first determined whether the vehicle is traveling in the constant speed / deceleration section (Roni) shown in FIG. 9B (S2).
3) If it is not a constant speed / deceleration section (Roni) (No in S23), it is determined that the section is an acceleration section (Ero) and one signal of the magnetic detection sensors 34a, 34b, and 34c. It is determined whether the mover 30 has moved in the opening direction (S2).
6). Here, when the movement is made by one (S26 is Ye
s), immediately start the safety return (S3)
0).

Further, when the mover 30 is in the constant speed / deceleration section (b)
D) The vehicle is traveling at a constant speed in step 23 described above.
If the determination of the deceleration section is “Yes”, step 2
8 to determine whether the sensor signal has been moved by two signals. Here, when only one sensor signal is returned (S28: No), the process returns to step S14. On the other hand, when the sensor signal has been moved by two signals (Yes in S28),
A safety return is started (S30).

In the second embodiment, in the acceleration section (Ero) where the movement of the mover is the least, the signal 1 of the sensor is used.
By setting the safety return to start with two outputs in the constant speed / deceleration section (Roni) where the rattle of the mover increases with the output of the mover, the rattle of the mover The highest sensitivity is set within a range in which malfunction due to the above does not occur. This second embodiment is suitable for a linear motor type automatic door with relatively small play of the mover in a constant speed / deceleration section (Roni).

Next, a third embodiment of the present invention will be described with reference to the flowcharts of FIGS. First, after starting the closing operation of the door 70 (S12, S14), the CPU 52 contacts the human body or the object until the door 70 reaches the closed end position (d) shown in FIG. 9C (No in S16). It is determined whether it has moved in the opening direction (S1
8). Here, unless it moves in the opening direction (S18 is N
o), returning to step 14, and continuing the closing operation. On the other hand,
When the door 70 hits a human body or an object and rebounds (S18 is Ye
s) First, the constant speed / deceleration section (b) shown in FIG.
D) It is determined whether the vehicle is traveling (S23). Where the constant speed
If it is not the deceleration section (Roni) (S23 is N
o) Assuming that it is the acceleration section (Ero), it is determined whether the mover 30 has moved in the opening direction by one signal of the magnetic detection sensors 34a, 34b, 34c (S26). Here, when the vehicle has moved by one distance (Yes in S26), the safety return is immediately started (S30).

Further, the mover 30 is moved in a constant speed / deceleration section (b).
D) The vehicle is traveling at a constant speed in step 23 described above.
If the determination of the deceleration section is “Yes”, step 2
8 to determine whether the sensor signal has been moved by three signals. Here, when only one or two sensor signals are returned (S28: No), the process returns to step S14. On the other hand, when three sensor signals have been moved (S2
8 is Yes), a safety return is started (S3)
0).

In the third embodiment, the signal 1 of the sensor is set in the acceleration section (Ero) where the play of the mover is smallest.
By setting the safety return to start with three outputs in the constant speed / deceleration section (Roni) where the rattle of the mover increases with the output of the mover, the rattle of the mover The highest sensitivity is set within a range in which malfunction due to the above does not occur. This third embodiment is suitable for a linear motor type automatic door in which the movable element has large backlash in a constant speed / deceleration section (Roni).

In the first to third embodiments described above, a three-phase coil movable linear motor is used.
It is also possible to use a magnet movable type linear motor or a two-phase linear motor having a pair of magnetic detection sensors.

In the above-described embodiment, a single-opening linear motor type automatic door has been exemplified. However, it is needless to say that the present invention can be applied to a double-opening linear motor type automatic door.

[0042]

As described above, according to the linear motor type automatic door of the present invention, the detection sensitivity of the reversing opening operation can be increased within a range where no malfunction occurs.

[Brief description of the drawings]

FIG. 1 is a perspective view of a linear motor type automatic door according to a first embodiment of the present invention.

FIG. 2 is a sectional view of a linear motor of the linear motor type automatic door shown in FIG.

FIG. 3 is a perspective view of a mover.

FIG. 4 is a block diagram illustrating a circuit configuration of a control device.

FIG. 5 is a flowchart of a closing operation of the linear motor type automatic door according to the first embodiment of the present invention.

FIG. 6 is an explanatory diagram showing a sensor signal when inversion is detected.

FIG. 7 is a flowchart of a closing operation of a linear motor type automatic door according to a second embodiment of the present invention.

FIG. 8 is a flowchart of a closing operation of a linear motor type automatic door according to a third embodiment of the present invention.

FIG. 9 is an explanatory view showing a closing operation of the linear motor type automatic door according to the first to third embodiments of the present invention. FIG. 9 (A) shows the first embodiment and FIG. 9 shows that of the second embodiment, and FIG. 9C shows that of the third embodiment.

FIG. 10 is an explanatory diagram of a configuration of a linear motor type automatic door according to the related art.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Linear motor type automatic door 22 Linear motor 30 Mover 32a, 32b, 32c Coil 34a, 34b, 34c Magnetic detection sensor 40 Stator 48 Permanent magnet

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) E05F 15/20 E05F 15/18 H02P 5/00 101

Claims (2)

(57) [Claims] 1. A stator having a plurality of permanent magnets arranged therein, a mover having a plurality of coils and running at an accelerated / constant speed / deceleration along the stator; a door connected to the mover; A linear motor type automatic door having a plurality of magnetic detection sensors for detecting a relative position between a slave-side permanent magnet and a mover-side coil, wherein an amount of movement of the mover in an opening direction during a closing operation of the door is determined. Movement amount detection means for detecting based on a signal from the magnetic detection sensor, reference value setting means for setting a reference value for each traveling section of the movable element, and movement amount detected by the movement amount detection means. compared with the reference value, when the amount of movement is greater than the reference value, the door as the door during the closing operation bouncing the opening direction and control means for reversing the closing direction to the opening direction, the reference of the deceleration zone The value is larger than the reference value for the constant speed section
Linear motor type automatic door, characterized in that heard. 2. The linear motor type automatic door according to claim 1 , wherein the reference value in the acceleration traveling section is smaller than the reference value in the constant speed traveling section.