JP4179891B2 - Switchgear - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a winding type opening / closing device that opens and closes an opening.
[0002]
[Prior art]
Some of the above opening / closing devices have a configuration in which the opening is opened based on winding the opening / closing member around the winding drum and the opening is closed based on rewinding the opening / closing member from the winding drum. In the case of this configuration, the presence or absence of load fluctuation is detected based on the current value and rotation speed of the motor that generates the rotational force of the winding drum.
[0003]
[Patent Document 1]
JP 2001-152767 A
[0004]
[Problems to be solved by the invention]
In the case of the above-described conventional configuration, the load fluctuation detection timing is limited during the operation of the opening / closing member, so there is a problem in terms of convenience, for example, it cannot be detected that the opening / closing member has been maliciously opened. is there.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a convenient switchgear that can detect a load variation regardless of the state of the switchgear.
[0005]
[Means for Solving the Problems]
  The opening / closing device according to claim 1 opens and closes the opening based on opening and closing the opening and closing member based on opening and closing members that open and close the opening and winding the opening and closing member. Torque acting on the rotating shaft, which has a winding drum, a rotating shaft that transmits rotational force to the winding drum and that is fixed to the winding drum, and a sensor shaft connected to the rotating shaft A torque sensor that can detect the rotation of the sensor shaft, and the rotation of the winding drum in the forward direction in which the opening / closing member is wound and the reverse direction in which the opening / closing member is rewound. A motor that rotates through a shaft, a control device that rotates the motor in the forward and reverse directions via a motor drive circuit, a mode switch connected to the control device, and a connection to the control device The torque sensor is provided on the surface of the sensor shaft and is applied to the axis of the sensor shaft so that compressive stress or tensile stress is applied based on the torque acting on the sensor shaft. A coating made of a magnetic material inclined in one direction and having a sensor coil connected to a torque detection circuit that outputs a torque signal to the control device, facing the coating through an air gap. The control device includes an assist mode for driving the motor based on an operating force acting on the opening / closing member in a stopped state of movement of the opening / closing member where the driving of the motor is stopped, and the driving of the motor is stopped. Each of the security modes in which the driving of the motor is stopped when an operating force is applied to the opening / closing member while the movement of the opening / closing member is stopped. Switching according to the operation content of the mode switch, and in a state where the security mode is set, a process of detecting a torque signal output from the torque detection circuit in a state where the driving of the motor is stopped; A process for comparing the detection result of the torque signal with a security determination value for determining that the opening / closing member has been forcibly opened, and a case where it is determined that the detection result of the torque signal is greater than or equal to the security determination value When the motor is stopped, the notification means is used to notify that an abnormality has occurred, and when it is determined that the detection result of the torque signal is less than the security discrimination value, the notification means is used to detect an abnormality. The present invention is characterized in that processing for keeping the motor stopped without informing that the occurrence of the above has occurred is performed.
  According to the first aspect of the present invention, the torque acting on the rotating shaft can be detected regardless of the rotating state of the rotating shaft. This increases the degree of freedom in detection timing for detecting load fluctuations, and can detect abnormalities that occur in the non-operating state in addition to abnormalities that occur in the operating state of the open / close member. Convenience increases when doing.In addition, it is possible to detect an abnormality in which an operating force is applied to the opening / closing member in a state where the movement of the opening / closing member is stopped, and perform appropriate abnormality treatment such as notifying the occurrence of the abnormality. In addition, when an operating force is applied to the opening / closing member with the movement of the opening / closing member stopped, the opening / closing member moves with the driving force of the motor. For this reason, when the operator directly operates the opening / closing member, it is not necessary to bear all of the operation force required to move the opening / closing member, and the opening / closing member can be operated with a small force. improves.
[0006]
  The opening / closing device according to claim 2 includes assisting discriminant value adjusting means for adjusting an assist discriminating value for discriminating whether or not an operator has operated the reversing member in a rewinding direction, and the control device comprises: The assist discriminant value is adjusted based on an output signal from the assist discriminant value adjusting means, and is output from the torque detection circuit when the motor is stopped when the assist mode is set. A process for detecting the torque signal to be detected, a process for comparing the detection result of the torque signal with the assist determination value, and the motor when the determination result of the torque signal is greater than the assist determination value. The motor is moved in the forward direction when it is determined that the detection result of the torque signal is equal to or less than the assist determination value. Where performing winding take processing said opening and closing member by moving with the features.
  According to the invention of claim 2, when the operating force in the winding direction is applied to the opening and closing member, the opening and closing member automatically operates in the winding direction, and when the operating force in the rewinding direction is applied to the opening and closing member, the opening and closing member is opened and closed. The member automatically moves in the rewind direction. For this reason, when the operator directly operates the opening / closing member, it becomes possible to operate in the target direction with a small force, so that the operability is improved.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
<First embodiment>
A first embodiment of the present invention will be described with reference to FIGS.
1. Overview
The shutter device opens and closes an opening of a building such as a factory or a warehouse. The opening is opened or closed by winding the shutter around a winding drum or rewinding the shutter from the winding drum. The shutter winding and rewinding is performed by an electric method in which a winding drum is rotated by a motor, and a sensor is mounted on a power path for transmitting the driving force of the motor to the shutter. This sensor detects a mechanical stress acting on the power path as a load fluctuation, and detects a stress not only during the winding and rewinding of the shutter but also during the complete stop of the shutter. This shutter device includes a shutter mechanism that opens and closes an opening, a driving mechanism that generates a driving force of the shutter mechanism, a transmission mechanism that transmits the driving force generated by the driving mechanism to the shutter mechanism, and a sensor mechanism that detects stress acting on the power path As a mechanical element, the details are as follows.
[0012]
2. Mechanical element
2-1. Shutter mechanism 1
As shown in FIG. 1, a horizontal winding shaft 2 extending in the left-right direction is rotatably mounted on the building. A horizontal winding drum 3 is fixed to the winding shaft 2, and a shutter 4 corresponding to an opening / closing member is attached to the winding drum 3. The shutter 4 is formed by connecting a plurality of slats, and is movable between a winding limit state and a lowering limit state. The former hoisting limit state refers to a state in which the hoisting body 3 is wound up to the maximum extent on the outer peripheral surface, and the shutter 4 completely opens the opening of the building in the hoisting limit state. The latter lowering limit state refers to a state in which the shutter 4 is rewound to the maximum extent from the winding drum 3 so that the lower surface of the shutter 4 is in contact with the floor surface. Close the opening completely. The winding shaft 2 corresponds to a rotating shaft.
[0013]
2-2. Drive mechanism 5
A horizontally long rectangular unit case 6 is fixed to the building, and a shutter motor 7 and a speed reduction mechanism portion 8 are accommodated in the unit case 6. The former shutter motor 7 corresponds to a drive source of the shutter device, and is composed of a stepping motor. The latter speed reduction mechanism portion 8 is mainly composed of a plurality of gears mechanically connected to the rotation shaft of the shutter motor 7 and a drive side output shaft 9. The drive side output shaft 9 includes a shutter motor 7. The rotation of the motor is decelerated and transmitted.
[0014]
2-3. Transmission mechanism 10
A sprocket 11 having a large diameter is fixed to the drive side output shaft 9, and an upper end portion of a chain 12 is wound around the sprocket 11. Further, a load side output shaft 13 is mechanically connected to the winding shaft 2 via a sensor mechanism 15. The load side output shaft 13 is arranged in parallel to the drive side output shaft 9, and a sprocket 14 having a small diameter is fixed to the load side output shaft 13. The lower end portion of the chain 12 is wound around the sprocket 14, and the small-diameter sprocket 14 is rotated through the large-diameter sprocket 11 and the chain 12 when the shutter motor 7 is driven.
[0015]
2-4. Sensor mechanism 15
As shown in FIG. 2, the outer ring of the bearing 17 is fixed in the sensor case 16 at both left and right ends. A cylindrical sensor shaft 18 is fixed to the inner rings of both the bearings 17, and the right end portion and the left end portion of the sensor shaft 18 are connected to the load side output shaft 13 and the coupling via a coupling 19, as shown in FIG. It is connected to the winding shaft 2. These couplings 19 restrain the sensor shaft 18 from rotating relative to the winding shaft 2 and the load-side output shaft 13. When a rotational force acts on the winding drum 3, torque acts on the sensor shaft 18, and the sensor Tensile stress and compressive stress inclined by 45 ° in the opposite direction with respect to the center line CL of the shaft 18 act.
[0016]
As shown in FIG. 2, a first magnetostrictive portion 20 is formed on the outer peripheral surface of the sensor shaft 18. The magnetostrictive portion 20 has a plurality of concave portions and a plurality of convex portions arranged alternately in the circumferential direction, and the surface of the sensor shaft 18 is made of a magnetostrictive material corresponding to the plurality of concave portions and the plurality of convex portions. A film is formed. The plurality of concave portions and the plurality of convex portions are inclined at 45 ° in one direction with respect to the center line CL of the sensor shaft 18, and compressive stress or tensile stress is applied to the coating film based on the torque acting on the sensor shaft 18. Add
[0017]
A second magnetostrictive portion 21 is formed on the outer peripheral surface of the sensor shaft 18. The magnetostrictive portion 21 is different from the first magnetostrictive portion 20 in that the plurality of concave portions and the plurality of convex portions are inclined by 45 ° in the opposite direction with respect to the center line CL of the sensor shaft 18. A compressive or tensile stress is applied to the coating based on the action of torque. That is, when a torque acts on the sensor shaft 18, a compressive stress acts on one of the first magnetostrictive portion 20 and the second magnetostrictive portion 21, and a tensile stress acts on the other. A difference in magnetic permeability (magnetic anisotropy) occurs between the two magnetostrictive portions 21.
[0018]
A coil holder 22 made of an insulating material such as synthetic resin is accommodated in the sensor case 16. The coil holder 22 has a bobbin 23 and holders 24 positioned at both left and right ends of the bobbin 23, and the coil holder 22 cannot rotate and slide based on fitting both the holders 24 to the outer peripheral surfaces of the outer rings of both bearings 17. It is fixed impossible.
[0019]
An annular partition plate 25 is integrally formed with the coil holder 22. The partition plate 25 divides the bobbin 23 into a first coil winding part and a second coil winding part, and the bobbin 23 has an outer peripheral surface in the first coil winding part and the second coil winding part. A first sensor coil 26 and a second sensor coil 27 are mounted in the mounting portion. The first sensor coil 26 and the second sensor coil 27 are arranged to face the first magnetostrictive portion 20 and the second magnetostrictive portion 21 through an air gap, and detect a difference in magnetic permeability as an inductance. To do.
[0020]
A plurality of pin terminals 28 are fixed to the coil holder 22, and a first sensor coil 26 and a second sensor coil 27 are electrically connected to the plurality of pin terminals 28. A sensor substrate 29 is electrically and mechanically connected to the plurality of pin terminals 28, and the first sensor coil 26 and the second sensor coil 27 are electrically connected to the sensor substrate 29 via the pin terminals 28. It is connected to the.
[0021]
A torque detection circuit 30 is mounted on the sensor substrate 29, and the torque detection circuit 30 is electrically connected to the first sensor coil 26 and the second sensor coil 27 via the sensor substrate 29. The torque detection circuit 30 is mainly composed of a bridge circuit, and outputs a torque signal having a voltage level corresponding to the difference in inductance between the first sensor coil 26 and the second sensor coil 27. That is, the sensor mechanism 15 is composed of a magnetostrictive torque sensor that detects a torque acting on the sensor shaft 18 as a difference in permeability between the first magnetostrictive portion 20 and the second magnetostrictive portion 21.
[0022]
FIG. 5A shows a torque signal Vt from the torque detection circuit 30 and shows a normal state where no external stress is applied to the shutter 4. As shown in the figure, when the shutter 4 is rolled up and down, the load side end (the end on the shutter 4 side) of the sensor shaft 18 becomes the anti-load side end (the opposite end of the shutter 4) due to the load of the shutter 4 and the like. Part). Accordingly, a constant level of torque acts on the sensor shaft 18, and the torque signal Vt becomes a constant winding value Vu and a constant winding value Vd (<Vu).
[0023]
FIG. 5B shows the torque signal Vt at the time of abnormality when an external stress is applied to the shutter 4. For example, when the shutter 4 is caught by a stationary object when the shutter 4 is rolled up, a large resistance is applied to the rolling force of the shutter 4, so that as shown in (1), the winding abnormal value where the torque signal Vt exceeds the winding value Vu. become. Further, when a person pushes up the shutter 4 when the shutter 4 is rolled up, a biasing force is applied to the rolling force of the shutter 4, so that the torque signal Vt becomes a winding abnormal value lower than the winding value Vu as shown in (2). Become. When a foreign object is caught when the shutter 4 is lowered, the torque signal Vt is lowered before the shutter 4 reaches the lower limit state as shown in (3).
[0024]
3. Electrical element
A control board 31 is accommodated in the unit case 6 as shown in FIG. 1, and a control device 32 mainly composed of a microcomputer is mounted on the control board 31 as shown in FIG. ing. A torque detection circuit 30 is electrically connected to the control device 32, and the control device 32 detects the presence / absence of load variation based on the torque signal Vt from the torque detection circuit 30. The control device 32 corresponds to an abnormality detection unit and an operation force detection unit.
[0025]
An operation panel 33 is mounted inside the building, and a winding switch 34, a lowering switch 35, and a stop switch 36 are mechanically fixed to the operation panel 33. The hoisting switch 34, the lowering switch 35, and the stop switch 36 are electrically connected to the control device 32. The control device 32 detects an ON signal from the hoisting switch 34, the lowering switch 35, and the stop switch 36. Based on this, a control command for the shutter motor 7 is set.
[0026]
A motor drive circuit 37 is mounted on the control board 31, and the control device 32 is electrically connected to the shutter motor 7 via the motor drive circuit 37. The motor drive circuit 37 generates a drive pulse based on a control command given from the control device 32, and the shutter motor 7 is driven based on a drive pulse applied from the motor drive circuit 37.
[0027]
The control device 32 has a counter N, and the control device 32 adds or subtracts the counter N according to the number of drive pulses. Specifically, when the motor drive circuit 37 outputs a drive pulse for forward rotation, the counter N is added according to the number of drive pulses, and when the drive pulse for reverse rotation is output, the counter N is set according to the number of drive pulses. Subtraction is performed, and the current position of the shutter 4 is measured according to the measurement result of the counter N. That is, the control device 32 corresponds to position detection means for detecting the current position of the shutter 4 and opening / closing detection means for detecting that the shutter 4 has moved to the winding limit state / lowering limit state.
[0028]
A mode switch 38 is mechanically fixed to the operation panel 33. The mode switch 38 is electrically connected to the control device 32, and the control device 32 is switched between the assist mode and the security mode according to the operation content of the mode switch 38. The assist mode is a mode in which the shutter motor 7 is driven based on the operating force acting on the shutter 4 when the movement of the shutter 4 is stopped. When the assist mode is set, the winding switch 34 and the lowering switch 35 are not operated. The shutter 4 can be moved. The security mode is a mode in which the shutter motor 7 is held in the drive stopped state when an operating force is applied to the shutter 4 while the movement of the shutter 4 is stopped, and the assist function is disabled when the security mode is set.
[0029]
A sensitivity volume 39 for assist and a sensitivity volume 40 for security are mechanically fixed to the operation panel 33. The sensitivity volume 39 and the sensitivity volume 40 are electrically connected to the control device 32, and the control device 32 determines the assist determination value Va and the security determination based on the output signal from the sensitivity volume 39 and the output signal from the sensitivity volume 40. Adjust the value Vs. The sensitivity volumes 39 and 40 correspond to discriminant value adjusting means / sensitivity adjusting means.
[0030]
An alarm 42 is electrically connected to the control device 32 via an alarm drive circuit 41. This alarm 42 is mechanically mounted inside the building, and the control device 32 sounds the alarm 42 based on detecting that an abnormality has occurred in the security mode setting state, and an abnormality has occurred. Inform you. The alarm 42 corresponds to a notification unit.
[0031]
4). Control details
4-1. When moving the shutter
During the electric operation of the shutter 4, the presence or absence of an operation abnormality is determined based on the torque signal Vt from the torque detection circuit 30. When the torque signal Vt changes from a normal value to an abnormal value during the electric operation of the shutter 4. As shown below, an abnormal process for immediately stopping the movement of the shutter 4 is performed.
[0032]
When the control device 32 detects the ON signal from the winding switch 34 in step S1 of FIG. 4, the control device 32 sets the rotation direction of the shutter motor 7 to the positive direction in step S3, and proceeds to step S5. If the ON signal from the lowering switch 35 is detected in step S2, the rotation direction of the shutter motor 7 is set in the reverse direction in step S4, and the process proceeds to step S5.
[0033]
When the control device 32 proceeds to step S <b> 5, it outputs a control command in accordance with the rotational direction setting result to the motor drive circuit 37, and rotates the shutter motor 7 forward or backward via the motor drive circuit 37. Then, the shutter 4 is raised or lowered based on the rotation of the winding drum 3 in the winding direction or the lowering direction, and the shutter 4 is raised or lowered. That is, the hoisting switch 34 and the lowering switch 35 correspond to operation means for operating the shutter 4 to be raised and lowered remotely.
[0034]
When the control device 32 drives the shutter motor 7, it detects the torque signal Vt from the torque detection circuit 30 in step S6. When the shutter 4 is rolled up, the torque signal detection result Vt is compared with the upper limit value “Vu + α” and the lower limit value “Vu−α”, and when the shutter 4 is lowered, the torque signal detection result Vt is set to the upper limit value “Vd + α” and Compare with the lower limit “Vd−α”. For example, when the detection result Vt of the torque signal is within the setting range, it is determined that the winding operation and the lowering operation of the shutter 4 are normally performed, and the process proceeds to step S7.
[0035]
When the control device 32 proceeds to step S7, the measurement result of the counter N is compared with the upper limit value Nmax. Here, when “N> Nmax” is detected, it is determined that the shutter 4 has reached the winding-up limit state, and the moving operation of the shutter 4 is finished based on stopping the rotation of the shutter motor 7 in step S10. When “N ≦ Nmax” is detected, it is determined that the shutter 4 has not reached the winding limit state, and the process proceeds to step S8.
[0036]
When the control device 32 proceeds to step S8, the measurement result of the counter N is compared with the lower limit value Nmin. Here, when “N <Nmin” is detected, it is determined that the shutter 4 has reached the lower limit state, and the moving operation of the shutter 4 is finished in step S10. When “N ≧ Nmin” is detected, it is determined that the shutter 4 has not reached the lower limit state, and the process proceeds to step S9.
[0037]
When the control device 32 proceeds to step S9, it determines whether or not the stop switch 36 is turned on. Here, when it is detected that the stop switch 36 is not turned on, steps S6 to S9 are repeated. When the on operation of the stop switch 36 is detected, the process proceeds to step S10, and the moving operation of the shutter 4 is finished.
[0038]
When the control device 32 detects that the torque signal detection result Vt is not within the set range in step S6, the control device 32 determines that an operation abnormality of the shutter 4 has occurred, and ends the moving operation of the shutter 4 in step S10. That is, during an electric operation of the shutter 4, (1) the shutter 4 is caught by a stationary object, (2) a person operates the shutter 4 forcibly, (3) an abnormality such as a foreign object is caught, The detection result Vt falls outside the set range, and the shutter 4 immediately stops moving. When there is no abnormality such as (1) to (3) during the electric operation of the shutter 4, the shutter 4 stops moving on condition that the stop switch 36 is turned on or the command limit state is reached.
[0039]
4-2. When shutter is stopped
When the shutter 4 is stopped, the assist function and the security function are selectively enabled according to the operation content of the mode switch 38, and the assist process or the security process is performed. In the former assist process, the shutter 4 is automatically moved from the current position toward the hoisting limit state based on the push-up force acting on the shutter 4, and the shutter 4 is moved based on the push-down force acting. This is a process of automatically moving from the current position toward the lowering limit state. The latter security process is a process of notifying the abnormality based on an abnormal push-up force acting on the shutter 4, and the shutter motor 7 is held in the drive stopped state. Hereinafter, the assist process and the security process will be described in detail.
[0040]
When detecting that the hoisting switch 34 and the lowering switch 35 are not turned on, the control device 32 detects the presence or absence of the torque signal Vt from the torque detecting circuit 30 in step S11 of FIG. In the closed state of the shutter 4, no torsional force is applied to the sensor shaft 18, so that the torque signal Vt is in an output stopped state unless an intentional or malicious external force is applied to the shutter 4.
[0041]
When detecting that the torque signal Vt is present in step S11, the control device 32 detects the mode setting result in step S12. If it is detected that the assist mode is set, the process proceeds to step S15, where the torque signal detection result Vt is compared with the assist value Va.
[0042]
Since the operator's weight is added to the shutter 4 when the shutter 4 is pressed, the output signal Vt from the torque detection circuit 30 has a relatively large value. On the other hand, since the operator's weight is not added to the shutter 4 when the shutter 4 is pushed up, the output signal Vt from the torque detection circuit 30 becomes a relatively small value. The assist value Va functions as a boundary value for determining whether a large pushing force or a small pushing force is applied to the shutter 4, and is adjusted based on the user adjusting the sensitivity volume 39. Has been.
[0043]
When detecting “Vt ≦ Va” in step S15, the control device 32 determines that the pushing force is applied to the shutter 4, and sets the rotation direction of the shutter motor 7 to the positive direction in step S3. Then, the shutter motor 7 is driven in the forward direction, and the shutter 4 is wound up until the shutter 4 reaches the winding limit state or the stop switch 36 is turned on. At this time, the presence or absence of an operation abnormality is determined based on the torque signal Vt, and when the operation abnormality is detected, the winding operation of the shutter 4 is stopped.
[0044]
When detecting “Vt> Va” in step S15, the control device 32 determines that a pressing force has acted on the shutter 4, and sets the rotation direction of the shutter motor 7 in the reverse direction in step S4. Then, the shutter motor 7 is driven in the reverse direction, and the shutter 4 is lowered until the shutter 4 reaches the lower limit state or the stop switch 36 is turned on. At this time, the presence / absence of operation abnormality is determined based on the torque signal Vt, and when the operation abnormality is detected, the lowering operation of the shutter 4 is stopped.
[0045]
When detecting that the security mode is set in step S12, the control device 32 proceeds to step S13 and compares the torque signal detection result Vt with the security value Vs. Here, when “Vt> Vs” is detected, it is determined that an abnormality has occurred in terms of security, and the occurrence of the abnormality is notified based on sounding the alarm 42 in step S14. That is, when the shutter 4 is forcibly opened with malicious intention while the movement of the shutter 4 is stopped, an excessive push-up force that exceeds the normal push-up force is applied to the shutter 4. In this case, “Vt> Vs” is detected, and it is notified that the shutter 4 has been pushed up with an abnormal operating force.
[0046]
5. Effects of the first embodiment
1) A sensor mechanism 15 capable of detecting a load variation (torque) irrespective of the operation state of the shutter 4 is provided. For this reason, in addition to the abnormality that occurs in the operating state of the shutter 4, an abnormality that occurs in the non-operating state can also be detected, so convenience is improved when detecting the presence or absence of an abnormality.
2) The torque signal Vt is detected in the moving state of the shutter 4, and the presence / absence of an operation abnormality is determined based on comparing the torque signal detection result Vt with a set value. For this reason, there are abnormalities in which the shutter 4 is caught on a stationary object when the shutter 4 is wound up, abnormalities in which a person forcibly operates the shutter 4 when the shutter 4 is raised and lowered, and abnormalities in which foreign matter is caught when the shutter 4 is lowered It is possible to perform an appropriate abnormality treatment that detects and stops moving the shutter 4.
[0047]
3) The torque signal Vt was detected while the shutter 4 was stopped, and the presence / absence of an abnormality was determined based on comparing the torque signal detection result Vt with a set value. For this reason, it is possible to perform an appropriate abnormality measure for detecting and notifying the security abnormality that the shutter 4 is forcibly opened, thereby improving the security.
4) The torque signal Vt is detected while the movement of the shutter 4 is stopped, and when it is detected that an operating force is acting on the shutter 4 based on the detection result Vt of the torque signal, the shutter 4 is driven by the driving force of the shutter motor 7. Made it work. For this reason, when the operator operates the shutter 4 directly, it is not necessary to bear all the operation force required to move the shutter 4, and the shutter 4 can be operated with a relatively small force. Operability is improved.
[0048]
5) When the torque signal Vt is detected while the shutter 4 is stopped moving, and it is detected that the operating force is acting on the shutter 4 based on the detection result Vt of the torque signal, the shutter 4 is driven by the driving force of the shutter motor 7. It was operated in the direction of operation force. For this reason, since the operator can operate the shutter 4 in the target direction with a small force, the operability is improved.
6) Since the torque acting on the winding shaft 2 is detected, the torque can be detected directly without passing through the transmission mechanism 12. For this reason, torque transmission loss can be suppressed, and torque detection accuracy is improved.
7) A magnetostrictive sensor mechanism 15 was used as a torque sensor. For this reason, since torque can be detected in a non-contact manner, reliability and life are improved.
[0049]
<Second embodiment>
Next, a second embodiment of the present invention will be described with reference to FIG. A sensor mechanism 15 is housed in the unit case 6, and the left end portion of the sensor shaft 18 is connected to the output shaft of the speed reduction mechanism portion 8 through the coupling 19 inside the unit case 6 so as not to rotate and slide. ing. Further, the right end portion of the sensor shaft 18 is coupled to the drive side output shaft 9 through the coupling 19 outside the unit case 6 so as to be non-rotatable and non-slidable. The torque of the shaft 9 is detected.
[0050]
According to the second embodiment, the shutter motor 7, the speed reduction mechanism 8, and the sensor mechanism 15 are unitized based on being housed in the common unit case 6. This eliminates the trouble of individually assembling the shutter motor 7, the speed reduction mechanism unit 8, and the sensor mechanism 15 at the installation location, thereby improving the assembling workability. In addition, since the shutter motor 7, the speed reduction mechanism 8 and the sensor mechanism 15 can be housed in a dead space such as the space above the winding drum 3, the space occupied by the shutter device is substantially reduced.
[0051]
In the second embodiment, the shutter motor 7, the speed reduction mechanism 8 and the sensor mechanism 15 are unitized on the basis of housing them in the common unit case 6. However, the present invention is not limited to this. For example, the shutter motor 7, the speed reduction mechanism 8 and the sensor mechanism 15 may be unitized based on fixing to a common base. Alternatively, some of the components may be shared between the speed reduction mechanism and the torque sensor, such as using the rotation axis of the speed reduction mechanism 8 as a sensor shaft having a magnetostriction.
[0052]
In the first to second embodiments, the magnetostrictive torque sensor 15 is used as a torque sensor for detecting the torque acting on the rotating shaft. However, the present invention is not limited to this. For example, a strain gauge type torque sensor is used. Alternatively, a torsion angle detection type torque sensor or the like may be used. In short, a sensor capable of detecting the torque acting on the rotating shaft irrespective of the rotating state of the rotating shaft may be used. Hereinafter, a third embodiment and a fourth embodiment of the present invention using a strain gauge type torque sensor and a torsion angle detection type torque sensor will be described with reference to FIGS.
[0053]
<Third embodiment>
On the outer peripheral surface of the sensor shaft 18, as shown in FIG. 7, there are two strain gauges 43 inclined at 45 ° in one direction with respect to the center line CL and two strain gauges 44 inclined at 45 ° in the opposite direction. It is affixed. These strain gauges 43 and 44 are wired so as to form a bridge circuit, and a sensor power supply 46 is supplied to the bridge circuit via a slip ring 45. A torque detection circuit 48 is electrically connected to the bridge circuit via a slip ring 47, and the torque detection circuit 48 outputs torque acting on the sensor shaft 18 to the control device 32 as an electric signal.
[0054]
<Fourth embodiment>
As shown in FIG. 8, the sensor shaft 18 functions as a torsion bar, and two gears 49 are fixed to the sensor shaft 18 so as not to rotate and slide. These two gears 49 are made of a ferromagnetic material and have completely the same shape with the same number of teeth, radial dimensions and the like.
[0055]
Electromagnetic pickups 50 are individually fixed to the outer periphery of each gear 49. Each of these electromagnetic pickups 50 outputs an AC voltage corresponding to the valleys and peaks of the gear 49 on the inner peripheral side. When torque acts on the sensor shaft 18, the relative positional relationship between the valleys and peaks of both gears 49. Changes, and a phase difference occurs in the detection voltage of both electromagnetic pickups 50. Both the electromagnetic pickups 50 are electrically connected to a torque detection circuit, and the torque detection circuit outputs a torque signal having a level corresponding to the phase difference of the detected voltage to the control device 32.
[0056]
In the first to fourth embodiments, a slat shutter is used as the shutter 4. However, the present invention is not limited to this.
Further, in the first to fourth embodiments, it is determined based on the measurement result of the driving pulse that the shutter 4 has reached the winding limit state and the lowering limit state. However, the present invention is not limited to this. For example, a hoisting switch and a lowering switch whose states are switched based on the shutter 4 reaching the hoisting limit state and the lowering limit state may be provided, and determination may be made based on a change in the state of the hoisting switch and the lowering switch. .
[0057]
In the first to fourth embodiments, the assist function is enabled at all stop positions of the shutter 4 when the assist mode is set. However, the present invention is not limited to this. For example, the shutter 4 is in a winding limit state. It may be activated only when the vehicle is stopped at a specific position such as a lowering limit state. In this case, it is preferable to activate the assist function on the condition that an operating force of a predetermined level acts on the shutter 4 and that the open / close detection means detects the winding limit state and the lowering limit state.
[0058]
In the first to fourth embodiments, the occurrence of the security abnormality is notified by sound based on sounding the alarm 42. However, the present invention is not limited to this. For example, an abnormality display is displayed on the display. Visual notification may be made based on what is done.
Moreover, in the said 1st-4th Example, although it was set as the structure which selectively validates an assist function and a security function, it is not limited to this, For example, only one of an assist function and a security function is fixed. It is possible to eliminate the both assist function and security function.
[0059]
In the first to fourth embodiments, the shutter device that opens and closes the opening of the building based on the up-and-down direction of the shutter 4 is used. However, the present invention is not limited to this. You may use the shutter apparatus which opens and closes the opening part of a building based on winding up and rewinding a shutter in the left-right direction.
In the first to fourth embodiments, the shutter 4 is operated by the driving force of the shutter motor 7. However, the present invention is not limited to this. For example, the shutter 4 may be operated manually. In this case, it is preferable to connect the operation handle to the drive-side output shaft 9 and the like, and to apply a rotational force to the winding drum 3 based on rotating the operation handle.
[0060]
Moreover, in the said 1st-4th Example, although this invention was applied to the shutter apparatus which opens and closes the opening part of buildings, such as a factory and a warehouse, it is not limited to this, For example, a window and a door of a house It can be applied to a shutter device that opens and closes a parking lot, a curtain device that opens and closes a house window, or a door device that opens and closes a closet doorway. Apply to.
[Brief description of the drawings]
FIG. 1 is a diagram showing a first embodiment of the present invention (a front view showing an overall configuration).
FIG. 2 is a diagram showing the internal configuration of the sensor case
FIG. 3 is a block diagram showing an electrical configuration.
FIG. 4 is a flowchart showing the control contents of the control device.
FIG. 5 is a diagram illustrating an output signal from a torque detection circuit (a is a diagram illustrating an output signal in a normal state, and b is a diagram illustrating an output signal in an abnormal state).
FIG. 6 is a view corresponding to FIG. 1 showing a second embodiment of the present invention.
FIG. 7 is a diagram showing a third embodiment of the present invention (a diagram showing a torque sensor).
FIG. 8 is a diagram corresponding to FIG. 7 showing a fourth embodiment of the present invention.
[Explanation of symbols]
2 is a winding shaft (rotating shaft), 3 is a winding drum, 4 is a shutter (opening / closing member), 7 is a shutter motor (motor), 8 is a deceleration mechanism (deceleration mechanism), and 9 is a drive-side output shaft (rotating shaft). , 15 indicates a sensor mechanism (torque sensor), and 32 indicates a control device (abnormality detection means, operation force detection means).

Claims (2)

An opening and closing member for opening and closing the opening;
A winding drum for closing the opening the open-close member to have group Dzu that wound opening the opening and have groups Dzu to rewind the closing member,
A rotational force transmitted to the winding drum, the rotating shaft fixed to the winding drum ;
A torque sensor having a sensor shaft coupled to the rotation shaft and capable of detecting torque acting on the rotation shaft;
A motor for rotating the winding drum via the rotating shaft in each of a forward direction in which the opening / closing member is wound and a reverse direction in which the opening / closing member is rewound based on rotating the sensor shaft;
A control device for rotating the motor in each of a forward direction and a reverse direction via a motor drive circuit;
A mode switch connected to the control device;
Informing means connected to the control device,
The torque sensor
Made of a magnetic material that is provided on the surface of the sensor shaft and is inclined in one direction with respect to the axis of the sensor shaft so that compressive stress or tensile stress is applied based on the torque acting on the sensor shaft A coating;
The film is opposed to the coating through an air gap, and has a sensor coil connected to a torque detection circuit that outputs a torque signal to the control device,
The controller is
The assist mode for driving the motor based on the operating force acting on the opening / closing member in a stopped state of the movement of the opening / closing member with the motor stopped driving, and the movement of the opening / closing member with the motor stopped driving According to the operation content of the mode switch to each of the security modes to keep the motor stopped driving when an operating force is applied to the opening and closing member in a stopped state,
With the security mode set,
A process of detecting a torque signal output from the torque detection circuit in a stopped driving state of the motor;
A process of comparing the detection result of the torque signal with a security discrimination value for determining that the opening / closing member is about to be forcibly opened;
When it is determined that the detection result of the torque signal is greater than or equal to the security determination value, the notification means is used to notify that an abnormality has occurred while the motor is stopped driving, and the detection result of the torque signal is An opening / closing apparatus characterized in that when it is determined that the value is less than a security discrimination value, the notification means is used to perform processing for keeping the motor stopped without notifying that an abnormality has occurred . An assist discriminant value adjusting means for adjusting an assist discriminant value for discriminating whether or not the operator has operated the opening / closing member in the rewinding direction;
The controller is
Adjusting the assist discrimination value based on an output signal from the assist discrimination value adjusting means,
In the state where the assist mode is set,
A process of detecting a torque signal output from the torque detection circuit in a stopped driving state of the motor;
A process of comparing the detection result of the torque signal with the assist determination value;
When it is determined that the detection result of the torque signal is greater than the assist determination value, the opening / closing member is rewound by driving the motor in the reverse direction, and the detection result of the torque signal is equal to or less than the assist determination value. 2. The opening / closing apparatus according to claim 1 , wherein, when it is determined, the opening / closing member is wound by driving the motor in a forward direction .

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