JP7085931B2 - Movable platform door device, control program of movable platform door device, and initial value setting method of movable platform door device - Google Patents

Description

The present invention relates to a movable platform door device, a control program for the movable platform door device, and a method for setting initial values in the movable platform door device.

Platform door devices are installed on the platform of railway stations to open the aisle while the train is stopped to allow passengers to enter and exit the train, otherwise the aisle is closed to allow passengers to get on and off. It is a device that prevents the platform screen doors from falling onto the railroad track. A general platform door device includes a door pocket and a door body that is freely supported by the door pocket. Further, it is generally practiced to arrange two platform door devices with a boarding passage in between to form a double door. Therefore, when the door is closed, the door ends of the door bodies of the opposing platform door devices come into contact with each other.

In such a platform door device, by stopping the door body at a preset fully closed position, the opposing door tips are controlled to quasi-statically contact each other. However, the platform expands or contracts as the temperature changes. Therefore, the distance between the two platform door devices facing each other changes. When the distance between two platform door devices facing each other is widened, if each door body of the two platform door devices is stopped at a preset fully closed position, the space between the two doors can be reached. There is a gap in the door. Even if there is a slight gap, the occurrence of the gap causes discomfort or anxiety to the station user, which is not preferable. On the contrary, when the distance between the two platform door devices facing each other is narrowed, the door bodies of the two platform door devices collide with each other before stopping at the preset fully closed position. Abnormal noise caused by a collision is also unfavorable because it causes discomfort or anxiety to station users. The collision also causes a failure and deterioration of the platform door device.

The invention described in Patent Document 1 has been made to solve the above problem. The platform door device described in Patent Document 1 has a stopping means for stopping the door closing operation when the moving amount of the door body reaches a set value, and the door ends are contacted with each other before the moving amount of the door body reaches the set value. It is provided with a door tip contact stop detecting means for detecting that the door closing movement of the door body has stopped in contact with the door body and a door pinching occurrence detecting means for detecting that the door body has caught a foreign object. Further, it is provided with a reduction processing execution means for reducing the set value when the detection is performed by the door end contact stop detecting means and the detection is not performed by the door pinching occurrence detecting means. Therefore, when the distance between the two platform door devices facing each other is reduced, the amount of movement of the door body in the door closing operation can be reduced to prevent the door ends of the facing door bodies from colliding with each other.

Further, the platform door device described in Patent Document 1 is provided with an extension processing executing means for increasing a set value when the stop by the stop means is repeated without being detected by the door end contact stop detection means. .. Therefore, when the distance between two opposing platform door devices is increased, the amount of movement of the door body in the door closing operation is increased to prevent the generation of a gap between the door ends of the opposing door bodies. Can be done.

Japanese Patent No. 6195583

However, the extension processing executing means provided in the platform door device described in Patent Document 1 operates when the stop by the stop means is repeated a certain number of times without being detected by the door end contact stop detection means. Therefore, even if there is a gap between the door ends of the door bodies of the two platform door devices facing each other, there is a problem that it takes time for the extension processing executing means to operate.

Further, the increase / decrease range of the set value by the increase processing execution means and the reduction processing execution means is constant regardless of the difference between the set value and the actual movement amount. Therefore, in order to converge the set value to an appropriate value, it is necessary to repeat the execution of the extension processing execution means or the reduction processing execution means. Therefore, there is a problem that it takes time for the set value to converge to an appropriate value.

The present invention has been made under such a background, and when the distance between the two platform door devices constituting the double hinged door fluctuates, the stop position of the door body is quickly adjusted to the door end. It is an object of the present invention to provide a platform door device that eliminates a gap between doors or a platform door device that prevents collisions between doors.

In order to achieve the above object, the home door device according to the present invention includes a door pocket, a door body that is freely supported by the door pocket, and a servomotor, and is a drive unit that moves the door body forward and backward with respect to the door pocket. And, the door tip contact stop detecting means for detecting that the door tip of the door body comes into contact with another object and the operation of the door body is stopped, and the door body is housed inside the door pocket and reaches the fully opened position. The servomotor is controlled based on the rotation angle output from the rotation angle detector of the servomotor and the sensor that detects that, and the servomotor is set between the preset full-open angle and full-closed angle. It is equipped with a control device for rotating, and the control device is controlled by the control device, and when the servomotor stops rotating after the door body starts moving to the fully closed position, the door body is moved to the door pocket. When the servomotor is instructed to rotate in the direction of pulling out from the door, and then the door end contact stop detection means detects it, the rotation angle of the servomotor detected by the rotation angle detector is reset as a new fully closed angle. At the same time, when the sensor detects that the door body is housed inside the door pocket and reaches the fully open position, the rotation angle of the servomotor detected by the rotation angle detector is reset as a new fully open angle .

According to the present invention, the rotation angle of the servomotor when the door end of the door body of the platform door device abuts on the door end of the door body of another platform door device and stops is reset as a new fully closed angle. After that, opening / closing control can be performed at a new fully closed angle. Therefore, it is possible to eliminate the gap between the door tips caused by the increase in the distance between the two platform door devices constituting the double hinged door. Alternatively, it is possible to prevent a collision between the door ends caused by a reduction in the distance between the two platform door devices constituting the double hinged door. Further, since the fully closed angle is automatically adjusted, the man-hours for maintenance work related to the adjustment of the stop position of the door body are reduced.

(A) is a diagram showing the state of the internal mechanism of the platform door device according to the embodiment of the present invention in the open door state, and (B) is a diagram showing the state of the internal mechanism of the platform door device in the closed door state. C) is a diagram showing a state in which two platform door devices are arranged with a boarding passage in between to form a double door, and (D) is a diagram showing a state in which the boarding passage is open, and (D) is a view showing a state in which the boarding passage is open. Diagram showing the state where the passage is closed (A) is a functional block diagram showing a configuration of a control device included in the platform door device according to FIG. 1, and (B) is a functional block diagram showing a configuration of a computer included in the control device according to (A). FIG. 2 is an outline view showing the configuration of an operation panel included in the operation / display unit of the computer described in FIG. 2. A flowchart showing processing by the initial value setting program installed in the computer shown in FIG. (A) is a diagram showing the state of the platform door device before starting the initial value setting process, (B) is a diagram showing the state of the platform door device when the fully open angle is determined, and (C) is a fully closed angle. Diagram showing the state of the platform door device when is determined A flowchart showing processing by the setting value update program installed in the computer shown in FIG. (A) is an outline view showing a state in which a gap is generated between the doors when the door is closed as a result of widening the distance between the two platform door devices, and (B) is an outline drawing showing a state in which a gap is generated between the doors when the door is closed. Outline drawing showing the state where the gap between them is eliminated (A) is an outline view showing a state in which the door ends collide with each other before the rotation angle of the servomotor reaches the fully closed angle as a result of the narrowing of the distance between the two platform door devices, and (B) is the set value update. Outline view showing the state where the collision between the doors is prevented as a result of the processing. (A) is a diagram showing a first modification of the platform door device, and is a diagram showing a state in which a sensor is provided in the door pocket, and (B) is a diagram showing a second modification of the platform door device. A diagram showing a state in which a mechanical stobber is provided in the door pocket. A flowchart showing processing by a fixed value update program installed in a computer provided in the platform door device according to the first modification.

(overall structure)
FIG. 1A is a diagram showing a state of the internal mechanism of the platform door device 1 according to the embodiment of the present invention in the open door state, and FIG. 1B is a diagram showing the inside of the platform door device 1 in the closed door state. It is a figure which shows the state of a mechanism.

As shown in FIGS. 1A and 1B, the platform door device 1 includes a door pocket 2 fixed to the floor surface F of the platform, and a door body 3 supported by the door pocket 2 so as to be able to move forward and backward. There is. As shown in FIG. 1A, when the platform door device 1 is in the open state, the door body 3 is pulled into the door pocket 2. As shown in FIG. 1B, when the platform door device 1 is in the closed state, the door body 3 is pulled out of the door pocket 2.

An upper linear motion rail 4U and a lower linear motion rail 4L are arranged at the upper part and the lower part of the door pocket 2 and are fixed to the door pocket 2. Two upper linear motion blocks 5U and a lower linear motion block 5L are slidably attached to the upper linear motion rail 4U and the lower linear motion rail 4L, respectively. The upper linear motion block 5U and the lower linear motion block 5L are fixed to the door body 3. As described above, the door body 3 is freely supported by the door pocket 2 via the upper and lower linear motion blocks 5U and 5L and the upper and lower linear motion rails 4U and 4L.

Further, a drive pulley 6 and a driven pulley 7 are pivotally supported by the door pocket 2. The drive pulley 6 and the driven pulley 7 are arranged apart from each other in the direction in which the door body 3 moves forward and backward, and a timing belt 8 is wound between the drive pulley 6 and the driven pulley 7. A belt clamp 9 is arranged between the timing belt 8 and the door body 3. One end of the belt clamp 9 is clamped to the timing belt 8, and the other end of the belt clamp 9 is fixed to the door body 3. In this way, the door body 3 is connected to the timing belt 8 via the belt clamp 9.

The drive pulley 6 is coupled to a rotation shaft (not shown) of the servomotor 10, and is rotationally driven by the servomotor 10. Further, the servo motor 10 includes an encoder 11. The encoder 11 corresponds to a rotation angle detector that detects the rotation angle of the servomotor 10. Then, the servomotor 10 is controlled by the control device 12. The detailed configuration and operation of the control device 12 will be described later.

Since the platform door device 1 is configured as described above, as shown in FIG. 1A, when the drive pulley 6 is rotated clockwise, that is, in the direction indicated by the arrow CW, the door body 3 becomes an arrow. Move in the direction indicated by Owd. That is, the door body 3 is pulled out of the door bag 2. As shown in FIG. 1 (B), when the drive pulley 6 is rotated counterclockwise, that is, in the direction indicated by the arrow CCW, the door body 3 moves in the direction indicated by the arrow Iwd. That is, the door body 3 is pulled into the door bag 2. In this way, the drive pulley 6, the driven pulley 7, the timing belt 8, and the servomotor 10 constitute a drive unit for advancing and retreating the door body 3 with respect to the door pocket 2.

As shown in FIGS. 1C and 1D, the platform door device 1 and another platform door device 1'are arranged with the boarding passage 13 in between to form a double door. FIG. 1C shows a state in which the boarding passage 13 is open, and FIG. 1D shows a state in which the boarding passage 13 is closed. As shown in FIG. 1 (D), when the boarding passage 13 is closed, the door end of the door body 3 of the platform door device 1 and the door end of the door body 3'of the platform door device 1'are in contact with each other.

(Control device)
FIG. 2A is a block diagram showing a functional configuration of the control device 12 included in the platform door device 1. As shown in FIG. 2A, the control device 12 includes a computer 20 and a servo driver 30. The computer 20 is a control computer that controls the platform door device 1 by executing a control program described later. The servo driver 30 is an electric device controlled by a computer 20 to control the operation of the servo motor 10.

FIG. 2B is a block diagram showing a functional configuration of the computer 20. As shown in FIG. 2B, the computer 20 includes a control unit 40, a storage unit 50, an operation / display unit 60, and a communication unit 70.

The operation / display unit 60 is an operation input device including a push switch for an operator to input an operation during maintenance work and an indicator lamp for displaying the operation state of the control device 12. The detailed configuration of the operation / display unit 60 will be described later. The communication unit 70 is a communication device that is connected to a station device (not shown) or an operation device (not shown) installed on a platform and operated by a station clerk to communicate with these devices. The platform door device 1 operates under the control of these devices connected via the communication unit 70.

As shown in FIG. 2B, the control unit 40 includes an open / close operation control unit 41, a door-to-door contact stop detection unit 42, an initial value setting process execution unit 43, and a set value update process execution unit 44. It is a processing device including an abnormality processing execution unit 45. The storage unit 50 is a storage device that stores the control program executed by the control unit 40 and the control parameters.

The opening / closing operation control unit 41 is a functional unit that drives and controls the servomotor 10 according to the opening / closing operation control program 51 stored in the storage unit 50 to move the door body 3 forward and backward with respect to the door pocket 2. Further, the opening / closing operation control unit 41 drives and controls the servomotor 10 with reference to the fully open angle 55 and the fully closed angle 56 stored in the storage unit 50. The fully open angle 55 is the rotation angle of the servomotor 10 when the door body 3 is in the fully open position, that is, the door body 3 is in the position shown in FIG. 1 (A). The fully closed angle 56 is the rotation angle of the servomotor 10 when the door body 3 is in the fully closed position, that is, the door body 3 is in the position shown in FIG. 1 (B). Then, the opening / closing operation control unit 41 drives and controls the servomotor 10 between the fully open angle 55 and the fully closed angle 56. That is, when the door body 3 is pulled into the door pocket 2, when the rotation angle of the servomotor 10 detected by the encoder 11 reaches the fully open angle 55, the opening / closing operation control unit 41 stops the rotation of the servomotor 10. When the door body 3 is pulled out of the door pocket 2, when the rotation angle of the servomotor 10 detected by the encoder 11 reaches the fully closed angle 56, the opening / closing operation control unit 41 stops the rotation of the servomotor 10.

The door tip contact stop detection unit 42 is a functional unit that detects that the door end of the door body 3 has come into contact with something and has stopped. Specifically, the door tip contact stop detection unit 42 detects that the rotation angle of the servomotor 10 detected by the encoder 11 does not change during the door closing operation by the opening / closing operation control unit 41. , It is detected that the door end of the door body 3 comes into contact with something and the door body 3 stops.

The initial value setting process execution unit 43 is a functional unit that executes a process of setting the values of the fully open angle 55 and the fully closed angle 56 before starting the operation of the platform door device 1. The initial value setting process execution unit 43 operates according to the initial value setting process program 52 stored in the storage unit 50 to execute the above process. The details of the initial value setting processing program 52 will be described later.

The set value update process execution unit 44 is a functional unit that executes a process of correcting and updating the set value of the fully closed angle 56 stored in the storage unit 50 during the operation of the platform door device 1. The set value update process execution unit 44 operates according to the set value update process program 53 stored in the storage unit 50 to execute the above process. The details of the processing by the setting value update processing program 53 will be described later.

The abnormality processing execution unit 45 is a functional unit that executes processing corresponding to any abnormality that occurs during the operation of the platform door device 1. The exception handling execution unit 45 operates according to the exception handling program 54 stored in the storage unit 50 to execute the above processing.

(Initial value setting process)
Next, the initial value setting process performed by the platform door device 1 will be described. The initial value setting process is a process of determining the values of the fully open angle 55 and the fully closed angle 56 and storing them in the storage unit 50 before starting the operation of the platform door device 1. The initial value setting process is executed after the platform door device 1 is installed on the platform and before the operation of the platform door device 1 is started. That is, the initial value setting process is executed when the platform door device 1 is commissioned and adjusted.

FIG. 3 is a diagram showing the outer shape of the operation panel 61 included in the operation / display unit 60. FIG. 4 is a flowchart showing processing by the initial value setting processing program 52. FIG. 5 is a diagram showing changes in the state of the platform door device 1 in the process of initial value setting processing, and FIG. 5A is a diagram showing the state of the platform door device 1 before starting the initial value setting process. Is. 5 (B) and 5 (C) show the state of the platform door device 1 when the fully open angle 55 is determined and the state of the platform door device 1 when the fully closed angle 56 is determined. It is a figure which shows each.

The initial value setting process is started by the operator operating the initial value setting button 62 included in the operation panel 61 shown in FIG. That is, when the initial value setting button 62 is operated, the processing by the initial value setting processing program 52 shown in FIG. 4 is started. Further, the position of the door body 3 of the platform door device 1 has not been determined at the time when the initial value setting process is started. That is, at this point, the door body 3 of the platform door device 1 is at an arbitrary position with respect to the door pocket 2 as shown in FIG. 5 (A). Further, when the initial value setting process is started, the drive control of the servomotor 10 by the control device 12 is stopped. That is, when torque is applied to the rotation shaft of the servomotor 10 from the outside, the servomotor 10 rotates in the direction in which the torque is applied. On the other hand, the encoder 11 is functioning, and the encoder 11 can detect the rotation angle of the servomotor 10. Then, the control device 12 can always refer to the rotation angle of the servomotor 10 detected by the encoder 11.

When the initial value setting process is started, the operator manually pushes the door body 3 into the door pocket 2 to bring the platform door device 1 into a fully open state. That is, the door body 3 is moved to the position shown in FIG. 5 (B). At this time, the initial value setting processing execution unit 43 waits until the platform door device 1 is fully opened. That is, step S1 is executed in the initial value setting processing program 52.

After the operator confirms that the platform door device 1 is in the fully opened state, the operator operates the open confirmation button 63 provided in the operation panel 61 shown in FIG. The above process, that is, the process from the start of the initial value setting process to the operation of the open confirmation button 63 by the operator corresponds to the manual door opening process. The means by which the operator confirms the fully opened state of the platform door device 1 is not particularly limited. The confirmation of the fully opened state may be performed visually by the operator, or the relative position of the door body 3 with respect to the door pocket 2 may be confirmed using a gauge. Alternatively, the fully opened state may be confirmed by means described later. Further, when the fully opened state is automatically confirmed by the means described later, the operator does not need to confirm, so that the open confirmation button 63 is also unnecessary.

As shown in FIG. 4, when the release confirmation button 63 is operated by the operator (step S2: Yes), the initial value setting processing execution unit 43 determines the rotation angle of the servomotor 10 detected by the encoder 11 at this time. It is stored in the storage unit 50 as the value of the fully open angle 55 (step S3). The above-mentioned step of storing the rotation angle of the servomotor 10 in the storage unit 50 as the value of the fully open angle 55 by the initial value setting process execution unit 43 corresponds to the fully open angle setting step.

When the value of the fully open angle 55 is stored in the storage unit 50, the operator manually pulls the door body 3 out of the door pocket 2 to bring the platform door device 1 into a fully closed state. That is, the door body 3 is moved to the position shown in FIG. 5 (C). While the worker manually pulls the door body 3 out of the door bag 2, the initial value setting process execution unit 43 stands by. That is, as shown in FIG. 4, step S4 is executed in the initial value setting processing program 52.

After the operator confirms that the platform door device 1 is in the fully closed state, the operator operates the closure confirmation button 64 provided on the operation panel 61 shown in FIG. The means by which the operator confirms the fully closed state of the platform door device 1 is not particularly limited. A mark may be installed at a position where the door tip of the door body 3 reaches in the fully closed state, and it may be visually confirmed that the door tip of the door body 3 abuts on the mark. After the above step, that is, the step of setting the fully open angle, the worker manually pulls out the door body 3 to the outside of the door pocket 2, puts the platform door device 1 in the fully closed state, and the worker operates the closing confirmation button 64. The process up to is equivalent to the manual door closing process.

As shown in FIG. 4, when the closing confirmation button 64 is operated (step S5: Yes), the initial value setting processing execution unit 43 sets the rotation angle of the servomotor 10 detected by the encoder 11 at this time to the fully closing angle. It is stored in the storage unit 50 as the initial value of 56 (step S6). After that, the initial value setting process execution unit 43 turns on the indicator lamp 65 included in the operation panel 61 shown in FIG. 3 (step S7), and completes all the processes. The above-mentioned step in which the initial value setting processing execution unit 43 stores the rotation angle of the servomotor 10 in the storage unit 50 as the initial value of the fully closed angle 56 corresponds to the fully closed angle setting step.

When the fully open angle 55 and the fully closed angle 56 are stored in the storage unit 50 through the above initial value setting process, the control device 12 drives and controls the servomotor 10 between the fully open angle 55 and the fully closed angle 56. Then, the door body 3 can be moved forward and backward with respect to the door pocket 2. As shown in FIG. 1 (D), when the platform door device 1 and the platform door device 1'are fully closed, the door end of the door body 3 of the platform door device 1 and the door body 3'of the platform door device 1' The platform screen doors come into contact with each other at the position set in the initial value setting process. The fully open angle 55 is a rotation angle at which the fully open angle 55 is a reference for the opening / closing operation of the platform door device 1. The fully open angle 55 is called a fixed value in the sense that it is a variable that does not change depending on the relative positional deviation between the platform door device 1 and the platform door device 1'.

(Setting value update process)
The values of the fully open angle 55 and the fully closed angle 56 are set through the above initial value setting process before starting the operation of the platform door device 1, but after the installation of the platform door device 1 and the platform door device 1'. The floor surface F of the platform may expand or contract due to a change in the temperature of the platform, and the distance between the platform door device 1 and the platform door device 1'may increase or decrease. As a result, even if the platform door device 1 and the platform door device 1'are fully closed, a gap may occur between the door end of the door body 3 and the door end of the door body 3'. Alternatively, in the platform door device 1, before the servomotor 10 is stopped at the fully closed angle 56, the door end of the door body 3 and the door body 3'may collide with each other to generate an abnormal noise.

Therefore, the platform door device 1 executes the setting value update process shown below at regular time intervals to correct and update the fully closed angle 56. The set value update process is executed by the opening / closing operation control unit 41 at the timing when the platform door device 1 is closed. That is, the processing by the opening / closing operation control program 51 is executed, the door body 3 is pulled out from the door pocket 2, and then the processing by the set value update processing program 53 is executed at the timing when the door body 3 is stopped. According to the set value update processing program 53, the processing shown in FIG. 6 is performed.

As shown in FIG. 6, when the set value update processing program 53 is started, it waits until 60 seconds elapse (step S13: No) without detecting an abnormality (step S12: No). Continue (step S11).

If any abnormality is detected in the platform door device 1 within 60 seconds after the start-up (step S12: Yes), the abnormality processing program 54 is started (step S14), and then the set value update processing program 53 is used. End the process. The abnormality is, for example, a state in which a sensor (not shown) that does not show the presence of foreign matter in the area on the track side of the platform door device 1 detects the foreign matter, or the door end of the door body 3 and the door end of the door body 3'. A state in which a foreign substance is sandwiched between them.

After 60 seconds have passed without detecting an abnormality (step S13: Yes), the servomotor 10 is rotated in the direction in which the door body 3 is pulled out from the door pocket 2 (step S15). The rotation of the servomotor 10 is continued until the door end of the door body 3 comes into contact with the door end of the door body 3'of the platform door device 1'and stops (step S16: Yes). If the door end of the door body 3 is not in contact with the door end of the door body 3'of the platform door device 1'(step S16: No), the rotation of the servomotor 10 is continued.

It should be noted that the reason for waiting for 60 seconds until the step S15 is executed after the setting value update processing program 53 is started is to wait for the minor abnormality to be resolved. It rarely happens that a minute foreign object such as the tip of an umbrella or a cane is caught between the door end of the door body 3 and the door end of the door body 3'. Since such foreign matter is difficult to detect, the exception handling program 54 may not be started, but since it is easy to remove, such foreign matter is removed in a short time. If the error handling program 54 is not started after waiting for 60 seconds, it can be considered that there is no pinching of a minute foreign substance, so step S15 is executed.

When the door end of the door body 3 comes into contact with the door end of the door body 3'of the platform door device 1'and stops (step S16: Yes), the rotation angle of the servomotor 10 detected by the encoder 11 at that time is read out. (Step S17). Then, the read rotation angle is written in the storage unit 50 as a new fully closed angle 56 (step S18). That is, the value of the fully closed angle 56 is updated. If the door end of the door body 3 is already in contact with the door end of the door body 3'before starting the set value update process, the servomotor 10 actually rotates in step S15. Instead, the process proceeds to step S17.

After the installation of the platform door device 1 and the platform door device 1', when the distance between the two increases, as shown in FIG. 7A, the door end of the door body 3 of the platform door device 1 is fully closed at the closed position O. Even if the door is stopped at, a gap G is generated between the door end of the door body 3 and the door end of the door body 3'of the platform door device 1'. In this case, when the setting value update process is performed in the platform door device 1, the door body 3 of the platform door device 1 is pulled out from the door pocket 2, and as shown in FIG. 7B, the door end of the door body 3 is pulled out. It advances until it comes into contact with the door end of the door body 3'and stops at that position. The rotation angle of the servomotor 10 detected by the encoder 11 at that time is written in the storage unit 50 as a new fully closed angle 56. As a result, the position of the door end of the door body 3 of the platform door device 1 when the door is closed is changed to the fully closed position O', so that the gap G shown in FIG. 7A is eliminated.

After the installation of the platform door device 1 and the platform door device 1', when the distance between the two becomes narrower, as shown in FIG. 8A, before the rotation angle of the servomotor 10 detected by the encoder 11 reaches the fully closed angle 56. That is, before the door end of the door body 3 of the platform door device 1 reaches the fully closed position O, the door end of the door body 3 and the door end of the door body 3'of the platform door device 1'collide with each other. Stop. At this time, since the door body 3 and the door body 3'are operating at appropriate speeds, abnormal noise and impact are generated in the event of a collision. In this case, when the platform door device 1 performs the set value update process to update the fully closed angle 56, the fully closed position O'shown in FIG. 8B becomes the new stop position of the door end of the door body 3. Set. As a result, when the platform door device 1 is closed at the next timing, the door body 3 is controlled by the opening / closing operation control unit 41, and before the door end of the door body 3 reaches the fully closed position O'. It is decelerated and stops when the door end of the door body 3 reaches the fully closed position O'. Therefore, when the door end of the door body 3 comes into contact with the door end of the door body 3', no abnormal noise or impact is generated. In this way, if the set value update process is performed and the fully closed angle 56 is corrected, the collision between the door end of the door body 3 and the door end of the door body 3'is prevented, and the generation of abnormal noise and impact is prevented. can do.

(First modification)
FIG. 9A is a diagram showing the configuration of the platform door device 1 according to the first modification. As shown in FIG. 9A, the platform door device 1 may include a sensor 14 in the door pocket 2 for detecting that the door body 3 has reached the fully open position. The sensor 14 is a photoelectric sensor, and includes a light emitting element (not shown) and a light receiving element that receives light rays emitted from the light emitting element. The light emitting element and the light receiving element are arranged at a position where the optical path between the light emitting element and the light receiving element is blocked when the door body 3 is at the position shown in FIG. 9 (A). Therefore, it is detected that the door body 3 has reached the fully open position because the light rays emitted from the light emitting element are not received by the light receiving element.

If the home door device 1 is provided with the sensor 14, the operator operates the closure confirmation button 64 after the door body 3 reaches the fully open position in the initial value setting process, and then the computer 20 sets the encoder. It is possible to automate the process of storing the rotation angle of the servomotor 10 detected by 11 as the initial value of the fully closed angle 56 in the storage unit 50. That is, at the timing when the sensor 14 detects that the door body 3 has reached the fully open position, the computer 20 automatically sets the rotation angle of the servomotor 10 detected by the encoder 11 as the value of the fully open angle 55. It can be stored in the storage unit 50.

(Second modification)
FIG. 9B is a diagram showing the configuration of the platform door device 1 according to the second modification. As shown in FIG. 9B, the platform door device 1 has a door pocket with a mechanical stopper 15 that abuts on the door end of the door body 3 to prevent the door body 3 from moving when the door body 3 is in the fully open position. You may prepare in 2. If the platform door device 1 is provided with the mechanical stopper 15, it is not necessary for the operator to visually confirm that the door body 3 has reached the fully opened position or by using a gauge in the initial value setting process. As a result, the initial value setting process becomes easy.

(Fixed value update process)
In the home door device 1, the rotation angle of the servomotor 10 detected by the encoder 11 when the door body 3 is stopped at the fully open position due to a mechanical deviation in the drive mechanism in the process of repeating the opening / closing operation. There may be a discrepancy between the fully open angle 55 and the fully open angle 55. That is, there may be a deviation between the fixed value stored in the storage unit 50, that is, the fully open angle 55 and the rotation angle detected by the encoder 11. As a result, the position of the door body 3 recognized by the computer 20 and the actual position of the door body 3 are deviated, and the stop position of the door body 3 at the time of opening and closing the door is deviated.

In order to solve such a problem, it is necessary to update the fixed value, that is, the value of the fully open angle 55 as necessary. However, in the platform door device 1 according to the first modification, the platform door device 1 is used. The fixed value can be updated every time the door is opened. That is, a fixed value update processing program described later is installed in the computer 20 included in the platform door device 1 according to the first modification, and the processing by the program is executed every time the platform door device 1 is opened. , The fixed value may be updated.

FIG. 10 is a flowchart showing processing by a fixed value update processing program installed in the computer 20 included in the platform door device 1 according to the first modification. Hereinafter, processing by the fixed value update processing program will be described with reference to the flowchart shown in FIG.

The fixed value update processing program is started at the timing when the door body 3 is moved into the door pocket 2 by the opening / closing operation control unit 41, that is, the door opening operation by the opening / closing operation control unit 41 is started. When the fixed value update processing program is started, the computer 20 waits for the sensor 14 to detect that the door body 3 has reached the fully open position. Then, when the sensor 14 detects that the door body 3 has reached the fully opened position, the computer 20 reads out the rotation angle of the servomotor 10 at that time from the encoder 11 (step S21). Then, the rotation angle read from the encoder 11 is stored in the storage unit 50 as a new value of the fully open angle 55 (step S22). That is, the value of the fully open angle 55 is updated. This completes the process.

In this way, if the platform door device 1 performs the fixed value update process, each time the platform door device 1 opens the door, the door body 3 is read from the encoder 11 when the door body 3 is in the fully open position. The fixed value can be corrected by the rotation angle of the servomotor 10. As a result, in the platform door device 1, it is possible to suppress the occurrence of the deviation of the stop position of the door body 3 due to the deviation of the fixed value.

As described above, according to the above embodiment, even if the distance between the platform door device 1 and the platform door device 1'changes due to a change in temperature or the like, the set value update process is performed. , The fully closed angle 56 can be easily modified and updated. Therefore, the stop position of the door body 3 in the door closing operation can be properly maintained. As a result, the gap between the doors can be eliminated. In addition, it is possible to prevent collisions between doors. Further, by performing the initial value setting process, appropriate initial values of the fully open angle 55 and the fully closed angle 56 can be easily set.

It should be noted that the above embodiment is an example of the embodiment of the present invention, and the technical scope of the present invention is not limited by the description of the above embodiment. The invention of the present application can be freely applied, modified or improved as far as the technical idea described in the claims is concerned.

In the above embodiment, the initial value setting process is performed at the time of trial run and adjustment at the time of new installation of the platform door device 1. That is, as a specific example of "before starting the operation of the platform door device 1," the timing of the trial run and adjustment of the platform door device 1 is exemplified. However, the time for performing the initial value setting process is not limited to the time for trial run and adjustment at the time of new installation of the platform door device 1. The initial value setting process may be performed for the trial run and adjustment after the repair is performed, or the initial value setting process may be performed at other necessary times. That is, "before starting the operation of the platform door device 1" is not limited to before starting the first operation of the platform door device 1. "Before starting the operation of the platform door device 1" also includes the period immediately before the operation of the platform door device 1 is temporarily stopped for repair or inspection and then restarted. Will be.

In the above embodiment, it has been described that the set value update process is performed at regular time intervals, but the time interval or frequency for performing the set value update process is not particularly limited. The set value update process may be carried out every few hours, or may be carried out at time intervals of daily, weekly, or monthly. The set value update process may be performed every time the platform door device 1 is closed, or may be performed every time the door closing operation is performed several times or several tens of times.

The mechanical configuration of the platform door device 1 shown in the above embodiment is an example, and the technical scope of the present invention is not limited by the exemplified mechanical configuration. In the above embodiment, the encoder 11 is exemplified as a specific example of the rotation angle detector included in the servomotor 10, but the rotation angle detector is not limited to the encoder 11. That is, the structure, configuration and detection principle of the rotation angle detector are not limited.

The hardware configuration and software configuration of the control device 12 of the platform door device 1 shown in the above embodiment are examples, and the technical scope of the present invention depends on the hardware configuration and software configuration exemplified. Not limited. The invention of the present application is carried out by arbitrarily selecting various hardware and software.

In the set value update processing program shown in the above embodiment, an example of waiting for 60 seconds before executing step S15 is shown, but the waiting time can be arbitrarily increased or decreased. The waiting time may be 0.

1,1'home door device, 2,2' door pocket, 3,3' door body, 4U upper linear motion rail, 4L lower linear motion rail, 5U upper linear motion block, 5L lower linear motion block, 6 drive pulley, 7 Driven pulley, 8 timing belt, 9 belt clamp, 10 servo motor, 11 encoder, 12 control device, 13 boarding passage, 14 sensor, 15 mechanical stopper, 20 computer, 30 servo driver, 40 control unit, 41 open / close operation control unit , 42 Door-to-door contact stop detection unit, 43 Initial value setting processing execution unit, 44 Setting value update processing execution unit, 45 Abnormal processing execution unit, 50 Storage unit, 51 Open / close operation control program, 52 Initial value setting processing program, 53 Set value update processing program, 54 Abnormal processing program, 55 Fully open angle, 56 Fully closed angle, 60 Operation / display unit, 61 Operation panel, 62 Initial value setting button, 63 Open confirmation button, 64 Closed confirmation button, 65 Indicator, 70 Communication section, F floor, G gap

Claims (5)

With a door pocket,
A door body that is freely supported by the door pocket and
A drive unit provided with a servomotor to move the door body forward and backward with respect to the door pocket,
A door tip contact stop detecting means for detecting that the door end of the door body comes into contact with another object and the operation of the door body is stopped.
A sensor that detects that the door body is housed inside the door pocket and reaches the fully open position, and
A control device that controls the servomotor based on the rotation angle output from the rotation angle detector included in the servomotor to rotate the servomotor between a preset fully open angle and a fully closed angle. And with
The control device is
When the servomotor stops rotating after the door body has started to move to the fully closed position under the control of the control device, the servomotor rotates in the direction of pulling out the door body from the door pocket. After that, when the detection by the door end contact stop detecting means is performed, the rotation angle of the servomotor detected by the rotation angle detector is reset as a new fully closed angle, and at the same time .
When the sensor detects that the door body is housed inside the door pocket and reaches the fully open position, the rotation angle of the servomotor detected by the rotation angle detector is reset as a new fully open angle. ,
Movable platform door device. The control device is
When the servomotor stops rotating after the door body starts moving to the fully closed position under the control of the control device, and then a certain time elapses, the door body is moved to the door pocket. When the servomotor is instructed to rotate in the direction of withdrawal from the door and then detected by the door-to-door contact stop detecting means, the rotation angle of the servomotor detected by the rotation angle detector is newly fully closed. Reset as angle,
The movable platform door device according to claim 1. The other object is a door end of another movable platform door device that is arranged facing the movable platform door device with a boarding passage in between and constitutes a double door.
The movable platform door device according to claim 1 or 2. The control device is executed by a computer constituting the control device of the movable platform door device according to any one of claims 1 to 3.
When the servomotor is controlled by the control device and starts rotating in the direction toward the fully closed angle and then stops rotating, the servo rotates in a direction in which the door body protrudes from the door pocket. A control device that gives a command to the motor and then resets the rotation angle of the servomotor detected by the rotation angle detector as a new fully closed angle when the door contact stop detection means detects it. To function as,
Control program for movable platform door devices. In the movable platform door device according to any one of claims 1 to 3, the initial value setting method for setting the values of the fully open angle and the fully closed angle before starting the operation of the platform door device. There,
A manual door opening process in which the door body is manually pushed into the door pocket to open the door,
When the sensor detects that the door body is housed inside the door pocket and reaches the fully open position, the rotation angle of the servomotor detected by the rotation angle detector is set as the value of the fully open angle. Angle setting process and
A manual door closing process in which the door body is manually pulled out of the door pocket to close the door,
It has a fully closed angle setting step of setting the rotation angle of the servomotor detected by the rotation angle detector after the completion of the manual door closing step as a value of the fully closed angle.
How to set the initial value of the movable platform door device.

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