JPH0224988B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic door opening/closing control device, and in particular to an automatic door opening/closing control device capable of compensating for the failure function in the event of a failure of a main control device or a failure of a state detection means. Regarding.

The garage door opening/closing device is as shown in Figure 1.
A main body 1 with a built-in drive device, a rail 2 connected to the main body 1, and a roller chain guided by the rail 2 and operated by the driving force of the main body 1 to engage with and move along the rail 2. The main part of the trolley 4 is horizontally moved. The main body 1 is hung from the ceiling of the garage using a hanging bracket, while the end of the rail 2 is fixed to a part of the garage by a header bracket 5. On the other hand, the garage door 6 is generally divided into several parts, connected to each other, and opened and closed along door rails 7 provided on both sides. Further, the weight of the garage door 6 is balanced by a door balance spring 8, so that the garage door 6 can be opened and closed manually. A door bracket 9 is fixed to the garage door in the above state, and the door bracket 9 and the trolley 4 are rotatably connected via a door arm 10. As a result, the garage door 6 is opened and closed along the door rail 7 in conjunction with the trolley 4 which moves horizontally along the rail 2 by the roller chain operated by the driving force of the main body 1. Power is supplied to the main body 1 via a power cable 11. Further, an operation command to the main body 1 can be issued by pressing a push button switch 12 attached to the wall of the garage, or by receiving a signal such as a radio wave by a control device 13 having a built-in receiver. put out. In addition, in the event that the garage door opening/closing device becomes inoperable due to a power outage, etc., the connection between the roller chain and the trolley 4 can be disconnected using the release string 14, and the garage door 6 can be opened by hand. It can be opened and closed.

First, the structure of the main body of the garage door opening/closing device will be explained with reference to FIGS. 2 and 3. Figure 2 is a longitudinal side view;
FIG. 3 is a partially cross-sectional top view.

Motor 1 fixed to the lower side of main body frame 15
6 is transmitted from a motor pulley 17 fixed to a motor shaft 16-a to a large pulley 19 via a V-belt 18. Furthermore, the large pulley 19
rotation is transmitted to the sprocket 21 via the sprocket shaft 20. The sprocket 21
A roller chain 3 is engaged with the roller chain 3. The roller part of the roller chain 3 is connected to the chain guide (A) 22 and the chain guide (B) from both sides within the main body frame 15.
23, guided by chain guide (C) 24. The rail 2 is fixed to the frame 15 with a rail fixing fitting 25 so that there is no step or gap in the groove formed by the chain guide (A) 22 and the chain guide (C) 24. The roller portion of the roller chain 3 is guided by the rails 2 on both sides.

On the other hand, the roller chain 3 wound by the sprocket 21 is stored in the chain guide.
(A) 22 and the chain guide (B) 23, and the chain storage groove 27-a of the chain storage case 27, which is fixed without any step or gap.

With the above configuration, the sprocket 21 is rotated by the rotational drive of the motor 16, and the roller chain 3 is reciprocated along the rail 2.

Next, the limit mechanism for limiting the upper and lower limits of the opening/closing operation of the garage door 6, that is, the amount of horizontal movement of the trolley 4 explained with reference to FIG. 1, will be described below. The amount of movement of the roller chain 3 is converted into the amount of movement of a pulley rack 28 provided on the outer periphery of a large pulley 19 that rotates at the same rotation speed as the sprocket 21. The amount of movement of the pulley rack 28 is transmitted to an upper limit switch 30 and a lower limit switch 31 via a pinion 29 that meshes with the pulley rack 28.

The upper limit switch 30 and the lower limit switch 31 are provided with an upper limit point adjustment knob 32 and a lower limit point adjustment knob 33, respectively, so that the upper limit point and the lower limit point can be freely adjusted from outside the main body.

If the garage door hits an obstacle while descending, it must be detected quickly and reversed, i.e., it must be raised; Must be detected and stopped. The obstacle detection mechanism described above will be explained below. Part of the chain guide groove formed by the chain guide (A) 22, the chain guide (B) 23, and the chain guide (C) 24 is formed into a curved path, and a compressive force is applied to the roller chain 3 when the door is lowered; An obstruction detection fitting 34 is provided which is moved by the force generated by each of the tensile forces applied when the door is raised. The compression force of the obstruction spring 35 that restricts the movement of the obstruction detection fitting 34 can be freely changed by rotating the obstruction operating force adjusting screw 36 and moving the spring presser plate 37. do. Further, the obstruction detection switch 52, which is turned on and off by the movement of the obstruction detection metal fitting 34, detects the above-mentioned obstacle, and raises the door when the door is lowered, and stops when the door is raised. do.

Further, a lamp 38 for illuminating the inside of the garage is provided, and the light is turned on and off in conjunction with the movement of the garage door. Further, a controller 39 for controlling the motor 16 and the lamp is fixed in the frame 15, and a body cover 40 and a lamp cover 41 are used to control the motor 16 and the large pulley 1.
9. Cover the lamp 38. Incidentally, the lamp cover 41 is made semi-transparent so that the light from the lamp 38 passes through and brightly illuminates the inside of the garage. Having explained the main body structure of the garage door opening/closing device above, we will now explain the rail and trolley parts in Figures 4 and 5.
This will be explained using figures. As shown in FIG. 4, the cross-sectional structure of the rail 2 is formed from a thin iron plate or plastic plate, and the trolley 4 is slidably guided on the outer periphery of the rail. Furthermore, the roller portion of the roller chain 3 is sandwiched between the rails 2 from both end surfaces, and the roller chain 3 is
The reciprocating motion is guided in a straight line. Next, the trolley 4 and the roller chain 3 are connected by a connecting metal fitting fixed to the tip of the roller chain 3 and installed in the groove of the roller chain attachment 3-a, which is guided by the rail 2 in the same way as the roller chain 3. 4-a. The connecting fitting 4-a is located inside the trolley 4 and can slide up and down, and is normally pushed upward by the force of a spring or the like.
and the roller chain 3 are in a connected state. In the event of a power outage, etc., if you want to separate the garage door opening/closing device from the door and open/close the door manually, pull the connecting fitting 4-a downward and remove it from the roller chain attachment 3-a. Leave and do it. Next, the door arm 10 for transmitting the operation of the trolley 4 to the door is composed of an L-shaped door arm 10-a and a straight door arm 10-b, each of which can be freely adjusted in length depending on the positional relationship between the door and the rail. are connected by changing. One end of the door arm 10 is attached to the trolley 4
The other end is connected to the door 6 via a door bracket 9 shown in FIG. The door arm 10 and the trolley 4 are connected by providing a long groove 4-b in the trolley 4.
This is done by inserting the pin 4-c into the long groove 4-b. The pin 4-c is normally pressed into the state shown in FIG. 4 by a spring or the like. This absorbs the impact when the door collides with an obstacle while lowering.

In addition, the garage door opener may have snow on the floor.
It is desirable to take measures to prevent the door from reversing due to obstruction detection when the door is lowered, even if it is piled up by ice or the like, or if there is a small item such as a water hose. In other words, it is desirable that the robot not turn around and stop even if it detects an obstacle at a height of 2 inches or less above the floor surface. Trolley 4 and door 6 in this case
The difference in the amount of movement is absorbed by the long groove 4-b.

Let's consider a circuit for controlling a garage door as described above.

The circuit is required to accurately process inputs from an upper limit switch, a lower limit switch, which are door state detection means, and an obstruction detection switch, which is an obstacle detection switch, to control the drive device. When these processing systems become uncontrollable, there are the following situations.

(1) When the upper and lower limit switches are malfunctioning. (2) When the obstruction detection switch is malfunctioning. (3) When the control circuit that outputs commands to the drive device is malfunctioning. Since there is a movement limit, even if it breaks down, the obstruction detection switch should work, so there is no problem. However, if the obstruction detection switch malfunctions at the same time as the upper and lower limit switches, control will become uncontrollable.

If control is lost, the following serious accidents will occur.

When the door is moved until it is locked, motor 16
The locking torque is applied to the obstacle, causing damage to the obstacle.

This condition will continue until the thermal protector of the motor 16 is activated, and in the worst case, the motor 16 will burn out, creating a risk of fire.

If the obstacle were a human being, there is a good chance that it could cause death.

Conventionally, countermeasures have been taken using the drive force transmission method of the drive device. For example, power is transmitted through a belt and a pulley, and an adjustment mechanism is provided to apply a certain tension to the belt, and if a force exceeding a certain level is generated, the belt slips. but,
In this method, there is a possibility that the belt may be worn out due to idle rotation of the motor 16. Moreover, the mechanism becomes complicated and expensive. In addition, when pressing against an obstacle with a constant force, the motor 1
It continues until the thermal protector No. 6 is activated, which is not desirable. In addition, it is not preferable to energize the motor until the thermal protector is activated, as this will shorten the life of the motor 16.

It is an object of the present invention to provide an auxiliary control circuit separate from the main control circuit as a backup countermeasure in the event of a failure of the condition detection means or a failure of the main control circuit. The object of the present invention is to provide a highly safe and optimal automatic door opening/closing control device that accurately detects abnormal door opening/closing conditions.

When a garage door is moved, it often repeats the same conditions and distances. For example, if the disruption detection switch 52 is activated, the motor 16 is stopped or reversed so that no further mechanical deformation occurs. In addition, the motor 16
However, if the motor is similarly locked, the obstruction detection switch 52 accurately detects the state and controls the motor 16, so that the lock is instantly released. That is, abnormal conditions can be extracted by detecting the state changes when such a main control circuit has appropriate control capability and when it loses control capability.

The present invention provides a door opening/closing device comprising a drive device having a motor for driving a door, a connecting means for connecting the drive device and the door, and an input signal from a door upper limit switch, a door lower limit switch, and an obstruction detection switch. In an automatic door opening/closing control device comprising a main control device for responding to and giving a predetermined command signal to the door opening/closing device, the load current or rotational speed of the motor or the obstruction is controlled separately from the main control device. abnormal state detection means for generating an abnormal signal based on an input signal from an abnormality detection switch provided after the detection switch; and in response to the abnormal signal, opening/closing operation control of the door opening/closing device is made independent of the main control device. Specifically, the auxiliary control device stops the door opening/closing operation by the door opening/closing device if it is in the opening operation when the abnormal signal is generated. The door opening/closing device is characterized in that the door opening/closing device is controlled to perform an opening operation if it is in a closing operation.

Next, regarding examples, FIGS. 6, 7, and 8.
This will be explained using FIGS. 9, 9, and 10.

FIG. 6 shows a block diagram of the configuration of the control section according to the present invention. A state detection means 300 including an upper limit switch 30, a lower limit switch 31, and an obstruction detection switch 52, a main control circuit 301 that controls the motor 16 that drives the garage door based on the detection input, and the state detection means 30.
Abnormal state detection means 304 arranged separately from 0
and an auxiliary control circuit 302 operated by the input. In this embodiment, the abnormal state detection means 3
04, a current detection circuit 305 (not shown) is arranged. The purpose is to accurately extract and judge the difference between the lock current and the steady current using the motor's starting current, steady current, and lock current. For example, in this embodiment, the motor has a lock current of 7.5 A and a steady current of 4 A. This specific circuit may be a current detection relay, and if it is implemented as a discrete circuit, it may be extracted as a voltage or as a current and compared with a steady value.

Next, the main control circuit 301 will be explained below.

In FIG. 7, 12 is a push button switch for commanding door opening/closing operations, 201 is a relay contact output for commanding door opening/closing operations also from the wireless receiving device, 30 is a door upper limit switch, 31 is a door lower limit switch, and 52 is an obstruction detection switch. , 205 is a power supply reset circuit that generates a reset signal when the power is turned on, 206, 207, 250
is a monostable multivibrator, 208 is a J-K master slave flip-flop, 209 is a
A timer circuit using NE555 (manufactured by Signtech) etc., 210 and 211 are D type flip-flops, 212 is an integrating circuit, 213 is a differentiating circuit, 21
4 to 222 are NOT elements, 223 is a 2-input OR element, 224 to 228 are 2-input AND elements, 229,
230 is a 4-input NOR element, 231 is a 2-input NOR element
element, 232 is a 3-input AND element, 251 is a 3-input AND element, 233 is a control power transformer, 2
34 is a diode stack, 235 is for control power supply
239-241 are relay coils, 242-244 are relay contacts, 16 is a door opening/closing drive motor, and 38 is a lamp.

The circuit operation will be explained below with reference to time charts shown in FIGS. 8 and 9. When the power is turned on to this circuit, the transformer 233, the diode stack 234, and the IC regulator 23
A control power supply VDD is supplied via 5. Then, the power supply reset circuit 205 integrates the rise of the VDD and outputs a reset pulse through the NOT element 215. The reset pulse is applied to the NOT element 21.
6 to reset the JK master slave flip-flop 208, and further reset the D-type flip-flops 210, 211 via 4-input NOR elements 229, 230, respectively. Assuming that the push button switch 12 or the relay contact output 201 from the wireless receiving device is turned on and the NOT element 214 outputs the signal A, which is the door opening/closing operation command.
Monostable multivibrator 20 at the rising edge of signal A
6 outputs a signal B with a pulse width T1. The signal B
are a 2-input OR element 223 and a 2-input AND element 22
It is converted into signal C via 4. Signal C is input as a clock to JK master-slave flip-flop 208, and during the high (HiGH) period of signal B before output signal E is inverted, two-input AND element 2
The output of 26 is input as the clock of flip-flop 210, which is set and outputs signal F. Using this as a door raising command, the relay coil 240 for raising the door is excited by the transistor 237, the relay contact 242 is turned on, and the motor 16 rotates normally. In this way, the motor is started, and at the same time, signal B is input as a trigger signal to the timer circuit 209 via the NOT element 221. The purpose of this is to turn on the lamp 38 that illuminates the inside of the garage for a certain period of time after receiving an operation command at the same time as the motor is started.
9 is excited to turn on the relay contact 244. In this way, the lamp 38 can be turned on for a certain period of time. Next, when the upper limit switch 30 is turned on while the ascending command is being output, the NOT elements 217 and 4
Flip-flop 2 via input NOR element 229
10 is input, transistor 37 is turned off, relay coil 240 is demagnetized, relay contact 242 is turned off, and motor 16 is stopped. Furthermore, when the operation command is turned on again while the ascending command is being output, that is, the push button switch 12 or the relay contact output 201 from the wireless receiving device is turned on, the signal B is output as described above.
The pulse is outputted from the monostable multivibrator 206 and outputted from the OR element 223. However, since flip-flop 210 is set, the output of 2-input AND element 228 is LOW, and the output of 2-input AND element 224 is prohibited. At this time, since the output of the NOT element 218 becomes high (HiGH), the 2-input AND element 227 converts the pulse of the signal B into the signal D.
Output as . This signal D is inputted as a reset signal to the flip-flop 210 via the 4-input NOR element 229. In this way, the motor 16 is stopped as before. Next, when another operation command is input in the same manner as above, since the JK master slave flip-flop 208 is set, the output of the 2-input AND element 226 is prohibited, and the signal is output from the 2-input AND element 225. B is output, flip-flop 211 is set, and signal G is output. As a result, the transistor 238 turns on and excites the relay coil 241 for lowering the door, the relay contact 243 turns on, the motor 16 reverses, and the door lowers. When the lower limit switch 31 is turned on during the lowering operation, a signal H is output from the NOT element 219, and the signal H is outputted by the integrating circuit 212 with a time delay T2 to the 4-input NOR element 230.
The signal is inputted as a reset signal to the flip-flop 211 via the flip-flop 211. As a result, the motor 16 is stopped in the same way as when the upper limit is turned on during upward movement. Next, the circuit operation when the obstruction detection switch 52 operates will be explained. During the rising motion, that is, J
-K master slave flip-flop 208 is set, and flip-flop 210 is set,
When the flip-flop 211 is reset and the obstruction detection switch 52 is operated, the obstruction detection switch 52 is activated.
uses a B contact, so it is off, and there are 3 inputs.
2-input NOR element 23 via NAND element 251
A high (HiGH) signal is output from 1 and triggers the monostable multivibrator 207. The Q output pulse of the multivibrator 207 is 4 inputs.
Flip-flop 2 via NOR element 2229
Reset 10. Also, at this time, the output of the 4-input AND element 232 is prohibited because the JK master-slave flip-flop 208 is set. Next, when the disruption detection switch 52 operates in the same manner as described above during the descending operation, that is, when the J-K master slave flip-flop 208 is reset, the flip-flop 210 is reset, and the flip-flop 211 is set, the interruption detection switch 52 is activated as described above. 3 inputs
Signal J is output from NAND element 251 and 2 inputs
A signal K with a pulse width T3 is output from the monostable multivibrator 207 via the NOR element 231.
The signal K causes the 4-input NOR element 230 to
Reset flip-flop 211. This causes the motor 16 to stop and the lowering movement of the door to stop. When the pulse signal K further falls, the output of the monostable multivibrator 207 rises, the 3-input AND element 232 becomes high (HiGH), and the signal L is output. The signal L is the differentiator circuit 2
13, it is converted into a signal M via the NOT element 222 and input to the two-input OR element 223. As a result, the signal F, which is a raising command, is output following a series of control paths as described above, and the door is raised, and the NOT element 217, which is the signal for the upper limit switch 30, is output.
The door is stopped by the output signal N. In this way, when the door detects an obstacle, it immediately stops its operation while rising, and when it is descending, it immediately stops its downward movement, and resumes its upward movement after T3 hours, ensuring safe operation. However, if there is a small obstacle (stones, sticks, etc.) near the door's lower limit, or if the floor rises due to snow in winter, the lower limit point switch 31 is turned on to prevent the obstacle detection operation from operating inadvertently. The object detection operation is immediately inhibited by the two-input NOR element 231, but the signal G, which is a descending operation command, is reset by the signal I after a time delay T2 by the integrating circuit 212. Furthermore, when the obstruction detection switch 52 is inhibited from inputting while the door is stopped, and when the obstruction operates and stops while the door is rising as described above, the switch 52 is considered to be in the OFF state. Therefore, in order to smoothly start the door even under such conditions, the monostable multivibrator 250 is triggered by the output fall Y of the 2-input AND 28, that is, the door activation signal, and the output is connected to one of the 3-input NAND elements 251. input, and the obstruction detection signal is ignored while the output is output. Also, of course, ignoring the obstruction detection signal when the door is stopped is to send the output Y of the 2-input AND element 228 to the 3-input NAND element 251.
This is achieved by inputting through the NOT element 220.

Next, the auxiliary control circuit 302 will be explained using FIG. 10.

A current detection circuit 305 detects the current flowing in the motor drive circuit, and the waveform shaping circuit 31 detects the current.
0 to the monostable multivibrator 311. After a certain period of time, it is checked whether this signal continues, that is, whether it is a lock current. This is because a current equal to the lock current flows for a certain period of time when the door is started (when the motor is started), and the monostable multivibrator 311 is set to be longer than this time. That is, the monostable multivibrator 311 is triggered by the fall of the output of the waveform shaping circuit 310. Before the output of this monostable multivibrator 311 rises again,
In other words, the waveform shaping circuit 310
When the output is LOW, it is determined that the motor lock is abnormal. For this purpose, the waveform shaping circuit 31
0 output via NOT element 312 and 2 input AND
input to element 313; On the other hand, the output of the monostable multivibrator 311 is input to the other input terminal of the two-input AND element 313. In this way, if the output of the two-input AND element 313 rises, it means that a malfunction in the control system has been detected. Said 2-input AND element 3
The output of 13 is passed through an integrating circuit composed of a resistor R33 and a capacitor C31 to set a D type flip-flop 314. Furthermore, the output of D-type flip-flop 314 is connected to transistor 316.
In other words, the relay 315 is driven. The relay contact 303 of the relay 315 is inserted into the motor drive circuit as shown in FIG. 6, and can forcibly stop the operation of the door. This state continues until the power is turned off and then turned on again. This is because the reset condition for the D-type flip-flop 314 is input to the output of the power supply reset circuit 205 shown in FIG. 7 via the NOT elements 215 and 216.

According to an embodiment of the present invention, it is possible to accurately detect an abnormal state that is different from a normal processing state, including detection of obstruction, and furthermore, the drive state of the motor is cut off based on the detection signal to reduce the load. This means that the product can be extremely safe.

As described above, the abnormal state detection means includes:
For example, the following may be considered as long as it can be distinguished from a normal driving state.

(1) Detection of motor rotation speed: tachometer generator (2) Obstruction abnormality switch: Placed after the obstruction detection switch 52 so that it will operate in the worst case.

Another embodiment of the present invention is how to control the operating state of the door after an abnormal state is detected using an auxiliary control circuit, but since it can be easily implemented as an implementation circuit, the details of the processing will be described here. It should be enough to touch.

control is (1) Detection that the door is rising → stop (2) Detection during descent → Ascent (3) Detection while descending → Ascend a certain distance It is.

In the case of item (2), it is sufficient to turn off the lowering command relay contact 243 and turn on the relay contact 242.

In the case of item (3), it is sufficient to turn off the lowering command relay contact 243 and set a timer, and at the same time turn on the relay contact 242 using the timer.

In the embodiments described above, the conditions for resetting the auxiliary control circuit after a failure has been extracted are to turn off the power and turn it on again, but there is no problem in implementing the present invention even if a dedicated reset switch is provided.

If an abnormal state is extracted in the above example,
The effects of the present invention can be further improved by adding a circuit that uses the output to drive a notification means to inform a person of the state and request immediate cancellation. That is, when the door is stopped, it is necessary to clearly distinguish between normality and abnormality.

As described above, the present invention provides, in addition to the main control device,
abnormal state detection means for generating an abnormal signal based on the load current or rotational speed of the motor or an input signal from an abnormality detection switch provided after the obstruction detection switch; The feature is that an auxiliary control circuit is provided that controls the opening/closing operation of the device independently from the main control device, and specifically, the auxiliary control device controls the opening/closing operation of the door by the door opening/closing device when the abnormality signal is generated. The door opening/closing device is controlled so that if the opening/closing operation is in progress, it is stopped, and if it is in the closing operation, it is opened. Even if a door upper limit switch, a door lower limit switch, and an obstruction detection switch that detect the state are out of order, the door can be controlled to a safe state, and safety and reliability are improved.

[Brief explanation of drawings]

Figure 1 is an overall installation diagram of the garage door opening/closing device.
Fig. 2 is a cross-sectional side view of the main body of the garage door opening/closing device, Fig. 3 is a top view, Figs. 4 and 5 are rail and trolley mounting diagrams, Fig. 6 is a block diagram of the control device according to the present invention, 7, 8, and 9 are explanatory diagrams of the main control circuit, and FIG. 10 is a diagram showing an embodiment of the present invention. 1...Body, 2...Rail, 3...Chain, 4
...Trolley, 6...Door, 13...Control device,
30...Upper limit switch, 31...Lower limit switch, 52...Obstruction detection switch, 300...State detection means, 301...
...Main control circuit, 302...Auxiliary control circuit, 304
... Abnormal state detection means, 305 ... Current detection circuit, 310 ... Waveform shaping circuit, 311 ... Monostable multivibrator, 314 ... D type flip-flop.

Claims (1)

[Scope of Claims] 1. A door opening/closing device comprising a drive device having a motor that drives the door, a connecting means for connecting the drive device and the door, and a door upper limit switch, a door lower limit switch, and an obstruction detection switch. An automatic door opening/closing control device comprising a main controller for giving a predetermined command signal to the door opening/closing device in response to an input signal,
Separately from the main control device, abnormal state detection means generates an abnormal signal based on the load current or rotational speed of the motor or an input signal from an abnormality detection switch provided after the obstruction detection switch; An automatic door opening/closing control device comprising an auxiliary control circuit that controls the opening/closing operation of the door opening/closing device independently of the main control device in response to a signal. 2. In claim 1, when the abnormal signal is generated, the auxiliary control device stops the door opening/closing operation by the door opening/closing device if it is in the opening operation, and stops the opening operation if the door opening/closing device is in the closing operation. An automatic door opening/closing control device, characterized in that the door opening/closing device is controlled so as to.