JPH0765431B2 - Hanger door control device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a Hangard door motor control device in which left and right opening and closing operations are controlled by a motor.

[Prior Art] First, the configuration of a hangar door will be outlined.

FIG. 5 is a front view showing a place where the hangar door 1 is attached to the building 2 or the like. Hunger doors are used in large warehouse buildings and work places where large materials are handled, and where the upper end of the doorway is high and it is difficult to use shutter-type curtains.

As shown in FIG. 6, this hangar door 1 is composed of a pair of left and right door plates 1A and 1B, and the upper side of each door plate 1A and 1B is placed above the upper edge of the door opening of the wall of the building 2. The rail 3 is slidably suspended, and its lower side is guided by the rail groove of the lower rail 4 to slide left and right.

This sliding movement of the hangar door 1 is attached to the upper edge of the door opening of the wall of the building 2 and is provided with the left and right drive pulleys 5 and driven pulleys 6.
When the wire 7 is hung around and the drive pulley is driven by a motor mounted at an appropriate place to pull the wire 7, the wire 7 opens and closes the door plates 1A and 1B left and right.

FIG. 7 is a configuration diagram showing in detail how the hangar door is supported by the upper rail. As shown in the figure, the hangar door is fixed to the tip of a V-shaped support frame 8 attached to the wall of the building 2. A hanger roller 10 attached to the upper end of the door plate 1A is placed on the guide rod 9 and easily slides left and right when pulled by the wire 7.

By the way, in the conventional hanger guard, the motor for pulling the wire 7 is composed of a DC motor.

FIG. 8 is a block diagram of a control circuit for such a DC motor.

In the figure, the DC motor 11 is set to DC + V and GND via a switch 12a.

Here, the switches 12a and 12b are of a self-holding type with a neutral whose actuating pieces 12as and 12bs are located between the power supply lines 13a and 13c and the installation lines 13b and 13d while not operating, and to the right. Actuating piece 12as, 12bs if tilted
Is connected to the terminals 12asa and 12bsa, respectively, and this is self-held, and if it is tilted to the left, the operating piece 12as,
12bs is connected to the terminals 12asb and 12bsb, respectively, and is self-held so that this state is held until the neutral return signal is supplied.

A motor control unit 14 is provided to control the switches 12a and 12b.

In such a configuration, when the operation pieces 12as, 12bs of the switches 12a, 12b are tilted to the right and connected to the terminals 12asa, 12bsa under the control of the motor control unit 14, the DC motor 11 rotates in the positive direction, and the switches If the operating pieces 12as, 12bs of 12a, 12b fall to the left and are connected to the terminals 12asb, 12bsb, the DC motor 11
The direction of the current flowing through the DC motor 11 changes and the DC motor 11 rotates in the opposite direction.

Controlling the speed of the DC motor 11 applies + V to the DC motor 11.
By changing the.

[Problems to be Solved by the Invention] Since the conventional Hunger Door motor control device is configured as described above, a sliding contact mechanism such as a brush and a commutator is associated with the structure of the DC motor itself. Therefore, there was a disadvantage in terms of maintenance and life.

In addition, since the hangar door 1 is heavy, inertia is applied during opening and closing. Therefore, it is required to control the speed of the motor in consideration of safety and overload on the motor. There was a great request.

The present invention has been made to solve the above-mentioned problems, and it is possible to open and close a hangar door, which is heavy and has inertia, with a small motor, and to control the sealing speed to a safe and predetermined opening / closing position. It is an object of the present invention to provide a hangar door control device that can be accurately opened and closed.

[Means for Solving the Problems] In order to achieve the above object, the control device for the hangar door of the present invention is a control device for the hangar door that opens and closes the hangar door 1 guided by the upper rail 3 and the lower rail 4. In, an AC motor 16 as a drive source for opening and closing the hangar door, an operation button consisting of an open button for opening and closing the hangar door, a close button and a stop button for stopping the hangar door halfway, Frequency conversion device 15 for outputting to the AC motor an AC frequency that continuously changes according to the DC signal value
When any one of the opening and closing operation buttons is operated, the hangar door is accelerated for a predetermined time at a constant constant acceleration to start opening and closing, and when the stop operation button is operated and the hangar door is raised. Acceleration / deceleration versus time characteristics of decelerating and stopping at a constant constant acceleration for a predetermined time immediately before reaching the lower limit position, and making a constant speed during the predetermined constant acceleration and deceleration periods. It is characterized in that it is provided with a memory 17A which is stored in advance as a pattern, and a control circuit 17 which outputs a DC signal value corresponding to the pattern stored in the memory to the frequency conversion device.

[Operation] When a DC voltage is applied to the frequency converter 15, the frequency converter
15 converts a DC voltage into an AC voltage and applies it to the AC motor 16.

The AC motor 16 rotates while its speed is controlled according to the frequency of the AC voltage converted by the frequency converter 15.

In this case, the frequency of the alternating current is controlled by the control circuit 17 according to the opening / closing pattern of the Hunger door.

The opening / closing pattern of the hangar door is stored in the memory 17A in advance, and this opening / closing pattern accelerates the hangar door at a constant constant acceleration for a predetermined time to start opening / closing when any one of the opening / closing operation buttons is operated. , When the stop operation button is operated and for a predetermined time immediately before the hangar door reaches the upper and lower limit positions, the deceleration is stopped at a constant constant acceleration, and further, the predetermined constant acceleration and deceleration are performed. Acceleration / deceleration with respect to time is a constant speed between the periods.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a configuration diagram showing an embodiment of the present invention. In the figure, reference numeral 15 is a frequency conversion device composed of an inverter circuit for exchanging direct current into alternating current having a predetermined frequency, 16 is an AC motor, and 17 is a frequency. It is a control circuit that changes the frequency of the AC to be converted by the converter 15.

Here, the control circuit 17 includes a memory 17A that changes the frequency according to the opening / closing pattern of the hangar door.

FIGS. 2 (a), (b), and (c) classify the open / close patterns of the hangar doors stored in the memory 17A into manual patterns, semi-automatic patterns, and fully automatic patterns.

This opening / closing pattern will be described here. When the open PBS (open button) is pressed in FIG. 2 (a), the hangar door moves for a time t1 while being accelerated at a constant acceleration, and then moves at a constant speed for a predetermined time. , Then, while decelerating at a constant acceleration, the robot moves for a time t2 and becomes a fully open state as a whole.

When the closed PBS (close button) is pressed in the fully opened state, the robot moves for a time t1 while being accelerated with a constant acceleration, and then enters a low speed operation for a predetermined time at a constant speed.

If the stop PBS (stop button) is pressed in the middle of this, it is decelerated at a constant acceleration and moves for a time t2 'to stop, resulting in an intermediate stop state.

Further, when the close PBS button is pressed, the hangar door is fully closed according to the pattern of constant acceleration state → low speed state → constant acceleration state.

Figure 2 (b) shows a semi-automatic pattern. When you press open PBS, hangar door will be fully open and then closed PBS.
It shows a pattern in which the hangar door automatically closes even if is not pressed.

Similarly, in FIG. 2 (c), even if the open PBS button is not pressed, for example, when a sensor or the like detects that a person is standing in front of the hangar door, the hangguard door is automatically obtained by the open signal obtained by this detection. Shows the pattern of full opening and then the hangar door automatically closing.

That is, regardless of which opening / closing pattern, the speed control of the motor 16 for opening / closing the heavy hangar door 1 in a constant acceleration state → low speed state → constant acceleration state pattern is performed safely.

Further, FIG. 3 shows a specific configuration of the motor control device in FIG. 1, and Tr1, Tr2, Tr3 and Tr4 are inverter circuits as a whole.

Next, the operation of the present invention will be described with reference to FIG.

In Fig. 3, when the transistors Tr1 and Tr4 are open and the transistors Tr2 and Tr3 are closed, the current is + V → Tr1 → M → Tr4 → GN.
The current flows in the direction of D (A), the transistors Tr1 and Tr4 are closed, and the transistors Tr2 and Tr3 are open, the current is + V → Tr2 → M
→ Flows in the direction of Tr3 → GND (B).

Here, as shown in Fig. 4 (a), transistors Tr1, Tr2, Tr
When changing the open / close pattern of 3, Tr4, the transistor
Since the time flowing through Tr1 and Tr4 is longer than the time flowing through transistors Tr2 and Tr3, if smoothed, an AC current flows in the direction (A) as a whole, and the AC motor 16 rotates in the positive direction.

Moreover, since the open / close cycle of the transistors Tr1, Tr2, Tr3, Tr4 gradually changes from short → long → short, the AC motor 16 whose speed changes according to the frequency of the alternating current changes from low → high → low.

Similarly, as shown in Fig. 4 (b), transistors Tr1, Tr2, Tr
When changing the open / close pattern of 3, Tr4, the transistor
Since the time flowing through Tr1 and Tr4 is shorter than the time flowing through the transistors Tr2 and Tr3, when smoothed, an AC current flows in the direction (B) as a whole, and the AC motor 16 rotates in the opposite direction.

Moreover, the open / close cycle of the transistors Tr1, Tr2, Tr3, Tr4 gradually changes from short → long → short, so the AC motor 16 whose speed changes according to the frequency of the alternating current changes from low → high → low. .

Therefore, in the memory 17A of the control circuit 17, the transistors Tr1, Tr2, Tr3, Tr4 follow the open / close pattern of the Hunger door.
Information such as the switching time and switching cycle of the transistor is stored, and in this state, the transistors Tr1, Tr2, Tr
By controlling the opening and closing of Tr3, Tr4, a predetermined hangar door opening and closing pattern can be obtained.

Although the inverter circuit is used as the frequency conversion device in the above embodiment, a cyclone converter system for directly converting an alternating current into an alternating current having another frequency may be used, and an inverter circuit other than the embodiment is also used. It can be configured.

Further, the speed control of the AC motor may be either voltage control or current control, and the AC motor may be either induction type or synchronous type.

EFFECTS OF THE INVENTION According to the present invention, the opening / closing pattern previously stored in the memory is read out from the control circuit and output to the frequency conversion device, and correspondingly continuously changing AC frequency is output to the AC motor to cause the hanger. The opening and closing speed of the door is continuously changed, and when this opening and closing pattern is operated by opening and closing the hangar door, acceleration control is performed for a predetermined time, and the opening and closing starts by continuously changing from low speed to high speed opening and closing. When it is operated and immediately before reaching the upper and lower limit positions, it is decelerated for a predetermined time and stopped from a high speed to a low speed state.Furthermore, since it is a constant speed between these acceleration and deceleration,
The opening / closing control can be safely and accurately performed at a predetermined opening / closing position at a speed that takes into consideration the inertia generated when opening / closing a heavy hangar door.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of the present invention, FIGS. 2 (a), (b), and (c) are diagrams showing various opening / closing patterns of a hangar door, and FIG. The figure which shows the concrete structure of the frequency converter in a figure, FIG. 4 (a), (b)
Is a diagram showing an opening / closing pattern of the transistor in FIG. 3, FIG. 5 is a front view showing a state of the hangar door attached to the building, FIG. 6 is a diagram showing an opening / closing structure of the hangar door, and FIG. FIG. 8 is a block diagram showing in detail how the hangar door is supported by the upper rail, and FIG. 8 is a block diagram of a control circuit for a DC motor in the conventional hangar door. 1 …… Hunger door, 3 …… Upper rail, 4 …… Lower rail, 15 …… Frequency converter, 16 …… AC motor, 17 ……
Control circuit.

Claims (1)

[Claims] 1. A control system for a hangar door that opens and closes a hangard door (1) guided by an upper rail (3) and a lower rail (4), wherein an AC motor (drive source for driving the hangard door to open and close) 16), an operation button including an open button for opening and closing the hangar door, a close button and a stop button for stopping the hangar door halfway, and an alternating current that continuously changes according to the input DC signal value. Frequency conversion device (1
5) and, when any one of the open and close operation buttons is operated, the hangar door is accelerated and opened and opened at a constant constant acceleration for a predetermined time, and when the stop operation button is operated and when the hangar door is operated. Is decelerated and stopped at a constant constant acceleration for a predetermined time immediately before reaching the upper and lower limit positions, and further, a constant speed is maintained between the predetermined periods for the constant constant acceleration and deceleration. A hanger characterized by comprising: a memory (17A) for storing characteristics in advance as a pattern; and a control circuit (17) for outputting a DC signal value according to the pattern stored in the memory to the frequency conversion device. Door control device.