JP2004156431A - Door opening/closing control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a door opening/closing control device which has a function of halting a vehicle door at an arbitrary intermediate location when the operator halts the door at the arbitrary intermediate location during opening/closing operation of the door, and is improved in operability when the operator carries out the door opening/closing operation. <P>SOLUTION: The door opening/closing control device 20 controls the opening/closing operation of the door 10 which moves in a movable range between a fully opened location and a totally closed location. The device 20 includes a speed sensor 27 for detecting opening/closing movement of the door 10 and transmitting a movement detecting signal, a controller 30 for controlling the door body 10 in a halting state, and a brake mechanism 25 for maintaining the door 10 in the halting state by the control of the controller 30. The controller 30 controls the brake mechanism so as to maintain the door 10 in the halting state upon detection of an immediately preceding-halting state in which the door 10 in the opening/closing state terminates its movement to halt in the movable range, based on the movement detecting signal. <P>COPYRIGHT: (C)2004,JPO

Description

  The present invention relates to a door opening / closing control device, and more particularly to a door opening / closing control device for preventing an operator from unintentionally opening and closing a door.

The vehicle door provides the operator with a feeling of an appropriate door opening / closing operation, and also provides a braking force and a sense of moderation to the door when the door is at a predetermined opening to hold the door stationary. A door checker mechanism is provided.
The door checker mechanism generally limits the movement of a checker arm inserted into the door from the vehicle body side with a predetermined load by a braking means such as a rubber or metal spring accompanying opening and closing of the door.
However, due to disturbance factors such as when the vehicle stops on a steep slope or when a strong wind blows on the door, the door may be opened and closed exceeding the braking force of the checker mechanism against the intention of the operator. May cause inconvenience in daily use.

In order to solve such inconvenience, an operation of applying a regenerative brake to an opening / closing drive motor of the slide door when the slide door is stopped halfway between the fully open position and the fully closed position in the automatic sliding door device. There is a technology of providing a device and a release device for releasing the regenerative brake (for example, see Patent Document 1).
By doing so, for example, when the operator opens the slide door halfway when the car stops on a steep slope, it is possible to prevent the slide door from sliding down by its own weight due to regenerative braking. People will not feel inconvenienced.
Further, in order to solve the above-mentioned inconvenience, in a vehicle door rotatably supported by a door hinge, a checker arm inserted into a door checker mechanism main body is sandwiched at an intermediate position by two rollers, so that the checker arm is held. There is a technique of fixing the door and keeping the door halfway stopped (for example, see Patent Document 2).

More specifically, the door checker mechanism provided in the vehicle door includes two rollers at upper and lower positions, and a thin plate-like member rotatably mounted at one end to the vehicle body by a pin between the rollers. Checker arm is inserted.
The door checker mechanism includes a vertically movable block, and the block includes a position where the one roller is pressed toward the checker arm using a motor as a driving source, and a position where the roller is separated from the checker arm. It is configured to move between. When the block is at the position where the roller is pressed, the checker arm sandwiched between the two rollers is fixed at that position by the roller. As a result, the door is held in a partially stopped state.

  Usually, the movement of the checker arm is restricted by a block, and the restriction by the block is released by a release switch. The operator holds the release switch in the release position before the door opening / closing operation, moves the block to the release position, and then performs the door opening / closing operation. Then, when the door is stopped at the middle position and the release switch is returned to the normal position, or when a predetermined time has elapsed since the release switch was set to the release position, the block returns to the normal position (restricted position), and the door is moved halfway. It is held at the stop position.

JP-A-10-266691 (pages 3-6, FIG. 1-3) JP-A-10-140911 (Pages 3-6, Figures 1-4)

  The above-described automatic door mechanism includes a door opening / closing drive unit, a driving force transmission unit, various detection devices considering convenience and the like, a control unit for controlling these devices, and the like. For this reason, if a vehicle that does not have such an automatic door mechanism is equipped with a new automatic door mechanism, particularly if it is mounted on a relatively inexpensive vehicle, the cost effectiveness (inadvertent opening and closing of the door) can be reduced. There is a problem that the mounting is not suitable from the viewpoint of operation prevention).

  In the mechanism for restricting the movement of the checker arm by the above-described block and holding the door halfway stopped, the operator releases the block by the release switch at the start of the opening and closing operation, and then releases the release switch during the opening and closing operation. , The inoperative state of the block is maintained, and the braking by the block is performed again by the operator's will at the stop opening degree. Alternatively, there is an inconvenience that the user has to wait for a predetermined time after the block is released.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a function that can stop and hold a door at an intermediate position when an operator stops the door at an arbitrary intermediate position during opening and closing operation of a vehicle door. An object of the present invention is to provide an inexpensive door opening / closing control device having improved operability in performing an opening / closing operation.

  An object of the present invention is to provide a door opening / closing control device that controls opening / closing operation of a door body that opens and closes within a movement range between a fully open position and a fully closed position, and detects movement of the door body by detecting opening / closing movement of the door body. A movement detection unit that sends a signal, a stop control unit that performs control to hold the door body in a stopped state, and a stop holding unit that holds the door body in a stopped state by control of the stop control unit, The stop control means is configured to stop the door body in a stopped state when detecting a state immediately before the door body stops within the movement range from the open / close movement state based on the movement detection signal. The problem is solved by controlling the holding means.

  As described above, in the door opening / closing control device of the present invention, the state immediately before the door body is stopped is detected and the door body stop / hold processing is performed, so that the door body can be smoothly stopped and held in the door opening / closing operation. Become. The door body is not stopped and held by the stop holding means until it is detected that the door is stopped. Therefore, once the operator releases the stop holding means, the operability is improved because the operator does not need to perform an operation for holding the stop holding means in the released state during the door opening / closing operation. In addition, the operability is improved because it is not necessary to operate the stop holding means by the operator at the stop position.

  Further, the stop control means calculates a moving speed of the door body based on the moving detection signal, and when the moving speed becomes equal to or higher than a predetermined set speed and thereafter becomes equal to or lower than a predetermined speed immediately before stop, the stop control unit calculates It can be configured to detect a state immediately before the stop of the door body.

  Further, the object is a door opening and closing control device for controlling an opening and closing operation of a door body that opens and closes within a movement range between a fully open position and a fully closed position, and detects the opening and closing movement of the door body and moves the door body. Movement detection means for transmitting a detection signal, stop control means for controlling the door body to be held in a stopped state, and stop holding means for holding the door body in a stopped state under the control of the stop control means. The stop control means is configured to, when detecting that the door body has stopped within the movement range from the open / close movement state based on the movement detection signal, hold the door body in the stop state. It is solved by controlling the means.

  As described above, in the door opening / closing control device of the present invention, the stop of the door body is detected by detecting that the door body has been stopped. Can be stopped. Further, the door body is not stopped and held by the stop holding means until it stops. Therefore, once the operator releases the stop holding means, the operability is improved because the operator need not perform an operation for holding the stop holding means in the released state during the door opening / closing operation. In addition, the operability is improved because it is not necessary to operate the stop holding means by the operation of the operator at the stop position.

Further, the stop control means can be configured to detect that the door body has stopped when it is not possible to detect that the door body is moving within a predetermined time based on the movement detection signal. .
Further, the stop control means, when detecting the opening and closing movement of the door body based on the movement detection signal while the door body is held in the stopped state by the stop holding means, sets the stop state. It is preferable that the system be configured to perform a control for canceling. As described above, when the door body is held in the stopped state, the operator automatically opens and closes the door body by a predetermined amount, so that the brake is automatically released. The door body can be opened and closed from the stopped state without performing the operation of releasing, and the operability is improved.

  Further, the apparatus further comprises stop holding release means for sending a release command signal for releasing the holding of the door body by the stop holding means by the stop holding means, and the stop control means includes a state in which the door body is stopped by the stop holding means. And when the release command signal is received, control for releasing the stop state is performed.

  Further, the apparatus further comprises stop holding release means for sending a release command signal for releasing the holding of the door body by the stop holding means by the stop holding means, and the stop control means includes a state in which the door body is stopped by the stop holding means. And the control is performed to release the stop state when the release command signal is received and the opening and closing movement of the door body is detected based on the movement detection signal. Can be. With this configuration, even if the operator accidentally activates the stop holding release unit, the brake of the door body is not released, and the operator activates the stop holding release unit and intentionally. Since the brake is released only when the door body is opened and closed by a predetermined amount, the operability is improved, which is preferable.

  The stop / hold release means includes a first detector having a sensor surface provided on a surface of the door body, and a second detector which operates in conjunction with an opening / closing operation of a door handle provided on the door body. And a load detector for detecting a load applied to the door body in accordance with the opening and closing operation of the door body. If the detector is a detector in which a sensor surface is disposed on the surface of the door body, the sensor can be used even if the operator does not intend to actively operate the detector when opening and closing the door body. Automatically detects opening and closing operations. In a detector that operates in conjunction with the opening and closing operation of a door handle provided on a door body, the detector automatically operates when the opening and closing operation of the door handle is performed. In a load detector that detects a load applied to the door body, the brake is automatically released when an operator applies a load to the door body. As described above, according to the present invention, the operator does not need to intentionally perform an operation for releasing the brake, so that the operability is improved.

  Further, a first detector having a sensor surface on a surface of the door body or a door body for sending a release command signal for releasing the holding state of the door body by the stop holding means is provided. A second detector that operates in conjunction with the opening and closing operation of the provided door handle, and a load detector that detects a load applied to the door body in accordance with the opening and closing operation of the door body, wherein the stop control means Receives the release command signal from the first detector or the second detector when the door body is held in the stopped state by the stop holding means, and releases the door from the load detector. A control may be performed to release the stop state when a command signal is received or when the opening and closing movement of the door body is detected based on the movement detection signal.

  In addition, the movement detection means includes a rack having one end connected to a pillar of the vehicle, the other end extending and disposed in the door body, and being rotatable in an opening and closing direction of the door body; A pinion that is disposed in the body and meshes with the rack and has a shaft as a rotation axis; and a movement detector that detects opening and closing movement of the door body based on rotation of the shaft. Can be.

At this time, the shaft is disposed substantially parallel to a rotation axis that rotatably connects the rack and the vehicle, and meshes with the rack with a pinion that rotates about the shaft as a rotation axis. Preferably, teeth are formed. According to this structure, the door body can be easily opened and closed while the pinion and the rack are engaged with each other. That is, the rack is rotatably connected to the vehicle body, and the pinion that meshes with the rack is disposed in the door body. When the center of rotation of the rack is different from the center of rotation of the door, when the door is opened and closed, the angle of rotation of the rack and the angle of rotation of the pinion differ. Therefore, the rack swings with respect to the pinion (or the door body). Therefore, a configuration in which the rotation axis of the rack and the rotation axis of the pinion are arranged substantially in parallel, so that the rack can swing with respect to the pinion while maintaining the state in which the rack and the pinion are engaged. can do.
In addition, by adopting such a configuration, the transmission mechanism for transmitting the rotational force of the pinion can be easily configured not to extend in the length direction of the door body but to be vertically stacked in the door body. Therefore, interference with other members in the door can be prevented, and the space in the door can be effectively used.

  Further, the rack may be provided with a link rotatably connected in the opening and closing direction of the door body at one end, and connected to the vehicle via the link. With this configuration, the swing of the rack with respect to the pinion can be absorbed by the rotation of the link.

  ADVANTAGE OF THE INVENTION According to the door opening / closing control apparatus of this invention, when an operator stops a door at an arbitrary halfway position at the time of opening / closing operation of a vehicle door, the door can be stopped and held at the halfway position, Can inexpensively provide a door opening / closing control device having improved operability in performing a door opening / closing operation.

An embodiment of the present invention will be described with reference to the drawings. The arrangement, shape, and the like described below do not limit the present invention, and it goes without saying that various modifications can be made in accordance with the gist of the present invention.
FIG. 1 is an explanatory view showing a state in which the opening / closing control device is attached to a vehicle door, FIG. 2 is a sectional view of a vehicle door to which the door opening / closing control device is attached, FIG. 3 is a sectional view of the door opening / closing control device, and FIG. FIG. 2 is a block diagram showing an electrical configuration of a door opening / closing control device. 5 to 7 relate to another embodiment. FIG. 5 is an explanatory view of the arrangement of the release switch and the contact detection sensor, FIG. 6 is an explanatory view of the release switch, and FIG. 7 is an arrangement of the release switch and the contact detection sensor. FIG. 8 is an explanatory view of the arrangement of the load detector.
FIG. 9 is an explanatory diagram showing a time change of a door rotation speed at the time of opening / closing a vehicle door, FIG. 10 is an explanatory diagram showing a time change of a pulse signal sent from a speed sensor at the time of a vehicle door opening / closing operation, and FIG. 12 is a flowchart showing a processing procedure of the opening / closing control device, FIG. 12 is a flowchart showing a processing procedure of brake release, FIG. 13 is a flowchart showing a processing procedure of brake release of another embodiment, and FIG. 14 is a flowchart showing a processing procedure of brake operation. is there.
15 to 18 relate to another embodiment, FIG. 15 is an explanatory view showing a state in which a door opening / closing control device is mounted on a vehicle door, and FIGS. 16 to 18 are racks and pinions of the door opening / closing control device. FIG. 4 is an explanatory diagram illustrating a positional relationship.

Hereinafter, an example in which the door opening / closing control device 20 of the present example is applied to the door 10 of the front seat of the vehicle will be described. As shown in FIGS. 1 and 2, the door 10 is rotatably attached to a front pillar 2 of a vehicle body 1 by an upper hinge 1 a and a lower hinge 1 b. The door opening / closing control device 20 is disposed between the door outer panel 10a of the door 10 and the door inner panel 10b.
A release switch 40a and a contact detection sensor 42a as stop holding release means are provided on the door outer panel 10a side of the door 10, and a release switch 40b and a contact detection sensor 42b as stop hold release means are provided on the door inner panel 10b side. Each is arranged. Further, as will be described later, a load detector 43 as stop / hold release means is provided on the upper hinge 1a, the lower hinge 1b, and the like.

  The release switches 40a and 40b, the contact detection sensors 42a and 42b, and the load detector 43 are used to release the restriction when the movement of the door 10 is restricted by the door opening / closing control device 20. The release switches 40a and 40b are configured to operate in conjunction with the door outer handle 7a and the door inner handle 7b, respectively. Further, the contact detection sensors 42a and 42b are provided on the rear end of the door outer panel 10a and the armrests provided on the inner surface of the door 10, respectively, and are easy to operate when the operator performs the opening and closing operation of the door 10. Located in place. When the operator touches the sensor surface with an appropriate pressing force, the contact detection sensors 42a and 42b transmit a detection signal (release command signal) to the controller 30 of the door opening / closing control device 20. . Further, the contact detection sensors 42a and 42b may not be of the contact pressing type as described above, but may be of, for example, an electrostatic sensing type. The load detector 43 is configured to detect a load when a predetermined opening / closing force is applied to the door 10 and to transmit a detection signal (a release command signal) to the controller 30 of the door opening / closing control device 20. I have. The contact detection sensors 42a and 42b constitute a first detector, and the release switches 40a and 40b constitute a second detector.

A mounting portion 3 for rotatably mounting the rack 21 is mounted on the front pillar 2, and one end of the rack 21 is mounted on the mounting portion 3 by a rotation pin 4.
As shown in FIG. 3, the door opening / closing control device 20 includes a controller 30 that controls a brake mechanism 25 when the door 10 is opened / closed, a rack 21, a pinion 22 that meshes with the rack 21, and the pinion 22. Shaft 23, a bearing 24 for rotatably holding the shaft 23, a brake mechanism 25, a sensor plate 26 having a predetermined slit formed therein, and a speed as a movement detector for detecting the rotational movement of the sensor plate 26. And a sensor 27, which are housed in a housing 28. The rack 21, the pinion 22, the shaft 23, the sensor plate 26, the speed sensor 27 and the like constitute a movement detecting means.

As shown in FIG. 4, the controller 30 includes a speed signal (movement detection signal) from the speed sensor 27, a release command signal from the release switches 40a and 40b, a release command signal from the contact detection sensors 42a and 42b, and a load detector. In response to the release command signal from the control unit 43, the brake mechanism 25 as a stop holding unit is controlled. The controller 30 includes a control unit such as a CPU, a storage unit such as a ROM and a RAM, and an input / output unit.
The controller 30 includes an IC and other electronic components provided on a printed circuit board. The controller 30 is supplied with electric power from the battery 6 disposed on the vehicle body 1, and is supplied with electric power to the speed sensor 27 and the brake mechanism 25 via the controller 30.

  The pinion 22 meshes with the rack 21, and the pinion 22 rotates by the movement of the rack 21, and the shaft 23 rotates with the rotation. When the door 10 is opened and closed, the rack 21 rotates with the rotation pin 4 as the rotation center, and moves while being guided by the guide groove 21a.

  The brake mechanism 25 limits the rotation of the shaft 23 by a drive signal from the controller 30 as a stop control signal. In the brake mechanism 25, the outer disk is normally held at the release position by a spring (not shown), and the shaft 23 is rotatable. However, when a drive signal is input from the controller 30, the brake mechanism 25 operates to press the outer disk against the inner disk fixed to the shaft 23 by electromagnetic force. Thereby, the rotation of the shaft 23 is restricted.

However, when the opening / closing operation of the door 10 during the operation of the brake mechanism 25 gives the shaft 23 a rotational force exceeding a predetermined force exceeding the engagement force between the outer disk and the inner disk, the inner disk becomes the outer disk. It is configured to slide over. Therefore, even when the braking function of the brake mechanism 25 is working, if a predetermined force larger than the normally required opening / closing operation force is applied, the door 10 can be opened / closed by the operator's intention. it can. Further, as described later, when the rotation of the shaft 23 is restricted by the brake mechanism 25, the brake is released when the shaft 23 rotates by a predetermined angle or more.
The brake mechanism 25 of the present embodiment brakes the rotation of the shaft 23 to hold the door 10 at the stop position, but is not limited to this. You may comprise so that it may hold | maintain in a position.

A plurality of slits (not shown) are formed in the sensor plate 26, and the speed sensor 27 includes an LED as a light source and a photodiode for detection. When the sensor plate 26 rotates with the rotation of the shaft 23, the detection photodiode receives light emitted by the LED through the slit, and the speed sensor 27 sends a signal of a pulse width corresponding to the rotation speed of the shaft 23 to the controller 30. It is configured to send.
In this embodiment, the speed sensor 27 is of a photoelectric type for detecting the rotation speed of the shaft 23. However, the present invention is not limited to this. May be configured so that conduction is detected by a plurality of contacts that come into contact with each other, and a pulse signal is transmitted depending on the presence or absence of conduction. Further, a pulse signal may be transmitted by a Hall IC and a ring magnet.

FIGS. 5 to 7 show other embodiments of the release switches 40a and 40b, which are stop holding release means, and the contact detection sensors 42a and 42b. In the example shown in FIGS. 5A and 5B, the contact detection sensor 42a is disposed between the rear edge of the door outer panel 10a and the door handle 7a, above the door handle 7a, and on the rear frame of the window frame 11. ing. The contact detection sensor 42a disposed between the rear edge of the door outer panel 10a and the door handle 7a has a sensor surface over a wide range of up, down, left, and right. The contact detection sensor 42b is provided on the side of the armrest on the door inner panel 10b side.
When the door 10 is opened and closed, even if the operator does not intend to actively touch the contact detection sensor 42a, the contact detection sensor 42a is touched by the operator. Work. For example, the operator attempts to close the door 10 by pressing the rear side of the door handle 7a, and at this time, the operator simultaneously detects the contact detection provided between the rear edge of the door outer panel 10a and the door handle 7a. Touch the sensor 42a. The same applies to the contact detection sensors 42a provided in other parts.
Therefore, at the time of opening / closing operation of the door, a detection signal (release command signal) is automatically transmitted from the contact detection sensor 42a to the controller 30 of the door opening / closing control device 20 irrespective of the operator's intention. This contact detection sensor 42a detects a minute current flowing to the human body when the operator touches the sensor surface, a push button type, a contact pressing type that operates with a small contact pressure, or an infrared ray that causes the operator's hand to operate. A non-contact type proximity sensor type that detects that the sensor surface has approached may be used.

The release switch 40a is arranged to operate in conjunction with the respective door handles 7a and 7b provided inside and outside the door 10. FIG. 6 is an explanatory diagram of the door handle 7a. The same applies to the door handle 7b. The door handle 7a is rotatable within a predetermined angle range around a rotation shaft 8a, and is urged clockwise in the drawing. The door handle 7a is formed with a door latch release piece 8b extending upward in the figure and a release switch operation piece 8c extending downward in the figure. In the normal state, the release switch operating piece 8c is in contact with the release switch 40a and is pressed.
When the door handle 7a is pulled up by the operator about the rotation shaft 8a, the door latch is released by the door latch release piece 8b pushing the door latch piece 9 leftward in the drawing. At this time, the release switch operation piece 8c moves to the right side in the figure, and before the door handle 7a is displaced to the release position of the door latch, the release switch operation piece 8c is separated from and connected to the release switch 40a, and the release switch 40a is pressed. It is released. Thereby, a detection signal (release command signal) is transmitted from the release switch 40a to the controller 30 of the door opening / closing control device 20.

In the present embodiment, the release switch operation piece 8c is configured to be separated from and brought into contact with the release switch 40a by pulling up the door handle 7a to transmit a detection signal. However, the present invention is not limited thereto, and the release switch 40a is released. The release switch operation piece 8c is provided on the right side of the switch operation piece 8c in the drawing, and is moved to the right side when the door handle 7a is pulled up to come into contact with the release switch 40a to operate the release switch 40a. Is also good.
As described above, the release switch 40a is operated in conjunction with the movement of the door handle 7a. When the door 10 is opened from the fully closed state, the operator operates the door handles 7a and 7b. The release switches 40a and 40b operate in conjunction with the operation, and the detection signal is automatically transmitted to the controller 30 of the door opening / closing control device 20.

  As shown in FIGS. 7A and 7B, the release switches 40a and 40b may be provided as independent manual operation switches. In the embodiment shown in FIG. 7, such independent release switches 40a and 40b are respectively provided behind the door handle 7a and on the side of the armrest inside the door 10. With such independent switches, the operator can release the restriction on the door 10 in advance before the door opening / closing operation. Such release switches 40a and 40b may be of a type that detects a minute current, a push button type, a contact pressing type, a proximity sensor type, or the like. The position of the release switches 40a, 40b is not particularly limited as long as the operator can easily operate the door handle 7a, such as in front of or below the vehicle, above the armless, or in front of the door. In addition, such independent release switches 40a and 40b may be provided for safety separately from those provided so as to automatically detect the opening / closing intention of the operator.

  The load detector 43 is provided on the upper hinge 1a, the lower hinge 1b, the mounting part 3, the rack 21, the pinion 22, and the shaft 23 as shown in FIG. The load detector 43 is not limited thereto, and the load detector 43 may be provided at a portion where a load is applied by operating the door 10 with the housing 28 or another portion. The load detector 43 is a strain gauge or a torque sensor that detects a distortion when a load is applied to the disposed portion. When the rotation of the shaft 23 is restricted by the operation of the brake mechanism 25, when a force in the opening direction or the closing direction is applied to the door 10, a load is applied to predetermined portions of the vehicle body 1 and the door 10. This load causes distortion in each part. The load detector 43 detects a distortion of a predetermined magnitude or more and outputs a detection signal to the controller 30. The controller 30 is configured to determine that a force in the opening and closing direction is applied to the door 10 when receiving a detection signal from any of the load detectors 43, and to release the brake. Alternatively, the controller 30 may determine that a force in the opening and closing direction is applied to the door 10 when receiving a detection signal from the two or more load detectors 43.

With this configuration, it is possible to prevent the door 10 from being opened / closed against the braking force of the brake mechanism 25, and to prevent wear of the inner disk and the outer disk in the brake mechanism 25. It becomes.
Further, the load detector 43 may output a detection signal when a load equal to or more than a predetermined load is applied as described above, or may output a detection signal corresponding to the magnitude of the distortion to the controller 30, 30 may determine whether or not a load equal to or greater than a predetermined value is applied to the load detector 43 based on the magnitude of the detection signal. Further, when the change rate of the detected load exceeds a predetermined threshold value, the controller 30 may determine that a load equal to or more than a predetermined load has been applied. Further, in the example shown in FIG. 8, the load detectors 43 are provided at a plurality of positions. However, the present invention is not limited to this. Is also good.

  Further, as described above, when a predetermined force or more is applied to the door 10 during the operation of the brake mechanism 25, the shaft 23 rotates and the sensor plate 26 also rotates. The speed sensor 27 sends a pulse signal (movement detection signal) to the controller 30 according to the rotation angle of the sensor plate 26. When the controller 30 receives a pulse signal from the speed sensor 27 while the brake mechanism 25 controls the rotation of the shaft 23, the controller 30 counts the number of received pulse signals. At this time, when the count number of the pulse signal exceeds a predetermined number, the controller 30 performs control to release the brake. When the brake is released, the count number of the pulse signal is cleared.

As described above, the door opening / closing control device 20 of the present embodiment is configured such that when the operator rotates the door 10 by a predetermined angle while the brake mechanism 25 is operating, the brake is automatically released. With this configuration, it is possible to prevent the door 10 from being opened / closed against the braking force of the brake mechanism 25, and to prevent wear of the inner disk and the outer disk in the brake mechanism 25. It becomes.
In this example, the brake is released when the count number of the pulse signal exceeds a predetermined number. However, the present invention is not limited to this, and the opening / closing speed of the door 10 calculated based on the received pulse signal is not limited to this. May be automatically released when the controller 30 determines that the rate of change exceeds a predetermined threshold.

Next, an outline of the operation of the door opening / closing control device 20 of the present example will be described. When the door 10 is in the fully closed position, the drive signal is sent from the controller 30 to the brake mechanism 25, so that the movement of the shaft 23 is restricted by the brake mechanism 25.
Then, when the operator starts the operation of opening the door 10 by pulling the door handle 7a (7b) of the door 10 outside (or in the vehicle), a release command signal is transmitted from the release switch 40a or the release switch 40b to the controller 30. . Upon receiving the release command signal, the controller 30 stops sending the drive signal to the brake mechanism 25. Thereby, the brake mechanism 25 releases the restriction on the shaft 23.

  Then, the rack 21 rotates the pinion 22 with the rotation of the door 10. The shaft 23 rotates by the rotation of the pinion 22, and the sensor plate 26 rotates together with the shaft 23. The rotation of the sensor plate 26 causes the speed sensor 27 to send pulse signals (ON and OFF signals) to the controller 30. The controller 30 receives the pulse signal from the speed sensor 27, detects that the door 10 is being opened and closed, and calculates and stores the rotation speed V of the door 10.

When the operator stops the opening operation of the door 10 and stops at the fully opened position or the halfway position, the pulse signal from the speed sensor 27 does not change. Depending on the stop position of the sensor plate 26, the speed sensor 27 does not send a pulse signal to the controller 30 ("OFF") or keeps sending a pulse signal ("ON").
When the controller 30 determines that the door 10 has stopped or has stopped, it supplies a drive signal to the brake mechanism 25. Accordingly, the brake mechanism 25 operates to limit the rotation of the shaft 23.
In this manner, when the door 10 is fixed at the fully open position or the middle position, and the vehicle is stopped on a steep slope, in a strong wind, or when the vehicle is parked adjacent to another vehicle, the door 10 is closed. The position can be held.

When the operator opens and closes the door 10 from the fully open position or the middle position, the operator operates the release switches 40a and 40b or the contact detection sensors 42a and 42b. With this operation, a release command signal for the brake mechanism 25 is sent to the controller 30. This release command signal is not temporally continuous, but is sent to the controller 30 as a one-shot pulse signal.
In response to the release command signal, the controller 30 stops sending the drive signal to the brake mechanism 25, and the brake mechanism 25 releases the restriction on the shaft 23. As a result, the door 10 can be freely opened and closed again. To release the restriction, the operator may change the opening of the door 10 or close the door 10 to the fully closed position.
Even when the release switches 40a, 40b and the like are not operated, if the operator opens and closes the door 10 with a predetermined force larger than usual, the door 10 is opened and closed against the braking force of the brake mechanism 25. It is possible.

Next, the relationship between the door opening and the door rotation speed when the door 10 is opened and closed will be described. FIG. 9A shows the relationship between the elapsed time and the rotation speed V when the operator opens the door 10 at a normal speed from the fully closed position to a halfway position just before the fully open position (normal operation).
In the figure, section a is a section from when the operator operates the door handle to when the door 10 reaches the state where the door 10 can be opened. As shown in the figure, in this section, the change in the rotation speed V of the door 10 is not uniform but changes to a large or small value, and becomes unstable.
In the drawing, the section b is a section when the operator pushes the door 10 (or pulls it out of the vehicle). During this section, the rotation speed V becomes maximum and the substantially maximum speed is maintained. In the figure, a section c is a section when the operator stops the movement of the door 10 at an arbitrary halfway position, and the rotation speed V decreases at a substantially constant rate.

FIG. 2B shows a case where the operator has rapidly opened the door 10 (sudden operation). As described above, in the case of a sudden operation, the rotation speed V immediately reaches the maximum rotation speed from the stop state, and is rapidly reduced before the stop. For this reason, the deceleration section is shortened.
FIG. 3C shows a case where the operator slowly opens the door 10 (loose operation). As described above, in the case of the gentle operation, the rotation speed is small over the entire section, so that the difference between the rotation speed before the stop and the rotation speed when the door is rotated is small, and it is difficult to detect the deceleration section before the stop. Has become.
FIG. 10 shows a time change of the pulse signal sent from the speed sensor 27 to the controller 30 when each operation of the door 10 in FIG. 9 is performed. In the drawing, the smaller the pulse width, the higher the rotation speed.

Next, a method of detecting the stop of the door 10 in which the opening / closing operation is performed in various patterns as described above will be described. In the state where the door 10 is stopped, the pulse signal is sent from the speed sensor 27 to the controller 30 depending on the stop position of the sensor plate 26, or the pulse signal is not sent, as described above. Will be maintained.
As described above, when the change in the pulse signal does not continue for the predetermined time or more, the controller 30 determines that the door 10 is stopped. The controller 30 repeatedly reads the pulse signal from the speed sensor 27 at predetermined time intervals, and detects ON / OFF thereof.

When the pulse signal from the speed sensor 27 changes from ON to OFF or from OFF to ON, the controller 30 controls the rotation speed V of the door 10 according to the pulse signal switching time (pulse signal width). The calculation is performed by the unit and stored in the storage unit. Thereby, the controller 30 determines that the door 10 is being opened and closed.
When the calculation process of the rotation speed V is performed at a timing other than the timing of the change of the pulse signal, the controller 30 calculates the rotation speed V already stored without calculating the rotation speed V again. The rotation speed V is adopted.

Further, when the opening operation is started from the fully closed position, the rotation speed V of the door 10 becomes unstable as described above, so that the brake mechanism is received from the controller 30 until a predetermined number (number of masking pulses) of the pulse signal is received. Mask processing is performed so as not to send a drive signal to the control signal 25. That is, at the beginning of the opening / closing operation, the brake mechanism 25 does not operate until the door movement amount (door opening degree) corresponding to the number of masking pulses is operated.
FIG. 9 illustrates the number of masking pulses as four for easy understanding. Note that the door movement amount may be detected not by the number of pulse signals but by the number of times the pulse signals are switched between ON and OFF.

The controller 30 detects that the rotation speed V has become greater than a predetermined value (set rotation speed V ₁ ) after the mask processing (point d). In FIG. 9, it is assumed that the section where the mask processing is performed and the section a substantially coincide. After setting rotational speed V ₁ is greater than the rotational speed V is detected, if the rotational speed V is smaller than a predetermined value (speed immediately before stop V _2), the controller 30 is the door 10 is stopped as a stop prior to detection means The controller 30 as a stop control means sends a driving signal to the brake mechanism 25 (point e). In the normal door opening / closing operation, the stop determination is performed as described above, and a drive signal to the brake mechanism 25 is transmitted.
The rotational speed V is smaller than the speed immediately before stop V _2, and a state in which the acceleration becomes as indicating deceleration of a predetermined time of the door 10 (e.g., about 0.5 to 1.0 seconds) when continued The driving signal may be sent to the second controller.

Also, when the door 10 is abruptly operated, the rotational speed V similarly after mask processing is detected to have a set rotational speed V ₁ (f point). However, there is no little deceleration period immediately before stop, while the rotational speed V is not detected to have become smaller than immediately before stop speed V _2, there is a case where the door 10 will stop.
Therefore, in the case of abrupt operation, after the rotational speed V is determined to become larger than the set rotational speed V _1, when the absence of rising or falling of the pulse signal continues for the predetermined time, the controller 30 door 10 It is configured that it is determined that the vehicle is actually stopped, and a drive signal is transmitted to the brake mechanism 25.

Further, when the door 10 is gently operated, the same detection process of the set after the mask processing speed V ₁ is carried out, reach the rotational speed V is set rotational speed V ₁ for rotational speed V is small door 10 May not. For this reason, the controller 30 can determine from the change in the pulse signal that the opening / closing operation of the door 10 has been started, but it is difficult to determine whether the door 10 is stopped or gently operated.
For this reason, in the case of a gentle operation, the controller 30 as the stop detecting means determines that the door 10 is actually stopped when the state where the pulse signal does not rise or fall continues for a predetermined time after the mask processing, The controller 30 as a stop control unit sends a drive signal to the brake mechanism 25.

Next, a processing procedure of the controller 30 will be described with reference to FIG. Based on detection signals from the release switches 40a and 40b, the contact detection sensors 42a and 42b, or the load detector 43, the controller 30 stops sending drive signals to the brake mechanism 25 and performs brake release processing. Then, the pulse signals received from the speed sensor 27 are counted and stored, and the process waits until a predetermined number of pulses (a set number of masking pulse counts) are received (S1). At this time, the pulse signal from the speed sensor 27 is sequentially stored in the storage unit of the controller 30.
When the pulse signal received from the speed sensor 27 reaches the set number (S1; Yes), the controller 30 calculates and stores the rotation speed V of the door 10 at the switching timing of the pulse signal (S2).

If a change in the pulse signal from the speed sensor 27 cannot be detected within a predetermined time after the controller 30 receives the release command signal, the process of step S1 may be ended and the process may return to the standby state. . For example, if the operator accidentally touches the contact detection sensors 42a and 42b, the controller 30 cannot detect a change in the pulse signal because the door 10 is not opened or closed.
In this example, the rotation speed V is calculated only at the predetermined processing timing. However, the present invention is not limited to this, and the rotation speed V is calculated at predetermined time intervals by interrupt processing separately from this processing. You may comprise.

When the rotation speed V is calculated in step S2, the process proceeds to step S3. In step S3, it is determined whether the elapsed time from the previous pulse signal change to the processing time in step S3 is equal to or longer than a predetermined time. (S3).
If the change of the pulse signal is determined not to be detected over a predetermined time in step S3 (S3; No), the process proceeds to step S4, operation at step S2, the stored rotational speed V is higher than the set rotational speed V ₁ It is determined whether it is larger (S4). If the rotational speed V is larger than the set rotational speed _{V 1} was (S4; Yes), the process proceeds to step S5, a rotational speed V operation, and stores again (S5). Meanwhile, the rotation when the velocity V is set rotational speed _{V 1} or less in the step S4 (S4; No), the flow returns again to step S2.

When the rotation speed V is calculated in step S5, the process proceeds to step S6, and in step S6, it is determined whether the pulse signal has not changed for a predetermined time or more as in step 3 (S6). If it is determined in step S6 that the change in the pulse signal has not been detected for a predetermined time or longer (S6; No), the process proceeds to step S7, and the rotation speed V calculated and stored in step S5 is changed to the rotation speed V just before the stop. _It is determined whether it is smaller than ₂ (S7).
If the rotational speed V is stopped immediately before the rotational speed _{V 2} or more (S7; No), the process returns to step S5, and calculates the rotational speed V again. On the other hand, when the rotational speed V is smaller than immediately before stop rotation speed _{V 2} is (S7; Yes), the controller 30 actuates the brake mechanism 25 (S8), the process ends.

When a drive signal is sent from the controller 30 to the brake mechanism 25 in step S8 (S8), the shaft 23 is braked by the brake mechanism 25, and the door 10 is held at the opening at that time.
When the braking process is performed in step S8, the masking pulse count, the value of the rotation speed V, and the like stored in the storage unit in the controller 30 are cleared.

Thus, after the rotational speed V reaches the set rotational speed V _1, when the rotational speed V is smaller than the stop just before the rotational speed V _2, the brake mechanism 25 is predicted that the door 10 is stopped The activation process corresponds to the process during the normal operation.
Incidentally, when the rotational speed V at the step S7 is determined immediately before stop rotating speed V ₂ less than the controller 30 may be configured to actuate the brake mechanism 25 from a predetermined time has elapsed.

However, without the rotational speed V reaches the set rotational speed V ₁ (i.e., not determined as "Yes" in step S4, without proceeding to step S5), and when the pulse signal is a predetermined time or more, no longer changes (Step S3; Yes), the process proceeds to Step S9.
In step S9, the stop timer T _S is started (S9), and when the stop timer T _S has timed out (S10; Yes), the process proceeds to step S8, where the processing for operating the brake mechanism 25 is performed (S8), and the processing ends. I do.
As described above, when the pulse signal does not change for a predetermined time or more, the controller 30 determines that the sensor plate 26 has stopped (the shaft 23 has stopped) and the door 10 has not been opened or closed. Then, such processing is the carried out by the operator to slow the operation of the door 10, opening and closing movement the door 10 is at a set rotational speed V ₁ following rotation speed V, a case where the then stopped.

Also, without the rotational speed V is determined to have become smaller than immediately before stop rotation speed V ₂ (i.e., without being judged as "Yes" at step S7), and when the pulse signal is a predetermined time or more, no longer changes (Step S6; Yes), the process proceeds to Step S9. In step S9, the stop timer T _S is started in the same manner as in the slow operation (S9), and when the stop timer T _S has timed out (S10; Yes), the process proceeds to step S8, and a process of operating the brake mechanism 25 is performed. (S8), the process ends.
Thus, it is determined that after the rotational speed V reaches the set rotational speed V ₁ (i.e., after it is determined "Yes" in step S4), and the rotational speed V is smaller than the stop just before the rotational speed V ₂ The reason why the change in the pulse signal is not detected for a predetermined time or more without any change corresponds to a case where the operator suddenly operates the door 10. In other words, without the controller 30 detects the small rotational speed V than immediately before stop rotation speed V _2, when the door 10 is stopped abruptly, the processing is performed.
Processing in the slow operation and rapid operation, unlike the operation in the normal, after the rotational speed V reaches the set rotational speed V _1, by which is smaller than immediately before stop rotation speed V _2, that is just before stopping Instead of predicting and operating the brake mechanism 25, the brake mechanism 25 is operated when it is determined that the door 10 is actually stopped.

  Note that the configuration may be such that the brake mechanism 25 is not operated unless a predetermined condition is satisfied in step 8. For example, when the door 10 is not opened at a predetermined opening, the brake mechanism 25 may not be operated. Since the controller 30 receives the pulse signal from the speed sensor 27, it is possible to determine the opening of the door 10 by counting the pulse signal as the door opening, and when the door 10 is slightly opened, It is possible to prevent the brake mechanism 25 from operating. Further, even when the door 10 is in contact with an external obstacle, the brake mechanism 25 can be configured not to operate. In this case, an obstacle sensor that outputs an obstacle detection signal when an obstacle is detected is provided at a predetermined position on the door outer panel 10a, and the brake mechanism 25 is operated when the controller 30 receives the obstacle detection signal. Can be prevented.

  Next, the brake release processing will be described. As described above, in the door opening / closing control device 20 of the present example, the braking mechanism 25 of the door 10 is braked by the detection signals (release command signals) from the release switches 40a and 40b, the contact detection sensors 42a and 42b, and the load detector 43. Is released. Further, when the door 10 rotates by a predetermined angle while the brake mechanism 25 is operating, the braking by the brake mechanism 25 is automatically released. As shown in FIG. 12, in a state where the rotation of the shaft 23 is restricted by the operation of the brake mechanism 25, the controller 30 performs detection from the release switches 40 a and 40 b, the contact detection sensors 42 a and 42 b, and the load detector 43. It continues to wait for receiving a signal or a predetermined number or more of pulse signals from the speed sensor 27 (S11; No), and when receiving the detection signal or the predetermined number or more of pulse signals (S11; Yes), proceeds to step S12 and brakes. The output of the drive signal to the mechanism 25 is stopped to release the brake.

As shown in FIG. 12, the controller receives either a detection signal from the release switches 40a, 40b, the contact detection sensors 42a, 42b, or the load detector 43, or receives a predetermined number of pulse signals from the speed sensor 27. Although the controller 30 is configured to release the brake, the controller 30 may be configured to perform the processing procedure illustrated in FIG. 13 without being limited thereto.
That is, in FIG. 13, after receiving the detection signals from the release switches 40a and 40b and the contact detection sensors 42a and 42b during the operation of the brake mechanism 25 (S21; Yes), the detection signal from the load detector 43 or the speed sensor 27 is received. When a predetermined number or more of pulse signals are received (S22; Yes), the output of the drive signal is stopped to stop the braking by the brake mechanism 25 (S23).

  In this case, simply touching the release switch 40a or the like by the operator does not release the braking by the brake mechanism 25, and after operating the release switch 40a or the like, the operator actually opens and closes the door 10 The brake is not released until the load is detected by the load detector 43 by applying a force, or the rotation is detected by the speed sensor 27 after the door 10 is rotated by a predetermined angle. Therefore, even if the operator accidentally touches the release switch 40a, the door 10 is preferably not easily moved from the position where the rotation is restricted. In addition, in this manner, when a load is simply applied to the door 10 (for example, when a pressing force is applied by strong wind, or when an operator gets on and off with the door 10 supported), the door 10 This is preferable because the braking force is not released and is held at an intermediate position.

In the above-described embodiment, the release switches 40a and 40b and the contact detection sensors 42a and 42b are used only when releasing the brake. However, the present invention is not limited to this, and the brake is released during the opening and closing operation of the door 10. The brake mechanism 25 may be forcibly activated by activating the release switches 40a and 40b and the contact detection sensors 42a and 42b in the state of being turned off. Further, a dedicated switch for operating the brake mechanism 25 may be provided. That is, as in the processing procedure shown in FIG. 14, when a detection signal is output from the release switch 40a or the like in a state where the brake is released and the controller 30 receives the detection signal (S31; Yes), the controller 30 operates the brake mechanism 25. It is determined whether or not a condition for causing the condition is satisfied (S32). The conditions for operating the brake mechanism 25 are that the door 10 has been rotated to a sufficiently opened state as described above, that the door 10 is not in contact with or in proximity to an obstacle, and the like.
When it is determined that the condition is satisfied (S32; Yes), the brake mechanism 25 is operated (S33), and the process ends. On the other hand, when it is determined that the condition is not satisfied (S32: No), the process ends with the brake released.
With this configuration, when it is desired to stop the opening and closing operation of the door 10 suddenly, the opening and closing operation of the door 10 can be immediately stopped by operating the release switch 40a and the like.

Next, a door opening / closing control device 20 according to another embodiment will be described with reference to FIG. In the door opening / closing control device 20 shown in FIG. 3, the rack 21 that is substantially parallel to the upper hinge 1 a and the lower hinge 1 b and that rotates by a predetermined angle about the rotation pin 4 that is arranged vertically and serves as a rotation axis has teeth. It is formed so as to be located above. The pinion 22 is attached to a shaft 23 provided in the thickness direction of the door 10 and is configured to rotate together.
On the other hand, in the door opening / closing control device 20 shown in FIG. 15, the rack 21 having the rotation pin 4 as the rotation center is formed so that the teeth face the outside (or the inside) of the door 10. The pinion 22 is attached to a shaft 23 a serving as a rotation shaft disposed substantially parallel to the rotation pin 4 and meshes with the rack 21.

A gear 29a is attached to the upper end of the shaft 23a, and the gear 29a and the gear 29b mesh with each other. The gear 29b is attached to a shaft 23b arranged in the vertical direction of the door 10 like the shaft 23a. The sensor plate 26 is mounted on the shaft 23b above the gear 29b, and the gear 29c is mounted on the shaft 23b. A speed sensor 27 is attached to the sensor plate 26. Further, the gear 29c meshes with a gear 29d attached to the shaft 23c, and the shaft 23c is connected to the brake mechanism 25.
As described above, the rack 21 is formed with teeth so as to face the side surface of the door 10 and the pinion 22 is disposed so as to mesh with the teeth. Therefore, the shafts 23a to 23c as the transmission mechanism and the gears 29a to 29d are provided. , And the brake mechanism 25 can be easily stacked and arranged in the vertical direction of the door 10. Therefore, the internal empty space of the door 10 can be effectively used, and it is preferable that it does not interfere with the up-and-down mechanism 5a of the window 5 disposed in the door 10.

FIG. 16 is an explanatory diagram showing the positional relationship among the rack 21, the pinion 22, the rotation center P2 of the rack 21, and the open / close fulcrum P1 of the door 10 when the door 10 is at the fully open position and the fully closed position. The horizontal position of the rotation center P2 does not coincide with the horizontal position of the opening / closing fulcrum P1, and in this example, the rotation center P2 is located on the vehicle inside of the opening / closing fulcrum P1. When the door 10 is at the fully closed position, the rack 21 is disposed so as to extend substantially along the length direction of the door 10. When the door 10 is opened from this state to the fully open position, the rack 21 rotates by the angle B about the rotation center P2.
On the other hand, the pinion 22 meshing with the rack 21 moves on the rack 21 while meshing with the rack 21. The pinion 22 is disposed in a housing 28, and the housing 28 is fixed in the door 10. Therefore, the pinion 22 rotates about the opening / closing fulcrum P1 of the door 10 as a rotation center. The rotation angle at this time is defined as an angle A.

As described above, the rotation center P2 does not coincide with the opening / closing fulcrum P1, and the angle A does not coincide with the angle B. Specifically, in the drawing, the rotation angle differs by an angle C. That is, the rack 21 swings relatively to the door 10. FIG. 17 is a conceptual diagram illustrating that when the pinion 22 swings by the angle C with respect to the rack 21, the swing is absorbed by the rack 21 and the state in which the rack 21 and the pinion 22 are engaged with each other is maintained. . Actually, the rack 21 swings while relatively moving while meshing with the pinion 22.
In order to enable such a swing, the rack 21 is rotatably mounted by a rotating pin 4 arranged along the up-down direction, and the teeth of the rack 21 face the side of the door 10. Is formed. Further, the rack 21 and the pinion 22 are configured to be in point contact with each other so that the rack 21 and the pinion 22 can mesh with each other even when the rack 21 swings. For this reason, the teeth of the pinion 22 are tapered so that the tip has a curved shape.

Further, as shown in FIG. 18, a link 21b may be rotatably connected to an end of the rack 21 to absorb the swing. One end of a link 21b is rotatably connected to the mounting portion 3, and a rack 21 is further rotatably connected to the other end of the link 21b. With such a configuration, even when the door 10 opens and closes, the rack 21 can move while maintaining a state along the longitudinal direction of the door 10. That is, the above-mentioned swing is absorbed by bending the link 21b and the rack 21 around the connection portion. Therefore, it is not necessary to machine the teeth of the pinion 22 in order to bring the rack 21 and the pinion 22 into point contact as in the embodiment of FIG.
FIG. 18 shows an example in which the teeth of the rack 21 are formed so as to face the side surface of the door 10 and the rotation axis of the pinion 22 is disposed substantially parallel to the rotation pin 4. 3, the teeth of the rack 21 may be formed so as to face the vertical direction of the door 10, and the pinion 22 may be arranged so that the rotation axis of the pinion 22 faces the thickness direction of the door 10.

As described above, the present embodiment has the following effects.
(1) The door opening / closing control device 20 of the present example includes a rack 21 having one end attached to the vehicle body 1, a door opening / closing control device 20 main body disposed in the door 10, and a controller 30 of the door opening / closing control device 20. The vehicle is provided with a function of stopping and holding the door 10 at the open position at a lower cost compared to the case where an automatic door mechanism is provided, because the release switch 40a and the like are electrically connected to each other. Can be mounted.

(2) Further, in the door opening / closing control device 20 of the present embodiment, when the door 10 is opened / closed, the release switch 40a or the like may be operated at the start of the operation, and the switch operation needs to be continuously performed during the opening / closing operation. Since there is no operability, the operability is improved. Therefore, when the hand is accidentally released from the switch while the door is being opened and closed, it is preferable because there is no trouble that the door is held at a halfway position that is not intended by the operator.
In the stop position, the door opening / closing control device 20 detects the pre-stop state or the stop state of the door 10, and the brake mechanism 25 is automatically operated. It is not necessary to perform an operation for stopping and holding, and the operability is improved.

(3) In the door opening / closing control device 20 of the present embodiment, the release switches 40a and 40b for releasing the braking by the brake mechanism 25 and the contact detection sensors 42a and 42b are automatically operated by the opening / closing operation of the door 10 by the operator. Since it is arranged at a portion that operates, the operator does not need to perform an operation for releasing the brake.
In addition, the operability is improved because the door 10 can be fixed and released by independent release switches 40a and 40b so that the operator can intentionally turn on / off the operation of the brake mechanism 25.
Further, when the door 10 is to be opened and closed with a predetermined force or more, the operability is improved because the controller 30 controls to release the brake by a signal from the load detector 43 or the speed sensor 27. .

  (4) In the door opening / closing control device 20 shown in FIG. 15, teeth are formed on the rack 21, one end of which is rotatably held on the vehicle body 1 side, so as to face the side surface of the door 10. The rotation pin 4 is configured to mesh with a pinion 21 having a rotation shaft disposed substantially parallel thereto. Since the centers of rotation of the rack 21 and the pinion 22 when the door 10 opens and closes are different, the rack 21 swings relatively to the pinion 22, but the swing is absorbed by the above configuration. be able to. In addition, since the shaft 23a, which is the rotation axis of the pinion 22, is disposed in the vertical direction of the door 10, it becomes easy to dispose the brake mechanism 25 and the transmission mechanism for transmitting the rotational force to the brake mechanism 25 in the vertical direction. .

Note that the embodiment of the present invention may be modified as follows.
In the above embodiment, the brake mechanism 25 is operated when the door 10 stops the opening and closing operation. However, the present invention is not limited to this, and the door 10 is provided with a position switch for detecting the fully closed position. When the door 10 is detected to be at the fully closed position, the brake mechanism 25 may not be operated.
In this case, since the braking force by the brake mechanism 25 is not applied to the door 10 at the fully closed position, even when the operator quickly opens the door 10 (that is, the braking force is completely released). The door 10 can be opened and closed with normal force. In addition, since the controller 30 does not need to continuously send the drive signal to the brake mechanism 25 in the fully closed position, the power consumption of the battery 6 can be suppressed.

In the above-described embodiment, the door opening / closing control device 20 provided for the rotary door 10 has been described. However, the present invention is not limited to this, and the technical idea of the present invention may be applied to a sliding door. It is also possible to apply.
When the present invention is applied to a sliding door, for example, the rack 21 is disposed above or below the opening of the vehicle body closed by the sliding door, and the door opening / closing control device 20 is disposed on the sliding door side. By doing so, it can be configured.

It is an explanatory view showing the state where the door opening and closing control device of an example was attached to a vehicle door. 1 is a cross-sectional view of a vehicle door to which a door opening / closing control device according to an embodiment is attached. It is a sectional view of a door opening and closing control device of an example. FIG. 2 is a block diagram illustrating an electrical configuration of the door opening / closing control device according to the embodiment. It is explanatory drawing of arrangement | positioning of the release switch and contact detection sensor of another Example. It is explanatory drawing of the release switch of FIG. It is explanatory drawing of arrangement | positioning of the release switch and contact detection sensor of another Example. It is explanatory drawing of arrangement | positioning of the load detector of an Example. FIG. 7 is an explanatory diagram illustrating a time change of a door rotation speed at the time of a vehicle door opening and closing operation. FIG. 5 is an explanatory diagram illustrating a time change of a pulse signal transmitted from a speed sensor during a vehicle door opening / closing operation. 4 is a flowchart illustrating a processing procedure of the door opening / closing control device according to the embodiment. It is a flow chart which shows a processing procedure of brake release of an example. It is a flowchart which shows the process sequence of a brake release of another Example. It is a flow chart which shows a processing procedure of brake operation of an example. It is explanatory drawing which shows the state which attached the door opening / closing control device of another Example to the vehicle door. It is explanatory drawing explaining the positional relationship of the rack and pinion of the door opening / closing control apparatus of FIG. It is explanatory drawing explaining the positional relationship of the rack and pinion of the door opening / closing control apparatus of FIG. It is explanatory drawing explaining the positional relationship of the rack and pinion of the door opening / closing control device of another Example.

Explanation of reference numerals

DESCRIPTION OF SYMBOLS 1 Body, 1a upper hinge, 1b lower hinge, 2 front pillars, 3 mounting parts, 4 rotating pins, 5 windows, 5a window up / down mechanism, 6 battery, 7a, 7b door handle, 8a rotating shaft, 8b door latch release piece, 8c Release switch operation piece, 9 door latch piece, 10 door, 10a door outer panel, 10b door inner panel, 11 window frame, 20 door open / close control device, 21 rack, 21a guide groove, 21b link, 22 pinion, 23, 23a, 23b, 23c shaft, 24 bearing, 25 brake mechanism, 26 sensor plate, 27 speed sensor, 28 housing, 29a, 29b, 29c, 29d gear, 30 controller, 40a, 40b release switch, 42a, 42b contact detection sensor, 4 Load detector, A, B, C angle, P1 closing supporting point, P2 rotation center

Claims (12)

A door opening and closing control device that controls opening and closing operations of a door body that opens and closes within a movement range between a fully open position and a fully closed position,
Movement detection means for detecting the opening and closing movement of the door body and sending a movement detection signal,
Stop control means for performing control to hold the door body in a stopped state,
Stop holding means for holding the door body in a stopped state under the control of the stop control means,
The stop control means is configured to stop the door body in a stopped state when detecting a state immediately before the door body stops within the movement range from the open / close movement state based on the movement detection signal. A door opening / closing control device for controlling a holding means.   The stop control means calculates a moving speed of the door body based on the movement detection signal, and when the moving speed becomes equal to or higher than a predetermined set speed and then becomes equal to or lower than a predetermined speed immediately before stopping, the door body. The door opening / closing control device according to claim 1, wherein a state immediately before the stop is detected. A door opening and closing control device that performs opening and closing operation control of a door body that opens and closes within a movement range between a fully open position and a fully closed position,
Movement detection means for detecting the opening and closing movement of the door body and sending a movement detection signal,
Stop control means for performing control to hold the door body in a stopped state,
Stop holding means for holding the door body in a stopped state under the control of the stop control means,
The stop holding means is configured to hold the door body in a stopped state when detecting that the door body has stopped within the movement range from the open / close movement state based on the movement detection signal. A door opening / closing control device characterized by controlling a door opening / closing operation.   The said stop control means detects that the said door body stopped, when it cannot detect that the said door body has moved within the predetermined time based on the said movement detection signal. Door opening and closing control device.   The stop control means releases the stop state when the door body is held in the stop state by the stop holding means and detects opening and closing movement of the door body based on the movement detection signal. The door opening / closing control device according to claim 1 or 3, wherein the control is performed. Stop holding release means for sending a release command signal for releasing the holding of the stop state of the door body by the stop holding means,
The stop control means performs control to release the stop state when the door body is held in the stop state by the stop holding means and receives the release command signal. Item 4. The door opening / closing control device according to item 1 or 3. Stop holding release means for sending a release command signal for releasing the holding of the stop state of the door body by the stop holding means,
The stop control means receives the release command signal when the door body is held in the stopped state by the stop holding means, and detects the opening / closing movement of the door body based on the movement detection signal. 4. The door opening / closing control device according to claim 1, wherein control is performed to release the stop state in such a case.   The stop / hold release means includes a first detector having a sensor surface disposed on a surface of the door body, and a second detector which operates in conjunction with an opening / closing operation of a door handle disposed on the door body. The door opening and closing according to claim 6 or 7, further comprising at least one of a load detector that detects a load applied to the door body in accordance with the opening and closing operation of the door body. Control device. A first detector provided with a sensor surface on a surface of the door body for transmitting a release command signal for releasing the holding state of the door body by the stop holding means or a door body; A second detector that operates in conjunction with the opening and closing operation of the door handle, and a load detector that detects a load applied to the door body in accordance with the opening and closing operation of the door body,
The stop control means receives a release command signal from the first detector or the second detector when the door body is held in a stopped state by the stop holding means, and detects the load. The control for canceling the stop state is performed when a release command signal is received from a container or when the opening and closing movement of the door body is detected based on the movement detection signal. Door opening and closing control device.   The movement detecting means includes a rack having one end connected to a pillar of the vehicle, the other end extending and disposed in the door body, and being rotatable in the opening and closing direction of the door body, A pinion arranged and meshing with the rack and having a shaft as a rotation axis, and a movement detector for detecting opening and closing movement of the door body based on rotation of the shaft. Item 4. The door opening / closing control device according to item 1 or 3. The shaft is disposed substantially parallel to a rotation axis that rotatably connects the rack and the vehicle,
The door opening / closing control device according to claim 10, wherein the rack is formed with teeth that mesh with a pinion that rotates about the shaft as a rotation axis.   The door opening / closing control according to claim 10, wherein the rack has a link connected at one end to be rotatable in the opening / closing direction of the door body, and is connected to the vehicle via the link. apparatus.

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