JP5629109B2 - Electric opening member pinching detection device - Google Patents

Description

  The present invention relates to a pinch detection device for an electric opening member, and in particular, a motor that opens and closes an opening member, a load detection unit that detects a load applied to the motor, and a motor that is detected by the load detection unit. The present invention relates to a pinch detection device for an electric opening member, comprising: pinching detection means for monitoring a load and detecting pinching of the opening member.

  As for the above-described electric opening member, for example, an electric shutter, the one shown in FIG. 1 has been proposed (Patent Document 1). As shown in the figure, the electric shutter 1 is composed of a shutter curtain 2 composed of a plurality of slats 2a sandwiched between a pair of guide rails erected on the left and right sides and connected to each other, and the shutter curtain 2 is wound around the shutter curtain 2. A winding drum 3 to be taken, a motor 4 that opens and closes the shutter curtain 2 by rotating the winding drum 3, an operation unit (not shown) that opens and closes the shutter curtain 2, and a motor 4 according to the operation of the operation unit And a control device (not shown) for controlling the driving of the motor.

  The electric shutter 1 is installed in an opening such as a store entrance. Then, when the closing operation is performed by the operation unit, the control device controls the driving of the motor 4 so that the shutter curtain 2 is unwound from the winding drum 3 and the opening is closed, and the opening operation is performed by the operation unit. Then, the drive of the motor 4 is controlled so that the shutter curtain 2 is wound around the winding drum 3 and the opening is opened.

  In general, the electric shutter 1 requires a mechanism that prevents obstacles such as passers-by and imported goods from being accidentally sandwiched between the shutter curtains 2. Therefore, conventionally, when an obstacle is caught in the shutter curtain 2 and the rotation of the motor 4 is restricted, as shown in FIG. 8B, the load on the motor 4 rapidly increases from the time T2 when the jamming occurs. In particular, it is known that a control device is provided with a function of detecting a load applied to the motor 4 and detecting pinching when the load exceeds a threshold value to stop the rotation of the motor 4. .

  However, since the conventional control device described above detects pinching at time T1 when the load applied to the motor 4 exceeds the threshold value, pinching cannot be detected immediately at time T2 when pinching occurs, and pinching is performed with high accuracy. There was a problem that cannot be detected.

  In particular, as shown in FIG. 3, when a slit 2b is provided between a plurality of slats 2a constituting the shutter curtain 2, the rotation of the motor 4 is not constrained immediately even if pinching occurs, and the slit 2b Since the rotation of the motor 4 is constrained after the motor 4 rotates, the load on the motor 4 does not rapidly increase even if the jamming occurs. For this reason, the time until the load applied to the motor 4 exceeds the threshold after the occurrence of the pinching further increases, and the pinch detection accuracy further deteriorates.

  In order to solve the above-described problem, it is conceivable to lower the threshold value. However, as shown in FIG. 8A, when the shutter curtain 2 is driven to open and close, there is a large variation in load even if it operates normally. May be detected, and the threshold cannot be lowered.

  Further, in order to solve the above-described problem, an electric shutter 1 provided with a touch sensor at the lower end of the shutter curtain 2 and detecting the pinching by the touch sensor so that the pinching can be detected immediately when the pinching occurs. Has also been proposed. However, in this case, it is necessary to provide a touch sensor on the shutter curtain 2, and there is a problem in cost.

JP 2006-307471 A

  Accordingly, an object of the present invention is to provide a pinch detection device for an electric opening member that accurately detects pinching at low cost.

According to a first aspect of the present invention for solving the above-described problem, a load detection unit that detects a load applied to a motor that opens and closes the opening member, and a load of the motor that is detected by the load detection unit are monitored. An electric opening member pinching detection device comprising: pinching detection means for detecting pinching of the opening member; position detection means for detecting an opening / closing position of the opening member; and from full opening to full closing of the opening member normal load of the open and closed positions, and the reference value that is set in correspondence with the open and closed positions, a memory is recorded sequentially detects the load per unit rotation of the front SL motor, detects the load Each time, the difference between the detected load and the load detected before the predetermined rotation is sequentially detected as a change rate ΔLn1, and the normal negative value corresponding to the opening / closing position of the opening member when the change rate ΔLn1 is obtained. Load calculation processing means for obtaining a load calculation processing value obtained by accumulating positive values among the values obtained by subtracting the change amount ΔLn2 of the load from the change rate ΔLn1 , and the pinching detection means includes the load calculation processing means. Detecting the pinching based on a comparison between the load calculation processing value obtained by the above and the reference value set corresponding to the opening / closing position of the opening member when the load calculation processing value is obtained. It exists in the pinching detection apparatus characterized by this.

According to a second aspect of the present invention, the load calculation processing means sets a plurality of the predetermined rotations and sequentially calculates a plurality of change rates ΔLn1, thereby obtaining a plurality of load calculation processing values and obtaining the plurality of loads. The pinching detection device according to claim 1 , wherein pinching is detected based on an arithmetic processing value .

  The invention according to claim 3 is characterized in that the electric opening member is an electric shutter in which a drive unit in which a control board is arranged is installed in a shutter rotation shaft. It exists in the pinching detection device.

  The invention according to claim 4 is characterized in that the opening member is composed of a plurality of slats provided with slits between each other. It exists in the detection device.

According to the invention of claim 1 or 2, wherein, as described, nipping detecting means, and the load calculation process values obtained by the load processing means, in response to opening and closing position before Symbol opening member set or detecting the narrowing viewed clamping on the basis of the reference values, comparisons. Therefore, since the pinching is detected when the load calculation processing value per unit rotation of the motor is different from the normal time due to the pinching, the pinching can be detected almost simultaneously with the occurrence of the pinching without providing a touch sensor. For this reason, the pinch detection device of the electric opening member that detects pinching with high accuracy can be obtained at low cost.

  According to the third aspect of the present invention, it is possible to detect pinching with high accuracy using the electric opening member as the electric shutter.

  According to the fourth aspect of the present invention, it is possible to detect the pinching with high accuracy even for the electric shutter with a slit.

It is a schematic perspective view which shows one Embodiment of the electric shutter incorporating the clamping detection apparatus of the electric opening member of this invention. It is an electrical block diagram of the electric shutter shown in FIG. It is the elements on larger scale of the shutter curtain which comprises the electric shutter shown in FIG. It is a graph which shows the load with respect to the opening / closing position of the shutter curtain at the time of normal time and sandwiching. It is explanatory drawing for demonstrating operation | movement of the shutter curtain shown in FIG. It is a graph which shows the load with respect to the opening / closing position of the shutter curtain in normal time. It is a graph which shows the load with respect to the opening / closing position of the shutter curtain in normal time. It is a graph which shows the load with respect to the position of the shutter curtain for demonstrating operation | movement of the conventional electric shutter.

  Hereinafter, a pinch detection device for an electric opening member according to the present invention will be described with reference to the drawings. FIG. 1 is a schematic perspective view showing an embodiment of an electric shutter incorporating the electric opening member pinching detection apparatus of the present invention. FIG. 2 is an electrical configuration diagram of the electric shutter shown in FIG. As shown in FIG. 1, the electric shutter 1 includes a shutter curtain 2 sandwiched between a pair of guide rails erected on the left and right sides, and a winding drum 3 as a shutter rotation shaft that winds the shutter curtain 2. ing.

  As shown in FIG. 3, the shutter curtain 2 is composed of a plurality of slats 2a connected to each other, and these slats 2a are connected so as to be provided with slits 2b for ventilation or daylighting. Yes. The winding drum 3 is formed in a rod shape, and rotates to unwind or wind up the shutter curtain 2.

  As shown in FIG. 2, the electric shutter 1 further includes a motor 4 that rotationally drives the winding drum 3 to open / close the shutter curtain 2, an operation unit 5 that performs the opening / closing operation of the shutter curtain 2, and an operation unit. 5, a control device 6 that controls the driving of the motor 4 according to the operation of 5, and a brake device 7. The motor 4 is composed of, for example, a known DC motor, and has an encoder 4a built therein.

  The encoder 4a is a device that outputs one position pulse when the motor 4 rotates once. By counting the position pulses from the encoder 4a, the number of rotations of the motor 4 can be detected, and the opening / closing position of the shutter curtain 2 can be detected. Further, the position pulse from the encoder 4a becomes larger as the rotation speed of the motor 4 becomes slower, and becomes smaller as the rotation speed of the motor 4 becomes faster. Therefore, the rotational speed of the motor 4 can be detected by obtaining the pulse width of the position pulse from the encoder 4a, and the load applied to the motor 4 can be detected.

  The operation unit 5 is provided with an open switch, a close switch, a stop switch, etc. (not shown), and signals from these switches are supplied to a control device 6 to be described later. The control device 6 includes, for example, a macro computer and the like, and includes a control unit 6a and a driver 6b that drives the motor 4 by outputting a drive pulse corresponding to a command from the control unit 6a to the motor 4. Yes.

  The control unit 6a is supplied with the position pulse from the encoder 4a described above, and the control unit 6a functions as a position detection unit, and counts the position pulse to detect the opening / closing position of the shutter curtain 2, Acts as a load detection means, and detects the load applied to the motor 4 from the pulse width of this position pulse. The brake device 7 is a device for mechanically stopping the driving of the motor 4, and is controlled by the control unit 6a. The drive unit including a control board on which the motor 4 and the control device 6 are mounted is installed in the winding drum 3.

  Next, the operation of the electric shutter 1 having the above-described configuration will be described. The control unit 6 a performs an opening / closing control process for controlling the driving of the motor 4 in accordance with the operation of the operation unit 5. Specifically, when the opening switch of the operation unit 5 is operated, the control unit 6a instructs the driver 6b so that the shutter curtain 2 is wound around the winding drum 3 and the opening is opened by driving the motor 4. When the closing switch of the operation unit 5 is operated, a command is output to the driver 6b so that the shutter 4 is unwound from the winding drum 3 by driving the motor 4 and the opening is closed. Further, when the stop switch of the operation unit 5 is operated, the control unit 6a outputs a command to stop driving of the motor 4 to the driver 6b and controls the brake device 7 to mechanically drive the motor 4. Stop.

  Furthermore, the control unit 6a performs a pinching detection process for detecting the pinching of the shutter curtain 2 in parallel with the opening / closing control process. Before describing this pinching detection process, the pinching detection principle of the electric shutter 1 of this embodiment will be described with reference to FIG. As indicated by a solid line in FIG. 4, the load on the motor 4 increases or decreases in accordance with the opening / closing position of the shutter curtain 2 during normal operation. This is because the load increases or decreases each time one slat 2a is unwound or wound up from the winding drum 3.

  On the other hand, as shown by the dotted line in FIG. 4, the load of the motor 4 at the time of pinching changes substantially in the same manner as the normal time shown by the solid line until the pinching occurs. The value is far from normal characters. Paying attention to this, the control unit 6a detects pinching when the load calculation processing value greatly changes compared to the normal time in the pinching detection processing.

  Next, details of the pinching detection process will be described. In the sandwiching detection process, the control unit 6a functions as a position detection unit, and sequentially detects the opening / closing position of the shutter curtain 2 based on the position pulse from the encoder 4a during the opening / closing driving of the shutter curtain 2 by the opening / closing control process. Further, the control unit 6a functions as a load calculation processing means, and sequentially detects a load per unit rotation (for example, one rotation) of the motor 4 for each opening / closing position from the position pulse and performs calculation processing.

  More specifically, when the load calculation process is performed at the opening / closing position Tn as shown in FIG. 4, the control unit 6a determines the pulse width of the position pulse at the opening / closing position Tn and m rotation of the motor 4 from the opening / closing position Tn. The difference between the pulse width of the position pulse at the previous opening / closing position Tn−m is sequentially detected as the load change rate ΔLn1 at the opening / closing position Tn.

In addition, the control unit 6a is provided with a memory, and the memory is set in accordance with the normal load at each opening / closing position from the fully closed position to the fully opened position when the shutter curtain 2 is opened and the position thereof. The reference value thus set, the normal load at each open / close position from the fully open position to the fully closed position when the shutter curtain 2 is closed, and the reference value set corresponding to the position are recorded. The control unit 6a functions as an arithmetic processing unit, and corresponds to the open / close positions Tn and Tn-m of the shutter curtain 2 when the change rate ΔLn1 read from the memory is obtained from the change rate ΔLn1 that is sequentially detected. A value obtained by subtracting the calculated load change amount ΔLn2 is calculated, and an arithmetic processing value Pn1 obtained by accumulating positive values among the values is obtained, and the arithmetic processing value Pn1 is compared with the set reference value. Then, pinching is detected. Specifically, the control unit 6a obtains the difference between the calculation processing value Pn1 and the reference value, and if the difference is equal to or greater than a certain value, detects that the load calculation processing value has changed significantly compared to the normal time. To do. When the pinching is detected, the control unit 6a functions as a stopping unit, outputs a command to stop driving of the motor 4 to the driver 6b, and controls the brake device 7 to stop the rotation of the motor 4.

  The reference value described above is set to an initial value when the electric shutter 1 is initially installed, but is updated by learning of the control unit 6a. In other words, the control unit 6a functions as a learning unit, stores the calculation processing value Pn2 calculated from the load at each opening / closing position of the shutter curtain 2 recorded in the memory, and stores the calculation value Pn2 in the memory without detecting pinching. Each time is fully opened from fully closed, or every time it is fully closed from fully opened, it functions as a reference value setting means, and updates the reference value to the processing value Pn2 of the load stored in the memory. That is, in this embodiment, every time the shutter curtain 2 is fully opened from fully closed or every time the shutter curtain 2 is fully opened from fully open, the load change rate is learned and the reference value is updated.

  As shown in FIG. 6, the arithmetic processing value Pn2 described above includes the load change amount ΔLn3 of the position pulse width one rotation before the motor 4 than when the load change amount ΔLn2 is obtained, and the load change amount described above. The difference between ΔLn2 is calculated, and the calculated value Pn3 obtained by accumulating positive values among those values, and the load change amount ΔLn2 as shown in FIG. The difference between the load change amount ΔLn4 of the position pulse width and the load change amount ΔLn2 described above is calculated, and the calculation processing value Pn4 obtained by accumulating the positive values is calculated as the maximum value. calculate.

  As a result, as shown in FIG. 5, for example, at the opening / closing position Tn of the third opening / closing drive, the control unit 6a calculates the value calculated from the load at the same opening / closing position Tn detected during the second opening / closing drive. It is set as a reference value, and is compared with the load calculation processing value detected at the opening / closing position Tn at the time of the third opening / closing drive, and pinching is detected.

  As described above, the electric shutter 1 of the present embodiment is set corresponding to the load calculation processing value Pn and the opening / closing position Tn of the shutter curtain 2 when the calculation processing value Pn is obtained. The trapping is detected based on the comparison with the reference value. Therefore, since the pinching is detected when the rate of change per unit rotation of the load is different from the normal time due to the pinching, the pinching is detected before the load applied to the motor 2 exceeds the threshold value as is apparent from FIG. be able to. Therefore, it is possible to detect pinching almost simultaneously with the occurrence of pinching without providing a touch sensor, and the electric shutter 1 that detects pinching with high accuracy can be obtained at low cost.

  Further, according to the electric shutter 1 described above, the load per unit rotation of the motor 4 of the load corresponding to the position of the shutter curtain 2 and the load calculation processing value each time the shutter curtain 2 is opened and closed. Since the learning is performed and the reference value is set according to the learning result, the reference value corresponding to the variation or aging of the load applied to the motor 4 for each product can be set, and pinching can be detected with higher accuracy.

  In addition, according to the electric shutter 1 described above, it is possible to detect the pinching with high accuracy in the electric shutter 1 with the slit 2b.

  According to the above-described embodiment, learning is performed every time the shutter curtain 2 is opened and closed, but the present invention is not limited to this. For example, it may be learned that the shutter curtain 2 is opened and closed every time a predetermined period elapses.

  Further, according to the above-described embodiment, the difference between the processing value of the load applied to the motor 4 sequentially detected and the reference value corresponding to the opening / closing position of the shutter curtain 2 when the load is detected is a constant value. Although pinching has been detected when exceeding, the present invention is not limited to this. For example, the jamming may be detected when the load calculation processing value applied to the motor 4 detected sequentially exceeds a reference value corresponding to the opening / closing position of the shutter curtain 2 when the load is detected. In this case, what is necessary is just to set as a reference value the value which added the margin to the load for every opening / closing position obtained during the learning period, and the calculation processing value of load.

  Further, according to the above-described embodiment, the load applied to the motor 4 is detected from the pulse width of the position pulse, but the present invention is not limited to this. For example, the load may be detected from the current flowing through the motor 4.

  Further, according to the above-described embodiment, when the amount of change in load is obtained, the difference between the pulse width of the position pulse at the opening / closing position Tn-m before the rotation of the motor 4 from the opening / closing position Tn is represented by However, the rotational speed m is not limited to one. For example, a plurality of load change amounts may be obtained before one rotation, two rotations, five rotations, and ten rotations. In this case, there are a plurality of load calculation processing values, and a plurality of determinations. Which determination may be validated in any pattern depending on the situation. For example, only the determination that is detected earliest may be valid, or may be valid when all the determinations are detected.

  Further, according to the above-described embodiment, the shutter curtain 2 with the slit 2b is used, but the present invention is not limited to this. For example, you may use the shutter curtain 2 without the slit 2b.

  Further, the above-described embodiments are merely representative forms of the present invention, and the present invention is not limited to the embodiments. That is, various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Electric shutter 2 Shutter curtain 2a Slat 2b Slit 3 Winding drum (Shutter rotation axis)
4 motor 4a encoder 5 operation unit 6 control device 6a control unit (load detection means, pinching detection means, stop means, position detection means, load calculation processing means, learning means, reference value setting means)
6b Driver 7 Brake device

Claims (4)

Load detecting means for detecting a load applied to a motor that opens and closes the opening member, and pinching detection means for monitoring the load of the motor detected by the load detecting means and detecting pinching of the opening member. In the electric opening member pinching detection device,
Position detecting means for detecting an opening / closing position of the opening member;
A normal load at each opening / closing position from fully open to fully closed of the opening member, and a reference value set corresponding to each opening / closing position;
Detecting a load per unit rotation of the front SL motor sequentially, each for detecting the load, and sequentially detects the difference between the load detected prior to the load and the predetermined rotation and the detected as a change rate DerutaLn1,
A load for obtaining a load calculation processing value obtained by integrating a positive value among the values obtained by subtracting the change amount ΔLn2 of the normal load corresponding to the opening / closing position of the opening member when the change rate ΔLn1 is obtained from the change rate ΔLn1. An arithmetic processing means,
The sandwiching detection means is a load calculation processing value obtained by the load calculation processing means, and the reference value set corresponding to the opening / closing position of the opening member when the load calculation processing value is obtained , The pinching detection device is characterized in that the pinching is detected on the basis of the comparison. The load calculation processing means sets a plurality of the predetermined rotations and sequentially calculates a plurality of change rates ΔLn1, thereby obtaining a plurality of load calculation processing values and sandwiching them based on the plurality of load calculation processing values nipping detecting apparatus according to claim 1, characterized in that to detect the. 3. The electric opening member pinching detection apparatus according to claim 1, wherein the electric opening member is an electric shutter in which a drive unit having a control board disposed therein is installed in a shutter rotation shaft. The said opening member is comprised from the several slat in which the slit was provided between each other, The pinching detection apparatus of the electric opening member of Claim 1, 2 or 3 characterized by the above-mentioned.