Safety door device and locking method for safety door

Abstract

The present application provides a kind of safety door device and the locking method of safety door, one way of safety door device has: full closed detector (44), it detects the situation that safety door changes from open state to full closed;Locking mechanism (46), it locks the safety door to make the safety door not open;Measuring part (acceleration sensor (36), control unit (50)), it measures the moving acceleration (alpha) of the safety door when closing, moving speed (V) or moving time (T);And control unit (50), in the case where it is detected that the safety door changes to full closed, the control unit controls the locking mechanism to lock the safety door, and in the case where the moving acceleration or the moving speed is greater than first threshold (alpha1), or the moving time is shorter than second threshold (T1), the control unit does not lock the safety door.

Description

TECHNICAL FIELD

[0001] The present application relates to a safety door device for ensuring safety of work and a locking method of a safety door. BACKGROUND

[0002] In order to ensure safety of work, a safety door is sometimes provided on a machine (for example, refer to Japanese Patent Application Publication No. 2010-005759). A machine such as a machine tool, an injection molding machine, or a press machine has a work area in which a tool or a die operates, and in which an operator's hand or the like enters, and is dangerous. A safety door closes the work area during operation of the machine to ensure safety of work. That is, when the safety door is closed, a locking mechanism operates to lock the safety door, and then the machine starts to operate. SUMMARY

[0003] However, in a case where the safety door is suddenly closed, the locking mechanism or the like is impacted by a rebound of the safety door, and there is a possibility of damage. An object of the present application is to provide a safety door device and a locking method of a safety door, which can prevent damage in a case where the safety door is suddenly closed.

[0004] A safety door device of one aspect includes a full closure detector that detects a case where a safety door changes from an open state to a full closed state, a locking mechanism that locks the safety door so that the safety door cannot be opened, a measurement section that measures a moving acceleration, a moving speed, or a moving time when the safety door is closed, and a control section that controls the locking mechanism to lock the safety door when the case where the safety door changes to the full closed state is detected, and does not lock the safety door when the moving acceleration or the moving speed is greater than a first threshold value or the moving time is shorter than a second threshold value.

[0005] According to the present application, it is possible to provide a safety door device and a locking method of a safety door, which can prevent damage in a case where the safety door is suddenly closed.

[0006] The above objects, features, and advantages will be more apparent from the following description of the embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 is a schematic view showing a mechanical configuration of a machine device with a safety door of an embodiment.

[0008] Figure 2 is a block diagram showing a control configuration of a machine device with a safety door.

[0009] Figures 3A to 3C is a schematic view showing a detailed situation of a key switch.

[0010] Figure 4is a flowchart showing an example of the operation sequence of the mechanical device with a security door. DETAILED DESCRIPTION

[0011] Hereinafter, the mechanical device with a security door 10 and the locking method of the security door 30 of the embodiment will be described. Figure 1 、 Figure 2 The mechanical configuration and the control configuration of the mechanical device with a security door 10 of the embodiment are shown.

[0012] As shown in Figure 1 , the mechanical device main body (not shown) of the mechanical device with a security door 10 is provided in the cover 20, and opens and closes the opening portion 22 thereof by the security door 30. In addition, the mechanical device with a security door 10 is provided with a security door device 12 (refer to Figure 2 ) that performs opening and closing, locking, and control thereof. The security door device 12 has a full opening detector 26, a key 34, an acceleration sensor 36, a key switch 40 (full closing detector 44, locking mechanism 46), a control portion 50, and a notification portion 52.

[0013] The full opening detector 26 is, for example, a contact type or a proximity type switch provided on the cover 20, and detects the full opening of the security door 30 when it is in proximity to or in contact with the security door 30. When the detection state of the full opening detector 26 changes from detecting the full opening to not detecting the full opening, the security door 30 starts to move (detecting the start of the movement).

[0014] The key 34 is held in a manner of protruding from the security door 30 (refer to Figure 1 ). When the security door 30 is closed, the key 34 is inserted into the key insertion port 42 of the key switch 40. When the security door 30 is opened, the key 34 is pulled out of the key insertion port 42.

[0015] The acceleration sensor 36 (measurement portion) is provided on the security door 30, and detects the movement acceleration a applied to the security door 30.

[0016] The key switch 40 (full closing detector 44, locking mechanism 46) performs detection and locking of the full closing of the security door 30 using the key 34.

[0017] Figures 3A to 3C The internal configuration of the key switch 40 is shown. Figures 3A to 3C The states of the key switch 40 before and after (1) the key 34 is inserted (pulled out), (2) the key 34 is inserted, and (3) the key 34 is inserted and locked are shown.

[0018] The full closing detector 44 is, for example, a contact type or a proximity type switch, and detects the full closing of the security door 30 (when the key 34 is completely inserted into the key insertion port 42, refer to Figure 3B, the key 34 is brought close to or into contact with the safety door 30 to detect the fully closed state of the safety door 30.

[0019] The lock mechanism 46 is, for example, an electromagnetic solenoid that causes the lock member 46a to be displaced downward when energized and to be displaced upward by a biasing unit such as a spring when not energized. When the safety door 30 is fully closed (see Figure 3B ), the lock mechanism 46 is energized, thereby causing the lock member 46a to be engaged with the engagement portion 341 of the key 34 (see Figure 3C ). In this way, the lock mechanism 46 can switch the lock (the safety door 30 cannot be opened) and the unlock (the safety door 30 can be opened) of the safety door 30 by energization and non-energization.

[0020] The control section 50 controls the key switch 40 to protect the safety door device 12 in the case where the safety door 30 is suddenly closed. Details thereof will be described later. In addition, the control section 50 can be constituted of hardware (CPU: central processing unit) and software, or can be used as the control section of the mechanical device main body.

[0021] The notification section 52 is a display device (for example, a liquid crystal display) that displays a warning message in the case where the safety door 30 is suddenly closed. In addition, the notification section 52 can have a sound output device that outputs a warning message by sound instead of the display device, or can have both the display device and the sound output device (for example, a speaker) that outputs a warning message by sound.

[0022] (Details of the control section 50)

[0023] Details of the control section 50 will be described below.

[0024] In the case where it is detected that the safety door 30 becomes fully closed, the control section 50 controls the lock mechanism 46 to lock the safety door 30.

[0025] However, even in the case where it is detected that the safety door 30 becomes fully closed, if the moving acceleration a is greater than the threshold value al (first threshold value), the safety door 30 is not locked. At this time, the control section 50 issues a warning signal. According to the warning signal, the notification section 52 issues a warning message in image or sound.

[0026] On the other hand, in the case where the moving acceleration a is equal to or less than the threshold value al (first threshold value), when it is detected that the safety door 30 becomes fully closed, the control section 50 controls the lock mechanism 46 to lock the safety door 30.

[0027] Figure 4 is a flowchart showing an example of the operation sequence of the safety door-equipped mechanical device 10. Details of the operation sequence of the safety door-equipped mechanical device 10 will be described below with reference to Figure 4 ​

[0028] The closing operation of the security door 30 is started (step S1). For example, the security door 30 is moved in the closing direction (in this case, the right direction) by human power. Alternatively, the control section 50 can control the motor to move the security door 30. Figure 1

[0029] The acceleration sensor 36 (the measurement section) measures the moving acceleration a (step S2), and the control section 50 determines whether the moving acceleration a is greater than a threshold value al (step S3). In the case where the moving acceleration a is greater than the threshold value al, the control section 50 issues a warning signal (step S4).

[0030] Then, the key 34 is inserted into the key insertion port 42 by moving the security door 30 in the closing direction. As a result, the full-closing detector 44 becomes the ON state, and detects the full closure of the security door 30.

[0031] In the case where the moving acceleration a is equal to or less than the threshold value al, the control section 50 energizes the lock mechanism 46 to lock the security door 30 when the full closure is detected (step S5). On the other hand, in the case where the moving acceleration a is greater than the threshold value al, the control section 50 does not lock the security door 30 even when the full closure is detected.

[0032] Alternatively, even in the case where the moving acceleration a is equal to or less than the threshold value al, for safety, the security door 30 can not be locked immediately after the full closure is detected, but can be locked when a predetermined time (for example, 0.1 to 1 second) has elapsed from when the full closure of the security door 30 is detected.

[0033] As described above, in the case where the moving acceleration a of the security door 30 is equal to or less than the threshold value al, the security door-equipped machine 10 locks the security door 30 when the security door 30 is fully closed, but does not lock the security door 30 in the case where the moving acceleration a is greater than the threshold value al. Therefore, when the security door 30 is closed with great force, the risk of the security door device 12 being damaged by the rebound impact of the security door 30 is reduced.

[0034] In the case where the moving acceleration a is greater than the threshold value al, there is a risk that the security door device 12 is damaged by the rebound impact of the security door 30. That is, if the security door 30 is locked when the security door 30 is fully closed, regardless of the moving acceleration a, there is a risk that one of the key 34 and the lock mechanism 46 is damaged.

[0035] (Modified Example 1)

[0036] Hereinafter, Modified Example 1 will be described. In the above embodiment, the moving acceleration a is used to control the locking of the security door 30. In Modified Example 1, the moving time T of the security door 30 is used to control the locking of the security door 30.

[0037] ​The movement time T can be counted as the time T from the start of the movement of the safety door 30 until the full closure of the safety door 30 is detected (the full closure is detected). The counting is performed by the control section 50. That is, a part of the control section 50 can function as a timer section that counts the time T until the full closure of the safety door 30 is detected (the full closure is detected).

[0038] The start of the movement of the safety door 30 can be determined, for example, by the following methods 1), 2).

[0039] 1) Detection of acceleration

[0040] The start of the movement of the safety door 30 can be determined by the acceleration sensor 36 detecting an acceleration a exceeding a detection error (threshold value a2). That is, the control section 50 compares the acceleration a detected by the acceleration sensor 36 with the threshold value a2, and determines that the safety door 30 starts to move if the acceleration a exceeds the threshold value a2. The threshold value a2 for determining the start of the movement of the safety door 30 is smaller than the threshold value al for determining the locking of the safety door 30.

[0041] 2) Non-detection of full opening

[0042] The start of the movement of the safety door 30 can also be determined by the full opening detector 26 not detecting the full opening of the safety door 30 (non-detection of the full opening). That is, the control section 50 determines that the state of the full opening detector 26 is changed from the detection of the full opening to the non-detection of the full opening.

[0043] For example, the control section 50 can calculate the movement time T as the difference between the time to when the safety door 30 starts to move tO and the time tl when the full closure of the safety door 30 is detected.

[0044] T = tl - tO... (1)

[0045] In addition, the control section 50 can also start a timer when the start of the movement is detected, stop it when the full closure is detected, and the like, and not calculate the respective times tO, tl, but directly calculate the movement time T.

[0046] Hereinafter, the operation sequence of the safety door-equipped machine 10 in the modified example 1 will be described. The safety door-equipped machine 10 in the modified example 1 is not largely different from the safety door-equipped machine 10 in the embodiment except that the movement time T is used instead of the movement acceleration a for the determination of the locking. Therefore, the description of Figure 4 will be mainly described.

[0047] The modified example 1 is different from the embodiment in steps S2, S3, and detection and determination of the movement time T are performed instead of the movement acceleration a.

[0048] As described above, the control section 50 obtains the movement time T as the time T from the start of the movement of the safety door 30 to the detection of the full closure of the safety door 30 (the detection of the full closure) (step S2).

[0049] The control section 50 determines whether the movement time T is less than the threshold value Tl (second threshold value) (T < Tl?) (step S3). In the case where the movement time T is less than the threshold value Tl (second threshold value), the control section 50 issues a warning signal (step S4), and does not lock the safety door 30 even if the full closure is detected. In the case where the movement time T is the threshold value Tl (second threshold value) or more, the control section 50 locks the safety door 30 when the full closure is detected (or after a prescribed time elapses from the detection) (step S5).

[0050] (Modified Example 2)

[0051] Hereinafter, Modified Example 2 will be described. In the above, the movement acceleration a and the movement time T are used to control the locking of the safety door 30. In Modified Example 2, the movement speed V of the safety door 30 is used to control the locking of the safety door 30.

[0052] The movement speed V can be obtained, for example, by the following methods 1), 2).

[0053] 1) Integration of acceleration

[0054] The control section 50 time-integrates (integrates with respect to time t) the movement acceleration a(t) detected by the acceleration sensor 36, and thereby can calculate the movement speed V(t) of the safety door 30.

[0055] V(t) = ∫a(t) • dt... (2)

[0056] In this case, the control section 50 can calculate the time change of the movement speed V(t).

[0057] 2) Calculation from movement time T

[0058] The control section 50 can also obtain the movement speed V by dividing the movement distance L of the safety door 30 by the movement time T obtained by the methods 1), 2) of Modified Example 1.

[0059] V = L / T... (3)

[0060] The movement distance L can use an appropriate fixed value corresponding to the safety-door-equipped mechanical device 10.

[0061] The modification example 2 is not largely different from the embodiment except for using the moving speed V instead of the moving acceleration a for the determination of the lock. That is, it is determined whether the moving speed V is greater than a threshold value VI (first threshold value) (V > VI?) (step S3). In the case where the moving speed V is greater than the threshold value VI (first threshold value), the control section 50 issues a warning signal (step S4), and does not lock the security door 30 even if the full closure is detected. In the case where the moving speed V is equal to or less than the threshold value VI (first threshold value), the control section 50 locks the security door 30 when the full closure is detected (step S5).

[0062] As described above, the control section 50 locks the security door 30 based on the moving acceleration a, the moving time T, or the moving speed V of the security door 30. As a result, it is possible to reduce the possibility that the locking mechanism or the like is damaged by the impact of the rebound of the security door 30. That is, the moving acceleration a, the moving time T, or the moving speed V can each be used as a physical quantity corresponding to the magnitude of the rebound impact of the security door 30.

[0063] The invention that can be grasped from the above-described embodiment and modification examples is as follows.

[0064] [1] A security door device (12) including: a full closure detector (44) that detects a case where a security door (30) is changed from an open state to a full closure; a locking mechanism (46) that locks the security door so that the security door cannot be opened; a measurement section (acceleration sensor 36, control section 50) that measures a moving acceleration (a), a moving speed (V), or a moving time (T) at the time of closure of the security door; and a control section (50) that controls the locking mechanism to lock the security door in the case where the security door is detected to be changed to the full closure, and does not lock the security door in the case where the moving acceleration or the moving speed is greater than a first threshold value (al, VI) or the moving time is shorter than a second threshold value (Tl).

[0065] Thus, in the case where the moving acceleration or the moving speed is greater than the first threshold value or the moving time is shorter than the second threshold value, by not locking the security door, it is possible to reduce the possibility that the security door device is damaged.

[0066] [2] In the case where the moving acceleration a or the moving speed is greater than the first threshold value or the moving time is shorter than the second threshold value, the control section issues a warning signal.

[0067] Thus, it is possible to warn of the possibility that the security door device is damaged. It is also possible to issue a warning message based on an image or a sound in accordance with the warning signal.

[0068] [3] The measurement section can have the following configuration.

[0069] (1) The moving acceleration is measured (2) The moving time is measured

[0070] The measurement section has an acceleration sensor that detects a movement acceleration applied to the security door.

[0071] (2) Measure movement time

[0072] a) The measurement section has a full opening detector (26) that detects a case where the security door is fully opened, and a timer that times a time from when the full opening of the security door is not detected to when the full closing of the security door is detected as the movement time. Thus, even if an acceleration sensor is not used, the security door device can be protected.

[0073] b) The measurement section has an acceleration sensor that detects a movement acceleration applied to the security door, and a timer that times a time from when the movement acceleration is detected by the acceleration sensor to when the full closing detector detects the full closing of the security door as the movement time. Thus, even if a full opening detector is not used, the security door device can be protected according to the movement time.

[0074] (3) Measure movement speed

[0075] a) Calculate speed based on movement acceleration

[0076] The measurement section has an integrator that integrates the movement acceleration detected by the acceleration sensor to calculate the movement speed.

[0077] b) Calculate speed based on movement time

[0078] A divider that divides a movement distance (L) when the security door is closed by the movement time (T) to calculate a speed (V) can also be provided.

[0079] [4] In a case where the movement acceleration or the movement speed is below a first threshold value, or the movement time is above a second threshold value, the control section locks the security door when a prescribed time elapses from when the full closing of the security door is detected.

[0080] Thus, after the full closing is detected, the security door is locked when a prescribed time elapses, and thus more secure locking can be performed.

[0081] [5] A locking method of a security door using a security door device provided with a full-closing detector that detects a case where a security door changes from an open state to a full-closing state, and a locking mechanism that locks the security door so that the security door cannot be opened, the method of the security door including: a step of measuring a moving acceleration, a moving speed, or a moving time when the security door is closed; and a step of controlling the locking mechanism to lock the security door when the case where the security door changes to the full-closing state is detected, and not locking the security door when the moving acceleration or the moving speed is greater than a first threshold value, or the moving time is shorter than a second threshold value.

[0082] Thus, when the moving acceleration or the moving speed is greater than the first threshold value, or the moving time is shorter than the second threshold value, by not locking the security door, it is possible to reduce the possibility of damage to the security door device.

[0083] [6] The locking method of the security door includes a step of issuing a warning signal when the moving acceleration or the moving speed is greater than the first threshold value, or the moving time is shorter than the second threshold value. Thus, it is possible to warn of the possibility of damage to the security door device. It is also possible to issue a warning message based on an image, a sound, in accordance with the warning signal.

[0084] [7] The security door device is provided with a full-opening detector (26) that detects a case where the security door is fully opened, and the locking method of the security door, in the measuring step, counts a time from when the full opening of the security door is not detected to when the full closing of the security door is detected, as the moving time. Thus, even if an acceleration sensor is not used, it is possible to protect the security door device.

[0085] [8] The locking method of the security door includes a step of locking the security door when a prescribed time elapses from when the full closing of the security door is detected, when the moving acceleration or the moving speed is the first threshold value or less, or the moving time is the second threshold value or more. Thus, by locking the security door when a prescribed time elapses after the full closing is detected, it is possible to perform more secure locking.

[0086] In addition, the security door device and the locking method of the security door of the present application are not limited to the above-described embodiments, and various configurations can be adopted without departing from the gist of the present application.

Claims

1. A security door arrangement, characterized in that Possessing: a full-closing detector that detects a case where the safety door moves from an open state to a full-closed state; a locking mechanism that locks the safety door so that the safety door cannot be opened; a measurement section that measures a movement acceleration, a movement speed, or a movement time from the start of movement of the safety door until the safety door becomes full-closed, at the time when the safety door is closed; and a control section that, in the case where the safety door is detected to have become full-closed, and in the case where the movement acceleration or the movement speed is equal to or less than a first threshold value, or the movement time is equal to or more than a second threshold value, controls the locking mechanism to lock the safety door, and that, in the case where the safety door is detected to have become full-closed, and in the case where the movement acceleration or the movement speed is greater than the first threshold value, or the movement time is shorter than the second threshold value, does not lock the safety door.

2. The safety door device according to claim 1, characterized in that, in the case where the movement acceleration or the movement speed is greater than the first threshold value, or the movement time is shorter than the second threshold value, the control section issues a warning signal.

3. The safety door device according to claim 1 or 2, characterized in that, the measurement section includes: a full-opening detector that detects a case where the safety door is fully opened; and a time measurement section that measures a time from when the safety door is not detected to be fully opened until the safety door is detected to be fully closed, as the movement time.

4. The safety door device according to claim 1 or 2, characterized in that, in the case where the movement acceleration or the movement speed is equal to or less than the first threshold value, or the movement time is equal to or more than the second threshold value, the control section locks the safety door when a prescribed time elapses from when the safety door is detected to have become full-closed.

5. The safety door device according to claim 3, characterized in that, in the case where the movement acceleration or the movement speed is equal to or less than the first threshold value, or the movement time is equal to or more than the second threshold value, the control section locks the safety door when a prescribed time elapses from when the safety door is detected to have become full-closed.

6. A locking method of a security door using a security door device, the security door device having: a full-closing detector that detects a case where the security door is moved from an open state to a full-closed state. and a locking mechanism that locks the safety door so that the safety door cannot be opened, the method of locking the safety door characterized by comprising: a step of measuring a movement acceleration, a movement speed, or a movement time from the start of movement of the safety door until the safety door becomes full-closed, at the time when the safety door is closed; and in the case where the safety door is detected to have become full-closed, and in the case where the movement acceleration or the movement speed is equal to or less than a first threshold value, or the movement time is equal to or more than a second threshold value, controlling the locking mechanism to lock the safety door, and in the case where the safety door is detected to have become full-closed, and in the case where the movement acceleration or the movement speed is greater than the first threshold value, or the movement time is shorter than the second threshold value, not locking the safety door.

7. The method of locking a security door according to claim 6, wherein, including: In a case where the movement acceleration or the movement speed is greater than the first threshold value or the movement time is shorter than the second threshold value, a process of issuing a warning signal.

8. The locking method of a security door according to claim 6 or 7, characterized in that, the security door device has a full opening detector that detects full opening of the security door, in the measuring process, a time from when the full opening of the security door is not detected to when the full closing of the security door is detected is counted as the movement time.

9. The method of locking a security door according to claim 6 or 7, wherein, including: In a case where the movement acceleration or the movement speed is the first threshold value or less or the movement time is the second threshold value or more, a process of locking the security door when a predetermined time elapses from when the full closing of the security door is detected.

10. The method of locking a security door according to claim 8, wherein, including: In a case where the movement acceleration or the movement speed is the first threshold value or less or the movement time is the second threshold value or more, a process of locking the security door when a predetermined time elapses from when the full closing of the security door is detected.

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