US-12618279-B2 - Door opening and closing device

US12618279B2US 12618279 B2US12618279 B2US 12618279B2US-12618279-B2

Abstract

A door opening and closing device includes a motor which generates drive power for a door in an opening and closing direction of the door, a door position sensor which detects an opening and closing position of the door, and a controller which controls the motor based on the opening and closing position. The motor includes a stator having at least three-phase coils and a rotor. The motor generates the drive power when the rotor rotates with respect to the stator. The controller performs door holding control of generating, as the drive power, a holding force for holding the door at the opening and closing position, in a case where the opening and closing position is within a predetermined range. In the door holding control, the controller energizes at least two phases of the motor such that rotation of the rotor is braked to generate the holding force.

Inventors

Osamu Kawanobe

Assignees

MITSUI KINZOKU ACT CORPORATION

Dates

Publication Date: 20260505
Application Date: 20240725
Priority Date: 20230728

Claims (7)

1 . A door opening and closing device, comprising: a motor configured to generate drive power for a door in an opening direction and a closing direction of the door; a door position sensor configured to detect an opening and closing position of the door; and a controller configured to control the motor based on the opening and closing position detected by the door position sensor, wherein: the motor comprises a stator comprising at least three-phase coils and a rotor configured to rotate with respect to the stator, and generates the drive power when the rotor rotates with respect to the stator; the controller is configured to enter a door holding control mode when the door position sensor detects that the opening and closing position of the door lies within a predetermined range, wherein in the door holding control mode, the controller energizes at least two phases of the motor to brake rotation of the rotor and generate a holding force, thereby inhibiting opening and closing of the door; the controller is configured to enter the door holding control mode, in a case where an acceleration in the opening direction or the closing direction of the door is less than a predetermined value and the opening and closing position of the door lies within the predetermined range, and the controller is configured to not enter the door holding control mode regardless of the opening and closing position of the door when the acceleration is equal to or larger than the predetermined value.
2 . The door opening and closing device according to claim 1 , wherein the controller is configured to exit the door holding control mode when the opening and closing position of the door lies outside the predetermined range under the door holding control mode.
3 . The door opening and closing device according to claim 1 , wherein in the door holding control mode, the controller energizes two phases corresponding to a rotation position of the rotor with respect to the stator.
4 . The door opening and closing device according to claim 1 , wherein the predetermined range is a range from a first position to a second position, and includes a predetermined position between the first position and the second position, and the controller increases the holding force as the opening and closing position of the door lies closer to the predetermined position, and decreases the holding force as the opening and closing position of the door lies apart away from the predetermined position.
5 . The door opening and closing device according to claim 1 , wherein the predetermined range is a range from a first position to a second position, and includes a predetermined position between the first position and the second position, and the controller decreases the magnitude of the holding force in a case where the opening and closing position is the predetermined position to be smaller than a maximum value of the holding force in a case where the opening and closing position of the door lies within a range from the first position to the predetermined position, and a maximum value of the holding force in a case where the opening and closing position of the door lies within a range from the predetermined position to the second position.
6 . A door opening and closing device, comprising: a motor configured to generate drive power for a door in an opening direction and a closing direction of the door; a door position sensor configured to detect an opening and closing position of the door; and a controller configured to control the motor based on the opening and closing position detected by the door position sensor, wherein: the motor comprises a stator comprising at least three-phase coils and a rotor configured to rotate with respect to the stator, and generates the drive power when the rotor rotates with respect to the stator; the controller is configured to enter a door holding control mode when the door position sensor detects that the opening and closing position of the door lies within a predetermined range, wherein in the door holding control mode, the controller energizes at least two phases of the motor to brake rotation of the rotor and generate a holding force, thereby inhibiting opening and closing of the door; in the door holding control mode, the controller changes a magnitude of the holding force depending on the opening and closing position of the door; the predetermined range is a range from a first position to a second position, and includes a predetermined position between the first position and the second position; and the controller increases the holding force as the opening and closing position of the door lies closer to the predetermined position, and decreases the holding force as the opening and closing position of the door lies apart away from the predetermined position.
7 . A door opening and closing device, comprising: a motor configured to generate drive power for a door in an opening direction and a closing direction of the door; a door position sensor configured to detect an opening and closing position of the door; and a controller configured to control the motor based on the opening and closing position detected by the door position sensor, wherein: the motor comprises a stator comprising at least three-phase coils and a rotor configured to rotate with respect to the stator, and generates the drive power when the rotor rotates with respect to the stator; the controller is configured to enter a door holding control mode when the door position sensor detects that the opening and closing position of the door lies within a predetermined range, wherein in the door holding control mode, the controller energizes at least two phases of the motor to brake rotation of the rotor and generate a holding force, thereby inhibiting opening and closing of the door; in the door holding control mode, the controller changes a magnitude of the holding force depending on the opening and closing position of the door; the predetermined range is a range from a first position to a second position, and includes a predetermined position between the first position and the second position, and the controller decreases the magnitude of the holding force in a case where the opening and closing position is the predetermined position to be smaller than a maximum value of the holding force in a case where the opening and closing position of the door lies within a range from the first position to the predetermined position, and a maximum value of the holding force in a case where the opening and closing position of the door lies within a range from the predetermined position to the second position.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is based on and claims priority under 35 USC 119 from Japanese Patent Application No. 2023-123158 filed on Jul. 28, 2023, the entire content of which is incorporated herein by reference. TECHNICAL FIELD The present disclosure relates to a door opening and closing device. BACKGROUND ART For example, there is a door check device that includes an arm whose one end portion is rotatably attached to a body and whose thickness in a rotation center axis direction changes over a longitudinal direction to form a locking recess, and a check mechanism that is provided on a door and is removable from the locking recess of the arm (for example, see JP6681202B). Further, there is a door opening and closing device for opening and closing a side door supported on a side surface of a vehicle body via a hinge as a technique, the door opening and closing device includes a drive unit disposed in an internal space of the side door, and a link mechanism that connects from an output shaft of the drive unit to the vehicle body, the link mechanism includes a drive arm extending in a radial direction from an output shaft of the drive unit and a driven arm rotatably connected to the vehicle body, and when the drive unit is driven, the side door is opened or closed with respect to the vehicle body via the drive arm and the driven arm (for example, see JP6583685B). However, in the related art described above, a case where a motor generating drive power for a door in an opening and closing direction of the door is used to hold the door at a predetermined opening and closing position has not been sufficiently studied. SUMMARY OF INVENTION The present disclosure provides a door opening and closing device that is capable of using a motor, which generates drive power for a door in an opening and closing direction of the door, to hold the door at a predetermined opening and closing position. An aspect of the present disclosure relates to a door opening and closing device, including: a motor configured to generate drive power for a door in an opening and closing direction of the door;a door position sensor configured to detect an opening and closing position of the door; anda controller configured to control the motor based on the opening and closing position detected by the door position sensor,in which the motor includes a stator having at least three-phase coils and a rotor provided to be rotatable with respect to the stator, and generates the drive power when the rotor rotates with respect to the stator,the controller performs door holding control of generating, as the drive power, a holding force for holding the door at the opening and closing position, in a case where the opening and closing position is within a predetermined range, andin the door holding control, the controller energizes at least two phases of the motor such that rotation of the rotor is braked to generate the holding force. According to the aspect of the present disclosure, it is possible to provide a door opening and closing device that is capable of using the motor which generates the drive power for the door in the opening and closing direction of the door, to hold the door at a predetermined opening and closing position. BRIEF DESCRIPTION OF DRAWINGS Exemplary embodiment(s) of the present invention will be described in detail based on the following figures, wherein: FIG. 1 is a diagram schematically illustrating essential parts of a vehicle to which a door opening and closing device according to an embodiment is applied; FIG. 2 is an enlarged plan view schematically illustrating a connection portion between a side door and a vehicle body of the vehicle illustrated in FIG. 1; FIG. 3 is an external perspective view of the door opening and closing device to be applied to the vehicle illustrated in FIG. 1 as viewed obliquely downward and outward from the vehicle; FIG. 4 is an external perspective view of the door opening and closing device to be applied to the vehicle illustrated in FIG. 1 as viewed obliquely downward and inward from the vehicle; FIG. 5 is an external perspective view of the door opening and closing device to be applied to the vehicle illustrated in FIG. 1 as viewed obliquely upward; FIG. 6 is an external perspective view of an output shaft and a link mechanism of the door opening and closing device to be applied to the vehicle illustrated in FIG. 1 as viewed from a lateral side; FIG. 7 is an external perspective view of the link mechanism of the door opening and closing device to be applied to the vehicle illustrated in FIG. 1 as viewed obliquely upward; FIGS. 8A to 8C schematically illustrate the connection portion between the side door and the vehicle body of the vehicle illustrated in FIG. 1, FIG. 8A is an enlarged plan view in a state in which the side door is closed, FIG. 8B is an enlarged plan view in a state in which the side door is half-opened, and FIG. 8C is an enlarged plan view in a