EP3330473B1 - Carousel door arrangement and method for the compensation of an external force acting on a door leaf - Google Patents

Description

The present invention relates to a revolving door arrangement and a method for compensating a force acting externally on a door leaf of a revolving door arrangement. In particular, the present invention relates to a reliable, rapid and accurate response to an undesirable external force.

Revolving door arrangements are known which have an asynchronous motor with a downstream transmission. A multi-stage gear (e.g. worm gear, toothed belt stages) is typically used here. To drive the turnstile of the revolving door arrangement, a multi-tooth shaft is used, which is firmly connected to the drive unit. This drive system is first built into the ceiling structure. Then the turnstile including the door wing is installed. Already due to the mechanical play between the drive and the door leaf due to the gearbox, an exact positioning of the door leaf is difficult. In particular, in the event that a rear driving force is to be applied to the door leaf in order to return the door leaf to its starting position after an external force effect, the arrangements known in the prior art have disadvantages in terms of comfort.

EP 3 034 759 A1 relates to a method for controlling a revolving door, in which the motor is arranged coaxially with the turnstile.

EP 3 034 759 A1 discloses all features of the preamble of claims 1 and 6.

US 5,647,173 discloses an operating method for a revolving door in which a user pressing on the door leaf is assisted in operating the revolving door by a support force which is generated by means of an electric motor.

US 5,647,173 discloses all features of the preamble of claims 1 and 6.

It is an object of the present invention to provide a method and a revolving door arrangement which meet the need identified above.

The problem is solved by the features of the independent claims. The dependent claims have advantageous refinements of the invention.

The above-mentioned object is thus achieved by a method for compensating a force acting externally on a door leaf of a revolving door arrangement. The revolving door arrangement comprises a turnstile which carries door leaves. In particular, two, three, four or more door leaves can be attached to the turnstile. In particular, the door leaves can be arranged equidistantly (ie spaced apart from one another by identical angular ranges). An evaluation unit is provided and can be in the form of a programmable processor, a microcontroller, an electronic control unit or the like. be designed. An electric drive is provided for driving the turnstile and comprises a stator and a rotor attached to the turnstile. The drive can be configured, for example, as an electronically commutated multi-pole motor with a stator laminated core and several coils and a rotor comprising a laminated rotor core and a plurality of permanent magnets. The rotor can be arranged coaxially to the axis of rotation and connected to the turnstile for direct, gearless drive. An evaluation unit is set up to carry out logical steps for the operation of the revolving door arrangement. The method, which is carried out by means of the aforementioned revolving door arrangement, comprises at least the following steps: First, it is determined that a force acts externally on the door leaf in a target holding position. The force can be caused, for example, by a gust of wind, an animal or the like. be exercised. If the door should also be impassable for human users, the external force can also be applied to the door leaf by a user. In the context of the present invention, the external force is only to be understood in such a way that it should not be given in without resistance. Rather, the door leaf should act despite the action the external force remain at the target stop position. The external force can be recognized, for example, by a force sensor or implicitly from a position deviation without a corresponding control of the drive. The force can also be determined implicitly on the basis of the fact that the turnstile or the door leaf experiences a positional deviation while the drive (e.g. permanently or in response to a sensor-determined positional deviation) exerts a holding force on the door leaf / the turnstile. The stator of the electric drive is then controlled with an electrical signal, by means of which the force acting externally on the door leaf is compensated in such a way that the door leaf remains in its target holding position or briefly and counter to the direction of rotation caused by the external force in the target -Stop position returns. The stator causes a force that acts counter to the external force in such a way that the target holding position is assumed again. For this purpose, the electrical signal can, for example, be configured with regard to its voltage, with regard to its current, with regard to its amplitude and / or with regard to its frequency and optionally readjusted as a function of the current rotary position of the turnstile / door leaf. In this way, the revolving door is held in the predetermined position. The predefined position can represent a closed position, for example. If there is a force effect on the door in this position, for example due to wind, the evaluation unit adjusts accordingly and holds the door in the specified position.

The electrical signal can be configured, for example, as a clocked DC voltage signal (also “pulse width modulated (PWM) signal”). The pulse width or the pulse duty factor of the PWM signal can be used to provide the required parameters of the electrical signal (e.g. voltage, current, amplitude and frequency) can be used.

The electrical signal can have a substantially linear dependency on a deviation of a position of the door leaf from a target holding position. The more the external force moves the door leaf out of the desired stop position or tries to move it out, the stronger the electrical signal for compensating the external force or the rotation of the door leaf becomes. For example, a P controller or a PI controller can be used for this. If the external force doubles or the angle of rotation doubles (i.e. the deviation from the target stop position), the torque generated by the electric drive also doubles according to the P component. For this purpose, for example, the current and / or the voltage on the stator can be doubled accordingly. The I component (integrating controller, I element) acts on the electrical signal for the drive by integrating the deviation between the setpoint and the actual stop position over time. Alternatively or additionally, a proportional-integral controller (PI controller) can be used accordingly.

In order to be able to determine the external force at least implicitly, position sensors can be used, which have, for example, an encoder on the rotor and a slave on the stator of the electric drive. For example, Hall sensors can be arranged on the stator of the electric drive and detect the rotor magnetic field. Depending on the rotational position, a magnetic signature of the rotor results, from which the current rotational position of the rotor relative to the stator can be determined. On the basis of the signal from the position sensor / Hall sensor or the position sensors / Hall sensors, electrical parameters of the electrical signal can be selected which are suitable Return torque result. In some cases it can happen that the target position was exceeded by the door leaf when the electrical signal was applied or that the door leaf exceeded the target position by the external force. In order to enable a short-term, time-saving and energy-saving return to the target stop position, the aforementioned scenario can be determined using the position sensors. In response to this, a parameter of the electrical signal can be reversed so that the turnstile / door leaf can now be returned to the target stop position in an opposite direction of rotation. In particular, a further external force can press on the door leaf in an opposite direction of action after the previously discussed external force. While in the prior art a polarity reversal of the electric drive would be necessary to compensate for this reverse external force effect, a particularly short-term and exact force effect can be generated by using an internal frequency converter or pulse width modulation of the electrical signal at the connections of the electrical drive. Even small movements (angle of rotation ranges) due to unforeseen external forces can be minimized or avoided in this way.

The parameter of the electrical signal, which is reversed to reverse the force effect on the electric drive, can be, for example, a phase shift of the electrical signal. In other words, a 180 ° phase shift of the electrical signal and / or a backward direction of rotation of a rotating field can be generated in the electrical drive in order to reverse the direction of rotation.

In the case of particularly strong external influences on the door wing / turnstile (eg wind gusts, misuse), a predefined force can be applied be crossed, be exceeded, be passed. This can be determined, for example, using a force sensor and / or implicitly using the position sensor system. For example, this can also be implicitly concluded from a rotation of the turnstile by a predefined angular range. In response to the exceeding of the predefined force, a position of the turnstile closest to the target stop position with the corresponding door leaf position can be defined as the new target stop position. In other words, a rotation of the turnstile can be permitted around such a rotation angle range, which arranges the door leaf closest to the direction of rotation at the former target stop position of the door leaf previously discussed. A rotation of the door cross around a rotation angle range which is located between two adjacent door leaves is therefore deliberately permitted. In this way, overloading of the electric drive can be avoided. In addition, a panic situation and / or a mechanical defect in the revolving door arrangement according to the invention can be avoided.

According to a second aspect of the present invention, a revolving door arrangement with a turnstile carrying a door leaf is proposed. Two, three, four, five, six or more door leaves can also be arranged or arranged on the turnstile. An evaluation unit is provided (e.g. in the form of an electronic control unit, a programmable processor, a microcontroller or the like) in order to carry out the steps of a method according to the invention. An electric drive with a stator and a rotor connect the turnstile to the fixed component of the revolving door arrangement. The turnstile can be rotated about an axis of rotation, an axial direction being defined along the axis of rotation and a radial direction perpendicular to the axial direction. The revolving door arrangement can correspond to the above Be designed designs. The evaluation unit is set up to determine a target holding position of the door leaf, to determine a force acting externally on the door leaf in the target holding position and to control the stator with an electrical signal by means of which the force acting externally on the door leaf is compensated . In other words, the revolving door arrangement according to the invention is set up to realize the features, combinations of features and the advantages resulting from these in such a way that reference is made to the above statements in order to avoid repetitions.

The stator of the electric drive can be provided for fixed assembly. In particular, it can be set up to be fastened to a ceiling (for example a suspended ceiling and / or a concrete ceiling). The stator can be arranged on the axis of the door cross such that, together with the rotor, it forms an air gap arranged coaxially to the axis of the turnstile. In other words, no gear is preferably provided between the drive and the turnstile. The result is a play-free kinematic relationship between the drive and the turnstile.

The revolving door arrangement can furthermore have a frequency converter, which preferably also has the evaluation unit and an output stage for controlling the electric drive. The evaluation unit is set up to implement a parameter of an electrical signal for controlling the electrical drive by means of pulse width modulation. The frequency converter is set up to control the output stage with a multi-phase representation of the electrical signal as a function of the pulse-width-modulated signal. In other words, a power signal can be generated by means of the output stage, which energizes the drive as a function of an output signal from the Evaluation unit enables. The components required for operating the revolving door arrangement according to the invention can thus be matched to one another in the best possible way. They can preferably be arranged in a common housing. The housing can include the frequency converter, the output stage and the evaluation unit. The housing can have a (in particular common) connection for an operating voltage of the aforementioned components. In particular, the drive can also be supplied with electrical energy via the operating voltage.

The evaluation unit can be set up to determine a current speed, a current position and / or a current speed of the turnstile on the basis of a position sensor in the electric drive. The position sensor can have at least one, preferably two, in particular three or more Hall sensors. The position sensor system can also have an encoder on the rotor of the drive. It can also have a magnetic mode of operation (e.g. a permanent magnet in conjunction with a Hall sensor). In particular, an absolute rotational position of the rotor / turnstile can be determined via the encoder. The Hall sensors can in particular be arranged in the stator of the electric drive and can be set up to generate a signal as a function of a magnetic alternating field generated by means of the rotor, with the aid of which the positioning, the speed and / or the current speed of the rotor (and thus of the turnstile) are to be determined. The electric drive can be designed as a brushless motor. The result is a highly efficient electrical drive and an exact positioning of the rotor by means of the method according to the invention.

Fig. 1

ein Ausführungsbeispiel einer erfindungsgemäßen Karusselltüranordnung;

Fig. 2

die Schnittdarstellung durch einen Teil der in Figur 1 gezeigten Karusselltüranordnung;

Fig. 3

wesentliche Bestandteile der Karusselltüranordnung in einer Explosionsdarstellung;

Fig. 4

ein Flussdiagramm veranschaulichend Schritte eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens; und

Fig. 5

ein Blockschaltbild eines Ausführungsbeispiels einer erfindungsgemäßen Karusselltüranordnung.

The invention is explained in detail below with reference to the accompanying drawings. Show:

Fig. 1

an embodiment of a revolving door arrangement according to the invention;

Fig. 2

the sectional view through part of the in Figure 1 Revolving door arrangement shown;

Fig. 3

essential components of the revolving door arrangement in an exploded view;

Fig. 4

a flow chart illustrating steps of an embodiment of a method according to the invention; and

Fig. 5

a block diagram of an embodiment of a revolving door arrangement according to the invention.

Fig. 1 shows an isometric view of a revolving door arrangement 1. The revolving door arrangement 1 comprises a turnstile 2. This turnstile 2 has four door leaves 3. The door leaves 3 are each angled at 90 ° to one another. The turnstile 2 is arranged rotatably about an axis of rotation 4. The axis of rotation 4 extends in the axial direction 5. A radial direction 6 is defined perpendicular to the axial direction 5. A circumferential direction 7 is defined around the axial direction 5.

A drive 8 is arranged on the turnstile 2. This drive 8 is designed as an electronically commutated multi-pole motor. The rotor 17 (s. Fig. 2 ) This drive 8 is connected coaxially to the axis of rotation 4 with the turnstile 2. As a result, the drive 8 enables a direct and gearless drive of the turnstile 2.

Figure 1 further shows a solid arrow, which symbolizes an external force 30 acting on a door leaf 3. After detection, this can be compensated for by the electric drive 8. If, for example, an external force corresponding to the arrow shown in dashed lines subsequently acts on the door leaf 3 due to an external alternating force, this external force can also be compensated for by electronic variation of a parameter of a signal used to feed the electric drive 8. It is not necessary to reverse the polarity of the supply voltage of the electric drive.

Fig. 2 shows a section through the revolving door arrangement 1. Of the revolving door arrangement 1, only the drive 8 is shown.

The drive 8 comprises a stator 10 and the rotor 17 Fig. 1 shows, the drive 8 is arranged above the turnstile 2. The rotor 17 is located between the turnstile 2 and the stator 10.

Fig. 2 shows a non-rotatably connected to the rotor 17 connecting element, designed as a multi-tooth shaft. The turnstile 2 is connected to the rotor 17 in a rotationally fixed manner via this connecting element.

The stator 10 comprises a stator disk 12. A stator laminated core 11 is arranged on the outer circumference of the stator disk 12. The individual coils 13 of the stator 10 are placed on this stator laminated core 11.

Each coil comprises a coil body 14, for example made of plastic. The windings 15 of the individual coil 13 are located on this coil former 14.

The rotor 17 comprises a rotor disk 43. This rotor disk 43 lies opposite the stator disk 12. The stator laminated core 11 with the coils 13 is arranged between the two disks 43, 12. A rotor laminated core 18 is arranged on the outer circumference of the rotor disk 43. A plurality of permanent magnets 19 are arranged radially within the rotor lamination stack 18 on the rotor lamination stack 18.

In the area of the axis of rotation 4, an axial bearing 20 and a radial bearing 21 are formed between the stator disc 12 and the rotor disc 43. In the exemplary embodiment shown, the axial bearing 20 and the radial bearing 21 are designed as slide bearings.

In Fig. 2 Furthermore, an embodiment of a frequency converter 25 is shown, which has a connection 27 for an operating voltage. An evaluation unit 9, a motor IC 36 (integrated circuit for drive control) and an output stage 26 for controlling the drive 8 are provided within the frequency converter 25. The evaluation unit 9, the motor IC 36 and the output stage 26 are in connection with Fig. 5 discussed in more detail. An input module 35 is arranged on the outside of the frequency converter 25, by means of which different inputs can be received by a user and feedback can be output to the user. For example, the target stop positions and maximum force effects, which are to be compensated according to the invention without redefining the target stop position by means of the drive, can be defined. This can be done, for example, depending on the hardware currently used. A weakly dimensioned electric drive is therefore not overloaded, while the possibilities of a stronger electric drive can be better exploited.

The in Fig. 1 The drive 8 shown is part of the revolving door arrangement 1. This revolving door arrangement 1 is in section in FIG Fig. 2 shown. In addition to the drive 8, the revolving door arrangement 1 includes an adapter unit 101. This adapter unit 101 is used for mounting the drive 8 on a superordinate ceiling structure 103. In the example shown, the ceiling structure 103 comprises two parallel horizontal beams.

The adapter unit 101 comprises at least one ceiling fastening element 102. This is designed here as a right-angled angle. The ceiling fastening element 102 is fastened in the profiles of the ceiling structure 103 via a screw connection and corresponding slot nuts.

The adapter unit 101 further comprises an adapter plate 107. The ceiling fastening element 102 is firmly connected, for example welded, to this adapter plate 107.

A plurality of fixing elements 104 of the adapter unit 101 are fastened to the circumference of the adapter plate 107. These fixing elements 104 each serve to fasten a suspended ceiling element 105.

The adapter unit 101 further comprises at least one drive fastening element 106. This is designed here as a screw connection and is used to fasten the drive 8 to the adapter unit 101, in particular to the adapter plate 107.

Fig. 2 and 3rd show preferred pre-fixing units 110. These pre-fixing units 110 here comprise a snap hook. This makes it possible to lift the drive 8 from below onto the adapter plate 107. The pre-fixing units 110 engage and the drive 8 is on the Adapter unit 110 pre-fixed. The drive fastening elements 106, which are designed as screw connections, can then be placed.

The illustration also shows in Fig. 3 a preferred connection recess 111 in the adapter plate 107. Via this connection recess 111, an electrical contact, in particular one or two plugs, is accessible from above within the drive 8.

The drive 8 has position sensors 28 in the form of Hall sensors which are arranged between those on the circumference of the stator. The position sensors 28 are set up to identify position sensors (not shown) on the rotor (not shown) and to report a rotational position of the drive 8 to the evaluation unit (not shown).

Fig. 4 shows a flow diagram illustrating steps of an exemplary embodiment of a method according to the invention for compensating a force acting externally on a door leaf of a revolving door arrangement. In step S100, a target stopping position of the door leaf or of the turnstile of the revolving door arrangement is determined. This can be done, for example, using Hall sensors in the stator of an electric drive of the revolving door arrangement, which are set up to detect a magnetic field of the rotor of the electric drive. In step S200, the force acting externally on the door leaf in the target holding position is determined by a force sensor or implicitly from a positional deviation of the turnstile / door leaf. In step S300, the stator of the electric drive is controlled with an electrical signal, by means of which the force effect acting externally on the door leaf is compensated. In other words, the (possibly occurred) rotation of the turnstile is reversed, optionally the electrical signal can be continuously adjusted. In step S400, a parameter of the electrical signal for the compensation of a further external force (acting in an opposite direction) is reversed or reversed. For example, a direction of rotation of a rotating field within the electric drive can be reversed. A case of misuse (vandalism) is then determined, in which in step S500 such a high external force effect on the door leaf is determined by sensors that the force effect exceeds a predefined reference. In response to this, in step S600 a position of the turnstile closest to the target stop position with corresponding door leaf position is defined as the new target stop position. In other words, a door leaf closest to the door leaf considered so far is arranged at the former target stop position. The result is a target stop position corresponding to the previous target stop position.

Fig. 5 shows a block diagram of an embodiment of a revolving door arrangement according to the invention. An operating voltage of 24 V is connected to the electrical system via a connection 27. A DC / DC converter 41 feeds a microcontroller as an evaluation unit 9 with a voltage of 5V or optionally 3.3V. In addition, the operating voltage is applied via a diode 42 to a motor IC 36 and an output stage 26 for energizing the stator 10. The motor voltage can be in a predefined range, for example. The microcontroller can have further input variables (not shown). E.g. the Hall sensors can be connected to the microcontroller to determine a rotational position of the drive. The microcontroller supplies pulse-width-modulated signals for controlling the output stage to the motor IC 36. These also have a level of 5V or 3.3V. The pulse width modulated signals are used to control the three phases U, V, W of the stator 10 z. B. with 6 signals U_H, U_L, V_H, V_L, W_H, W_L (H - High, L - Low). In addition, a control line 39 and an error reporting line 40 are provided between the microcontroller and the motor IC 36. The motor IC 36 can be used to output high / low signals with adapted voltage levels GH_U, GL_U, GH_V, GL_V, GH_W, GL_W to control the MOSFETS of the output stage 26. In addition, the motor IC 36 is used for short-circuit prevention for the control of the output stage 26. In other words, it is avoided that transistors of the output stage 26 arranged in a common bridge branch are simultaneously switched on and the output stage is thereby damaged. The control signals GH_U, GL_U, GH_V, GL_V, GH_W, GL_W are also designed as pulse width modulated signals. However, the respective high (H) signal essentially represents the respective level reversal of the low (L) signal for the phases U, V, W, with a dead time to avoid the abovementioned short circuit between the edges of the signals. The microcontroller, the motor IC 36 and the output stage 26 are shown as components of a frequency converter 25, the components of which can be arranged in a common housing. In particular, the components of the frequency converter 25 can be arranged on a common circuit board.

Reference list

1

Revolving door arrangement

2nd

Turnstile

3rd

Door leaf

4th

Axis of rotation

5

Axial direction

6

Radial direction

7

Circumferential direction

8th

drive

9

Evaluation unit

10th

stator

11

Stator laminated core

12th

Stator disc

13

Do the washing up

14

Bobbin

15

Winding

17th

rotor

18th

Rotor laminated core

19th

Permanent magnets

20th

Thrust bearing

21

Radial bearing

25th

frequency converter

26

Power amplifier

27

Connection for operating voltage

28

Position sensor

30th

force

35

Parameter module

36

Motor IC

39

Control line

40

Error reporting

41

DC / DC converter

42

diode

43

Rotor disc

101

Adapter unit

102

Ceiling fastener

103

Ceiling construction

104

Fixation element

105

Suspended ceiling elements

106

Drive fasteners

107

Adapter plate

110

Pre-fuser

111

Connection recess

112

Cover plate

S100-S600

Procedural steps

Claims (11)

1. A method for compensating a force (30) acting from outside on a door leaf (3) of a revolving door assembly (1), wherein the revolving door assembly (1) comprises:

   - a turnstile (2) carrying the door leaf (3),

   - an evaluation unit (9), and

   - an electrical drive (8), with

   - a stator (10) and

   - a rotor (17),

   wherein the rotor (17) can be disposed coaxially to an axis of rotation (4) of the turnstile (2) and can be connected to the turnstile (2) for direct gearless driving, and the method is characterized by the steps of:

   - determining (S100) a preset stop position of the door leaf (3),

   - determining (S200) the force (30) acting from outside on the door leaf (3) in the preset stop position, and

   - controlling (S300) the stator with an electrical signal, which compensates the force (30) acting from outside on the door leaf (3).
2. The method according to claim 1, wherein the electrical signal includes in particular an essentially linear dependency of a deviation of a position of the door leaf (3) from a position of the door leaf prior to the action of the external force (30).
3. The method according to claim 1 or 2, furthermore comprising,

   - employing a position sensor (28) for determining a deviation from the preset stop position of the rotor (17) and depending on the deviation

   - selecting a parameter of the electrical signal.
4. The method according to any of the preceding claims, furthermore comprising the steps of:

   - inverting (S400) a parameter of the electrical signal for compensating a further external force, which has a reversed direction of action to a direction of action of the external force (30).
5. The method according to claim 4, furthermore comprising

   - determining (S500) that the external force (30) acting on the door leaf (3) exceeds a predefined force, and in response thereto

   - defining (S600) a position, located next to the preset stop position of the turnstile (2) with corresponding leaf position as the new preset stop position (38').
6. A revolving door leaf assembly with

   - a turnstile (2) carrying a door leaf (3),

   - an evaluation unit (9), and

   - an electrical drive (8), with

   - a stator (10) and

   - a rotor (17),

   wherein the rotor (17) can be disposed coaxially to an axis of rotation (4) of the turnstile (2) and can be connected to the turnstile (2) for direct gearless driving, wherein the evaluation unit (9) is adapted, characterized in that

   - to determine a preset stop position of the door leaf (3),

   - to determine a force (30) acting from the outside on the door leaf (3) in the preset stop position, and

   - to control the stator (10) with an electrical signal, which compensates the force (30) acting from outside on the door leaf (3).
7. The revolving door assembly according to claim 6, which is adapted to perform a method according to any of the preceding claims 1 to 5.
8. The revolving door assembly according to any of the claims 6 or 7, wherein the stator (10) is adapted for stationary mounting, in particular for ceiling mounting, and with the rotor (17) forms an air gap, which is disposed coaxially to the axis of rotation (4) of the turnstile (2).
9. The revolving door assembly according to any of the claims 6 to 8, furthermore comprising

   - a frequency converter (25) comprising the evaluation unit (9) with

   - a final stage (26), wherein

   - the evaluation unit (9) is adapted

   - by a pulse width modulation, to realize a parameter of the first electrical signal for compensating the force (30) acting from outside, and

   - the frequency converter (25), depending on the pulse width modulated signal, is adapted

   - to control the final stage (26) with a multiphase representation of the electrical signal.
10. The revolving door assembly according to claim 9, furthermore comprising

    - a connector (27) for an operating voltage and

    - a housing (31), which comprises

    - the frequency converter (25),

    - the final stage (26), and

    - the evaluation unit (9),

    wherein in particular the connector (27) for the operating voltage is adapted to supply electric energy to the evaluation unit (9), to the frequency converter (25) and to the final stage (26).
11. The revolving door assembly according to any of the claims 6 to 10, wherein, based on a position sensor (28), in particular Hall-sensors in the electrical drive, the evaluating unit (9) is adapted to determine

    - a current rotational speed and/or

    - a current position and/or

    - a current speed

    of the turnstile (2).

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