JP2010275733A - Drive unit for semiautomatic revolving door - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a revolving door capable of being lightly and smoothly operated. <P>SOLUTION: An encoder 11 for outputting a revolution-detection signal by detecting a revolving state of a door body is provided. A main control portion of a drive unit is provided with a manual-starting-time control means 8f which detects as a manual operation signal that the door body is continuously revolved at a speed equal to or higher than a preset revolving speed during a preset operation time on the basis of the input of the revolution detection signal when the door body is stopped, and which outputs starting assist torque RA, greater than rotational resistance for a preset second manual-time assist time TAM2 along with the detection of the manual operation signal. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention belongs to the technical field of a drive device in a semi-automatic revolving door provided at an opening of a building such as a hospital or office building.

Generally, in this type of revolving door, a door body comprising a rotating support shaft and a plurality of partition panels extending radially from the rotating support shaft is provided in a cylindrical tube wall provided in the housing. There are two types that are configured to be freely rotatable. In this type, there are automatic types in which the door body is rotated by a driving device, and manual types in which a passerby rotates the door body by pressing the partition panel. In addition, a semi-automatic (semi-automatic) type that is provided with a drive device that outputs a torque that assists the rotation operation when a passer-by rotates the door body is known. When the revolving door is semi-automatic, the drive device is driven based on detecting that a passer-by has entered the door body from the doorway and operated (for example, pushing) the door body (partition panel). In the door body, the door body itself is a heavy body, and the sealing material (horse hair) provided on the outer diameter side edge and the upper and lower edges of the partition panel is the inner peripheral surface of the cylindrical wall body. There is a rotational resistance caused by rubbing against the ceiling surface, floor surface, etc., and a large torque is required when the door body starts rotating. For this reason, a semi-automatic drive device is required to be configured so that it can be assisted smoothly and responsively in response to a manual operation (rotation operation) when a passerby starts rotation.
Therefore, the driving device outputs a pre-startup assist torque smaller than the rotation resistance of the door body by detecting that a passerby has approached the door body, and detects that the door body has been rotated, thereby detecting the rotation resistance of the door body. A drive device has been proposed that is configured to perform start-up control that outputs a larger assist torque for a predetermined time, and that can rotate and start the door body with a simple structure with lightness and good response.

JP 2009-52360 A

  However, in the conventional device, the passer detection sensor that detects the passerby cannot detect the passerby when the passerby runs into the door body or when the passerby wears black clothes. Sometimes. As described above, when the passer detection sensor cannot detect the passer or when the passer detection sensor fails and the passer detection signal is not input to the control unit, the control unit performs pre-startup assist torque, assist torque. Cannot be controlled, and the rotation of the door body becomes heavy, which makes it impossible to manually rotate the door body. In addition, in the case where a passerby rushes in just before the door body stops rotating, and the detection by the passer detection sensor cannot be performed, the passerby is moved by the slight rotation until the door body finally stops. There is a problem that the passer is confined by entering the closed space composed of the body and the cylindrical wall body, and the door body does not rotate from this state, and these should be solved by the present invention There are challenges.

The present invention has been created in view of the above-described circumstances in order to solve these problems, and the invention of claim 1 provides a drive device that assists the rotation operation based on the manual operation of the door body. The semi-automatic revolving door is provided with rotation detection means for detecting the rotation state of the door body and outputting a rotation detection signal, while the controller of the driving device is based on the input of the rotation detection signal when the door body is stopped. Start control means for detecting the presence or absence of a manual operation and outputting a start assist torque larger than the rotational resistance in advance for a first predetermined time set in response to the detection that the manual operation has been performed to assist the rotation start of the door body It is the drive device in the semiautomatic revolving door characterized by having provided.
In the invention of claim 2, the start control means is configured to detect as a manual operation that the door body continuously rotates for a preset operation time at a speed equal to or higher than a preset rotation speed. The drive device for a semi-automatic revolving door according to claim 1, wherein:
In the invention of claim 3, the control unit is assumed to receive a passer detection signal from a passer detection means for detecting a passerby approaching the door body, and on the basis of the input of the passer detection signal, A pre-startup assist torque smaller than the body rotation resistance is output, and a start assist torque greater than the rotation resistance is output for a second predetermined time that is set in advance when manual operation is detected based on the input of the rotation detection signal. 3. The drive device for a semi-automatic revolving door according to claim 1, further comprising a sensor start-time control means for assisting rotation start of the door body.

According to the first aspect of the present invention, the manual operation is detected and driven in any case where the passer detection means is not provided and the detection signal is not input even though the passer detection means is provided. The apparatus can be configured to assist the rotation start of the door body, and the door body can be operated lightly and smoothly.
According to the invention of claim 2, malfunction due to wind pressure can be prevented, and a highly reliable drive device can be obtained.
According to the invention of claim 3, the drive device can assist the manual operation based on the passer-by detection signal, and can perform the manual operation even when the passer-detection signal is not input for some reason. The driving device can be light and smooth so that it can be operably driven.

It is a schematic perspective view of a revolving door. It is a block diagram explaining the control state by the main control part. It is a timing chart explaining the control state by the sensor starting time control means by the main control unit. It is a timing chart explaining the control state by the manual start time control means by the main control unit. It is a flowchart explaining the control procedure by the starting time control means by the main control unit.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In the drawings, reference numeral 1 denotes a semi-automatic revolving door, and the semi-automatic revolving door 1 is provided with a cylindrical tubular wall body 2 that is located in a part that partitions the interior and exterior of a building and forms a tubular space. Has been. Entrance and exit portions 2a and 2b for a person to enter and exit are cut out at two indoor and outdoor locations facing the diameter direction of the cylindrical wall body 2, and the respective entrance and exit portions 2a and 2b of the cylindrical wall body 2 are It is set to be an opening that connects the inside and outside of the building. Then, a pair of side pieces (stands) 3 are integrally provided on the left and right side portions constituting the respective entrance / exit portions 2 a and 2 b of the cylindrical wall body 2.

Reference numeral 4 denotes a door body that is rotatably arranged in the cylindrical wall body 2, and the door body 4 includes a rotary support shaft 5 that is arranged concentrically with the axis of the cylindrical wall body 2, and the rotary support. A base end portion is fixed to the shaft 5, and includes four partition panels 6 that extend radially from the rotating support shaft 5 at equal circumferential intervals and divide the cylindrical space into four. The door body 4 is configured to rotate freely in the cylindrical wall body 2 by rotatably supporting the upper and lower end portions of the rotating support shaft 5 on the ceiling portion and the floor portion, respectively. Note that the door body 4 of the present embodiment is configured to rotate in one preset direction (counterclockwise direction).
Each of the partition panels 6 is configured by providing a frame material 6a around the transparent glass material, and the outer diameter side and the upper and lower frame materials 6a are respectively provided with a sealing material 6b. It is comprised so that the sealing performance between a part and a floor part may be improved. Further, the lower frame member 6a is provided with a long cushioning rubber 6c in the radial direction for buffering the contact of a passer's shoe and the shoe with the heel. In addition, an operation bar 6 d that is long in the radial direction is provided at the middle portion in the vertical direction of each partition panel 6, and is configured to serve as a handle when the passerby pushes the door body 4.

Reference numeral 7 denotes a drive device provided on the ceiling, and the drive device 7 is configured to assist the manual operation when the door body 4 is manually operated. The motor M, the brake B that brakes the door body 4, and members such as a reduction gear R are provided. Then, the driving device 7 outputs the rotational torque or braking torque output from the electric motor M or the brake B in a state of being decelerated by the speed reducer R, and the rotational force or the braking force is applied to the rotary support shaft 5. It is comprised so that motive power may act.
Further, the drive device 7 is provided with a main control unit 8 (control unit of the present invention), and based on a command signal output from the main control unit 8, an electric motor M, a rotation torque that requires a brake B, a brake Torque (braking torque) is output, and the rotary spindle 5 is set to rotate or perform braking.

In the present embodiment, a brushless motor is used as the electric motor M, and a motor control unit MC (motor driver) is connected between the main control unit 8 and the electric motor M, and the main control unit. When the command signal from 8 is input to the motor control unit MC, the motor control unit MC is configured to control the electric motor M to output a rotational torque having a torque value corresponding to the command signal.
The brake B is a powder brake, and the brake control unit BC is connected between the main control unit 8 and the brake B, and a command signal from the main control unit 8 is input to the brake control unit BC. Then, the brake control unit BC is configured to control the brake B to output a braking torque having a torque value corresponding to the command signal.

  On the other hand, the ceiling side edge portion 2c constituting the entrance / exit portions 2a, 2b of the cylindrical wall body 2 is provided with a passer detection sensor 9 constituting passer-by detection means for detecting a passerby approaching the entrance / exit portions 2a, 2b. It is set to output a passer-by detection signal to the main control unit 8 when it detects that a passer-by has approached the entrance / exit portions 2a and 2b. Further, a non-contact type (for example, an infrared light sensor) pinching prevention sensor 10 is provided on the ceiling side edge 2c of the cylindrical wall body 2 at a position on the front side in the rotation direction of the door body 4, Out of a pair of left and right side pieces 3 constituting the wall body entrance / exit portions 2a and 2b, an obstacle such as a passerby entering the door body 4 near the side piece 3 positioned on the front side in the rotational direction of the door body 4 When an object is detected, a pinch prevention signal is set to be output to the main control unit 8.

  The drive device 7 is provided with an encoder 11 that constitutes a rotation detecting means for detecting the rotation state of the door body 4. The encoder 11 is configured to output a pulse signal (rotation detection signal) to the main control unit 8 as the door body 4 rotates. Then, the main control unit 8 detects the rotation state of the door body 4 based on the change of the rotation detection signal, that is, detects that the door body 4 has been manually operated, and detects the rotation speed (rpm Min)) is configured to detect. Then, the main control unit 8 applies an appropriate amount of torque to the electric motor M or the brake B in accordance with the rotation detection signal and the rotation speed of the door body 4 detected based on the rotation detection signal. A drive command is output so as to be output, and the drive command is configured to be output as a torque value calculated by means such as calculation.

On the other hand, the main control unit 8 includes a start-time control means 8a for assisting the rotation start of the stopped door body 4 and the rotating door body 4 at the ideal speed (when there is no manual operation by the passerby). The constant speed rotation control means 8b assists to continue the rotation at the ideal speed for the door body 4 to automatically rotate, and the start time control means 8a shifts to the constant speed rotation control means 8b. A switching control means 8c for stopping and a fixed position stop control means 8d for stopping the door body 4 at a predetermined position when there is no traffic.
Then, the main control unit 8 sends a corresponding command signal to the electric motor M or the control signal 8a, 8b, 8c, 8d in response to the input of the passer-by detection signal, the pinching prevention signal, and the rotation detection signal. The electric motor M is output to the brake B, and the electric motor M is configured to output the corresponding rotational torque, and the brake B is configured to output the corresponding braking torque. Configuration that assists the passer to pass comfortably and smoothly by performing various controls such as braking the rotation of the door body 4 when it is too large or stopping the door body 4 when there is no passerby It has become.

  In the present embodiment, the start-up control means 8a enters a rotation standby state in which the door body 4 can be rotated and started by a light push operation in response to an input of a passer detection signal from the passer detection sensor 9. In the standby state, when a manual operation is detected with the input of the rotation detection signal from the encoder 11, the sensor start-time control means 8 e that assists the manual operation (rotation start) of the door body 4 and the passer-by detection sensor 9 When a manual operation by the passerby is detected based on the input of the rotation detection signal from the encoder 11, a manual operation for assisting a manual operation (rotation start) of the door body 4 is not performed. The manual start-time control means 8f corresponds to the start control means of the present invention.

The sensor starting control means 8e will be described based on the timing chart shown in FIG.
In the sensor start-up control means 8e, when a passerby approaches the entrances 2a and 2b and a passer detection signal is output from the passer detection sensor 9, the brake B is released, while the electric motor M provides an assist torque before starting. RP outputs.
Here, the brake B is a braking torque having a preset torque value, and outputs a braking torque large enough not to rotate the door body 4 even when a strong wind is blown. The main control unit 8 outputs a command signal (brake release command) to the brake B (brake control unit BC) so that the braking torque becomes zero (0) when the passer detection signal is input. Is set.
Further, the pre-start assist torque RP needs to be a rotational torque having such a magnitude that a light operation feeling can be obtained when a passerby manually operates. For this reason, the main control unit 8 outputs to the electric motor M (motor control unit MC) so as to output a rotation torque set smaller than the reference torque RB corresponding to the rotation resistance of the door body 4 as the pre-startup assist torque RP. Thus, the door body 4 does not start to rotate naturally (without being manually operated), but easily rotates due to manual operation. It is comprised so that it may be set as a rotation standby state.

Subsequently, in this rotation standby state, when a change in the rotation detection signal from the encoder 11 is detected, the main control unit 8 causes the passerby to push the operation bar 6d to perform manual operation during sensor operation. As a signal input, a command signal is output to the electric motor M so as to output a starting assist torque RA, which is a rotational torque set larger than the reference torque RB, and the door body 4 is operated with a small operating force. It is configured to perform control that can start rotation. At this time, the main control unit 8 sets the first sensor assist time TAS1 set in advance so that the increase from the pre-start assist torque RP to the start assist torque RA is not abrupt. A command signal that changes (increases) with time during the sensor assist time TAS1 is output to the electric motor M. As a result, the operation of starting the rotation of the door body 4 is light and smooth, and in addition, a sense that the movement of the door body 4 is natural can be given to the passerby.
Furthermore, when the torque value of the electric motor M reaches the start assist torque RA, the main control unit 8 sets a second sensor time assist time TAS2 (corresponding to the second predetermined time of the present invention, for example, 2 seconds). The command signal for continuing the output of the start assist torque RA is set to be output to the electric motor M during this period, whereby the door body 4 can be rotated and started quickly and a passerby can pass. It is configured to be able to accelerate quickly to an easy speed. Here, the speed at which the passer-by easily passes is higher than the ideal speed, which is an ideal speed for the door body 4 to automatically rotate.

Next, the manual start control means 8f will be described based on the timing chart shown in FIG.
The manual start-time control means 8f detects the presence or absence of a manual operation by the passer-by based on the input of the rotation detection signal. In this case, the main control unit 8 rotates when the door body 4 is manually operated. The state is detected as the rotation speed of the door body 4 from the rotation detection signal, and the rotation speed is equal to or higher than the preset rotation speed V, and it is manually detected that the rotation continues during the preset operation time. An operation signal is detected (input). The main control unit 8 outputs a command signal (brake release command) so that the braking torque becomes zero (0) with respect to the brake B in accordance with the detection (input) of the manual operation signal, and the reference torque RB. A command signal is output to the electric motor M so as to output the starting assist torque RA set to be larger than that, so that even if no passer is detected by the passer detection sensor 9, the passer By manually operating the door body 4, the drive device 7 is driven to assist the rotational operation of the door body 4, so that a light operation can be performed.
Here, the manual operation signal detected by the manual start-time control means 8f is a door body 4 that is generated when the door body 4 that has been stopped by applying a braking torque that does not move due to wind pressure is artificially moved. The rotation state of the door is measured in advance, and a manual operation signal is detected based on the measured value. Can be distinguished. In the present embodiment, the main control unit 8 manually operates to detect a state that continues for 0.3 seconds or more at a rotation speed of 0.35 to 0.45 rpm (rotation / min). The signal is detected, and the manual operation signal is set to be detected by a slight rotation of the door body 4 braked by the brake B.

Further, in the manual start time control means 8f, the main control unit 8 sets a first manual time assist time TAM1 that is set in advance so that the start assist torque RA is not suddenly increased. A command signal that changes (increases) with time during one manual assist time TAM1 is output to the electric motor M. Accordingly, the operation of starting the rotation of the door body 4 is light and smooth, and it is possible to prevent an unnatural movement.
Further, when the torque value of the electric motor M reaches the start assist torque RA, the main control unit 8 sets a second manual assist time TAM2 (corresponding to the first predetermined time of the present invention, for example, 2 seconds). The command signal for continuing the output of the start assist torque RA is set to be output to the electric motor M during this period, so that the door body 4 is lightened even when no passer detection signal is input. And while being started rapidly, it is comprised so that it can accelerate rapidly to the speed which a passer-by is easy to pass.
The second sensor time assist time TAS2 for outputting the start assist torque RA in the sensor start time control means 8e and the second manual time assist time TAM2 for outputting the start assist torque RA in the manual start time control means 8f are not necessarily the same. There is no need to be, and can be set as appropriate according to the installation site.

Next, an example of a control procedure in the case where both the sensor start time control means 8e and the manual start time control means 8f are provided as the start time control means 8a by the main controller 8 based on the flowchart shown in FIG. explain.
When the door body 4 is shifted to the start-up control means 8a in the rotation stopped state, the main control unit 8 determines whether or not a passer detection signal is input from the passer detection sensor 9, and if there is an input, Based on the sensor start-time control means 8e, a release command is output to the brake B and a pre-startup assist torque RP is output to enter a rotation standby state. In the rotation standby state, it is determined whether or not a rotation operation has been applied to the door body 4 based on a rotation detection signal from the encoder 11, that is, whether or not a sensor manual operation signal has been input. When a signal is input, the start assist torque RA is output based on the first and second sensor assist times TAS1 and TAS2, and the control shifts to switching control described later. In addition, when there is no input of the manual operation signal at the time of the sensor, that is, when the passerby does not enter the door body 4 and leaves, in the present embodiment, the rotation standby state (the brake B is in the released state). Output pre-start assist torque RP) is maintained, but the rotation standby state is maintained for a preset timer time and is not described in detail in the flowchart after the timer time elapses. Is set to shift to a fixed position stop control 8d described later.
On the other hand, in a state where no passer detection signal is input from the passer detection sensor 9, the rotation operation is performed for a predetermined operation time at the rotation speed V set in advance based on the rotation detection signal from the encoder 11. That is, it is determined whether or not a manual operation signal is input, and when the manual operation signal is input (detected), a release command is output to the brake B, and the first and second manual assist times TAM1, Based on the TAM2, the start assist torque RA is output and the control shifts to the switching control 8c.

When the control by the start-time control means 8a (sensor start-time control means 8e, manual start-time control means 8f) is completed and the control proceeds to the switching control means 8c, the main control unit 8 first rotates from the encoder 11. When the rotational speed of the door body 4 is calculated based on the position detection signal and it is determined that the rotational speed is slower than a preset upper limit speed (for example, 5.5 rpm (rotation / min)), the reference A command signal is output to the electric motor M so as to output a rotational torque that is larger than the torque RB but smaller than the start assist torque RA.
When the switching control means 8c determines that the rotation speed of the rotary door 4 at the end of the control by the start time control means 8a is faster than the upper limit speed, the main control section 8 A command signal is output to the electric motor M so that the torque value becomes the minimum assist torque smaller than the reference torque RB, whereby the rotational speed of the door body 4 can be quickly reduced in a natural deceleration state. It is configured so that it can be controlled to approach the speed at which the passer-by easily passes.

After the end of the switching control means 8c, the main control section 8 detects the rotational speed of the door body 4 and changes the torque value of the electric motor M so that the rotational speed becomes the ideal speed. The control by 8b is performed. The constant speed rotation control means 8b is configured to perform control so as to bring the rotation speed of the door body 4 close to the ideal speed.
In addition, the main control unit 8 receives the final passer detection signal from the passer detection sensor 9 and then rotates the door body 4 to a predetermined angle set in advance at an ideal speed. The stop control 8d is set to be performed. In the fixed position stop control 8d, the main control unit 8 is configured such that, based on the rotation detection signal from the encoder 11, the outer diameter side edge of the partition panel 6 and the side piece 3 constituting the entrance / exit portions 2a and 2b face each other. The door body 4 is controlled to stop at a fixed position.

  In the present embodiment configured as described, in the semi-automatic revolving door 1, the passer detection sensor 9 that detects the passerby approaching the door body cannot detect the passerby, or the passer detection sensor 9 fails. In such a case, the main control unit 8 of the drive device 7 determines the state in which the passerby operated the door body 4 and the door body 4 slightly rotated based on the manual start time control means 8f. 11 is detected as a manual operation signal based on the rotation detection signal from 11. When the manual operation signal is detected (input), the main control unit 8 sets the start assist torque RA larger than the reference torque RB corresponding to the rotational resistance of the door body 4 to the second manual time. Since the signal is output during the assist time, the door 7 can be rotated lightly and smoothly by being assisted by the driving device 7 even if no passer detection signal is input. As a result, even if the passer detection sensor 9 is not attached, the manual operation of the door body 4 can be configured to start lightly and smoothly, and the passer detection sensor 9 can be attached. However, when the passer-by detection sensor 9 does not function, the door body 4 cannot be operated, or the door body 4 and the cylindrical wall body 2 are trapped. Therefore, the semi-automatic revolving door 1 with excellent operability can be obtained.

  Moreover, in this case, the door body 4 is applied with a braking torque by the brake B, and the manual operation signal can be detected by a slight rotation state of the door body 4. Since the manual operation signal is detected based on continuing for a preset operation time at a speed equal to or higher than the preset rotation speed V, the door body 4 is rotated by wind pressure or the like, A distinction is made from artificial manual operations by passers-by, and malfunctions can be prevented. Moreover, since the assist by the driving device 7 is generated by slightly rotating the door body 4, it is possible to realize a light rotation start of the door body 4 without giving a sense of incongruity to the passerby.

  Further, in this device, a passer-by detection sensor 9 for detecting a passerby approaching the vicinity of the entrances 2a and 2b is provided, and the main control unit 8 inputs a passer-by detection signal by the sensor start-time control means 8e. As a result, the brake B is released, and the pre-start assist torque RP smaller than the reference torque RB (rotational resistance) of the door body 4 is output from the electric motor M. Since the rotation operation of the door body 4 is performed, and then the rotation operation of the door body 4 is detected and the start-up assist torque RA larger than the reference torque RB is output as the detection of the manual operation signal at the time of the sensor, The operation can be started with lightness and responsiveness, and the door body 4 can be rotated with a natural operation feeling. As a result, the door body 4 can be operated lightly and smoothly with the assistance of the drive device 7 based on the input of the passer detection signal from the passer detection sensor 9, and the passer detection signal for some reason. Even when there is no input, the drive device 7 can assist the manual operation to operate the door body 4 lightly and smoothly, so that the drive device 7 with good operability can be obtained.

  The present invention can be used for a drive device provided with an electric motor, such as a drive device for a semi-automatic revolving door.

DESCRIPTION OF SYMBOLS 1 Semi-automatic revolving door 2 Cylindrical wall body 4 Door body 6 Partition panel 7 Drive device 8 Main control part 9 Passer detection sensor 10 Pinch prevention sensor 11 Encoder M Electric motor B Brake

Claims (3)

In a semi-automatic revolving door provided with a drive device that assists a rotation operation based on a manual operation of the door body, a rotation detection unit that detects a rotation state of the door body and outputs a rotation detection signal is provided, and a control unit of the drive device In addition, the presence or absence of manual operation is detected based on the input of the rotation detection signal when the door body is stopped, and the start assist torque greater than the rotational resistance is preset in accordance with the detection that the manual operation has been performed. A drive device for a semi-automatic revolving door, characterized in that it includes start control means for assisting rotation start of the door body. The start control means is configured to detect as a manual operation that the door body continuously rotates at a speed equal to or higher than a preset rotational speed for a preset operation time. Item 2. A drive device for a semi-automatic revolving door according to item 1. The control unit is assumed to receive a passer detection signal from a passer detection means for detecting a passerby approaching the door body, while starting less than the rotation resistance of the door body based on the input of the passer detection signal. The front assist torque is output, and when the manual operation is detected based on the input of the rotation detection signal, the start assist torque larger than the rotation resistance is output for a preset second predetermined time to start the rotation of the door body. 3. The drive device for a semi-automatic revolving door according to claim 1 or 2, further comprising a sensor start-time control means for assisting.

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