AU720231B2

AU720231B2 - Process for operating a revolving door drive

Info

Publication number: AU720231B2
Application number: AU24768/97A
Authority: AU
Inventors: Davide Andrea; Mark Beran
Original assignee: Dorma Deutschland GmbH
Current assignee: Dorma Deutschland GmbH
Priority date: 1993-07-19
Filing date: 1997-06-06
Publication date: 2000-05-25
Anticipated expiration: 2014-07-04
Also published as: AU2476897A

Description

Our Ref: 643132 P/00/011 Regulation 3:2

AUSTRALIA

Patents Act 1990

ORIGINAL

COMPLETE SPECIFICATION STANDARD PATENT a 0 *000 Applicant(s): Dorma GmbH Co KG Breckerfelder Strasse 42-48 D-58256 Ennepetal

GERMANY

DAVIES COLLISON CAVE Patent Trade Mark Attorneys Level 10, 10 Barrack Street SYDNEY NSW 2000 Address for Service: Invention Title: Process for operating a revolving door drive The following statement is a full description of this invention, including the best method of performing it known to me:- 5020

-I-

Description The invention relates to a method of operating a pivoting door drive for a door comprising at least one leaf, wherein the door leaf is driven by an electromechanical motor. This motor can cause the door leaf either to open and also to close, it is, however, also possible that the motor only provides support within the scope of the opening movement and that the door leaf is closed by means of a device for example a door closing device located in the drive.

Hydraulic and/or pneumatic door closing devices and systems for the purpose of controlling the closing characteristics of pivoting doors are generally known.

In addition thereto a plurality of electromechanical oo• automatic door closing devices are known for this purpose but they have their own intrinsic advantages and disadvantages. Hydraulic door closing devices function in such a manner that the closing movement of the door leaf is performed in a uniform and controlled manner. This is achieved by using hydraulic damping with a closing force which is produced by a spring which actuates a piston and a gear mechanism. Both electromechanical and also electrohydraulic door closing devices open and close doors automatically once e actuated by sensor means.

Door closing devices having hydraulic pumps are also known which are driven by an electromotor in order for such doors to be opened automatically and also to be closed in a uniform and hydraulically damped manner.

These devices are available on the market in different 2 designs, they do, however, have considerable disadvantages e.g. the pumps having sufficient force to open a door in an appropriate manner are extremely expensive and noisy, high pump pressures are required which in turn require an expensive hydraulic sealing arrangement. In so doing it is extremely difficult to ensure a constant door opening movement for a large range of possible door sizes and weights, and the most decisive argument against these existing systems is probably that they are not well suited for servo and digital control methods. Digital control methods are, however, desirable since they offer great flexibility, as well as creating the possibility of incorporating a certain amount of intelligence into the closing system.

o*.o The German patent document DE 41 24 282 discloses an e e g electromechanical pivoting door drive which is .e maintenance free, not prone to malfunctioning and is of a modular construction. In addition to the device the pivoting door drive also comprises a data processing unit which offers an optimum operation together with adequate safety for the user within the scope of one program cycle. This program cycle functions according to fixed criteria and supports both the opening and S.also the closing process of the pivoting door drive.

ooo In so doing the electromotor is activated in response to a sensor signal, which in turn results in the door leaf being moved out of the closed position and automatically into the open position. At the end of a predeterminable time period the door is then automatically closed again owing to the energy stored in the door closing device.

3 A pivoting door drive is known from US 3,874,117, wherein the opening movement of the pivoting door leaf is achieved by means of a drive motor. The drive is disposed adjacent to the closing means. Such constructions of door controls have in the main led to the hydraulic mechanism only being used as a speed control, i.e. not as an independently functioning unit, and/or have used the door closing device involved in parallel connection with the door but not in combination therewith. Such combinations were not quite satisfactory owing to the large amount of space required adjacent to the door. In addition thereto they are not suitable for use in a control operation controlled by a microprocessor.

The US 5,251,400 describes a door closing device which functions in a support mode.

Also the US 4,348,835 describes an automatic drive which can be used in particular by disabled persons.

US 4,952,080 describes a drive for pivoting doors which eeo functions in a support mode. The special design is intended to compare a momentary voltage of a reference signal which is produced in a predetermined time period. The reference signal is in so doing exclusively dependent upon the rate of movement of the door leaf, i.e. the door must initially be operated manually. As soon as the rate of door movement is equal to the reference signal, the motor starts up and only then is the door automatically opened wider. A "support mode" described in this case does not P:\WPDOCS\DYS\SPECIE\643132.SPE 1/11/99 -4represent a reduction of the opening force in the case of a self-closing door.

Furthermore, DE 42 07 705 discloses a control process using a data processing unit as is used for revolving doors. In this case all functions including the control and the microprocessor are monitored internally themselves. Simultaneously a multi-tasking operating system is processed with the microprocessor used because in this case a special value is placed on the importance of safety relating to the technical aspects of a revolving door.

The object of the invention resides in producing a method which operates a drive for a pivot door leaf in different requirement ranges without changing the device and which functions without additional safety devices.

The object of the invention is achieved by virtue of the independent characterising features of claims 1 and 8.

According to one aspect of the present invention there is provided method of operating a pivoting door drive for a door comprising at least one leaf, the door leaf being movable by an electromechanical drive motor operable in the opening direction, the drive axis of said drive motor being connected to a transmission and the pivoting door drive being connected S. 20 to the door leaf by way of a pivot arm and for control and regulation purposes a control and i regulating unit, which is equipped with a microprocessor and with at least one non-volatile memory for storing the operating parameters and different program cycles, is provided and by means of said control and regulating unit the pivoting door drive can be operated in different operating modes, wherein the different operating modes are switched manually, characterised in that the control and regulating unit comprises a program unit which is able ""to switch automatically between the different operating modes stored in the memory, wherein the necessary operating parameters are learned automatically by a program cycle irrespective S"of the door being used and without reducing the performance thereof and the forces which are applied to the door are limited to a value which is safe for the persons negotiating the 30 door, wherein no additional electronic safety device or sensor safety device is provided.

P:\WPDOCS\DYS\SPECIE\643132.SPE 1111/99 According to another aspect of the present invention there is provided method for operating a pivoting door drive for a door comprising at least one leaf and for changing as desired the operating parameters which are stored in a memory and are processed in a control and regulating unit equipped with a microprocessor, the door leaf being movable by an electromechanical drive motor which operates in the opening direction, the drive shaft of said drive motor being connected to a transmission and the pivot door drive being connected to the door leaf by way of a pivot arm, and a device is provided which comprises a piston which controls the closing characteristics of the door and selectable fluid currents within the device, characterised in that the method comprises the following step causing a unit to contact and move the piston thus the door.

Moreover, the methods are suitable to operate such a pivoting door drive as desired in various different ooe a -6 operating modes. This can also be an operating mode for a disabled person in order during the powerassisted opening mode to provide the disabled person with an aid for opening the door leaf. The methods allow the operating parameters of an attached door to be changed as desired. This change in the operating parameters in no way impairs the output performance of the door drive. All operating parameters and also the most widely different program cycles are stored in a non-volatile memory. This is particularly necessary in the case of changes in order to be able to change the program cycle as quickly as possible without for this purpose having to change or supplement the mechanical *o* characteristics of the device. It is therefore not necessary to use a special drive for different applications, on the contrary any independently functioning mechanism which comprises a microprocessor having a memory is suitable for guaranteeing such an adaptation to suit different operating modes.

It is also possible to use the method where for example the operating parameters of a door are selected optionally and in conjunction with a normal operation by virtue of a mechanism which is to be connected to the door and which comprises a piston for controlling the closing characteristics by way of a selectable flow of fluid within the device. The method includes in the form of a program the steps which are necessary to guarantee that the device is controlled and regulated without any problem.

In addition thereto the methods render it possible owing to the intelligent microprocessor control device 7 for the system to learn by itself the pressure necessary to open a pivoting door leaf. This learning process can take place even during the manufacture of the drive or after the system has been installed on the relevant door. The control device limits the forces which occur to a value which does not represent any risk to the persons using the door.

The control and regulating unit learns the remaining data during one of each of the automatic door operations. As an example, two cycles: The control and regulating unit reads the angle t.I potentiometer in order to determine the desired open angle if this data is required. The door is opened a few degrees wider than this angle and then the current e is reduced until the door moves back to the desired open angle. In this manner the control and regulating device learns the minimum current which is required in S.order to hold the door open. This is extremely advantageous, particularly when the door is to be held *open for a longer period of time.

*5S* When the door beings to close, the control and regulating unit learns the rate of the closing movement and determines from this data the correct current for the closing cycle. It can generally be said that the quicker the door closes, the higher the current.

Similarly, the slower the rate of closing movement, the lower the current. It is possible by adjusting the current for the rate of closing movement of the door to obtain rapid reaction times to obstacles hindering the closing process, whereas at the same time the 8 differences between the manual and automatic closing times are only slight.

A further solution comprises a further sub-program in the form of a second learning cycle. The first learning mode is identical to that described by ourselves in the above section and is used in order to obtain data regarding the loading on the system, irrespective of the loading on the door and the installation conditions. After the door has been fully adjusted by way of the end stop and adjustments to the rate of movement, the second learning cycle is performed in order for the control and regulating unit to learn the dynamics of the door closing movement by virtue of the closing means provided in the device.

This is achieved by the fact that the system opens the door in a learning mode and also holds the door in the open position. At this point the drive motor produces a torque which is sufficient to hold the door in this position, i.e. the current is monitored. The precise rate of closing cycle which results from actuating the closing means is indicated by monitoring the indicators. This data is stored in the memory of the microprocessor and subsequently used in order to determine how the device is to operate during the closing process. If, for example, a door closing device is used for the closing process, then the program ensures by way of the control device that the closing process is not loaded by the door closing device. Thus, there is no reduction in the level of efficiency.

9 Owing to the program stored in the memory either the manufacturer or the operator can set a power-assisted mode, in which the opening force is reduced and held to a safe value so long, or an installed sensor signals at least so long as the door leaf is moving, that someone is located in the pivot region of the door. A door, which is equipped with the pivoting door drive in accordance with the invention, can forego movement indicators of any kind since the pivoting door drive does not represent any risk to the persons negotiating the door because it is guaranteed that the permissible maximum forces are monitored at any one time. The door is not opened automatically in this operating mode but rather the person assists in the door opening process by means of a small power installation on the door leaf. Whereas the person must still exert pressure on the door in order to gain passage, the force exerted by the user on the door ceases when the door comes to a standstill. The closing movement is either performed immediately or after an adjustable period of time. The time delay is automatically extended as long as the door is open or a sensor cO indicates that a person is located in the pivot region of the door.

In the fully automatic opening mode the rate of opening movement is controlled in such a manner that the kinetic energy of the door does not exceed a predetermined amount This mode, if selected, is activated by triggering a switch, infrared or radar sensor or by a push-and-go device. Safety and time delay devices can also be used in this mode. Thus, the device and the method tolerate in each of the power actuated operating modes any intervention on the part of the persons at any time during the opening and closing cycle of the door. Should the pedestrian attempt to stop the movement of the door, then the force is ascertained by the drive and correspondingly processed.

In order to be able to carry out the method in a reliable manner a software timer is continuously incremented. In so doing the said software timer is started every time a new operating mode and operating mode is initiated.

In the opening mode, triggered by a program, the door opens until the maximum door open angle is achieved.

g In a normal opening cycle, in which the door opens from the door groove position, the door is accelerated at an increasing rate into the maximum rate of movement.

This maximum rate of movement is such that the door is opened within the desired opening time and despite this the maximum permissible kinetic energy and thus the maximum permissible force is not exceeded in any open angle. If the region where the opening movement is damped is passed, then the drive retards the door movement until a creep rate of movement is achieved and continues the opening process at this rate. This creep rate can be predetermined individually by way of the program. If the opening movement is heavily damped, then the rate of door movement is automatically limited, on the basis of the procedural steps stored in the memory or for the sake of conserving the energy supply, by virtue of the opening movement being damped by limiting the force of the current supply.

11 If the opening mode is achieved when the door is located between the door groove and the position where the opening movement is damped, then the rate of door movement is changed from its current rate of movement to the maximum rate of movement of the preceding cycle.

If, however, the opening mode is achieved when the door is located behind the position where the opening movement is damped, then the opening process commences at the creep rate and then continues as in a normal cycle.

If the door achieves the desired maximum open angle, then a program goes into the back mode. If an obstacle contacts the open door, then the program goes into the support mode, i.e. the door remains still. During the opening process the presence of an obstacle is recognised if the servo has to increase its drive output as far as its maximum drive output and despite this the rate of movement is less than the desired rate of movement, or until the point is achieved where the servo must produce a force which is more than the predeterminable force. During the opening process the drive motor endeavours to achieve the rate of door movement stored in the memory according to the program.

**If the rate of movement of the door is incorrect and the drive output already amounts to the maximum level, then this is recognised from the program data and the force of the drive is limited, i.e. the program goes into the support mode. In this manner, the drive itself is able to recognise defects in the attachment device of the door leaf, e.g. poor lubrication of the hinges, damaged attachment device in the form of a fracture of the driver pin.

-12 The opening mode can comprise different program phases.

A re-opening mode reverses the direction of movement of a self-closing door. In the first opening mode the door is accelerated until the maximum rate of movement is achieved and continues to move at this desired maximum rate. In the second opening mode the door is retarded as far as the creep rate of movement and during a further opening mode is moved as far as the maximum door open angle.

If the automatic closing conditions are fulfilled at.

any point during an opening mode, which indicates that the door must close immediately, then the operational control changes to the closing mode.

If an obstacle is detected in the pivot region of the pivot leaf, or if the automatic opening conditions are fulfilled, then the control sets a timer, whereby the closing movement of the door is again further retarded.

If the timer achieves the set delay time, then the program changes into the closing mode. The control is able to limit the delay time in order to prevent the motor from overheating.

In the support mode the end of use upon the door opening is supported by a program-controlled reduction of the force required to open the door. If at any time an obstacle is detected in the pivot region of the door, the program changes into this mode regardless from which step or from which program. If the door is located in the groove, then it is automatically opened a little. As a consequence a signal is sent to the user that the door is ready to open. The user in this -13 case need only provide the smaller portion of the support force, the remaining force is provided by the drive. Sufficient torque is then provided by the drive in order for opening purposes to overcome the greatest portion of the torque. This allows the user to move the door with reduced force. The force which the user must provide in order to open the door is fixed by the operating personnel by carrying out an adjustment within the control and regulating unit.

The delay time for closing is fixed by carrying out an adjustment at the retardation member and the program simultaneously sets a timer. If the timer achieves the set delay time, then the program changes into the closing mode.

The support mode comprises two program phases. In the first support mode the door is opened only slightly in order to assist the user if the door is located in the groove position. In the second support mode, which is assumed immediately an automatic opening signal is *given, if the door is located behind the groove position, or if an obstacle is detected by the door, then the drive maintains the force in order to assist the user opening the door. If automatic closing conditions are recognised at any time during the support mode, then the program control automatically switches to the closing mode.

The closing mode also comprises different program phases. These can be for example: in one closing phase the door can be accelerated up to a running speed. During a further closing phase the door closes at the running speed which reduces in a subsequent -14closing phase down to a speed at which the door approaches the groove stop. In a subsequent closing phase the door continues to run at the speed at which the door approaches the groove stop until the door is reliably closed. This number of phases is not definitive, on the contrary any number of closing phases can be provided within the program.

In practice each of the aforementioned settings can be changed without any great problems. This can be achieved by manual adjustments or by changes to the program. All settings or stored commands define the movement parameters of the attached door during the manual opening and closing cycle and also include the setting for the closing force.

go The method according to the invention provides a versatile door control which can be used wherever the safety of the users is of the essence and even in the areas in which disabled persons desire to negotiate such a door.

The aforementioned method is suitable in particular in the case of a drive which opens an attached door by means of motorised force but where the closing movement oo of the door is carried out by a door closing device.

The closing process is controlled by a device, which monitors the travel of the piston, in order to initiate a reversal process at any time and also to regulate and control the closing movement. In so doing it is not dependent upon the manner in which a drive is assembled nor upon the chosen connection between the door and drive, i.e. a scissor-type linkage or a guide rail can P:\WPDOCS\DYS\SPECIE\643132.SPE 1/11/99 be used, the different opening torques are achieved by corresponding programs or program steps.

A door having a pivoting door drive which is equipped with a regulating and control unit which processes the above method can also be negotiated safely by disabled persons without any additional safety device.

Throughout this specification and the claims which follow, unless the context requires otherwise, the word "comprise", and variations such as "comprises" or "comprising" will be understood to imply the inclusion of a stated integer or step or group of integers or steps but not the exclusion of any other integer or step or group of integers or steps.

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Claims

1. Method of operating a pivoting door drive for a door comprising at least one leaf, the door leaf being movable by an electromechanical drive motor operable in the opening direction, the drive axis of said drive motor being connected to a transmission and the pivoting door drive being connected to the door leaf by way of a pivot arm and for control and regulation purposes a control and regulating unit, which is equipped with a microprocessor and with at least one non-volatile memory for storing the operating parameters and different program cycles, is provided and by means of said control and regulating unit the pivoting door drive can be operated in different operating modes, wherein the different operating modes are switched manually, characterised in that the control and regulating unit comprises a program unit which is able to switch automatically between the different operating modes stored in the memory, wherein the necessary operating parameters are learned automatically by a program cycle irrespective of the door being used and without reducing the performance thereof and the forces which are applied to the door are limited to a value which is safe for the persons negotiating the door, wherein no additional electronic safety device or sensor safety device is provided. 9 i.

2. Method according to claim 1, characterised in that a program is provided in the memory which allows a power-assisted opening mode, wherein the necessary opening force which must 20 be provided by the user is reduced.

3. Method according to claim 1, characterised in that in the case of an interruption of the supply voltage of the door leaf, learning is automatically performed on reinstatement of the 2supply voltage.

4. Method according to claims 1 and 2, characterised in that during the opening mode one program automatically opens the door leaf to the maximum door open angle and the cycle c a comprises at least the following program steps: a) The door leaf is accelerated at an increasing rate until the maximum rate of P:\WPDOCS\DYS\SPECIE\643132.SPE- 1/11/99 -17- movement is achieved. b) The maximum rate of movement is such that the door leaf is opened within the desired opening time. c) In the region in which the opening movement is damped the maximum rate of movement is reduced to a slower rate of movement. d) If during the opening phase the door leaf meets an obstacle then the program changes into a support mode for recognition of defects in the door drive. e) If during the closing phase the door leaf meets an obstacle, then the program automatically changes again into the support mode.

5. Method according to claims 1 and 2, characterised in that in a support mode the user is supported when opening the door leaf by means of a program controlled reduction of the force required for the door leaf to be opened.

6. Method according to claim 5, characterised in that in the event of an obstacle appearing in the pivot region of the door leaf the control and regulating unit automatically changes from the sub-program being used into the support mode.

7. Method according to claims 5 and 6, characterised in that the support mode comprises *0 2at least the following program phases: a) Once activated the closed door is opened by a few degrees. In the event of a manual force being exerted on the door leaf, the opening movement of the door leaf is assisted by the motorised driving force. P:\WPDOCS\DYS\SPECIE\643132.SPE 1/11/99

18- c) If automatic closing conditions are detected at any time during the support mode, then the program control switches into the closing mode. 8. Method for operating a pivoting door drive for a door comprising at least one leaf and for changing as desired the operating parameters which are stored in a memory and are processed in a control and regulating unit equipped with a microprocessor, the door leaf being movable by an electromechanical drive motor which operates in the opening direction, the drive shaft of said drive motor being connected to a transmission and the pivot door drive being connected to the door leaf by way of a pivot arm, and a device is provided which comprises a piston which controls the closing characteristics of the door and selectable fluid currents within the device, characterised in that the method comprises the following step causing a unit to contact and move the piston thus the door. 9. Method according to claim 8, characterised in that in the case of the step of the optional movement of the piston is such that the door opening force necessary to be applied by the user is reduced but not eliminated. 10. Method according to claim 8, characterised in that the movement of the unit comprises one step during which the opening force is eliminated. C* Co9 O.. 11. Method according to claim 8, characterised in that a program for monitoring the door closing movement is provided and the unit is optionally moved in such a manner that it comes into contact with the piston which causes a change in the closing mode if this is not within the predetermined parameters. 12. Method according to claim 8, characterised in that there is a selection of choices for the movement of the unit out of a plurality of predetermined operating modes. C. 4 13. Method according to claim 12, characterised in that the movement modes comprise a non- movement mode. P:\WPDOCS\DYS\SPECIE\643132.SPE 1/11/99 -19- 14. Method according to claim 8, characterised in that the unit can be moved in a second direction owing to one program step, wherein the contact with the piston is removed so that the closing control is mainly carried out only by the device. 15. Method according to the claims 1 and 8, characterised in that a program is provided in order to carry out self diagnosis of any defects occurring after the installation is completed. 16. Method according to the preceding claims, characterised in that the control and regulating unit is able to detect mechanical defects in the door attachment arrangement. 17. Method according to any one or several of the preceding claims, characterised in that the method is executed by programming steps to be effected without reference to the manner in which the device is attached to the door. Dated this 29th day of October, 1999 DORMA GmbH CO. KG By Its Patent Attorneys DAVIES COLLISON CAVE A A ft A.