WO2019007764A1 - DOOR DRIVE DEVICE WITH PILOT POSITION DETECTION DEVICE - Google Patents

Abstract

To optimize a door leaf movement, the invention provides a door drive device (12) for driving a gate of a gate, with an electric motor, driven by the electric motor Torantriebsgetriebe (10), and connected to a rotary shaft of the door drive gate position detecting means (14) for detecting a gate leaf position, wherein the gate position detecting means (14) comprises a rotary encoder (34) provided on a transmission output shaft (18) of the door drive gear (10) for directly detecting a rotational angular position of the transmission output shaft (18).

Description

 Door drive device with gate leaf position detection device

The invention relates to a door drive device for driving a door leaf of a gate with a gate leaf position detecting device for detecting a gate leaf position of the gate. Moreover, the invention relates to a door provided with such a door drive device.

It has long been known to control door drives depending on the respective position of the driven door leaf.

Thus, WO 95/14151 describes a method and a system for controlling a motor-operated door leaf, wherein the drive speed is controlled depending on the respective door position.

For detecting the respective door position are door drives with a

Door leaf position detection device provided, for example, have a potentiometer or an incremental encoder, which is coupled to a shaft of an electric motor of the door drive.

For example, incremental encoders are used as encoders, for example via a perforated disc and a light element and a photodiode - during movement of the gate and rotation of the corresponding

Electric motor shaft to generate a pulse train. The corresponding pulses are counted in a counter. The meter reading then indicates - after learning by a learning trip - the respective gate position. Such encoders are referred to as relative encoders, since they must be referenced from time to time. For example, from WO 2010/009952 A1 is a

 Door leaf position detecting device includes, which includes an absolute encoder, which is connected to a drive chain of a door drive.

The previously used gate leaf position detecting devices have proven themselves for the previous uses.

The invention has for its object to provide a door drive device with which an improved, e.g. faster gate run than previously realized.

A faster door run has e.g. In addition to a concomitant comfort for the operator energy benefits, since opening times for a gate can be shortened even in cold winter months and thus heat energy can be saved. This desire for a faster Toriauf is the

Safety concept opposite; Door drives must not exceed a maximum energy when hitting an obstacle. Also, depending on the respective door position, different forces are to be expected even during a control operation, to which a shutdown device should be optimized.

The invention has for its object to provide a door drive device whose opening and closing movement, such. in terms of opening and closing speed, can be optimized.

To achieve this object, the invention provides a door drive device according to claim 1.

Advantageous embodiments are the subject of the dependent claims. A provided with the door drive door is the subject of the independent claim.

The invention provides a door drive device for driving a gate of a gate, with an electric motor, a driven by the electric motor Torantriebsgetriebe, as well as a to a rotary shaft of the door drive

connected gate wing position detecting means for detecting a Gate leaf position, wherein the gate position detecting means comprises a provided on a transmission output shaft of the Torantriebsgetriebes rotary encoder for directly detecting a rotational angular position of the transmission output shaft.

It is preferred that the door drive device as a shaft gate drive for

Driving a gate shaft of the gate is formed, wherein the

Transmission output shaft comprises a Torwellenkupplungsaufnahme for receiving a Torwellenkupplung.

It is preferred that the rotary encoder is designed as an absolute value encoder and / or as a multi-turn rotary encoder.

It is preferred that the rotary encoder directly with the

A rotor element and the stator connected to a housing of the Torantriebsvorrichtung connected or thereby formed Statorelement, wherein one of the rotor element and the stator element provided on the circumference position code and the other of the rotor element and the stator a code reader for detecting the position code purpose Has rotational angle resolution.

It is preferable that a speed code code with coarser code distribution for detecting the number of rotations of the transmission output shaft and a

Angular position code are provided with finer code distribution for detecting the angular position of the transmission output shaft.

It is preferred that the rotary encoder comprises a signal transmitting device for

wired or wireless transmission of the encoder signal and / or an energy harvesting unit for supplying the rotary encoder with electrical energy generated from energy from the environment of the rotary encoder.

It is preferred that the rotary encoder on or in a pivot bearing of

Getriebeabtrieswelle is provided and / or between a Output shaft opening of the gearbox housing and the transmission output shaft is provided.

It is preferred that the gate position detecting means is adapted to the signal of the as a multi-turn absolute encoder

trained encoder clearly determine the current gate position.

It is preferred that a door drive control is provided, which is designed to control the electric motor depending on the current door leaf position.

In another aspect, the invention provides an automatic

powered gate, comprising a gate and a door drive device according to one of the preceding embodiments for driving the gate.

The gate is preferably a gate with a Torwelle, the geared to

common motion is connected to the gate, such as e.g. on

Sectional door, a lift gate or a roller shutter door.

In the case of the door drive device according to the invention, a faster mode of operation can be achieved in compliance with all safety regulations in that a much more accurate door position detection than previously possible. Previous efforts to improve the Torpositionserfassungen went to specifying a possible backlash-free transmission between the electric motor and a rotary encoder. The invention is going to another way by a rotary encoder is provided directly on the output shaft of the door drive, so close as possible, on the gate. Here, the rotation angle of the Torantriebsgetriebeabtriebswelle is detected directly and used to determine the gate position. This is particularly advantageous for Wellentorantriebe in which the door drive is connected directly to a door shaft as a direct drive, thereby indicating a rotary encoder practically the rotational position of the door shaft. Here, it is particularly preferred if a multiturn absolute value generator is specified which, even with several revolutions, generates a unique signal

Spins angular position.

Preferably, a coupling device with which a self-locking electric gear motor of the gate for emergencies, such as

Power failures or the like, can decouple, between the

Torantriebsgetriebeabtriebswelle and the electric motor provided. Even in the decoupled state thus the encoder is coupled to the gate. It is therefore not necessary to decouple the door position or to refer to a decoupling, since even in the uncoupled state of

Encoder continues to be coupled to the gate.

Thus, embodiments are preferred in which the rotary encoder for immediate detection of the rotation angle of the Torantriebsgetriebeabtriebwelle is provided as close to a connection point of the door drive for connecting the door leaf.

For this purpose, the rotary encoder can be provided on or in a bearing for the output shaft of the actual door drive. For example, a magnetic coding or optical coding or other coding may be provided on a bearing ring or a co-rotating sealing part of the bearing, and a reading device for reading the coding may be provided stationary. There are also reverse arrangements possible, after which a stationary part is coded and a reading device is provided co-rotating with the shaft.

A signal transmission can be wired or wireless.

Particularly preferably, the rotary encoder is provided with an energy harvesting unit, so that the rotary encoder requires no power supply, but at the rotary encoder existing energy - for example, the rotational movement,

Vibrations or the like - into electrical energy to operate the

Encoder are converted. A particular advantage is that a more accurate position detection of the gate, in particular in the end positions, is made possible.

In previous gate shaft drives available on the market, the function of an absolute encoder is ensured by an additional potentiometer shaft gearbox (gearbox of the rotary encoder).

Due to the play in the potentiometer shaft gear and wear of a toothing, the positioning of the gate is inaccurate; Such inaccuracies worsen during the Torlebens by further wear. Next must be used depending on the length of Torweges and speed ranges different translations for the transmission between a drive shaft of the Wellentorantriebes and the absolute encoder. For example,

At Hörmann KG Antriebstechnik, three different ratios are currently being used on potentiometers - i1 -1, i1 -2, i1 -3. Furthermore, different main transmission ratios i2-1, i2-2, i2-3 are used, so that there are currently nine transmission variants for the ratio between the gate leaf and the absolute value encoder.

In a newly developed Torantriebsgetriebe, especially for a

Wellentorantrieb, an absolute encoder in the form of a ring is designed as a separate unit and mounted directly on the output shaft of the Torantriebsgetriebes.

For example, the absolute encoder is designed as part of a rolling bearing for the output shaft.

For example, the absolute value encoder is designed as a multi-turn value transmitter. For this purpose, for example, several different codes are provided, a finer for the angular resolution at a Torwellenumdrehung and a coarser for counting the Torwellenumdrehungen.

In one embodiment, the absolute value encoder with a battery for

Storing the gate position provided when moving the gate so that the Gate position is maintained even in the event of a power failure. In a particularly preferred embodiment, the absolute encoder has an energy harvester and can be used without a backup battery.

As a result, every positioning of the door can be called up with several revolutions of the output shaft, even in the event of a power failure.

In one embodiment, the absolute encoder is positioned in front of a shaft seal in the transmission. In another embodiment, the

Absolute encoder positioned in the gearbox after the shaft seal.

By embodiments of the invention Torantriebsvorrichtung omitted the previous separate gear for the connection of a rotary gearbox. Further, no drilling or other machining operations of the gear housing for the purpose of connecting a rotary encoder must be provided. This results in a smaller space, since a laterally flanged encoder omitted. Furthermore, fewer items are provided.

Preferably, the rotary encoder is a multi-turn absolute encoder.

The absolute encoder is primarily for detecting the exact

Angular position (also the number of rotary shafts) formed.

In further embodiments can be at the encoder next to the

Angular position also at least one of the other parameters torque, axial force, radial force, temperature, speed, cycle number, etc. capture.

Embodiments of the invention are explained in more detail below with reference to the accompanying drawings. It shows:

Fig. 1 is a sectional view through a Torantriebsgetriebe a as

Wellentorantrieb trained door drive device according to the current state of the art; Fig. 2 is a partially cutaway perspective view of the door drive transmission of Fig. 1;

Fig. 3 is a sectional view through a Torantriebsgetriebe a

 Embodiment of a door drive device according to the invention in the form of a Wellentorantriebes;

Fig. 4 is a perspective, partially cutaway view of the

 Torantriebsgetriebes of Fig. 3;

Fig. 5 is a view similar to Figure 3 for a further embodiment of the Torantriebsgetriebes.

Fig. 6 is a view similar to Figure 4 for the further embodiment of the Torantriebsgetriebes.

Fig. 7 is a plan view seen in the axial direction of an embodiment of a rotary encoder, which is used in the Torantriebsgetrieben shown in Figures 4 to 6 ..;

8 is a detail view of the rotary encoder of Fig. 7.

Illustrations of different embodiments of Torantriebsgetrieben for Wellentorantriebe are reproduced in Figs. 1 to 6, wherein FIGS. 1, 3 and 5 is a sectional view taken along a through an axis of rotation of a

2, 4 and 6 show perspective views of the Torantriebsgetriebes in which parts of a gear housing are broken away for better illustration.

The door drive gearboxes are to be used as gearboxes of a shaft gate drive, as described and shown in more detail in EP 1 426 538 A2, where the reference numeral 34 is located there. As is known from EP 1 426 538 A2, this is

Torantriebsgetriebe 10 connected to a in a drive housing (not shown) housed electric motor. 1 and 2 show a current embodiment of the door drive according to the prior art, and Figs. 3 and 4 show a first

Embodiment of the Torantriebsgetriebes; and Figs. 5 and 6 show a second embodiment of the Torantriebsgetriebes.

The Torantriebsgetriebe 10 is thus part of a total of 12 designated door drive device in the form of a Wellentorantriebes, which a

Electric motor and driven by the electric motor Torantriebsgetriebe 10 has. Further, a gate position detecting means 14 for detecting a gate position is provided.

The Torantriebsgetriebe 10 has a transmission input shaft 16 which is to be connected to the electric motor, not shown, and a transmission output shaft 18 which is connectable to a door shaft of a door, not shown, for driving a gate of the gate, as described in more detail in EP 1 426 538 A2 to which reference is directed for more details, is described and shown.

The transmission input shaft 16 and the transmission output shaft 18 are geared via a worm 20 and a worm wheel 22 and are housed in a transmission housing 24.

In the current state of the art shown in FIGS. 1 and 2, the transmission output shaft 18 in addition to the worm wheel 22 has a toothing 26. The door leaf position detecting device 14 of the known

Door drive device 12 according to FIGS. 1 and 2 has a separate encoder in the form of a potentiometer 28, which via a

Potentiometerwelle 30 with the teeth 26 in gear engagement. The

Translation between the teeth 26 and a gear 32 on the

Potentiometerwelle is chosen so that an entire door operation of the door leaf causes one revolution of the potentiometer 28, so that via a signal of the potentiometer 28, the door leaf position can be tapped. In contrast, those shown in FIGS. 4 to 6

Embodiments of the invention Torantriebsgetriebes 10 and provided therewith the door drive device 12 no Potentiometerwelle 30 and no separate potentiometer 28; Rather, it is directly at the

Transmission output shaft 18, a rotary encoder 34 for directly detecting a rotational angular position of the transmission output shaft 18 is provided.

The rotary encoder 34 is shown as a multi-turn absolute value transmitter 36 in the form of a ring, wherein a positioning of the door leaf over several revolutions of the transmission output shaft 18 is retrievable.

In the embodiment of the illustrated in FIGS. 3 and 4

Torantriebsgetriebes 10, the rotary encoder 34 is provided in the transmission housing 24 within a defined by bearings 38 of the transmission output shaft 18 space. In one embodiment, not shown, the rotary encoder 34 is part of one of the bearings 38th

In the embodiment shown in FIGS. 5 and 6, the rotary encoder 34 at an opening of the transmission housing 24, which through the end of the

Transmission output shaft 18 is penetrated provided.

FIGS. 7 and 8 show an exemplary embodiment of the rotary encoder 34.

The rotary encoder 34 has a stator element 40 for fixed attachment to the transmission housing 24 and a rotor element 42 for attachment to the

Transmission output shaft 18 on. In a non-illustrated embodiment, the rotor element 42 is formed by a part of the transmission output shaft 18.

In the embodiments shown in FIGS. 7 and 8, the rotor element 42 is formed as a ring 44 which is divided into a plurality of segments 44a, 44b to easily apply it to the transmission output shaft 18.

The rotor element 42 has a finer coding 46 and a coarser coding 48. The stator element 40 has a reading device 50 for reading individual code elements of the codes 46, 48 in the case of relative rotation

Stator element 40 and rotor element 42.

The codings 46, 48 can be provided in different ways. Conceivable are optically detectable markings, scanning marks or, as exemplified, magnetic marks 52nd

The reading device 50 has a first counter 54 for counting the codes of the finer coding 46 and a second counter 56 for counting the codes of the coarser coding 48. Further, a battery 58 is provided. The count of the first counter 54 indicates the rotational angular position of the transmission output shaft 18 in one revolution, the count of the second counter 56 indicates the number of revolutions of the transmission output shaft 18 at. By the counts of the two counters 54, 56 thus a unique rotational angular position is retrievable even with multiple revolutions of the transmission output shaft 18.

The battery 58 ensures that the counter readings of the counters 54, 56 are retained even in the event of a power failure.

The counter readings of the counters 54, 56 result in a signal of the rotary encoder 34, which are processed as a gate position in a door drive control, not shown. The door drive control controls the drive of the door leaf depending on this signal of the encoder 34th

In Fig. 8, a power harvester 60 is still indicated by a coil, which can be tapped at the location of the rotary encoder 34 energy into electrical energy

Power supply of the encoder 34 can convert. For example, by rotating the rotor element 42 and moving the individual magnets of the magnetic marker 52 relatively past the coil, a current is induced to flow past the coil

Power can be used. LIST OF REFERENCE NUMBERS

 10 Torantriebsgetriebe

 12 door drive device

 14 gate wing position detection device

16 gear input shaft

 18 Transmission output shaft

 20 snail

 22 worm wheel

 24 gearbox housing

 26 toothing

 28 potentiometers

 30 potentiometer shaft

 32 gear

 34 encoders

 36 multiturn absolute encoders

 38 bearings

 40 stator element

 42 rotor element

 44 ring

 44a ring segment

 44b ring segment

 46 finer coding

 48 coarser coding

 50 reading device

 52 magnetic mark

 54 first counter

 56 second counter

 58 battery

 60 energy harvesters

Claims

Claims: 1 . Door drive device (12) for driving a gate of a gate, with an electric motor, a driven by the electric motor Torantriebsgetriebe (10), and a connected to a rotary shaft of the door drive gate position detecting means (14) for detecting a gate leaf position, wherein the door leaf position detecting means (14) one at a Transmission output shaft (18) of the door drive (10) provided Rotary encoder (34) for directly detecting a rotational angular position of the Transmission output shaft (18). 2. Door drive device (12) according to claim 1, characterized, in that it is designed as a shaft gate drive for driving a gate shaft of the gate, wherein the gear output shaft (18) comprises a Torwellenkupplungsaufnahme for receiving a Torwellenkupplung. 3. Door drive device (12) according to one of the preceding claims, characterized in that the rotary encoder (34) is designed as an absolute value encoder and / or as a multi-turn rotary encoder (36). 4. Door drive device (12) according to one of the preceding claims, characterized in that in that the rotary encoder (34) has a rotor element (42) connected directly or formed thereby to the transmission output shaft (18) and one with a Housing of the door drive device (12) connected or formed thereby stator element (40), wherein one of the rotor element (42) and the stator element (40) provided over the circumference position code and the others of the rotor element (42) and the stator element (40) comprise a code reader for detecting the position code for rotation angle resolution. 5. door drive device (12) according to claim 4, characterized, a speed code code with coarser code distribution (48) for detecting the number of rotations of the transmission output shaft (18) and a Angular position code with finer code distribution (46) for detecting the Angular position of the transmission output shaft (18) are provided. 6. Door drive device (12) according to one of the preceding claims, characterized in that that the rotary encoder (34) has a signal transmitting device for wired or wireless transmission of the encoder signal and / or an energy harvesting unit for supplying the rotary encoder (34) with electrical energy which is generated from energy from the environment of the rotary encoder (34). 7. Door drive device (12) according to one of the preceding claims, characterized in that that the rotary encoder (34) on or in a pivot bearing (38) of the Transmission output shaft (18) is provided and / or between a Output shaft opening of a gear receiving housing (24) and the transmission output shaft (18) is provided. 8. Door drive device (12) according to one of the preceding claims, characterized in that in that the door leaf position detection device (14) is designed to unambiguously determine the current door leaf position on the basis of the signal of the rotary encoder (34) configured as a multiturn absolute value encoder (36). 9. door drive device (12) according to claim 8, characterized by a door drive control, which is designed to control the electric motor depending on the current door leaf position. 10. Automatically flipped gate, comprising a gate and a door drive device (12) according to one of the preceding claims for driving the gate.