DE10019957A1 - Barrier appliance to close-off roadways and enclosed rooms has brush-less DC motor with Hall sensors to determine all positions of a barrier - Google Patents

Abstract

The barrier appliance (1) has a drive unit of control device, drive motor, and transmission. It also has a second device to detect and vary the movement and performance-dependent parameters of a barrier (5). This has a logic control unit to regulate and adjust speed and acceleration, defined turning angle positions and monitoring functions during operation. The drive motor is a brush-less DC motor (2) and has at least one signalizing Hall sensor.

Description

The invention relates to a locking and closing device for traffic routes and / or in front of or in enclosed spaces with at least one in the closing and Opening sense power-operated movable locking and closing element that by a drive motor provided with an intermediate gear is driven. Such devices are for a wide variety of locking elements or closing and rolling gates known, which can be raised and lowered or moved or are movable or rotatable.

Such devices have a wide variety of motor drive systems consisting of drive motors and gearboxes through which the translational or rotary movement of the shut-off and closing element at least between causes two limit positions and is limited. With such barriers or the like. Locking or closing devices is the state of the art Position detection of the shut-off and closing element using limit switches or Encoders implemented. There is either a limit switch for the position positions "open" or "closed" provided or an encoder on a shaft for Determination of the position of shut-off and closing elements necessary. A disadvantage of Use of limit switches is that the position of the shut-off and closing element in Intermediate positions cannot be recorded. Likewise, other important functions like switching off the safety functions like induction loops, Light barriers or the like also controlled by limit switches. At a such an arrangement is the arrangement and adjustment of one appropriate number of switch cams and gear parts required, which also requires a certain amount of wiring. When using rotary encoders the positions between the end positions of the shut-off and closing element detectable, but have no operative connection with the drive motor, d. H.  Features of the shut-off and locking element are the same as for Use of limit switches, not detectable.

WO 99/04100 discloses a barrier with a crank mechanism and limit switches to determine the end positions of the barrier boom. DE-U-85 16 062 shows features of a 45 degree not moving in parallel planes inclined crank mechanism provided with a connecting rod-like bolt, the Positions of the shut-off and closing element as well as in WO 99/04100 not across the entire range of motion. Also in EP 0 438 364 A1 or EP 0 553 802 B1 only the end positions are recorded. In all five writings are therefore any positions of the shut-off and closing element between the cannot be determined in both end positions. Furthermore, in this state the Technology mechanically adjusts the end positions of the shut-off and closing elements become.

Particularly disadvantageous in the known and previously customary training with Limit switches and adjustment of the end positions is the fact that with a new device, e.g. B. in a barrier, carried out by the manufacturer Setting the braking point and the end position during the running-in period of some 100 or 1000 gear changes by changing the gearbox and the entire mechanics has become smoother. Then the braking point or the end position to be readjusted to avoid the braking process no longer runs optimally, d. H. the barrier, for example when closing touches down hard. Especially with very fast shut-off and closing elements like the one below are used at motorway toll booths, a lack of readjustment can an unfavorable sequence of movements of the pivoting movement and thus as a result of Signs of wear significantly shorten the life of the lead mechanical device parts.

For certain applications of such shut-off and closing devices, it becomes also considered disadvantageous that the electric drive is not adjustable. In this case, controllable means that the degree of acceleration and the  Delay of the shut-off and closing elements can be regulated at any time and that Shut-off and closing elements at any time in any and captured position, without Definition of an accident and independent of a separate safety system can be stopped.

This is where the invention comes in and solves the task, the speed of movement of the Drive motor continuously depending on the local or current conditions adapt, especially the end positions of the shut-off and Recognize locking elements with the help of the drive motor and with reduced Approach speed, the braking point from a control point of view and not mechanically to vary and adjust the movement of the shut-off and closing element in to interrupt predetermined or selected positions from case to case or to stop and in particular the respective position of the movement of the Shut-off and closing elements to be monitored via the drive motor in the time profile and regulate.

According to the previous limit switches and encoders and previous drive motors of such shut-off and closing devices replaced a single drive motor with Hall sensors, through which the entire Rotational movement of the pivoting locking or closing element between the predetermined end positions and also in every possible intermediate position can be detected via the transmission links, so that every technically achievable one is thereby Pivot position convertible into an electrical signal from the drive motor and as The controlled variable of a logical control unit can be specified. The shut-off and locking device in direct control and at the same time operational connection with the drive motor. A mechanical one Adjustment of the locking and locking device is no longer necessary.

A variable braking point can thus advantageously be set, so that at one new, stiff device is automatically braked later and at device that has already run in and therefore runs more smoothly earlier is braked. Also strong wind influences influencing the swiveling movement are recorded and corrected in terms of control technology. By depositing  Speed profiles can be used for different device or Barrier types with different terms or with different tree lengths, the optimal braking program can be saved and called up. So far time-consuming optimization of the braking point is done automatically with the help of Control logic within a few swivel or rotary movements.

This design of the drive increases the technical effort considerably saved and at the same time the application area of the control is considerably expanded, because additional functions are initiated by the drive motor and according to pre-selected ones Control parameters can be regulated.

The drive motor is a brushless DC motor (BLGM) with Hall sensors or designed as another DC or AC motor, the electrical Field can be used to determine the rotational positions of the motor shaft. This Kinds of motors are already known and are described for below modified the application according to the invention.

The Hall effect generally describes the reaction voltage that arises when a electric current is superimposed on a magnetic field. In the DC motor overlap the magnetic field of the rotor, which acts as a permanent magnet is formed and the current through the winding of the stator. Through this on the Lorenz force based effect is a Hall constant, a Hall voltage and a Hall angle definable, with the help of which Hall mobility can be derived. In the application with these parameters such. B. speed, position and Performance characteristics of the magnetic field detected.

By using a specific rotor that is considered a high quality Permanent magnet is formed and a special three-phase winding in the stator and a corresponding control system forms a controllable drive. As known from BLGM, with a suitable control and suitable Software of the engine can be operated regulated, d. H. Duration and measure of Acceleration phase can be set as well as the deceleration phase. Different and maximum speeds can be before and during operation can be set. In addition to the advantage that the torque delivered via  the BLGM shows that a very wide control range can be kept constant very good efficiency.

For rotors with permanent magnets, it must be ensured that the magnetic inference through the laminated core of the stator and not through the Motor shaft goes. This would result in high losses. In general, therefore Motor shaft made of non-magnetic stainless metal. This material is very expensive and has poor processing and strength characteristics.

In the version of the motor chosen here, the shaft is made of any steel manufactured. To the above Preventing the aforementioned losses is according to the invention between shaft and rotor package a sleeve made of inexpensive, non-magnetic Material such as B. introduced aluminum or bronze and thus the magnetic Inference prevented.

The rotor magnets create an attractive force on the webs of the stator, which is a Cogging torque from web to web causes rotation of the rotor. According to that required cogging torque, a stator package with a straight or angled arrangement Bridges used. This can be done by arranging the stator plates at an angle Cogging torque can be significantly reduced and can even with extreme inclination be eliminated. Since beveled laminated cores are more difficult to wind, are for the There are limits to the strength of the bevel. According to the invention when using a BLGM automatically opens the locking or closing element Power failure may be possible, so the cogging torque must be as low as possible thus the webs of the stator can be arranged obliquely.

The feedback of the position of the motor shaft and thus the position of the shut-off and closing elements is carried out by evaluating the to recognize the Reaction voltage of the rotating field required sensors in the motor, which in this Case are designed as Hall sensors.

The signals from the Hall sensors are recorded, counted and controlled by the controller evaluated. This means that both starting and braking points are ahead of the mechanical ones  End positions as well as speed and acceleration profiles are recognizable and programmable adjustable. The recognizes the order of the incoming signals Control the direction of rotation of the motor.

A reference signal transmitter for the position of the shut-off and closing element is used safety in the event that the signals of the Hall Sensors are faulty or are no longer available due to a power failure. The position of the shut-off and closing element is determined by the reference signal transmitter according to the invention can also be determined after a power failure and the signals of the control can be corrected or updated.

One possibility for determining the reference position is, for example Use of a potentiometer as a so-called encoder with good linearity. This one attached to a gear shaft, the control system delivers absolute signals for Definition of the tree position can be evaluated. The control system also compares these signals the internal counts. Advantage of this encoder as a reference signal generator compared to reference switches in the end positions of the shut-off and closing element is that in the event of a power failure, no homing is necessary to get the Recognize tree position. The sensor signal is immediately after the Recurrence of voltage can be detected by the control and thereby the position of the Locking and closing elements can be determined again.

The arrangement of the rotary encoder on a shaft of the Shut-off and closing device that rotates about 90 °. If the sensor is torsionally rigid connected to this shaft and supported elastically on the gear housing, can achieve the ideal resolution. The elastic support on the gearbox is This is advantageous because it may result from runout errors Shear forces do not adversely affect the bearing of the sensor shaft and thus can affect its lifespan. Other sensors can also be used be used that work inductively, capacitively or magnetically.

The logical control unit for evaluating the Hall sensor signals and the signals of the reference signal generator contains, in addition to the known logic functions and  the control functions of the drive motor, the control signals for the open and Closed positions of the shut-off and closing element, for Monitoring functions from a freely selectable closing angle and for that Initiate electric braking before reaching the selected stop Position by dynamic approach.

Additional control signals are used to set and monitor the preselected Swing speed, further to detect a disability Swivel movement, for example, by a foreign body and initiating one for this case provided measure z. B. alarm triggering and / or reversing of the drive, as well as to recognize a violent external influence (Vandalism) for example by violently pushing up the barrier tree or opening the closed lock and triggering a corresponding message and / or an alarm and also for controlling signal lamps or Warning lights during the movement of the shut-off and closing element.

It has proven to be advantageous to use the inventive method described above Application of a drive to control and monitor barriers, Person barriers, turnstiles, roller shutters or other rotating or to use translationally moving shut-off and closing elements.

The signals between the Hall sensor or drive motor, Reference signal generator and logic control unit transmit the speed, the Torque and the angle of rotation of the motor shaft and thus the speed and acceleration curves as well as the positions of the shut-off and Locking elements are programmable and adjustable.

When commissioning, the motor runs more slowly to recognize the end positions Speed the end positions of the shut-off and closing element at what one increased current consumption when the motor is blocked. This increased Current consumption is specified as the control signal of the control unit End positions of the shut-off and closing element are thus recognized.  

The brushless DC motor has at least one reduction gear and then at least one four-bar gearbox and / or one in another way Rotary and / or translational force-transmitting element connected downstream. To reduce the energy consumption, or to compensate for the Transmission links and introduced by the shut-off and closing elements Mass moments of inertia and weight are spring motors for a static one and / or dynamic compensation of these masses can be introduced, the Spring motors between any two transmission links or between one Link the gear link and the housing.

The crank, the coupling or the swing arm of the four-bar transmission are through smaller or larger transmission links can be exchanged in order to change the Kinematics of the individual transmission links to each other, different Torque curves to achieve at least one of the transmission shafts.

This regulated movement is contrary to the state of the art much shorter terms of the shut-off and closing elements in the The order of magnitude of 0.5 seconds is possible. A holding torque can be generated be so that the locking and locking device in any position can be blocked. In the event of a power failure, the Drive motor stored energy can be used to the barrier boom to give an impulse towards open.

In the drawing, the embodiment of the drive of a barrier device and two further embodiments of shut-off and closing elements are shown as an exemplary embodiment. These are described below with reference to FIGS. 1 to 7:

Show it

Fig. 1 blocking barrier driving mechanism in partial section with cut A-A ',

Fig. 2 blocking barrier driving mechanism in side view (section A-A ') with access to the drive motor,

Fig. 3 electric drive motor with Hall sensors,

Fig. 4 modular system of blocking barrier, encoder, drive motor and control unit,

Fig. 5 showing a functional diagram of various signals,

Figure 6 is perspective view. A sliding gate with drive unit,

Fig. 7 front view of a double swing gate with drive unit.

The barrier shown in FIG. 1 shows, as a blocking and closing element 5, a power-operated barrier boom for traffic routes that is movable in the closing and opening directions, driven by a brushless DC motor (BLGM) 2 as a drive motor with downstream gear units 22 .

The power flow between the brushless direct current motor (BLGM) 2 and the shut-off and closing element 5 is conducted to the hollow shaft 8 via a reduction gear 23 connected downstream of the BLGM 2 and a four-link or coupling gear 12 downstream of the following, consisting of crank 17 , coupling 18 and crank 19 , in which the shut-off and closing element 5 receiving output shaft 24 is rotatably and removably mounted. The reduction gear has a worm gear shaft, a first gear shaft 29 and a second gear shaft 30 .

Barrier boom 5 , power transmission elements and BLGM 2 of the locking and closing device 1 are mounted in a frame 25 and together with this form a unit. This unit can be inserted into the lower housing part 13 , which carries the entire unit and can be closed by a housing cover 11 .

The necessary static and dynamic compensation of all mass moments of inertia and weight of all movable device parts is accomplished by one or more spring motors 16 which engage between the rocker 19 and the housing 13 . Individual gear members are interchangeable with smaller or larger gear members in order to achieve different torque profiles on at least one of the gear shafts by changing the kinematics of the individual gear members.

The data line 21 of the Hall sensors and the power supply cable 26 for supplying electrical power to the BLGM 2 are led out of the motor housing 35 according to FIG. 3.

Means ( 7 ) serve to limit the movement of the shut-off and closing element ( 5 ) so that in the regulated approached end positions of the shut-off and closing element ( 5 ) a rest position of the entire system which is determined in the kinematic sense and thus can be maintained without additional electrical energy enable.

The side view with the section AA 'through the frame 25 and reduction gear 23 is shown in FIG. 2, which shows the mechanical operative connection of the locking and closing device 1 . The BLGM 2 is flanged to the reduction gear 23 , the motor shaft 4 , which is designed as a gear shaft at the end, meshes the worm wheel of the worm wheel shaft 28 . The operative connection of the gear stages of the reduction gear via the spur gears arranged on the gear shafts 29 and 30 is not described in detail. By the second on the transmission shaft 30 fixed crank 17, the torque is transmitted to the non-uniform be translated or four-bar linkage that transmits by means of coupling 18 the torque to the hollow shaft fixed to the rocker 8 nineteenth The resulting swinging movement of the rocker 19 within a pivoting range of 90 degrees is transmitted via the hollow shaft 8 to the driven shaft 24 , which is non-rotatably and removably mounted in the hollow shaft and to which the shut-off and closing element 5 is flanged.

The operative connection between the output shaft 24 , the hollow shaft 8 and the rocker 19 forms the connecting element 31 . In the further course of the drive shaft 24 , a sensor II 6 in the form of a rotary encoder is non-rotatably connected to the output shaft as a reference signal generator, the signals of which are transmitted via the signal line 32 to the control unit (not shown).

The BLGM 2 shown with an open housing is described in more detail in Fig. 3 in half section. The rotor assembly 10 , which has a non-magnetic sleeve 9 and a permanent magnet 33 , is seated on the motor shaft 4 , which is mounted in the bearing 36 . The non-magnetic sleeve prevents the magnetic yoke in the motor shaft 4 and thus avoids losses.

A number of Hall sensors 3 are axially adjacent and fixed in place by means of a holder 34 . The sensor signals are transmitted to the control unit (not shown) via data lines.

These components are surrounded by the stator 14 consisting of obliquely arranged stator laminations and their symmetrical or asymmetrical winding 15 . The diagonally arranged stator plates reduce the cogging torque between the stator and the rotor, so that manual opening of the locking and closing device by hand is made easier.

Fig. 4 shows the control technical context of a shut-off and closure device. 1 The position of the shut-off and closing element 5 is transmitted directly to the logic control unit 20 via the signal line 32 with the aid of the sensor II 6 designed as a rotary encoder. At the same time, the signals determined by the BLGM 2 or by the Hall sensors are transmitted to the logic control unit via the data line 21 . The signals of the Hall sensors are produced by rotation of the motor shaft 4, and the rotor core 10, which my be in direct mechanical connection to the gearbox by the units 2 located in operative connection shut-off and closure member. 5

The Hall signal and reference signal are thus directly related to the control unit, which, as is not shown here, has its own power supply. In addition to a central logic unit, the control unit includes all control components such as relays, cabling, switches, plugs, pressure switches, circuit boards and components for monitoring in order to operate such a barrier drive in a controlled manner, ie the speed and acceleration profiles as well as defined positions of the shut-off and closing element ( 5 ), as well as regulating and adjusting the speed, torque and angle of rotation of the motor shaft ( 4 ) even during operation.

Fig. 5 illustrates a functional diagram of a plurality of electric signals for monitoring represents, which are adjustable by means of the regulated control of the closed up to open the barrier or closure element position. Examples include warning tones A when the barrier is closed, possibly with a warning time via the control, warning tones B when the barrier is opened, and visual warning signals C, for example, as a continuous light or flashing light when the locking device is opened or closed, braking function D and monitoring functions E, for example as a light barrier or sliding contact, and the feedback F of the open and closed position of the barrier boom is represented as a signal and can be regulated by the logic control. The signals are plotted independently of each other on the ordinate and each indicate the state on / off or O / I. The abscissa marks the position of the shut-off and closing element between its open and closed positions.

As a second exemplary embodiment, a translationally moved roller door is shown as a blocking and closing element 5 in FIG. 6. Is driven by this shut-off and closure member 5 by an above-described controlled BLGM 2, the further reduction gear is connected downstream of the not shown through a combing led to the outside teeth, the rack 38 and thus the connected to the rack 38 shut-off and closure element 5 moves.

The regulated drive is mounted on a base 39 and adjustable slide bearings 40 . A housing 13 is mounted on the drive and accommodates the entire control unit and a reference signal transmitter.

As a third exemplary embodiment, a rotatably moving swivel is shown as a shut-off and closing element 5 , which has two of the regulated drives 27 described at the outset, which are operated in a controlled manner via a logic control unit (not shown), so that each swivel half for itself at different times with different speeds or both can be operated at the same speed at the same time.

The gear units 22 , which act directly on the swing gates, are designed as multi-value coupling gears.

Shut-off and locking device for traffic routes and enclosed spaces

1

Shut-off and locking device

2

brushless DC motor (BLGM)

3rd

Hall sensor

4

Motor shaft

5

Shut-off and closing element

6

Sensor II

7

medium

8th

Hollow shaft

9

Sleeve

10th

Rotor package

11

Housing cover

12th

Four-link or coupling gear

13

casing

14

stator

15

Winding

16

Spring motors

17th

crank

18th

Paddock

19th

Swingarm

20th

Control unit

21

Data line

22

Gear units

23

Reduction gear

24th

Output shaft

25th

frame

26

Power supply cable

27

regulated drive

28

Worm gear shaft

29

1. Gear shaft

30th

2. Gear shaft

31

Fastener

32

Signal line

33

Permanent magnet

34

bracket

35

Motor housing

36

camp

37

-

38

Rack

39

base

40

bearings

Claims (10)

1. Shut-off and closing device for traffic routes and enclosed spaces with at least one power-operated shut-off and closing element that is movable in the closing and opening direction, with a drive device consisting of control unit, drive motor and intermediate gear for driving the translational or rotary movement of at least one shut-off and Locking elements characterized in that the locking and closing device ( 1 ) has at least one further device for detecting and changing the movement and performance-dependent parameters of at least one locking and closing element ( 5 ), by means of which the speed and acceleration profiles, and also by means of a logic control unit Defined rotation angle positions and monitoring functions of the shut-off and closing element ( 5 ) can be regulated and adjusted during operation. 2. Shut-off and closing device for traffic routes and enclosed spaces with at least one power-operated shut-off and closing element that is movable in the closing and opening direction, with a drive device consisting of control unit, drive motor and intermediate gear for driving the translational or rotary movement of at least one shut-off and Locking elements characterized in that the drive motor is designed as a brushless DC motor (BLGM) ( 2 ) and is provided with at least one signaling Hall sensor ( 3 ), and in that a logic control unit ( 20 ) evaluating the signals transmitted via a data line ( 21 ) , the speed, the torque and the angle of rotation of the motor shaft ( 4 ) can be determined and thus the speed and acceleration profiles as well as the end positions and monitoring functions of the shut-off and closing element can be programmed and adjusted in a programmable manner. 3. shut-off and closing device according to claim 1 and 2, characterized in that by a sensor II ( 6 ) the positions of the shut-off and closing element ( 5 ) as a reference signal for the logic control unit via one of the shafts of the transmission or via the means ( 7 ) to limit the movement of the shut-off and closing element ( 5 ) can be determined and these positions can be specified as a signal of the control logic. 4. Shut-off and closing device according to claim 2, characterized in that the shut-off and closing element ( 1 ) for opening can be supplied with a pulsed torque in the direction of opening by the electrical energy stored in the intermediate circuit of the brushless DC motor ( 2 ) in the event of a power failure. 5. shut-off and closing device according to claim 2 characterized in that  by the drive motor or by an additional device in any position of the shut-off and closing element, a holding torque can be generated at any time. 6. Shut-off and closing device according to claim 2, characterized in that between the motor shaft ( 4 ) and the rotor package ( 10 ) of the brushless DC motor ( 2 ) at least one sleeve ( 9 ) made of non-magnetic and non-metallic material is arranged. 7. Shut-off and closing device according to claim 2, characterized in that the stator plates of the stator ( 14 ) of the brushless DC motor ( 2 ) are arranged obliquely relative to the direction of rotation of the rotor package ( 10 ) and the winding ( 15 ) of the stator ( 14 ) symmetrically or is asymmetrical. 8. shut-off and closing device according to claim 2, characterized in that the brushless DC motor ( 2 ) at least one reduction gear ( 11 ) and / or subsequently at least one four-bar or coupling gear ( 12 ) or in any other way rotational and / or translational force transmitting elements are connected downstream. 9. Shut-off and closing device according to claim 2, characterized in that to reduce the energy expenditure to compensate for the mass inertia and weight moments initiated by the transmission members and by the shut-off and closing elements ( 5 ), spring motors ( 16 ) for a static and / or dynamic Compensation of these moments can be introduced, the spring motors articulating between at least two arbitrary gear members or at least between one gear member and the housing ( 13 ). 10. Locking and closing device according to claim 2, characterized in that the crank ( 17 ), coupling ( 18 ) or rocker ( 19 ) of the four-bar or coupling gear ( 12 ) can be replaced by smaller or larger gear members and thus by changing the kinematics of the individual transmission links to each other, different torque profiles can be achieved on at least one of the transmission shafts.