DE102018117923A1 - Method for actuating a motor that can be moved up and down by motor - Google Patents

Abstract

In the case of a method for actuating a gate which can be moved up and down by motor in the side guide rails, in the event of a collision the gate is moved upwards after the downward movement has been stopped until a threading position which is above the starting position is reached.

Description

The invention relates to a method for actuating a motor that can be moved up and down in lateral guide rails.

In the US 9,945,178 B2 describes an electromotively driven, vertically movable door which is guided in side guide rails. A guide bar is introduced into each guide rail, the cross section of which extends from top to bottom and on the outside of which rollers are guided, which are arranged on the side region of the door. Due to the widening cross-sectional area of the guide rails, the door is pushed apart the further it goes down. As a result, the door surface is stabilized and smoothed, in particular in the case of flexible doors.

It is also known, in the case of vertically movable gates, to arrange optical sensors in the guide rails for safety reasons, to which light transmitters are assigned, which generate light beams between the guide rails. If an obstacle moves into the travel range of the door during the downward movement of the door, this interrupts one or more light beams, which is detected and leads to a stop of the downward movement, possibly combined with a subsequent upward movement until the starting position of the door is reached.

The invention has for its object to ensure a high level of safety when moving down a gate with simple measures and at the same time ensure the functionality of the door operation permanently.

This object is achieved with the features of claim 1. The subclaims indicate appropriate further training.

The method according to the invention relates to a gate device with a gate which can be moved in lateral guide rails, the guide rails in a preferred embodiment running vertically and the gate being correspondingly movable up and down in the vertical direction. The gate can be moved down from an upper starting position in the guide rails to close the gate, and then moved up again to open the gate. The door can be moved in the guide rails with the aid of an electric drive motor, which is preferably controlled via a control unit which is part of the door device. The closing movement of the gate, starting in the starting position, and the opening movement, starting in the closing position, is preferably triggered by manual actuation of a control device, which can also include a control unit for controlling the drive motor.

In order to avoid a collision of the descending gate with obstacles which protrude into the path of movement of the gate, the gate device is provided with a sensor device which comprises a light transmitter in one guide rail and a light sensor in the other guide rail, light rays from the light transmitter in the direction of the light sensor in the other guide rail. It can be expedient to arrange a plurality of light transmitters in one guide rail or a plurality of light sensors in the opposite, other guide rail over the length of the guide rails. If a light beam is interrupted by an obstacle protruding into the movement path, the interruption can be registered in the associated light sensor, whereupon the electric drive motor of the gate is activated in order to stop the downward movement of the gate and to initiate an upward movement of the gate. The light transmitters and the light sensors are preferably located at the same height in the guide rails with horizontally extending light beams.

In the method according to the invention, the door is moved upward beyond the original starting position until a so-called threading position is reached, which is above the starting position and in which the lower edge of the door is still above the guide rails. This procedure has the advantage that the gate can be threaded with the lateral areas of its lower edge into the lateral guide rails during a further downward movement, whereupon the gate is guided securely and stably in the guide rails during the further course of the downward movement. This applies in particular to cases in which the door receives a strong impulse during the downward movement, which moves the door from a desired position in the guide rails, for example by one side of the door or both sides jumping out of the guide rails or jamming within the guide rails. By moving the door upwards until the lower edge of the door is above the openings in the guide rails, the lower edge of the door can be re-threaded into the guide rails during the downward movement that the door is in the desired position within the guide rails and that the door can be moved properly in the guide rails.

The procedure is carried out automatically and without the need for manual external intervention. In a preferred embodiment, the gate device has a control unit which generates control signals for controlling the electric drive motor. The sensor information of the light sensor is fed to the control unit as input signals, which are evaluated in the control unit. Sensor signals of the electric drive motor, which characterize the rotor position of the rotor of the electric drive motor, are also advantageously processed in the control device. From the rotor position information, the sensor information of the sensor device with the light transmitter and the light sensor, it is possible to determine a collision or an impending collision of the gate with an obstacle and to stop the downward movement in the manner described above and to carry out an upward movement until the threading position is reached.

Each rotor position of the electric drive motor is advantageously assigned exactly one gate position. The rotor position is recorded in particular with regard to the current rotor rotational position and the number of complete rotations of the rotor that have already been carried out, for example via a magnetoresistive sensor integrated in the electric drive motor and an index sensor. This makes it possible to assign translatory movement movements of the door of any size with any number of individual door positions to exactly one defined rotor position of the drive motor.

In the event that the gate position recorded by the light transmitter and the light sensor does not match the rotor position, the above-described method is carried out, in which the downward movement of the gate is stopped and then the gate is moved up to the threading position. In this case, it can be assumed that the door has received a high impulse through the obstacle, in particular across the door plane, which is so high that the door has left its target position in one or in both guide rails. The light beam beneath the gate is not interrupted in the usual way by the descending gate, as would normally be expected when the gate was descended without an obstacle. Accordingly, the gate position recorded by the light transmitter and the light sensor no longer coincides with the rotor position. This discrepancy is detected and, as described above, stops the downward movement and the subsequent upward movement until the threading position is reached, in which the door is held until a new closing signal arrives.

According to a further advantageous embodiment, stopping the downward movement and the subsequent upward movement until reaching the threading position is also carried out in the event that one or more light beams are interrupted at a defined maximum distance from the lower edge of the door. In this case, the obstacle is only a short distance from the lower edge or is in contact with the lower edge, so that a further downward movement of the door would lead to a collision, which could result in the target position of the door being left in one or in both guide rails Episode. Even in cases where the obstacle is in contact with the lower edge of the door and exerts a force on the door, either transversely to the door plane or in the door plane, in particular opposite to the downward movement of the door, the obstacle is within the defined maximum distance to the lower edge of the Tors and the above-described upward movement is carried out until the threading position is reached. The defined maximum distance below the bottom edge of the door is, for example, 10 cm or 20 cm.

According to yet another advantageous embodiment, the door is moved back to the starting position, which is below the threading position and in which the door sides are located within the guide rail if one or more light beams with a defined minimum distance from the lower edge are interrupted by an obstacle during the downward movement , In this situation, the obstacle is at a greater distance from the bottom edge of the door, so that the door is at a sufficient distance from the obstacle, taking into account the inertia when stopping the downward movement, and there is no risk that the target position of the door in the guide rails is left. In this case, it is sufficient to stop the downward movement of the door and to move the door back up to the starting position, in which the side door areas are still in the guide rails.

The defined minimum distance can coincide with the defined maximum distance within which an obstacle below the bottom edge of the door causes the door to move back to the threading position. In this way, all case constellations of an obstacle protruding into the movement path of the gate are recorded. If the door is within the defined distance, the door is moved back to the threading position, whereas if the door is outside the defined distance, the door is only moved back to the starting position.

The invention further relates to a control device for performing the above-described method. The various process steps, in particular the processing of Sensor signals of the light sensor and of the electric drive motor for detecting the rotor position are processed in the control unit, in which control signals are generated for controlling the electric drive motor.

The invention also relates to a gate device with a gate which can be moved up and down in lateral guide rails and which is driven by an electric drive motor, a light transmitter or a light sensor being arranged in the two lateral guide rails, the gate device further comprising a control device as described above for processing the sensor signals and for controlling the electric drive motor.

According to a further advantageous embodiment, the gate is flexible, in particular elastic. The gate can be made, for example, from a plastic material that enables the gate to be designed with a low weight. This makes it possible to use electric drive motors of correspondingly small dimensions. It is also possible to achieve a high travel speed during the downward and upward movement of the door. Due to the flexibility, the door can deform in the event of a collision with an obstacle and, if necessary, one side of the door can jump out of the guide rail. In this case, as described above, the door is moved upwards into the threading position, whereupon the door can be threaded back into the guide rails and moves to its desired position within the guide rails when it moves downward again. The gate is in particular designed to be resilient, so that due to the elasticity, the gate returns to its straight position as soon as the external impulse is removed by the obstacle and the gate is in the threading position.

• 1 eine perspektivische Ansicht einer Torvorrichtung bei einem in seitlichen Führungsschienen geführten, elektrisch angetriebenen Tor,
• 2 einen Schnitt durch die Torvorrichtung,
• 3 die Torvorrichtung mit dem Tor in einer oben liegenden Ausgangsposition, mit einem in die Bewegungsbahn des Tors hineinragenden, bodennahen Hindernis,
• 4 eine Darstellung ähnlich wie 3, mit dem Tor in einer teilweise herabgefahrenen Position und mit einem Hindernis unmittelbar an der Torunterseite,
• 5 das Tor mit einem Hindernis, das seitlich auf das Tor einwirkt und eine Torseite aus der Führungsschiene herausdrückt,
• 6 das Tor in einer oberhalb der Führungsschienen angeordneten Einfädelposition.

Further advantages and practical designs can be found in the further claims, the description of the figures and the drawings.

• 1 1 shows a perspective view of a gate device in the case of an electrically driven gate guided in lateral guide rails,
• 2 a section through the gate device,
• 3 the gate device with the gate in an overhead starting position, with an obstacle which projects into the path of movement of the gate and is close to the ground,
• 4 a representation similar to 3 , with the gate in a partially lowered position and with an obstacle directly on the underside of the gate,
• 5 the gate with an obstacle that acts on the side of the gate and pushes one side of the gate out of the guide rail,
• 6 the gate in a threading position arranged above the guide rails.

In the figures, the same components are provided with the same reference symbols.

In 1 is a gate device 1 with a gate 2 shown in the side guide rails 3 . 4 is movable up and down. The gate 2 consists of a resilient material and has a lower bar for stabilization in the lower area 5 on, which extends in the transverse direction. In an overhead, above the guide rails 3 . 4 arranged receiving box 6 can the gate 2 be rolled up. In the side area of the receiving box 6 there is an electric drive motor 7 for driving the gate, using the drive motor 7 the gate 2 can perform both a downward movement and an upward movement. The gate device includes to control the gate movement 1 also a control device 8th which is on the side outside the gate 2 is arranged and comprises a manually operable control unit for triggering the door movement. It also belongs to the control device 8th also a control unit for processing sensor information, which is also part of the gate device 1 are, and are used to generate control signals for controlling the electric drive motor.

The sensor signals originate from sensor devices with which the door movement is detected, on the one hand, including the insertion of an obstacle into the movement space of the door and, on the other hand, detection of the rotor position of the rotor of the electric drive motor 7 enable. With the aid of the sensor devices, it is possible in particular for each rotor position of the drive motor to be a gate position of the gate 2 assigned. The sensor device in the drive motor comprises, for example, a magnetoresistive sensor for detecting the rotor position within one rotor revolution and an index sensor for detecting the number of complete rotor revolutions. This allows any vertical position of the gate 2 Assign exactly one rotor position even if the rotor rotates several times.

2 shows a section through the gate device 1 with the two guide rails 3 . 4 which are arranged mirror-symmetrically to each other and each consist of two rail halves, which are inserted into each other and connected to each other. The guide rails 3 . 4 For example, which are made of aluminum, take inside the guide mechanism for guiding the gate 2 on and a sensor device for sensing the current gate position when moving up or down and for sensing an obstacle protruding into the movement path of the gate.

The guide mechanism for guiding the gate comprises guide strips on the rail side 9 that are parallel to the longitudinal extension of the guide rails 3 . 4 extend and within the guide rails 3 . 4 are arranged. The guide mechanism also includes roles on the door side 10 , which are each arranged in the side area of the gate and on the outer sides of the guide strips 9 roll in the vertical direction. It may be appropriate for the guide rails 9 have a cross-section that widens from top to bottom, so that the distance along the outer sides between the guide strips 9 in the opposite guide rails 3 and 4 slightly enlarged, causing the gate to tighten 2 leads in the transverse direction. Per guide rail 3 respectively. 4 are two guide rails 9 and two roles 10 available.

The sensor device for sensing the current gate position and an obstacle possibly protruding into the movement path comprises a light transmitter 11 in the first guide rail 3 and an associated light sensor 12 in the second, opposite guide rail 4 , From the light transmitter 11 becomes a horizontal beam of light 13 towards the light sensor 12 sent out, the beam of light 13 in the path of movement of the gate 2 lies. As long as the gate is above the light beam 13 lies, it can bridge the movement path unhindered and by the light sensor 12 are recorded, in which a corresponding sensor signal is generated. As soon as the gate descends the beam of light 13 breaks through or an obstacle in the light beam 13 protrudes, the corresponding signal remains in the assigned light sensor 12 out.

Over the axial length of the guide rails 3 and 4 is a multitude of light transmitters 11 or light sensors 12 arranged. For example, it can be useful 20 or 30 to provide such light transmitters and light sensors, each with a light beam 13 between the guide rails 3 . 4 generate, with all light rays 13 in the path of movement of the gate 3 lie. The light rays run parallel to each other and in the horizontal direction.

The rays of light 13 make it possible to ascertain proper functioning when the gate is moving downwards. During the downward movement, the electric drive motor is actuated accordingly, based on the current rotor position when the door is moving properly downward - without an obstacle in the movement path and without a lateral impulse on the door 2 - The different rotor position positions must correspond to assigned gate positions, which is due to the light rays interrupted by the gate moving downwards 13 can be determined.

The sensor devices also allow both an obstacle in the path of movement of the gate 2 as well as a high lateral impulse on the gate 2 determine who acts on the goal perpendicular to the goal level. In this case, the downward movement is stopped and an upward movement of the gate is carried out until an upper position is reached, wherein different positions can be assumed by the gate depending on the influence of the obstacle. This is supposed to be based on the following 3 to 6 are explained.

In 3 is the gate 2 in an upward starting position, in which the lower, lateral area of the gate 2 in the side guide rails 3 . 4 is threaded and the bottom edge 2a of the gate 2 below the upper face of the guide rails 3 . 4 located. Starting from this starting position, the gate 2 perform a downward movement as indicated by the arrow. In the range of movement of the gate 2 there is an obstacle adjacent to the ground 14 on which a beam of light 13 of a light transmitter 11 hits, so the associated light sensor 12 the light beam 13 does not receive. This is from the light sensor 12 registered. At the same time is the top position of the gate 2 known, so the interruption of the light beam 13 on the obstacle 14 can be traced back. A started downward movement of the gate 2 is then stopped and an upward movement is initiated until the gate 2 has reached its starting position again, in which the gate remains until another downward signal is received.

Because the position of the gate 2 is known from the sensor information, it can also be determined that the obstacle 14 itself at a relatively large distance from the lower edge 2a of the gate 2 located.

In 4 Another situation is shown in which the gate 2 has already started to descend a bit from the starting position, but has not yet reached the ground. Immediately at the bottom edge 2a of the gate 2 there is an obstacle 14 that due to the interruption of a light beam 13 is detected. The situation in 4 differs from the situation in 3 than the obstacle 14 directly on the lower edge 2a of the gate 2 lies, so there is a risk that the gate 2 before stopping the downward movement on the obstacle 14 strikes and experiences an undesirable deformation. In this case the gate will stop moving downwards 2 initiated an upward movement that goes beyond the starting position ( 3 ) goes out until a threading position is reached ( 6 ) in which the lower edge 2a of the gate 2 above the upper end faces of the side guide rails 3 . 4 lies. This makes it possible even if the door is deformed 2 and associated with leaving the target position, in particular the lateral sections of the door 2 that are in the guide rails 3 and 4 are led, the gate 2 in the case of a further downward movement in a proper manner back into the guide rails 3 and 4 threading. The position of the obstacle 14 at the bottom edge 2a of the gate 2 can about the rays of light 13 the light transmitter 11 and the associated light sensors 12 be determined.

The danger of the gate 2 a deformation due to hitting the obstacle 14 experienced, exists even if the obstacle is still a small distance from the lower edge 2a having. Hence the gate 2 also in cases according to the threading position 6 go back in which the obstacle 14 still a distance to the lower edge 2a if this distance is not greater than a defined maximum distance from the lower edge 2a , for example 10 cm or 20 cm.

The gate remains in the threading position until another downward signal is received.

In 5 yet another embodiment is shown, in which the descending gate 2 a side impulse from an obstacle hitting the gate 14 experiences. Due to the deformability of the gate 2 and at a corresponding level of the lateral impulse, as in 5 shown as an example, the right side of the gate in disengagement with the associated guide rail 4 , Because of this deformation, a light beam can 13 , which is immediately adjacent to the lower edge 2a the assigned light sensor 12 achieve what would not be possible without deformation of the gate. Since the position of the gate is also known via the rotor position 2 without the deformation taking place and accordingly the light beam would be interrupted, the received sensor signal leads to the conclusion that there is a deformation, whereupon the downward movement of the gate 2 stopped and an upward movement is carried out until the threading position is reached.

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• US 9945178 B2 [0002]

Claims (10)

Method for actuating a gate (2) which can be moved up and down by motor in lateral guide rails (3, 4), the gate (2) starting from an upper starting position performing a downward movement and the downward movement being stopped when a light signal (13) that from a light transmitter (11) in a guide rail (3) in the direction of a light sensor (12) in the other guide rail (4), indicates a collision of the gate (2) with an obstacle (14), the gate (2 ) after stopping the downward movement upwards until reaching a threading position above the starting position, in which the lower edge (2a) of the gate (2) is located above the guide rails (3, 4). Procedure according to Claim 1 , characterized in that each rotor position of an electric drive motor (7) driving the gate (2) is assigned a gate position, the gate (2) being moved back into the threading position if the one picked up by the light transmitter (11) and the light sensor (12) Gate position does not match the rotor position. Procedure according to Claim 1 or 2 , characterized in that the gate (2) is moved back into the threading position if at least one light beam (13) immediately below the lower edge (2a) of the gate (2) is not interrupted, but an interruption would be expected after the rotor position. Procedure according to one of the Claims 1 to 3 , characterized in that the gate (2) is moved back into the threading position if one or more light beams (13) are interrupted at a defined maximum distance from the lower edge (2a) of the gate (2). Procedure according to one of the Claims 1 to 4 , characterized in that the gate (2) is moved back into the threading position when at least one side of the gate jumps out of the associated guide rail (3, 4). Procedure according to one of the Claims 1 to 5 , characterized in that the gate (2) is moved back into the threading position when at least one side of the gate moves away from its target position in the associated guide rail (3, 4) by a minimum amount. Procedure according to one of the Claims 1 to 6 , characterized in that the gate (2) is moved back into the starting position if one or more light beams (13) with a defined minimum distance to the bottom edge of the gate (2a) are interrupted by an obstacle (14) during the downward movement. Control device for controlling an electric drive motor (7) driving the gate (2) for carrying out the method according to one of the Claims 1 to 7 , Gate device, with a motor-driven gate (2) and lateral guide rails (3, 4), in which the gate (2) can be moved up and down, with a light transmitter (11) in one guide rail (3) and the other guide rail ( 4) a light sensor (12) are arranged, and with a control unit (8) Claim 8 for controlling an electric drive motor (7) driving the gate (2). Gate device after Claim 9 , characterized in that the gate (2) is flexible.

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