DE202009018565U1 - Door drive device with absolute travel sensor - Google Patents

Abstract

Door drive device (10) with a motor (12) which has a rotor (14) which can be operatively connected to a gate leaf to be driven by the door drive device (10), and with a first angle of rotation sensor (204) for determining the current door position, the the first angle of rotation sensor (204) is connected to the rotor (14) and / or a rotating member (36) rotating therewith via a step-up gear (210) in such a way that a total movement of a gate leaf to be connected between its end positions is less than 360 ° one for detecting the angle of rotation rotating first rotary element (208) of the first rotary angle sensor (204), characterized by a second rotary angle sensor (206) with a second rotary element (226) for detecting the rotary angle, which rotates when the rotor (14) and / or the rotary member rotating therewith ( 36) rotates many times faster than the first rotary element (208) of the first rotary angle sensor (204).

Description

The invention relates to a door drive device with the features of the preamble of the appended claim 1, as it is already available for example in the form of a Wellentorantriebes on the market. Furthermore, the invention relates to a door travel sensor for such a door drive device, a door provided with such a door drive device and a method for controlling a driven door.

The invention is in the field of gate drives, by means of which a wing of a gate is driven by a motor. For this purpose, there are very different door drive devices on the market. For example, there are so-called towing drives, in which a carriage is guided in a guide rail and is driven back and forth by a motor. On this slide then the wing is coupled. Such traction drives are often found in garage doors, especially in single or double garages. Especially with larger gates, such as larger sectional doors for collective garages, industrial doors or roller shutters, there is already a goal shaft at the gate, which is connected via cables or other gear with the wing of the door geared. For example, the door shaft is part of a weight balancing device, wherein a spring element is tensioned when lowering the wing. For such goals, there are the so-called Wellentorantriebe whose output shaft could be coupled directly or with the interposition of a transmission, such as in particular a chain gear, with the door shaft for common rotation.

All located on the market door drives have a preferably designed as an electric motor with a motor rotor, which is connected via the previously described gear and a motor gearbox with the door leaf.

By rotation of the rotor so the gate is driven between its end positions. In general, the gearboxes are such that the rotor rotates many times during a travel of the wing between the end positions and, for example, performs more than 100 revolutions.

Virtually all door drives on the market continue to have a displacement sensor or door position sensor, which can be used to control the door drive. In general, these displacement sensors are designed as rotation angle sensors to detect the rotation of the rotor or a gear member rotatably connected thereto of the door drive device.

For example, an incremental encoder is provided on a motor shaft of the motor connected to the rotor. This generates, for example by means of a perforated disc and a light barrier, upon rotation of the rotor many pulses. The incremental encoder is assigned, for example, in a door drive control a counter. Upon rotation of the rotor, the pulses are counted. After the door drive has been mounted on the wing to be driven, a learning run is then carried out in order to determine the counter readings of the end positions and of other door leaf positions of interest for the control. In operation, the door drive device is then carried out on the basis of the respective meter reading.

These incremental encoders are associated with the disadvantage that the counter readings are lost, in particular in the event of a power failure or similar malfunctions. Also, such incremental encoders are sometimes inaccurate, so that they often have to be calibrated again in the course of the operation of the door drive. For this purpose, for example, it has already been proposed, for example, a reference point sensor, which is provided at a specific position of the door leaf or a transmission element and when passing this point in the course of Torweges outputs a reference signal with which the counter can be adjusted again with each ride.

Here, however, there is the disadvantage of additional installation and wiring costs of the reference encoder.

There is therefore often the desire, instead of the incremental encoders, which determine only a relative gate position, to provide absolute encoders which deliver a position signal which always indicates a certain gate position. In particular, the position signal of the absolute value encoder should represent a continuous, monotonous function of the position of the connected door leaf in order to enable the unambiguous assignment of signal and position.

Here there are already Wellentorantriebe on the market, which can be used in particular as Industrietortriebe and have as an absolute encoder based on the Hall effect angle of rotation sensor.

The rotation angle sensor of the absolute value encoder has as a rotary element, for example, a magnet mounted on a rotary shaft. The position of the magnet is detected by taking advantage of the Hall effect, and from this a position signal is generated. So that this position signal represents a steady monotonous function of the gate position and thus always indicates an absolute value of a certain goal position, this rotating element may in the course of the entire Torweges of the one End position (for example, the closed position) to the other end position (for example, the opening position) by no more than 360 ° turn. If the rotary element made more than one complete revolution, for example a rotation of 370 degrees, then the output signal would correspond to the same signal as at the position of 10 degrees. Thus, one would again only have a relative gate position, the absolute value in turn being obtainable only on the basis of further information, for example determined by a counter.

The preamble of appended claim 1 is known in the art of such a Wellentorantrieb with a correspondingly slowly rotating absolute encoder.

Accordingly, such Wellentorantriebe form a door drive device with a motor having a rotor. The rotor is - for example via a transmission in the door drive device and a door shaft geared with the gate to be driven connectable.

The known absolute encoder forms a first rotation angle sensor with which the current door position can be determined by means of a gate position signal. So that this gate position signal for the purpose of a more accurate control is always assigned to a specific gate position, the rotation angle sensor is connected via a reduction gear on the rotor or a rotary member rotating therewith such that a total movement of a gate to be connected between its end positions less than 360 ° degrees causes the rotation angle detection rotating rotary element of the first rotation angle sensor.

Although such gate drives have the advantage of a gate position signal, which is always a specific gate position can be assigned, but this gate position signal is too imprecise for many control and monitoring purposes.

The object of the invention is to improve a door drive device with the features of the preamble of the attached claim 1 such that it is more precisely controlled and / or monitored.

This object is achieved by a door drive device with the features of claim 1.

Advantageous embodiments of the invention are the subject of the dependent claims.

A door travel sensor for use in such a door drive device, a door provided with such a door drive device and / or with such a door travel sensor and a control method therefor are indicated in the dependent claims.

In a door drive device according to the invention, as is basically known in the prior art, a rotation angle sensor is provided with a rotary element rotating at a maximum of 360 °.

This rotation angle sensor will be referred to as a first rotation angle sensor hereinafter, and its rotary element will be referred to as a first rotary element hereinafter.

With this first rotation angle sensor, a first gate position signal can be generated, which generates a continuous monotonous function of a gate position of a door leaf to be connected to the door drive device.

According to the invention, a second rotation angle sensor is provided with a second rotary element for detecting the rotation angle, which is likewise connected in a gear to the rotor and / or rotary member rotating therewith, but such that it rotates much faster than the first rotary element of the first rotation angle sensor.

Thus, by means of the first rotation angle sensor, a first door position signal can be generated which indicates the door position absolutely. With the signal of the second rotation angle sensor, many intermediate positions can be specified without having to store counter readings.

On the basis of the two gate signals, one can determine the position of the gate absolutely exactly, even if the first rotation angle sensor should not deliver a very accurate signal.

By the faster rotating second rotation angle sensor, even smaller fluctuations or changes in the speed of the engine can be detected.

Overall, the motor and / or the driven door can be very accurately monitored via the second angle of rotation sensor.

The first and / or the second rotation angle sensor are preferably designed as absolute value sensors which supply a signal which in each case supplies a specific different value for each different rotational angle position of the respective rotary element.

For example, a voltage signal is output, which increases steadily monotonically with the rotation angle of the rotary element, or it is a kind Log delivered, which z. B. can be processed by a standard converter.

As a result, exactly one signal or signal value can be assigned to each rotation angle and vice versa.

Preferably, the rotation angle sensors Hall sensors, as is basically already in prior art absolute value encoders. Such Hall sensors are smooth and maintenance-free, and they can - as opposed to potentiometers, for example - be turned around as often as desired.

Although the rotation angle sensors can be provided individually at different locations of the door drive device, it is particularly preferred to combine the two rotation angle sensors in one unit. For example, a Torwegssensor is provided in the door drive device, in which both rotation angle sensors are combined. This preferably designed as an absolute value sensor gate travel sensor has in a preferred embodiment, an input shaft. The input shaft may be provided with an input rotary member for coupling to a rotary member of the door drive device. For example, a gear is provided as an input rotary member, with which the input shaft is also directly connected to the rotor. On the one hand, the faster rotating second rotary element of the second rotation angle sensor engages on the input shaft. On the other hand, a transmission gear is provided on the input shaft, whose output shaft rotates by a multiple slower than the input shaft.

At this output shaft then attacks the first rotary element of the first rotation angle sensor.

The transmission ratio between the first rotary element and the second rotary element is chosen such that an accurate detection of small rotations of the rotor by the second rotary element can be detected, but on the other hand, the first rotary member rotates a maximum of 360 ° in the course of the door movement.

Most door operators are designed for connection to different gates or door types. The gear ratio is therefore selected so that no full rotation of the first rotary element is achieved even when the maximum conceivable number of revolutions of the rotor in a Torfahrt between the end positions. If a smaller gate or another intermediate gear is then used, so that the rotor rotates correspondingly less during a door drive, a full turning drive will lead, for example, only to an angle adjustment of 270 ° or even only 180 °.

A basically conditional lower accuracy of the first rotation angle sensor, which must map the entire door travel on correspondingly less rotation angle degrees, is more than compensated by the provision of the second rotation angle sensor.

Corresponding gearboxes with small dimensions and low costs with high gear ratio for the Torwegsensor are available on the market, for example, for model making.

Based on the two rotation angle signals, a very precise control can be carried out. Due to the very fast rotating second rotary element even small changes in the speed of the rotor can be detected immediately. For example, if the door leaf strikes a relatively soft obstacle-for example, a person-the speed would initially only change very slightly.

Nevertheless, such a small speed change due to the second rotation angle sensor could be detected immediately and a stop of the door drive device due to running on an obstacle can be initiated.

The two differently rotating rotation angle sensors and / or the described door travel sensor with these rotation angle sensors has particular advantages in connection with torque motors or direct drives, where a rotor preferably engages gearless directly on a door shaft.

As a result, rotor movements and rotor positions are detected, which reflect due to a missing intermediate gear much more accurately the movement of a gate. This also allows the door leaf to be controlled and monitored very directly or much more accurately.

An embodiment of the invention will be explained in more detail with reference to the accompanying drawings. It shows:

1 a perspective view of a first embodiment of a door drive device for driving a door shaft;

2 a perspective view of the first embodiment of the door drive device comparable to the view of 1 with some elements omitted for illustrative purposes;

3 a front view of the door drive device of 1 .

4 a side view of the door drive device of 1 ;

5 a rear view of the door drive device of 1 ;

6 a sectional plan view of the door drive device of 1 ;

7 a detail view from the front of a portion of the door drive device of 1 ;

8th the subarea of 7 seen from the side;

9 a detailed view of a portion of the rear view of 5 ; and

10 the subarea of 7 from the front, with some elements omitted for illustrative purposes;

11 a schematic representation of a usable in the door drive absolute value encoder; and

12 a schematic representation of the absolute value encoder together with a Torantriebsteuerung for controlling the door drive device.

The in the 1 to 10 shown as an example of a door drive device door drive 10 has a torque motor (direct drive) as electric motor 12 on.

The gate operators shown in the figures as an example of door drive devices 10 have in all their different embodiments as an electric motor a torque motor (direct drive) 12 on.

As this is closer for example in " EBERLEIN, W; BARAN: "Better directly", in WISSENSPORTAL baumaschine.de, 1 (2005) "Torque motors are direct motors which are mounted directly on drive shafts of machines without intermediate links such as gears, belts or couplings.

For further details on torque motors, reference is expressly made to the aforementioned reference. The most important components of a torque motor are a stator and a rotor. A torque motor can be considered simplified as a high torque optimized, large servomotor with hollow shaft.

In the examples shown, a high-pole synchronous motor 13 as a torque motor 12 used.

The torque motor 12 generates the torque required to raise and lower the gate (not shown - the design of the gate is analogous to that in the EP 1 426 538 A2 port shown; the publication EP 1 1426 538 A2 is hereby incorporated by reference) is necessary. The torque motor 12 works depending on the operating state both motor and generator. Therefore, a recovery of energy when driving down the gate is possible.

In this case, the torque motor 12 be executed as external rotor or internal rotor machine. The rotor 14 of the torque motor (direct drive) is preferably directly or coupled, but more preferably without an additional translation, connected to the Torwelle - for example torsion spring shaft of a sectional or tilt gate or the like). Turning the rotor 14 The moving electromagnetic field causes the rotation of the door shaft 102 , Here are speed and torque of rotor 14 and Torwelle 102 preferably identical.

In the case of triggering a force acting protection sensor (not shown) receives the torque motor 12 by a drive electronics - Torantriebssteuerung 38 please refer 15 - A signal for immediate reversal of direction, and the direction of rotation of the rotor 14 and thus the Torwelle is reversed immediately (in fractions of a second).

In the examples shown in the figures, the torque motor 12 designed as external rotor machine. The rotor 14 has one as the output shaft of the torque motor 12 acting hollow shaft 15 and is with this hollow shaft directly on the Torwelle 102 stuck, as exemplified in the 11 and 13 is shown. As in particular from the 1 to 6 and 11 and particularly 4 shows, is the stator 17 of the torque motor 12 firmly with a base plate 16 a drive housing 100 connected, which is secured with a torque arm (not shown) on the frame of the door against rotation.

Alternatively, the drive housing 100 the direct drive can be executed as a foot housing. The door shaft can then be coupled or via a plug connection with the hollow shaft 15 get connected.

• – Halten des Tores in einer Halteposition (Tor geschlossen oder Tor offen),
• – Halten des Tores bei Federbruch (Ausfall einer Gewichtsausgleichseinrichtung des Tores) und Stromausfall,
• – Fangen (Bremsen) und Halten des Tores bei Federbruch während der Bewegung,
• – Krafteinwirkungsschutz von Personen und Gegenständen während der Schließbewegung und
• – Handbetätigung zum Öffnen und Schließen des Tores z. B. bei einem Stromausfall oder bei der Montage
• – Fangen und Halten funktioniert bei Motorbetrieb und Handbetätigung.

In the preferred embodiments of the door drive 10 as shown in the accompanying figures, one, several or all of the following safety functions are integrated in addition to the main function "raising and lowering the door":

• - keeping the gate in a stop position (gate closed or gate open),
• - holding the gate in case of spring breakage (failure of a gate counterbalance device) and power failure,
• - catching (braking) and holding the gate in case of spring break during the movement,
• - Force protection of persons and objects during the closing movement and
• - Manual operation to open and close the gate z. B. during a power outage or during installation
• - Catching and holding functions during engine operation and manual operation.

The holding of the gate in a holding position is effected by a braking device 18 with a brake 20 ,

In the in the 1 to 10 illustrated embodiment of the door drive 10 has the braking device 18 as a brake several spring brakes 20 . 21 on.

In 1 is the base plate 16 together with some essential elements of the door drive 10 shown. At the base plate 16 is the torque motor 12 stored. The rotor 14 encloses the stator as external rotor 17 which is therefore at least partially visible in the figures. On the rotor 14 is a rotor toothing 22 provided as external teeth.

Next is on the rotor 14 as a hollow shaft 15 trained output shaft integrally arranged. The hollow shaft 15 has a groove 24 for wedging a gate shaft to be received in the hollow shaft 102 (Only in the second embodiment in 11 shown). This allows the hollow shaft 15 directly to the door shaft 102 be coupled.

At the rotor toothing 22 engages an intermediate gear 26 and at the intermediate gear 26 a gear 28 a brake shaft 30 the braking device 18 at.

The braking device 18 is by means of a switching device 31 switchable trained, as a switching device 31 an electromagnet acts here 32 that with the torque motor 12 is energized.

Like from the 1 and 2 can be seen, is further on the rotor toothing 22 an absolute encoder 34 provided with a gear 36 always geared with the rotor 14 is coupled and the angular position of the rotor 14 detected by means of a Hall effect rotation angle sensor. This will be discussed later. Thus, always the angular position of the rotor 14 and thus the coupled thereto Torwelle detected and to a door drive control 38 (please refer 12 ). In the door drive control 38 a frequency converter is arranged, by means of which the torque motor 12 is controlled. Also stored in non-volatile memories are target positions for the gate, which - controlled by the absolute encoder 34 - by means of the torque motor 12 can be controlled. These can be z. B. in the door drive control 38 or also stored in a control and / or operating device.

In 1 is still a manual override 40 represented by means of the rotor 14 can be turned manually and by means of the manual turning the brake 20 can be turned off.

The manual override 40 also has a first switching mechanism for the brake 20 acting storage 42 for a chain drive 44 on. The chain drive 44 is identical to the one in the EP 1 028 223 B1 formed chain drive trained.

Next, the manual override 40 as a second switching mechanism for switching the brake 20 another manual operation unit 46 on.

The following is the braking device 18 in the 1 to 10 shown first embodiment with reference to the illustration in 2 explains, for better illustration purposes, the electromagnet 32 as well as the chain drive 44 have been omitted. The braking device 18 has the spring brake 21 . 21 ' and a spring loosening device 48 on.

The spring brake 21 has the brake shaft 30 on, the gear at one end 28 having, with the intermediate gear 26 meshes and another gear at another end 50 having. At an intermediate shaft region are for forming the spring brake 21 . 21 ' two brake springs 52 arranged. These are made by a first leg spring 54 and a second leg spring 55 educated. How best 4 can be seen, both have torsion springs 54 . 55 a on a bracket 56 fixed tight end 57 . 58 , a winding area 59 . 60 as well as a thigh 61 . 62 on. The winding areas 59 . 60 are each around the shaft area of the brake shaft 30 wound. The dimensions are chosen so that the inner diameter of the two Windungsbereiche 59 . 60 the unloaded thigh feathers 54 . 55 before installation are slightly smaller than the outer diameter of the shaft area of the brake shaft 30 , The difference is between 0.2 and 0.5 mm.

As a result, the winding areas are 59 . 60 the thigh feathers 54 . 55 at rest prestressed on the shaft region of the brake shaft 30 at. In an alternative embodiment, not shown, additionally or alternatively to the bias of the leg springs 54 . 55 Separate preloading elements - for example on the thighs 61 . 62 attacking - provided to the winding area 59 . 60 the brake springs 52 on the assigned brake shaft 30 to press. As in the 1 to 10 shown are the two thighs 61 . 62 from the brake shaft 30 Tangentially from and through the spring loosening device 48 detected.

The spring loosening device 48 each has a cam 64 . 65 per leg spring 54 . 55 on. The two cams 64 . 65 are on a camshaft 66 stored by pivoting the storage 42 is rotatable.

The two thighs 61 . 62 take the camshaft 66 between them, so that upon rotation of the camshaft in the one direction of rotation of the one leg 61 bent further away and thus the associated winding area 59 is released from the brake shaft, and upon rotation of the camshaft 66 in the opposite direction of the other leg 62 from the camshaft 66 is bent away, causing the other winding area 60 accordingly from the brake shaft 30 is solved.

How best 3 apparent, is the storage 42 of the chain drive 44 around a pivot axis 68 pivoted. At the opposite end is the storage 42 over a linkage 70 with the camshaft 66 the spring loosening device 48 connected. Like this in the EP 1 028 223 B1 explained in more detail and shown, a chain engages 72 of the chain drive 44 on a sprocket with internal teeth arranged with sprocket (not shown here) at. This ring gear is with clearance of an internal gear 74 on a centric shaft 76 (please refer 4 ) arranged around. Warehousing 42 is by means of springs 78 in her in 3 and 4 illustrated central position, where the Kettenhohlrad the internal gear 74 not recorded, biased.

When pulling on a strand of the chain 72 will the storage 42 but contrary to the bias of the springs 78 around the pivot axis 78 pivoted in the pulling direction. As a result, the Kettenhohlrad engages with the internal gear 74 , The wave 76 of the internal gear is as in 4 is shown in more detail, via an intermediate gear 80 with the other gear 50 the brake shaft engaged.

About the brake shaft 30 and the intermediate gear 26 That's the wave 76 the manual override 40 with the rotor toothing 22 engaged.

The linkage 70 is set so that only when engaged between the internal gear 74 and Kettenhohlrad a release of the corresponding leg spring 54 . 55 from the brake shaft 30 he follows.

The spring loosening device 48 points next to the camshaft 66 with the two cams 64 . 65 another on the two thighs 61 . 62 attacking, by means of the electromagnet 32 sliding slide 82 on. The thigh 61 . 62 are in slotted holes (not shown) of the slider 82 taken so that when pulling the slider 82 in one direction (eg down in 7 ) only one leg 61 for loosening the first leg spring 54 is moved while the second leg 62 the second leg spring 55 remains unmoved. When moving the slider 82 in the opposite direction (eg up in 7 ) then only the second leg 62 namely, that of the second leg spring 55 for loosening this second leg spring 55 emotional.

As explained, the slider can 82 through the electromagnet 32 to be moved. This is the slider 82 with a rod area 84 provided, which by the electromagnet 32 extends through. Next is the slider 82 by the switching mechanism of the manual actuator 40 So here by the manual operation unit 46 movable. For this purpose, access the slider 82 , here at the bar area 84 at the opposite end, a pen 86 on a pivot shaft 88 the manual operation unit 46 at.

How out 8th and 5 can be seen, has the manual actuator 46 on the back of the base plate 16 a lever 90 that with the pivot shaft 88 connected to the common rotation and the on a pulley construction 92 by means of a Bowden cable 94 is pivotable.

The Bowden cable 94 can be operated by means of an emergency release device, which is not shown here, but just as in the DE 1 035 667 A1 , of the DE 102 56 480 A1 or the EP 1 418 296 B1 can be shown and shown configured.

By train on the Bowden cable 94 becomes the lever 90 pivoted. This will cause the pivot shaft 88 pivoted so over the pin 86 the slider 82 is moved, so one of the torsion springs 54 . 55 to loosen and thus the braking device 18 to solve. This allows one to the hollow shaft 15 Connected gate without decoupling of the door shaft 102 from the rotor 14 and thus without decoupling from the absolute encoder 34 be moved manually.

In the 11 is schematically an embodiment of the absolute encoder 34 shown schematically. The absolute encoder 34 forms a doorway sensor 200 , by means of which a position and a path of the door drive 10 connected gate (not shown) can be detected by absolute position signals. For this purpose, the absolute encoder 34 a housing 202 in which a first rotation angle sensor 204 and a second rotation angle sensor 206 are housed. Both rotation angle sensors 204 . 206 are designed as Hall rotation angle sensors.

The first rotation angle sensor 204 has a first rotary element 208 on, which via a transmission gear 210 to an input shaft 212 of the doorway sensor 200 connected with a large translation. The first turning element 208 has one on an output shaft 214 of the gearbox 210 sitting first magnet 216 on. Next, the first rotation angle sensor 204 a first detection unit 218 on which the angular position of the first magnet 216 detected and a first gate position signal 220 in the form of a first voltage U ₁ . This first gate position signal 220 is a signal that corresponds to the angular position of the first magnet 216 steadily increasing monotonously.

The transmission gearbox 210 has a transmission input shaft 222 and the output shaft 214 on. The transmission input shaft 222 is geared to the input shaft 212 coupled, as by two gears 224 . 225 is indicated.

The translation of the gearbox 210 is more than 1: 100, for example between 1: 100 and 1: 150. For one revolution of the output shaft 214 Thus, more than 100 revolutions of the gear 36 needed. Overall, the translation 210 chosen so that in all conceivable door types, to which the door drive 10 is to be connected, in the course of a total door movement between the opening end position and the closing end position (or vice versa) no total rotation of 360 ° degrees of the first magnet 216 he follows. In this way, the first gate position signal can be 220 always assign a specific position of the connected door leaf. It is always possible to determine the respective present door position on the adjacent door position signal.

The second rotation angle sensor 206 has a second angle of rotation element 226 on, which is many times faster than the first rotary element 208 rotates. The second rotary element 226 has a second magnet 228 on that on the input shaft 212 sits and thus as fast as the gear 36 rotates. Next, the second rotation angle sensor 206 a second detection unit 230 on. Also the second detection unit 230 is preferably formed as an absolute value sensor and is formed such that it from the present rotational angular position of the second magnet 228 a second position signal 232 generated in the form of a second voltage U ₂ , which is a steadily increasing monotonically increasing function of the respective rotational angular position of the second magnet 228 is.

Corresponding rotation angle sensors 206 . 204 , which generate continuously monotonous signals from rotational position of magnets are available, for example, as Hall effect rotational angle sensors on the market.

Corresponding transmission gear 210 are available, for example, on the model making market, for example for aircraft model construction.

As in particular from 12 , which illustrates a schematic diagram, controls the door drive control 38 the torque motor 12 based on the two position signals 220 . 232 , By the first gate position signal 220 determines the door drive control 38 the respective goal position. In a single learn run after connecting the door drive 10 the properties of the powered gate are taught once. In particular, in this case the end positions (closing end position and opening end position) are taught in such a way that the door drive control 38 the two end positions each have a specific value of the first gate position signal 220 assigns. In principle, however, it is also possible that corresponding end positions for different goals are already pre-stored. Based on the second position signal 232 receives the door drive control 38 very precise intermediate values. From this signal can also accurate speeds and accelerations of the rotor 14 be derived and monitored.

It can in particular in the door drive control 38 path-dependent speed profiles for the rotor 14 be provided to control the gate depending on the path at different speeds. Corresponding control signals are used as control signals 240 on the torque motor 12 given. The door drive control can then be via the second rotation angle sensor 38 monitor if the rotor 14 performs appropriate movements. If the rotor movement deviates from the control commands, an error can be determined from this. In particular, in the illustrated configuration, smaller changes in the speed of the rotor 14 are detected, for example, caused when the gate leaf to a relatively soft obstacle. As a result, the safety can be increased, since two position encoders instead of one are present and thus the position of the gate can be determined. The total resolution of the absolute encoder 34 is significantly increased.

The door drive control 38 can then respond by a corresponding shutdown. Overall, this is a very accurate control of the torque motor 12 as well as the connected gate possible.

LIST OF REFERENCE NUMBERS

10

door drive

12

torque motor

13

synchronous motor

14

rotor

15

Hollow shaft (output shaft)

16

Base plate (of a drive housing)

17

stator

18

braking means

20

brake

21

spring brake

21 '

spring brake

22

rotor teeth

24

Groove in the hollow shaft

26

intermediate gear

28

gear

30

brake shaft

31

switching device

32

electromagnet

34

Absolute encoders

36

gear

38

door drive

40

Manual actuator

42

storage

44

chain drive

46

Manual operation unit

48

Spring loosening device

50

another gear of the brake shaft

52

brake spring

54

first leg spring

55

second leg spring

56

bracket

57

solid end

58

solid end

59

winding portion

60

winding portion

61

leg

62

leg

64

cam

65

cam

66

camshaft

68

Swivel axis of storage

70

linkage

72

Chain

74

internal gear

76

wave

78

feathers

80

intermediate gear

82

pusher

84

bar area

86

pen

88

pivot shaft

90

lever

92

pulley construction

94

Bowden

96

Cover plate of the drive housing

100

drive housing

102

door shaft

200

Torwegsensor

202

casing

204

first rotation angle sensor

206

second rotation angle sensor

208

first rotary element

210

up gear

212

input shaft

214

output shaft

216

first magnet

218

first detection unit

220

first gate position signal

222

Transmission input shaft

224

gear

225

gear

226

second rotary element

228

second magnet

230

acquisition unit

232

second position signal

240

control signal

U ₁

first tension

U ₂

second tension

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely 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.

Cited patent literature

• EP 1426538 A2 [0060]
• EP 11426538 A2 [0060]
• EP 1028223 B1 [0074, 0081]
• DE 1035667 A1 [0088]
• DE 10256480 A1 [0088]
• EP 1418296 B1 [0088]

Cited non-patent literature

• EBERLEIN, W; BARAN: "Better directly", in WISSENSPORTAL baumaschine.de, 1 (2005) [0057]

Claims (16)

Door drive device ( 10 ) with a motor ( 12 ), which has a rotor ( 14 ), which is driven by a by the door drive device ( 10 ) to be driven gate, and with a first rotation angle sensor ( 204 ) for determining the current door position, wherein the first rotation angle sensor ( 204 ) via a transmission gear ( 210 ) so to the rotor ( 14 ) and / or a rotary member rotating therewith ( 36 ) is connected, that a total movement of a gate to be connected between its end positions less than 360 ° of a rotating to detect the rotation angle first rotary element ( 208 ) of the first rotation angle sensor ( 204 ), characterized by a second rotation angle sensor ( 206 ) with a second rotary element ( 226 ) for the rotation angle detection, which occurs during rotation of the rotor ( 14 ) and / or the rotating member (Fig. 36 ) rotates a lot faster than the first rotary element ( 208 ) of the first rotation angle sensor ( 204 ). Door drive device ( 10 ) according to claim 1, characterized in that the first ( 204 ) and / or the second rotation angle sensor ( 206 ) are designed as absolute value sensors. Door drive device according to claim 2, characterized in that the first ( 204 ) and the second rotation angle sensor ( 206 ) are formed as a Hall-rotation angle sensor, wherein the first and the second rotary element is a magnet ( 216 . 228 ) whose angular position of rotation is detectable, so that a signal ( 220 . 232 ), which is a steady monotone function of the rotational angular position of the magnet ( 216 . 228 ). Door drive device ( 10 ) according to any one of the preceding claims, characterized in that the first ( 204 ) and the second rotation angle sensor ( 206 ) Parts of a door travel sensor ( 200 ), which is one with the rotor ( 14 ) and / or the rotary member connectable input shaft ( 212 ), in particular with a gear ( 36 ), which is the second rotary element ( 226 ) and via an intermediate transmission gear ( 210 ) the first rotary element ( 208 ) drives. Door drive device ( 10 ) according to claim 4, characterized in that the gear ( 36 ) with a toothing ( 22 ) on the rotor ( 14 ) combs. Door drive device ( 10 ) according to claim 3 or 4, characterized in that the second rotary element ( 226 ) directly through the input shaft ( 212 ) and the transmission gear ( 210 ) provides a ratio of more than 1:20, preferably more than 1:50, in particular more than 1: 100. Door drive device ( 10 ) according to one of the preceding claims, characterized in that the motor is a torque motor ( 12 ) or direct motor, which is directly connected to a gate shaft of a gate to be driven without intermediate gear. Door drive device ( 10 ) according to one of the preceding claims, characterized by a control device ( 38 ), which are used to control the engine ( 12 ) and / or the door drive device ( 10 ) due to a signal ( 220 ) from the first rotation angle sensor ( 204 ) and a signal ( 232 ) from the second angle of rotation sensor ( 206 ) is trained. Door drive device ( 10 ) according to claim 8, characterized in that the control device ( 38 ) from the signal ( 220 ) of the first rotation angle sensor ( 204 ) determines the current door position, in particular for approaching and stopping in end positions and for performing path-dependent control profiles, and / or that the control device ( 38 ) due to the signal of the second rotation angle sensor ( 206 ) the function of the engine ( 12 ) and / or the speed and / or acceleration and / or torsional vibrations of the engine ( 12 ), in particular to perform speed-dependent controls and / or monitoring. Door drive device ( 10 ) according to one of the preceding claims, characterized in that it is designed to drive a number of different gates and / or gate types, the first rotational angle sensor ( 204 ) is formed such that its first rotary element ( 208 ) when the door drive device is connected to the gate whose movement from end position to end position covers most revolutions of the rotor ( 14 ), performs a turn of less than 360 ° on a full drive. Door drive device ( 10 ) according to one of the preceding claims, characterized in that the second rotation angle sensor ( 206 ) directly on an output shaft to be connected to a door shaft ( 15 ) of the door drive device ( 10 ) attacks. Door way sensor ( 200 ), in particular for a door drive device ( 10 ) according to one of the preceding claims, for detecting a door path and / or a gate position, with a first rotary angle sensor (FIG. 204 ), which is geared to a rotary member of a gate or a door drive ( 10 ) or a rotor ( 14 ) of an engine ( 12 ) of a door drive ( 10 ) is connectable such that a movement of the gate to be connected between his End positions a rotation of less than 360 ° of a first rotary element ( 208 ) of the first rotation angle sensor ( 204 ), characterized by a second rotation angle sensor ( 206 ) with a second rotary element ( 226 ) for the rotation angle detection, which occurs during rotation of the first rotary element ( 208 ) rotates a lot faster than the first rotary element ( 208 ). Door way sensor ( 200 ) according to claim 12, characterized by an input shaft ( 212 ) with an input rotary element ( 36 ), on which the second rotary element ( 226 ) acts to rotate and a to the input shaft ( 212 ) connected transmission gear ( 210 ) with an output shaft ( 214 ), which are many times slower than the input shaft ( 212 ), wherein the first rotary element ( 208 ) on the output shaft ( 214 ) of the transmission ( 210 ) attacks. Gate having a gate which is movable between a first and a second end position, characterized by a door drive device ( 10 ) according to one of claims 1 to 11 and / or by a door travel sensor ( 200 ) according to one of claims 12 or 13. Door according to claim 14, characterized in that a door shaft is provided, which is coupled to a gate so that it rotates upon movement of the gate, preferably the second rotation angle sensor ( 206 ) and / or the gate sensor ( 200 ) directly on the Torwelle attack. Gate according to claim 15, characterized in that the second rotary element ( 226 ) rotates many times faster than the door shaft.

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