DE3935173C2 - Method for controlling an electromechanical drive of a door or the like. Control device and electromechanical drive device - Google Patents

Description

The invention relates to a method for controlling an electromechanical Drive of a door with the characteristics of the generic term of claim 1 or 6 and a control device for an electro mechanical drive with the features of the preamble of the patent claims 24 to 27 and an electromechanical drive device for such Door with the features of the preamble of claim 21.

From GB 21 89 906 A there is an electronic control for door drives knows. These are roller doors, overhead doors or the like. The Control controls the movement of the door via a microprocessor. The microprocessor processes the measurement signals that reflect the actual state of the Detect door in control signals. The speed is increased by a learning program behavior of the door is detected in order to automatically detect the end positions, Obtaining an obstacle in the doorway, overheating of the motor, etc.  

From GB 22 02 967 A there is also an electronic control unit Door operator known. The control comes with a two-leaf sliding door For use in vehicles or buildings. The microprocessor controls the Motor according to a movement profile. It should also be an automatic detection of a disability in the door path.

The control of a window drive is known from DE 35 32 078 C2. The Control contains a safety device with a microprocessor that excessive load on the window by monitoring the motor current detected in the closing mode and controls the motor accordingly. Here is also about a disability detection and detection of the Wind pressure etc.

Furthermore, electromechanical drives for doors with hinged wings, for. B. from DE 32 02 930 A1 and by the corresponding swing door drive "GEZE TSA 150" known. The opening and closing takes place in each case electric motor.

A swing door opener "BESAM swing door opener IK" is also known. He opens with With the help of motor power, depending on the installation position, inwards or outwards closes by spring force. With this known drive there is panic built in function by the door wing is designed as a swing wing, which in the Emergency can be opened by hand against the normal opening direction.

The invention has for its object a method, a Steuereinrich device and / or an electromechanical drive device of the entry ge named type for use with single or double-leaf doors with and without Further develop fold or rollover.

The invention solves this problem with the features of patent claims 1 or 6, 21 and 24 to 27.  

Here, the invention provides according to claim 1, a method for Control of an electromechanical drive of a door, with at least one wing, a control hardware ver with computer is used and the control of the hardware is programmed. It is provided that the control hardware for controlling a swing door laid and can be used for different door types and the adaptation to pre-determined the specific door type by programming the control hardware is taken by using an external input or self-learning via a Test program run is entered, whether a single-leaf or double-leaf door with or without flap or fold is used. This means that the Control hardware universal for the different types including stop or swing doors can be used.

Programming can take place before or during commissioning. The exter ne input can z. B. done via a code switch. In the case of yourself learning adaptation can be provided that the test program run the wing from a zero position over a small range of rotation initially driven in one direction and then in the opposite direction and the motor current is measured to determine whether the door is or has two leaves and / or whether there is a fold or rollover.

The invention further provides a method according to claim 6 Control of an electromechanical drive of a door or the like with at least one rotary wing, a control hardware ver with computer is applied. It is provided that the control hardware for the control a double-leaf revolving door, preferably a swing door, is designed and that when using a double-leaf door, the control device of one door gels master function (master wing) and the control device of the other The wing's slave function (slave wing) or, in the case of a single-wing door, the Control device of the single wing receives master function, being with the Master-slave assignment a hierarchy of control devices is obtained which forces the slave wing to be controlled by the control unit direction of the master wing is made possible. This also becomes a universal Application of the control hardware is provided so that applications for and double-leaf doors with opening and closing sequence are possible.  

It is preferably provided that the actual state of the master wing and the The actual state of the slave wing is measured independently of each other the and that the measurement signals of the master wing and the slave wing of the Control device of the master wing fed and processed there. The two wings are then controlled via the control device of the Master wing.

The master / slave assignment for double-leaf doors can be set as required be, e.g. B. when the door drive is activated externally for the first time.

With double-leaf doors with opening and closing sequence with a main and a minor wing, with the major wing facing the minor wing first opens and closes last, the master / slave assignment can be made be by the control device at the first external control of the The main function of the main wing and the secondary wing forming wing receives the slave function or vice versa. Preferably the master / slave assignment once made during subsequent operation maintained, e.g. B. as long as the supply voltage is switched on.

The opening sequence control can be realized by opening the main wing leads the secondary wing, e.g. B. in front of the main wing is approached to the secondary wing.

The closing sequence control can be realized in that when closing the secondary wing the main wing at least in a small angle of rotation rich leads ahead of zero, e.g. B. by closing the Main wing is determined in a predetermined waiting position until the Ne wing reaches the zero position. For this, in a particularly preferred embodiment stanchions provided that the main wing or its drive when closing of the secondary wing cooperates with a separate brake, which depends is controlled by the position of the secondary wing.  

An automatic zero position setting is used in preferred versions thereby achieved that immediately after switching on the supply chip the angular position of the wing (s) is measured and the Wings are rotated to zero position via the drive and held there, or if the zero position is not reached after a predetermined time, the previous gear is broken off and then the wing or wings are reset and the process is repeated.

The invention further provides a control device according to claim 24 for an electromechanical drive of a door or the like with egg Nem computer, which is a measurement signal of an actual state of the door or the drive processed into a control signal, it being provided that the control hardware for controlling a pendulum door designed and can be used for different door types and the adapt solution to the specific door type by programming the control hardware is made by using an external input or self-learning via a test program is entered whether a single-leaf or double-leaf door with or without Rollover or fold is used. The control device can also according to Claim 25, 26 or 27 may be formed.

The invention further sees an electromechanical according to claim 21 Drive device in front for a double-leaf door with an opening and / or closing sequence control. The wings of the two-wing door can be designed as a swing wing and it can be provided that each pendulum wing has an electromechanical drive, which each works with a separate brake.

Embodiments of the invention are as follows explained in more detail with reference to the drawing. It shows

Figure 1 is a schematic representation of a two-leaf door with electromechanically driven pendulum wings in the zero position, in plan view.

Fig. 2 shows a corresponding representation of the door in Fig. 1 when opening inwards;

Fig. 3 is a corresponding view as in Figure 1 when opened to the outside.

Fig. 4 is a section at the top of the left swing door in FIG. 1.

The exemplary embodiment in the figures is a two-leaf door with an electromechanical drive. Both wings 1 , 2 are pendulum wings, which are driven from the zero position shown in FIG. 1 Darge about the door axes 1 a and 1 b in and counterclockwise in each case by +/- 90 degrees. It can be seen from FIGS. 2 and 3 how the wings 1 and 2 open B inwards and A outwards.

The drive device is placed under the door leaves 1 , 2 , preferably in or on the underside of the upper horizontal door spar. It consists of two drive units 11 , 12 . The drive unit 11 drives the wing 1 and the drive unit 12 drives the wing 2 . With this drive, the leaves are each motor-driven in the opening and then in the closing direction.

Each drive unit 11 , 12 consists of a DC motor 13 with planetary gear 14 and connected bevel gear 15 with an output shaft 16 and also from a control device 17th The control device 17 is preferably housed in a separate box, which is arranged next to or above the modules 13 to 15 . The construction groups 13 , 14 , 15 , 17 are mounted on a mounting plate 18 screwed to the frame 8 and covered with a U-profile cover cap, separate caps for the individual modules 13 to 17 or for each drive unit 11 , 12 seen before are or a continuous cap for the entire drive 11 , 12 may be provided.

The coupling of the output shafts 16 with the door leaves 1 and 2 takes place via a door rail screwed to the upper edge of the wing. Fig. 4 illustrates this for the driven shaft 16 of the left drive unit 11 of the door leaf 1. The same applies to the coupling of the right drive 12 with the wing 2nd

As can be seen in FIG. 4, the output shaft 16 engages in a door rail 20 fastened to the wing 1 in a form-fitting and rotationally fixed manner. It is inserted into an end recess 21 of the door rail and clamped therein by means of screws 23 by means of end clamps 22 .

The door leaves 1 , 2 are opened by a motor when the drive is controlled by a control device. The usual external control devices can be used, e.g. B. Radar or infrared motion detectors or contact mats or hand switches.

Fig. 2 shows the case that a person approaches from the outside - side A of the door - a control device, not shown, attached controls the drive so that both wings 1 , 2 open towards the inside.

Fig. 3 shows the reverse case where a person approaches from inside - side B of the door. The drive is then controlled via an internal control device to open it to the outside.

After opening, the leaves 1 , 2 each remain in the maximum open position for a predetermined hold-open time or until the person has passed the door and then close if motorized.

In the embodiment shown in the figures Depending on the opening direction, the door leaves overlap or underslide gend, so that it is necessary that the wings when opening and closing run in a certain order. The over flapping wing is the so-called main wing or gang wing gel. The defeating wing is the secondary or passive wing.

When opening inwards, as shown in FIG. 2, the right wing 2 overlaps and is therefore controlled so that it leads the left wing 1 when opening. For this purpose, the wing 1 is only rotated out of the zero position when the wing 2 is opened.

When closing, the left undermining wing 1 must first come to zero position and only then the overlapping wing 2 . This is achieved in that the wing 2 via a separate brake cooperating with its drive 12 in a predetermined waiting position, for. B. is stopped at an angular position of 30 degrees until the wing 1 has reached the zero position. Then the brake is released and the wing 2 then runs in zero position.

When opening to the outside, as shown in Fig. 3, the opening and closing sequence of the wings 1 , 2 is just reversed. Here, the left wing 1 forms the overlapping main wing and the right wing 2 forms the opposing secondary wing. The drive is in a corresponding manner, as previously described, controls ge by now hurrying when opening the wing 1 and when closing the wing 1 in a waiting position via a cooperating with its drive 11 , a separate brake is stopped.

When opening and closing the leaves 1 , 2 , the control system provides an opening or closing damping in an angular range shortly before the open or zero position is reached. For this purpose, two microswitches 16 a, 16 b are arranged on the output shafts 16 , the position of which is adjustable for setting the point of use of the damping. Another microswitch 16 c on each output shaft 16 is used to detect the direction of whether the wing or wings 1 , 2 open outwards or inwards. To detect the zero position, the wings 1 , 2 each cooperate with a microswitch 24 attached to the frame.

The microswitches 16 a, 16 b, 16 c, 24 thus serve for the actual status detection of the door leaves. The measurement signals are fed to a control hardware and processed there in a computer to generate control signals. Instead of the microswitch, angle encoders, angular momentum counters or the like can also be used.

The control devices 17 of the drives 11 , 12 , each consisting of a measuring device and control hardware, are hierarchically coupled with a so-called master / slave assignment as follows. The control device of one wing has a master function and the control device of the other wing has a slave function.

The current state of the master wing and that of the slave wing are each independent from each other through the measuring device assigned to the wing. The meas signals of the master wing and the slave wing are the Control device of the master wing fed and processed there works. This will control the master wing of the slave wing controlled by force.

The assignment of the wings as master or slave wing can be made arbitrarily. It can be done automatically in an initialization phase or by manual setting during commissioning. Here, wing 1 is defined as the master wing and wing 2 as the slave wing or vice versa. The assignment is retained as long as the supply voltage is switched on and is only canceled when the supply voltage is switched off. This means that the assignment once defined remains constant for all operating functions of the pendulum wing when opening and closing inwards and outwards.

The following is the process of an initialization phase automatic zero position setting and master / slave assignment described.

The initialization phase begins immediately when the supply voltage is switched on. First, the instantaneous angular position of the individual vanes 1 , 2 is measured. The measurement signals are the assigned Antriebsein units 11 , 12 and the wings 1 , 2 are then rotated by motor to the zero position in Fig. 1. When the zero position is reached, this is measured via the microswitch 24 and reported to the control devices 17 of the drives 11 , 12 .

If after a predetermined time the zero position is not yet is enough, the wings are turned back by motor and the above process is repeated by the position the wing is measured and then the wing in zero position ge be rotated. This process is repeated until the zero location is reached or finally after a few runs canceled and an error message is given.

If the wings 1 , 2 are in the zero position, the master / slave assignment can take place. In the exemplary embodiment, this happens automatically when the drive is activated for the first time. The master function receives depending on the circuit of the hardware z. B. the wing that forms the main wing when first activated. This means that if the first activation takes place from the outside, as in FIG. 2, the right wing becomes 2 master wings and the left wing 1 slave wing. If the first activation according to FIG. 3 takes place from the inside, the assignment is reversed, so that the left wing 1 becomes master and the right wing 2 becomes slave.

As already mentioned, the master / slave assignment can be older natively take place in another circuit so that when first control of the secondary wing slave and the main wing Becomes a master.

A particular advantage in the embodiment shown game is that the control hardware of the drive universal for different types of doors, that means for two winged or single winged with and without rebate or with or can be used without rollover.  

The control device is adapted by programming the control hardware accordingly. For this purpose, code switches as in the control devices 17 of the drive units 11 , 12 can be provided, with which it can be entered whether it is a single or double-leaf door with or without a rollover or rebate and which leaf in which direction of rotation under or is overturning. In this way it can also be set whether pendulum or stop wings are used.

The setting or programming of the hardware can also be self-learning for special versions, e.g. B. with the aid of a test program running on the door in the initialization phase, in which the relevant actual parameters, which characterize the type of door used, are measured, e.g. B Measurement of the motor current of the drives 11 , 12 . Such a test program is carried out by the wings 1 , 2 via their drives 11 and 12, both of which are briefly driven both outwards and then inwards. By comparing the measured motor current curves, the system can know which type of door is used.

Claims (27)

1. A method for controlling an electromechanical drive of a door with at least one rotating leaf, a control hardware with computer being used and the control of the hardware being programmed, characterized in that
that the control hardware is designed for the control of a swing door and can be used for different door types and the adaptation to the certain door type be made by programming the control hardware,
by entering via an external input or self-learning via a test program run whether a single-leaf or double-leaf door with or without overlap or rebate is used. 2. The method according to claim 1, characterized in that that is entered by programming the control hardware, whether a Hinged or swing door is used. 3. The method according to claim 1 or 2, characterized net that the programming of the control hardware before or at the Inbe drive takes place. 4. The method according to any one of the preceding claims, characterized ge indicates that the external input via a code switch, a keyboard, a floppy disk. 5. The method according to any one of the preceding claims, characterized characterized in that the wing during the test program from its zero position over a small range of rotation angle to one and then driven in the opposite direction of rotation and doing z. B. the motor current is measured.   6. A method for controlling an electromechanical drive of a door with at least one rotating leaf, wherein control hardware with a computer is used, characterized in that
that the control hardware is designed for the control of a double-leaf revolving door,
that when using a two-wing door, the control device of a wing master function (master wing) and the control device of the other wing receives slave function (slave wing) or with a single-leaf door, the control device of the single wing receives master function ,
wherein a hierarchy of the control devices is obtained with the master / slave assignment, whereby a forced control of the slave wing is made possible by the control device of the master wing. 7. The method according to claim 6, characterized in that the master / slave assignment for a double-leaf door at the first external control of the door drive is carried out. 8. The method according to claim 7, characterized in that that the master / slave assignment when the external control of the Door drive takes place after the wings in an initialization phase Nullage have been turned. 9. The method according to any one of claims 6 to 8, characterized in net that the master / slave assignment is set arbitrarily, for. B. that with a double-leaf door with opening and / or closing sequence control the control device of the main wing when first externally activated wing forming the master function and that of the secondary wing Wing receives the slave function or vice versa. 10. The method according to any one of claims 6 to 9, characterized ge indicates that the master / slave assignment has been made once is maintained during subsequent operation and is only lifted when the Supply voltage is switched off.   11. The method according to claim 10, characterized in that the master / slave assignment is maintained as long as the Versor supply voltage is switched on. 12. The method according to any one of claims 6 to 11, characterized ge indicates that the slave wing by the control device of the master wing is forcibly controlled. 13. The method according to any one of claims 6 to 12, characterized ge indicates that the actual state of the master wing and the actual State of the slave wing is measured independently of each other the and that the measurement signals of the master wing and the slave wing of the Control device assigned to the master wing and processed there the. 14. Method for controlling an electromechanical drive of a two-fluid YELLOW DOOR WITH TWO SWING DOORS WITH OPENING SEQUENCE lung according to one of the preceding claims, characterized ge indicates that when opening the main wing the secondary wing ahead, e.g. B. by approaching the main wing in front of the secondary wing becomes. 15. Method for controlling an electromechanical drive of a two-fluid open door with two rotating leaves with closing sequence control, according to one of the preceding claims, characterized records that when closing the secondary wing to the main wing at least in a small rotation angle range, before reaching the zero position hurries ahead. 16. The method according to claim 15, characterized in that when closing the main wing in a predetermined waiting position is determined until the secondary wing has reached the zero position. 17. The method according to claim 15 or 16, characterized records that the main wing or its drive when closing of the secondary wing cooperates with a separate brake, which depends is controlled by the position of the secondary wing.   18. The method according to any one of the preceding claims, characterized characterized in that each wing in the zero position with one each the drive of the wing interacting brake or via a Lock latch is found. 19. The method according to any one of the preceding claims, characterized characterized in that immediately after switching on the Ver supply voltage the current angular position of the wing (s) is measured and the wing or wings rotated to zero position via the drive and be held there or if the zero position after a predetermined Time is not reached, the process is terminated and then the or the wings are reset via the drive and the procedure is repeated. 20. The method according to any one of the preceding claims, characterized characterized that an accident by measuring the engine current is detected and then the wing according to claim 19 in Zero position is reset. 21. Electromechanical drive device for a two-leaf door with an opening and / or closing sequence, characterized in that each leaf ( 1 , 2 ) has an electromechanical drive ( 11 , 12 ), each of which interacts with a separate brake. 22. Electromechanical drive device according to claim 21, wherein the double wing door has a secondary wing and a main wing where when leading the main wing when closing the secondary wing or the Main wing is determined in a predetermined waiting position until the secondary wing has reached zero position records that with the main wing or its drive too cooperating separate brake depending on the position of the slave wing is controlled. 23. Electromechanical drive device according to claim 21 or 22, characterized in that the wings as a pendulum wing are trained.   24. Control device for an electromechanical drive of a door with a computer which processes a measurement signal of an actual state of the door ( 1 , 2 ) or the drive ( 11 , 12 ) to a control signal, characterized in that the control hardware for the control egg a swing door is designed and can be used for different door types and the adaptation to the specific door type is made by programming the control hardware,
by entering via an external input or self-learning via a test program run whether a single-leaf or double-leaf door with or without overlap or rebate is used. 25. Control device for an electromechanical drive of a two-leaf door with a computer that processes a measurement signal of an actual state of the door ( 1, 2 ) or the drive ( 11 , 12 ) into a control signal, characterized in that the control hardware for the Control of a double-leaf swing door is designed,
that when a double-leaf door is used, the control device of one wing is given the master function (master wing) and the control device of the other wing is slave function (slave wing), or the control device of the single leaf is given the master function,
with the master-slave assignment a hierarchy of the control devices is obtained, whereby a forced control of the slave wing is made possible by the control device of the master wing. 26. Control device for an electromechanical drive of a two-leaf door with a computer that processes a measurement signal of an actual state of the door ( 1 , 2 ) or the drive ( 11 , 12 ) to form a control signal, characterized in that when the main flue is opened gel ahead of the secondary wing, e.g. B. by approaching the main wing in front of the ne wing. 27. Control device for an electromechanical drive of a double-leaf door with a computer that processes a measurement signal of an actual state of the door ( 1 , 2 ) or the drive ( 11 , 12 ) to a control signal, characterized in that when the Ne wing leads the main wing, at least in a small angle of rotation range, before reaching zero position.