EP0280854B1 - Controlled drive for a door wing or the like - Google Patents

Abstract

Controlled electromotive drive system for doors or such like building closures, which can be installed for the purpose of as robust a mounting as possible and without the need to carry out precision adjustment work, for which purpose the door is equipped with a control device which essentially comprises a position indicator device, a memory device and a reference-point indicator device, which indicator device is arranged between the door-leaf end positions and outside holding positions, provided if appropriate, or defines a corresponding door-leaf reference-point position, and which synchronises the position indicator device during each passage, in such a way that the desired distance of the door-leaf movement to be passed through from the reference-point position to the particular position desired is determined or checked according to a memory statement corresponding to the selected position. The system therefore monitors itself continuously and is capable, even after a power failure and, if appropriate, a manually actuated movement of the door leaf, of synchronising itself at the moment when the drive motor is next switched on. <IMAGE>

Description

Gates of the type in question here with a motor drive of a door leaf or the like which can be moved back and forth between two end positions along a specific path, in particular a door leaf which can be moved overhead, but also vertically displaceable roller doors, sliding gates or the like work with limit switches which operate the for the door leaf movement - for example by means of a radio signal - stop the drive motor that is in operation as soon as the door leaf reaches the actuated end position.

Such limit switches have been arranged in the vicinity of the end positions actually assumed by the door leaf, namely the actual switch on the frame or the guide rails of the door and an actuating part of the switch on the door leaf. Such switch parts arranged near the bottom of the opening to be closed by the door in the edge region of the door opening are subject to the risk of damage, in particular in rough industrial operation. In addition, there is an increased risk of contamination and splashing water, so that mechanical limit switches, but also those with, for example, actuation of light barriers, pose corresponding problems.

It is particularly important that the arrangement of the limit switches in the area of the door frame or the guidance of the door leaf and the actuation by the door leaf itself not only requires corresponding assembly work after installation of the door, but in particular alignment and adjustment work which is very tedious and on site are time-consuming and the mechanic accustomed to the rough handicraft business does not lie in the sensitivity that is required. In many cases, the limited space also creates additional difficulties.

It has already been proposed to simulate the movement distance of the door leaf, i.e. to utilize a movement variable corresponding to the door leaf movement, derived from its drive, for the rotation or displacement of an element, the movement path of which reflects the actual diameter of the moving door leaf. This simulator element thus also moves between two end positions which correspond to those of the door leaf, and actuates switching devices there which thus reproduce the two end positions of the door leaf.

Such a simulator, which can preferably be arranged in the area of the drive or drive control, is protected against damage, dirt and moisture infestation, but it requires a particularly precise position coordination with the door leaf after installation of the door, for example in such a way that the beginning of the movement distance of the door leaf must exactly match the beginning of the displacement distance of the simulator. Given the high path transmission ratios given here, even slight deviations lead to the risk that the door leaf is driven beyond its end position and therefore collides with its guide or other objects. A so-called zero adjustment between the door leaf and moving simulator element therefore requires special care and sensitivity, which contradict the rough assembly process of the door installation.

The invention relates to the arrangement for the control of the motor drive of a door leaf or the like, which can be moved back and forth along a specific path between two end positions and, if appropriate, one or more intermediate holding positions, in particular a door leaf which can be moved overhead, with a taking of the Switching device indicating the respective end positions or stop position, the output signals of which are used to switch off the drive motor supply, with a reference point indicator device which generates a synchronization signal when the door leaf passes through an end position, with a storage device for recording, storing and indicating the end positions and the if necessary, at least one stop position and with a position-indicating device which specifies the actual value of the position of the door leaf assumed in the course of the door leaf movement and which makes a position value setting by means of the synchronization signal holds, which triggers the corresponding output signal for switching off the drive motor supply in response to the desired end position or the stop position of the door leaf determined by activation in accordance with the associated specification of the storage device when this respective position is reached.

Such an arrangement is known from DE-U-82 22 087. With this known arrangement mechanically operated limit switches are avoided, but inaccuracies are caused by accumulations of errors in particular not avoided if stop positions are provided between the end positions, ie the open position and the closed position of the door leaf.

A control arrangement is known from EP-A-0 083 947, which measures the actual torque requirement of the drive unit for moving the door leaf over its path and compares it with a correspondingly recorded curve in the event of operation. As soon as a certain spreading area around the recorded curve is left in operation, the drive motor is switched off or switched over because there is suspicion of an impact on the door leaf. Here too, the movement of the door leaf as such is monitored with the aid of a scanning device.

From GB-A-2 169 107 a drive device for a gate or a door with a DC motor and a position and speed detector device is known which works with detector pulses which are derived from the position of the magnetic poles of the drive, so that the mode of operation or position of the motor without further detector devices the control of the door leaf movement can be controlled while storing the sequence of opening and closing movements.

Finally, it is known from US-A-4,529,920 to also monitor the rotational movement and rotational speed of a drive motor unit for a door to determine whether the predetermined pulse sequence is being observed and, if not, to switch off the drive unit.

The invention has for its object to provide a door operator with a generic arrangement of a door drive dependent on the movement of the door leaf control of the drive motor, which is particularly reliable with a simple structure and, especially when commissioning the newly installed door, requires no difficult adjustment work.

This object is achieved by the features of claim 1.

The invention is based on the basic idea of synchronizing a position-indicating device indicating the respective movement position of the door leaf at least once on the way between the two end positions with the actual door movement, thereby making it possible for this indicating device to be faulty to a certain extent. For this purpose, when passing through a certain, largely freely selectable reference point position of the door leaf between its end positions or one or more stop positions arranged between them, a reference point indicator device is actuated, which in turn conducts a synchronization signal to the position indicating device, whereby this indicating device points to a specific one Value is set, which may depend on the direction of travel of the door leaf through the reference point position. In the storage device also provided, a specific storage value is entered for each end position and for each holding position of the door leaf, which determines the value of the position-indicating device, upon reaching which the drive motor is stopped.

In a particularly preferred embodiment, the position-indicating device is constructed as a simple increment counter, which therefore counts a simple pulse series which is emitted when the door leaf is moved and whose respective count value indication preferably occurs as parallel information at its corresponding multipole output, in particular as a dual-coded signal. The storage device is also preferably constructed as a digital circuit device, which is correspondingly simply designed to correspond to the increment counter of the position-indicating device. The reference point indicator device is also preferred in this way as a digitally working element designed, in the simplest way as a yes-no switch or as a threshold switch, in the case of more complicated signal processing, preferably also in the manner of dual-coded, parallel-occurring signal expressions.

The three circuit devices, namely the reference point indicator device, the position indicating device and the storage device, can work together in different ways:

The position indicating device is set by the reference point indicator device to a certain value each time the door leaf passes through the reference point position, for example the specified value 0. When the door leaf moves further into the next controlled stop position or the end position in this direction of movement, the position becomes - Indication device advanced in accordance with the movement of the door leaf, in particular switched on with regard to its count value, until it has the value of the storage device corresponding to the closest actuated stop position or end position. If the output information from the position indicating device on the one hand and the storage device on the other hand coincide, a feed control device is actuated for switching off the drive motor. In this embodiment, the reference point indicator device is particularly simple because only one and the same setting value is ever given to the position indicating device. On the other hand, a comparator device is required in order to be able to determine the coincidence between the output signal of the position-indicating device and the storage value of the storage device corresponding to the position in question.

In another embodiment, when the door leaf is passed through the reference point position of the position-indicating device by means of the indicator device, the signal of Entered storage device that corresponds to the next controlled stop position or end position following in the direction of flow. Starting from this storage value transferred into the specification device, the position-indicating device is then fed further until it reaches an "overflow value", for example 0 or the next decade or the like, the signal obtained from this overflow display value of the actuation of the feed control device for the drive motor serves.

In both of the aforementioned cases, the control can be set in the same way when it is started up for the first time. The gate is installed at the place of use, the reference point position is defined somewhere between the two end positions and preferably outside the one or more stop positions that may be provided. In the latter case, the reference point position is preferably provided between the closed position and the next adjacent stop position, since it is to be expected that the door leaf will generally be moved back and forth between these two positions when the stop position is actuated, and it is rather the exception if this is the case Torbiatt is lowered from the open end position into the holding position. The choice of the reference point position is generally made in such a way that the door leaf passes through the reference point position in every movement phase.

In the event that it is not possible to predict which phase of movement the door leaf will pass through more frequently and / or in the event that special accuracy is required, two or more reference point positions with a corresponding number of reference point indicator devices can also be provided, in the latter case in the neighboring area the stop or end position that is to be approached with particular accuracy.

Before the normal operation control is put into operation by third parties, the door leaf is in any position, in a similar way the position indicating device and the storage device and, in the case of a bistable version, the reference point indicator device are in a state of undefined value specification. It is therefore necessary to adapt the actual state of the door leaf to be put into operation on the one hand and that of the control devices on the other. For this purpose, the reference point position is first determined, which is located in the manner described between the end positions and outside of any intended stop positions. As will be explained further below, this can be done by arranging the reference point indicator device on the door frame or the door guide or the like in a correspondingly locally determined manner, or else it can be defined in the context of a door leaf movement simulator device. Then the door leaf is moved manually with the help of a push button (dead man's operation) in the direction of the reference point position and over it. In this case, at least in the case of a monostable design of the reference point indicator device, a synchronization signal is sent from it to the position indicating device, which sets it to a specific value, in particular the specified value zero. When the door moves further in the direction of the next stop position or end position, the position-indicating device is switched on and stopped in the initially desired position. The specified value then appearing at the output of the position-indicating device is transferred with the aid of an input key into a memory unit of the memory device assigned to this stop position or end position and is permanently recorded there. Thereupon, the door leaf is moved further into the next stop or end position and stopped in the position, whereupon with the aid of a further input switch the indication value of the position indication device corresponding to this position in turn into a memory unit assigned to this position the storage device is taken over. For the storage of the stop positions or end positions located beyond the reference point position, the door leaf is now guided in the opposite direction over the reference point position, so that the position indicating device is again set to the specific value, preferably a zero value specification. In continuation of the door leaf movement, the closest stop position or end position is actuated and the resulting value of the position indicating device is in turn written into a storage unit of the storage device provided for this position using an input key.

In a first, preferred embodiment, the position indication device is forcibly set by the or each synchronization signal to the specific value, in particular specification value zero, and changes its value depending on the distance in the direction of travel until the next stop or end position of the door leaf. By continually comparing the output information value of the position information device with the stored values of the storage device, when a controlled stop position or the end position lying in the direction of travel of the reference point position is reached, coincidence between the output signals of the information device and those of the respectively associated storage unit is determined and a feed control device in Operated in order to shut down the drive motor. If the door leaf is moved in the opposite direction from this position, the position-indicating device can be controlled in a correspondingly backwards manner with respect to its value, so that, in the case of a stop position which lies in this direction before the reference point position, coincidence between the initial value of the Position indicating device and that of the associated storage unit occurs. In the event of this stop position being activated, the drive motor can in turn be switched off by corresponding actuation of the feed control device. In a comparable manner, the modulation of the position indicating device can be handled as a function of the door leaf movement path beyond the reference point position, that is to say if the position indicating device is forced to the specific value, preferably the zero value specification, when passing through the reference point position. Of course, a value in a negative range can also be considered.

For such a direction-dependent forward-backward modulation of the position-indicating device, it is necessary to specify the respective direction of movement. A pulse generator is therefore preferably provided, which permits signal detection dependent on the travel or direction of rotation. For this purpose, an encoder disk, which is driven by the drive motor, in particular its output shaft, is preferably provided, which has two scanning tracks and at least two signal transmitter configurations which enclose angles of different sizes between them.

On the other hand, it is also possible to control the position-indicating device from a passage of the reference point position, regardless of the direction of travel. Then, in the event of a stop between the reference point position and the end position of the operating area under consideration, a further memory statement must be made available, which provides the information at the stop position summed up in the course of the return movement to the reference point position, because that in the course of the Movement of the door leaf moving over the stop position into the respective end position when the movement is reversed adds up the distance between the stop position and the end position with regard to the statement of the position-indicating device.

Another possibility is to change the modulation of the position-indicating device when passing through the reference point position after the end or stop position values have been stored in such a way that the value of the storage unit of the storage device is now entered into the position-indicating device when passing through the reference point position. which corresponds to the controlled stop or end position. The counter can then run back from this value to the determined value, preferably the zero value specification, in the course of the movement of the door leaf into the desired position and generates an actuation signal for the feed control device when it reaches this specific value or zero value reached.

It must be ensured that after a power failure - even if the power supply is interrupted for a very short time - commissioning the door operator does not cause any damage. In principle, the control devices can be designed in their entirety for this purpose so that they do not lose their signal content in the event of a power failure. However, this is relatively complex, particularly with regard to the position indication device. In addition, it would have to be ensured that during the power failure the door leaf is not moved by hand - for example by means of a handrail chain - to a different position which then no longer corresponds to that which is indicated by the position-indicating device. In a particularly preferred version it is therefore proposed to design the memory device as a "non-volatile" circuit device, in such a way that the memory content is not lost or changed in the event of a power failure. The position indication device, on the other hand, should be constructed as a "volatile" circuit unit, ie it loses its respective position indication value in the event of a power failure. Finally, the reference point indicator device is provided with a bistable switching element which, even in the event of a power failure, indicates in which of the two directions of movement the door leaf is located from the reference point position. This statement of the bistable switch is used to ensure when the drive is switched on again that the door leaf can only be moved in the direction of the reference point position and now, as described above, when the reference point is passed, the position-indicating device is adjusted accordingly. In this way, the synchronization between the door leaf position and the specified value of the position-indicating device is restored after a power failure.

If the door leaf is moved by hand in the event of a prolonged power failure, which will be provided regularly in practice, a bistable indicator switch is preferably used, which changes its switching position accordingly when the door leaf passes through the reference point position if the power supply has failed . For this purpose, a switch can be provided which is switched by physical-mechanical attack; a magnetically operated bistable switch is preferably provided, as will be explained in more detail in connection with the exemplary embodiment shown in the drawing.

Depending on the design of such a bistable switch of the reference point indicator device, it may be that when the reference point position is passed over in the direction of movement in which the bistable switch has already been flipped, no pulse is generated during such a passage. In this case, the synchronization of the door leaf position with the value specification of the position-indicating device and the storage of the end or, if necessary, stop positions is carried out in such a way that the completely installed door leaf by means of a manually operated pushbutton switch (dead man's operation) first in one direction and then in the Moving in the opposite direction beyond the reference point position. In this way it is ensured that at least when the reference point position is passed a second time, the position-indicating device is set to the specific value, in particular a zero-value specification, so that the setting described above is ensured during initial commissioning.

The reference point indicator device can be arranged actuated directly by the door leaf, that is to say, for example, have a switch device arranged in a stationary manner on the door frame, the door leaf guide or the like, which is actuated by a switching element carried by the door leaf. It will usually be possible without any problems to mount the switch device and the switching element on the frame or guide or the door leaf at the factory before installing the door, so that such installation work is not necessary in the course of door installation. A tolerance field can also be provided, particularly in the case of a magnetically actuated switching device, which eliminates the need for adjustment work after the door has been installed.

On the other hand, it is possible to implement the reference point indicator device in the context of a step-down simulator of the door leaf movement. Here, the switch device is again stationary and the actuating switching element is arranged on a component that reproduces the door leaf movement in a step-down manner, for example on a spindle nut, the spindle of which is connected to the output of a reduction gear connected downstream of the drive motor. For synchronization between the real door leaf position after the door has been installed and the position of the spindle nut, which defines the reference point position, it is only necessary to - for this purpose, e.g. To be connected in two parts in the axial direction - to connect the spindle nut to the spindle at the appropriate point on the displacement path. For example, after installation, the door leaf is moved into the closed position by means of a pushbutton switch (dead man's switch) and the spindle nut is connected to the spindle in such a way that after moving the door leaf out of the closed position with the help of the motorized drive, the spindle nut with the switching element passes the stationary switch device , whereby the reference point position of the door leaf is fixed within the scope of the simulator. The other adjustment work corresponds to that described at the beginning.

Depending on the design of the - in particular bistable - switch of the reference point indicator device, a shift of the switching point occurs in the respective direction of movement relative to the idealized exact reference point position of the door leaf, ie a "hysteresis", which is caused by the spatial delay of the switch in relation to the direction of movement is and which, for example, leads to the fact that the position-indicating device moves to the open end position by switching the Indicator device at a lower increase in value - for example fewer counts - receives than when moving back from the open end position until the indicator device is switched differently. If the synchronization and storage described above are used during initial commissioning, this hysteresis is irrelevant in the event that the respective position is always assumed from one direction of movement and the reference point position is passed. This is the case with the end positions of the door leaf. The stop positions can in principle be approached from both directions of movement, so that here the hysteresis or path-dependent switching delay of the indicator switch lead to different positions of the door leaf in the stop position. However, this will generally be irrelevant in these stopping positions because here there is no mechanical resistance to the door leaf movement, as is the case when the end positions are reached. This means that the stop positions can be provided with so much "play" at the desired value that the inaccuracies caused by the hysteresis are irrelevant. However, if - for whatever reason - a special accuracy of such stop positions to be approached from both directions of movement is important, the delay of the switch can be determined with the aid of a further memory device and its value can be used for correction in such a way that one from both directions of movement approached stop position can be assumed exactly in the same place. The stop position can certainly be provided in the spatial hysteresis area of such a reference point indicator device which is subject to hysteresis. When moving in one and / or the other direction from such a stopping position that is then actually taken up in a controlled manner, actuation of the reference point indicator device will then have to be provided.

Preferred embodiments of the invention result from the subclaims.

Figur 1

ein Prinzip-Blockschaltbild der Steuervorrichtung nach dem Ausführungsbeispiel;

Figur 2

die Schema-Wiedergabe eines magnetisch betätigten bistabilen Schalters der Referenzpunkt-Indikatorvorrichtung nach dem Ausführungsbeispiel.

The invention is explained below with reference to the embodiment shown in the drawing. Show it:

Figure 1

a schematic block diagram of the control device according to the embodiment;

Figure 2

the schematic representation of a magnetically operated bistable switch of the reference point indicator device according to the embodiment.

Figure 1 shows a schematic block of a switching device 1, which comprises a counter 2 as part of a position-indicating device and a comparator 3. A total of a pulse generator 4, a switch of a reference point indicator 5, a memory device 6, an input switch device 11, a feed current control device 12 and a counter position indicator 13 are connected to this switching device 1. The switching device 1 is provided with further links and switching elements that are required according to the respective function or cooperation of the individual aforementioned switching groups.

The pulse generator of the exemplary embodiment comprises a sensor disk 7, which is connected to the output shaft of the drive motor in a manner that is not shown in a rotationally fixed manner. In contrast, there are two stationary scanning devices 8 in the form of light barriers, which are arranged in a manner not shown, aligned with radially different circumferential tracks of the sensor disk 7. One of the two scanning devices 8 arranged diametrically with respect to the axis of rotation of the encoder disk 7 is on a circumferential track lying radially further out is set, in the course of which an elongated hole 9 extending in the circumferential direction is provided in the encoder disk 7, while the other scanning device 8 is directed to a radially inner circumferential track of the encoder disk 7, in the course of which an elongated hole 10 extending in the circumferential direction is provided . The two elongated holes 9 and 10 are not diametrically opposed to one another, so they form a smaller angle between them in one circumferential direction than in the other circumferential direction. Whenever the rotating encoder disk 7 with its slot 9 reaches the light barrier area of the one scanning device 8, one pulse is generated per revolution. The same applies to the elongated hole 10 of the encoder disk 7 in relation to the other scanning device assigned to it. Since the speed of the shaft corresponds to the distance traveled by the door leaf, the number of pulses generated when the disk 7 rotates through the elongated hole 9 and / or the elongated hole 10 in cooperation with the respective light barrier scanning devices 8, which counter 2 of the positions - Switch on the input device accordingly, a measure of the door leaf path covered. Due to the non-diametrically opposed arrangement of the elongated holes 9 and 10, the time interval between a pulse generated by the elongated hole 9 and that caused by the elongated hole 10 is shorter in one direction of rotation than in the other. In this way it is possible to determine the direction of rotation of the drive motor and thus the direction of movement of the door leaf with the aid of this pulse generator 4.

The reference point indicator device 5, which is only indicated with regard to the switch in FIG. 1, is explained in more detail in FIG. 2 on the basis of a preferred exemplary embodiment. At 14, a portion of a fixed indicated at the wall opening to be closed region of a frame, while 15 denotes a partial edge region of a door leaf which is also only indicated in fragments and which is shown in a manner not shown with the aid of guide rollers or the like in guide rails, likewise not shown, held stationary on the frame and also not shown and is guided movably here.

A switch device arranged on the frame 14 comprises a permanent magnet body 16 which is pivotably mounted about an axis 17 approximately in a plane running parallel to the door leaf being guided past. The permanent magnet body 16 is polarized in the direction diametrically to the axis of rotation 17 such that one magnetic pole in the pivoting area of the permanent magnet body 16 points in the direction of the door leaf 15, while the opposite pole is directed away from the door leaf 15 in the limited pivoting area. A switching magnet 18, also designed as a permanent magnet, is arranged on the door leaf 15 in such a way that its one pole points in the direction facing away from the frame 14, while the opposite pole is directed toward the frame 14. The switching magnet 18 fixedly arranged on the door leaf 15 is guided past the permanent magnet body 16 when the door leaf passes through the reference point position, which is predetermined by the spatial arrangement of the switch device with the permanent magnet body 16 on the one hand and the switching magnet 18 on the other hand, and exercises with its opposite pole a magnetic attraction force from the pole of the permanent magnet body 16. If one starts from the position of the magnets shown in FIG. 2 and moves the door leaf in the direction of the arrow shown following the switching magnet 18, the switching magnet 18 exercises the permanent magnet body 16 as it approaches a tightening force, so that it pivots about its axis of rotation 17 when the switching magnet 18 is moved past.

The switch device of the reference point indicator device 5 is designed to be bistable in the following way: The opposite pole of the permanent magnet body 16 facing away from the door leaf 15 is oriented in the pivoted position shown to a switch 19 which is kept actuated in this position of the permanent magnet body 16 in a manner not shown. As long as the permanent magnet body 16 remains in the pivoted position shown in FIG. 2 - bearing against the stop 21 - the switch 19 remains actuated, be it closed or open. As the switching magnet 18 moves past in the direction of the arrow according to FIG. 2, the magnet body 16 is pivoted about the axis 17 and moves from its abutment against the stop 21 to its other rotational end position through abutment against the stop 22. Outside of the opposite pole end of the permanent magnet body 16 described pivoting arc and in the middle between the stops 21 and 22 a further small permanent magnet 20 is arranged fixed to the frame, which serves to stabilize the position of the permanent magnet body 16 in one or the other pivoting position. The position stabilizer magnet 20 is arranged such that it is aligned with its opposite pole on the opposite pole of the permanent magnet body 16 of the same name. This results in a magnetic repulsion movement between the fixed position stabilizer magnet 20 and the rotatably mounted magnetic body 16, so that the position stabilizer magnet 20 always presses it into one of its two end pivot positions. The lab stabilizer magnet 20 is weaker on the permanent magnet body 16 with regard to its size and / or arrangement acting as the switching magnet 18, so that the latter can pivot it in the course of its past the permanent magnet body 16 against the repulsive force of the position stabilizer magnet 20. As soon as the permanent magnet body 16 has overcome a central alignment position on the position stabilizer magnet 20, the latter and the shifting magnet 18, which has been advanced, is jointly transferred to the respective pivoted end position at the stops 21 or 22. In the pivot position under attack on the stop 21, the switch 19 is actuated, in the other pivot position under attack on the stop 22, the switch 19 is not actuated. Each time the permanent magnet body 16 is transferred from one end pivot position to the other, the switch 19 is switched over, which is evaluated as a signal for influencing the counter 2 of the position-indicating device, in the present example a forced setting of the counter to the value zero, both when the switch is transferred from the unactuated to the actuated state and vice versa.

The commissioning and the mode of operation of this exemplary embodiment correspond to the basic procedure already described above. When commissioning for the first time, it may be that the bistable reference point indicator device is switched into the position that is to be brought about by the reference point position when the door leaf is first driven through. Using the example of FIG. 2, the permanent magnet body 16 could not lie on the stop 22 in the drawn but in the other rotational position when the switching magnet 18 is moved in the direction of the arrow. Then, in the present exemplary embodiment, no actuation of the switch 19 would take place during this first runover, and thus also no synchronization pulse to the zero position of the counter 2 are generated. For this reason, the door leaf will always be moved to and beyond the reference point position by means of a push button and then stopped and run through the reference point position in the opposite direction, because in any case the reference point indicator device is actuated at the latest when the reference point position is passed a second time In the present example, the permanent magnet body 16 is pivoted and the switch 19 is thus transferred from one switching state to the other. In this way, the zero position of the counter is ensured, so that now in the course of the further movement of the door leaf, a corresponding count of the pulses generated by the pulse generator 4 by rotating the encoder disk 7 and correspondingly controlling the scanning devices 8 is carried out. When the closest stop position or end position is reached, a switch of the input switch device 11 assigned to this position is then actuated, as a result of which the counter output value is transferred to a memory unit of the memory device 6. As soon as the reference point position is run through in the reverse direction of movement of the door leaf, the counter is reset to zero again by actuating the switch 19 of the reference point indicator device 5, and the counter is switched on as described above when the door leaf is moved further, as described above, until the in stop position or end position closest to this direction of movement is reached, whereupon the associated switch of the input switch device 11 is actuated and the counter output value is transferred to a memory unit of the memory device 6 assigned to this position. The output signals of the counter are present as a dual-coded signal on several parallel lines and are input to the memory device in parallel by the input switch device 11 in this waveform.

The initial commissioning of the gate is therefore particularly simple in that the gate only has to be moved into the individual positions via touch mode (dead center switch), whereupon a switch of the input switch device assigned to this position is actuated. It is only necessary to ensure that the reference position is first passed over in one direction and then in the other. As soon as all positions have been started and the corresponding counter values have been stored, the gate is ready for operation. The drive is switched on with the help of an appropriate keyboard or a radio signal and it is determined in which positions the door leaf should be moved. This switches the drive motor on and the counter begins to record the position of the moving door leaf. The corresponding storage unit is determined by specifying the target position, and a comparator device continuously checks the output signal of this storage unit and that of the counter. If these two outputs coincide, the comparator outputs an output signal to the feed control device 12, whereupon the latter interrupts the motor feed circuit and, if necessary, triggers further displays and the like.

The display device 13 can display the counter reading, facilitate its function monitoring, indicate the position of the gate above or below the reference point position and the like.

Since the present drive and control device operates in a current-dependent manner, care must be taken to ensure that in the event of a power failure and restart, the door cannot be operated incorrectly. In the event of a power failure, there are two key aspects: On the one hand, the power failure can occur very briefly or overnight, briefly, without being noticed, so that it must be ensured that when the operator is next switched on, the door leaf position corresponds to the value setting of the position-indicating device brought. If a power failure occurs in such a way that a hand-operated door leaf movement takes place in the meantime, then it must again be ensured that when the power supply is switched on again, the door leaf position corresponds to the value position of the position-indicating device.

For this purpose, the reference point indicator device is initially designed to be bistable. It basically indicates whether the door leaf is above or below the reference point position with regard to its switching element - switching magnet 18. In order to ensure this also in the event of a power failure and a manually operated door leaf movement into another position, the reference point indicator device is implemented in the present example with the aid of permanent magnets, so that the permanent magnet body 16 is actuated by the switching magnet 18 that is passed even when the current is interrupted. When the power supply is switched on again, the reference point indicator device therefore reliably and in each case indicates where the door leaf is located. This information is used to ensure that the door leaf can now be moved only in the direction of the reference point position and beyond it with the aid of the electric drive which is now ready for operation again. This ensures that the counter of the position indicating device is reliable again is synchronized with the position of the door leaf. The counter could in principle be designed as a non-volatile switching unit, that is to say retain its count value even if the power fails. However, this advantage would only be used reliably if the counter were to continue to operate according to the newly adopted door leaf position even in the event of a power failure and manual door leaf movement. In the case of an electrically operated meter, however, this would only be possible with an auxiliary power source. Therefore, in a particularly preferred embodiment, the counter is constructed from simple switching elements that lose their information in the event of a power failure. Due to the aforementioned inevitability that when the power supply is re-entered, the door leaf can only be moved in the direction of the reference point, the counter receives its position by actuating the reference point indicator device, as when switching on for the first time. It is therefore only necessary to create the storage device from non-volatile switching elements in order to enable reliable resumption of operation even after a power failure.

The switch 19 in FIG. 2, which is otherwise only represented symbolically, can be, for example, a reed contact, as is commercially available magnetically actuated. Furthermore, the position stabilizer magnet 20 can of course be replaced by other magnet arrangements, for example two small magnets, each of which is assigned to one of the two stops and exerts a magnetic attraction force on the permanent magnet body 16 so that it is drawn into the respective end pivoting position.

Claims (21)

1. Device for controlling the motor-drive of a door leaf or the like, movably guided back and forth along a certain path between two end positions and optionally one or more stop positions located therebetween, more particularly an overhead guided movable door leaf, having a switching unit (1) indicating that the respective end positions or stop position have been taken up, the output signals of said switching unit being utilised to switch off the supply to the drive motor, a reference point indicator (5) which produces a synchronising signal when passing through an end position of the door leaf, a storage unit for registering, storing and indicating the end positions and, optionally, at least one stop position, and a position-indicator showing the actual value of the position of the door leaf respectively taken up during the movement of the door leaf, said position-indicator obtaining, through the synchronising signal, a position-value setting which, dependent on the end position of the door leaf aimed for, or the stop position thereof, determined by the drive, in accordance with the associated value specified by the storage unit, releases the respective output signal for switching off the supply to the drive motor upon reaching said respective position, characterised by the following features:

   - the reference point indicator (5) produces a synchronising signal whenever it passes a specific reference point position,

   - the reference point position is located between and beyond the end positions,

   - the end position or stop position aimed for, is determined in dependence on the override direction of the reference point position.
2. Device according to claim 1, characterised in that the indicator (5), the storage unit (6), and/or the position-indicator (2, 4) are constructed as digitally operating switching units.
3. Device according to claim 1 or 2, characterised in that the indicator (5) is constructed as a bi-stable switch and the storage unit (6) as a stable electrical component, so that according to the switch position of the indicator, the door leaf can only be driven, from the respective position it actually takes up, in the direction of the reference point position, when the motor drive is switched on and the corresponding position-indicator setting is non-existent or has been lost, for example after a power cut.
4. Device according to claim 2 or 3, characterised in that the position-indicator (2, 4) has a pulse counter (2) whose count input is connected to a pulse generator (4), the pulses of which are derived from the rotational motion of the motor drive.
5. Device according to claim 4, characterised in that the pulse generator (4) has a transmitting disc (7) which is co-rotationally connected to a rotatably arranged part of the drive motor, more particularly to the motor output shaft, with which a scanning device (8) is associated which is integral to the housing, said scanning device experiencing, once or several times per rotation of the transmitting disc (7), a digital change in the state of its physical data indication.
6. Device according to claim 5, characterised in that the transmitting disc (7) is constructed as a perforated or slotted disc and that the scanning device (8) has a light barrier, in the region of which there is the circumferential region of the transmitting disc (7) which has the perforated or slot-shaped openings.
7. Device according to claim 5, characterised in that the transmitting disc has one or a plurality of magnetic regions distributed in the circumferential direction, said regions controlling, by pulses, a magnetically sensitive scanning element, such as a Hall generator, as a function of the rotational movement of the transmitting disc.
8. Device according to any one of claims 5 to 7, characterised in that the circumferential spacing between the signal-triggering markings (9, 10) of the transmitting disc (7), of which there are at least two and which are distributed over the circumference, are shorter in the one rotational direction than in the other.
9. Device according to any one of claims 1 to 8, characterised in that the pulse generator (4) has two signal channels for a signal detection differentiable as a function of the rotational direction.
10. Device according to any one of claims 6, 8 and 9, characterised in that the transmitting disc (7) has two elongated holes (9, 10) extending along radially different circumferential tracks, a light barrier switch (8) being associated with each elongate hole and the switching distance between said switches comprising different angles, when viewed in the circumferential direction.
11. Device according to any one of claims 1 to 10, characterised in that a comparator unit (3) is connected to the outputs of the position-indicator (2, 4) and the storage unit (6), said comparator unit switching a supply control unit (12) for the drive when the signals of said outputs coincide.
12. Device according to any one of claims 1 to 11, characterised in that the synchronising signal of the reference point indicator (5) accordingly sets the position-indicator (2) to a specific reference point value, for example zero.
13. Device according to any of claims 1 to 10, characterised in that the synchronising signal of the reference point indicator (5) sets the position-indicator (2) to a value which is governed by the value indicated by the storage units, said value corresponding to the end position or drive-determined stop position in the direction of which the door leaf moves when the reference point position has been overridden, such that the position-indicator (2) shows, upon reaching this end or stop position, a value which controls a drive supply unit (12).
14. Device according to any one of claims 1 to 13, characterised in that, upon the initial starting and manually controlled travel of the door leaf into the two end positions and, optionally, one or more stop positions, an input-switch unit (11) is provided for the end position of the storage unit, said input-switch unit, when the respectively aimed-for position has been reached, as a result of a manual actuation of the switch, allowing, as a function of the respective value shown by the position-indicator, the input of a storage position characterising said position respectively taken up.
15. Device according to claim 14, characterised in that the input-switch unit (11), the storage unit (6), the counter of the position-indicator (2, 4) and the optional comparator unit (3) are provided so as to operate with dual-coded parallel signal transmission.
16. Device according to any one of claims 3 to 15, characterised in that the bi-stable switch of the indicator has a Hall generator which controls a bistable switching element.
17. Device according to any one of claims 3 to 15, characterised in that a stationery, pivotally mounted permanent magnet (16) which is polarised perpendicularly to the pivot axis (17) thereof is provided, past which a permanent magnet is guided which acts as a switching magnet (18) and co-operates in moving the door leaf, such that when the door leaf moves through the reference point position, the switching magnet (18), as a result of magnetic force, carries the magnet body (16) along with it from the one displacement end position into the other, that an equally fixedly arranged weaker permanent magnet which acts as a position-stabling magnet (20) which magnetically biases the magnet body (16) in the rotational end position respectively taken-up and that a magnetically switching element, for example a reed contact (19) is fixedly arranged such that it is actuated by the magnet body (16) in the one rotational position (21) thereof and not actuated in the other rotational position (22).
18. Device according to any one of claims 1 to 17, characterised in that the reference point position is provided near the closed position of the door leaf, in particular in the case of one or several stop positions and the stop position being adjacent in the opening direction of the door leaf.
19. Device according to any one of claims 1 to 18, characterised in that the reference point indicator (5) has a switching component carried by the door leaf itself and a switching component fixedly connected to the frame.
20. Device according to any one of claims 1 to 18, characterised in that the reference point indicator (5) is part of a door leaf movement-simulator which reproduces, highly geared-down, the movement of the door leaf over its path between the end positions and whose path-dependently switching component is guided, when the door leaf moves, past the fixedly arranged switching component, for example by means of a spindle which is mechanically coupled to a motor drive, more particularly an output shaft of a reduction gear connected to a motor, said spindle driving a spindle-nut guided by translatory motion which carries the switching component (18) and passes the switching component (16, 19, 20) fixedly connected to the drive housing.
21. Device according to any one of claims 1 to 20, characterised in that several reference point indicators are provided according to several reference point positions of the door leaf, defined at different points of the movement path.

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