EP0902157B1 - Power driven door with safety device - Google Patents

Abstract

With vertically moving roller or concertina doors operated by electric motors interference of the opening at any point blocks one or more of the infrared beams which is electronically detected and stops or reverses the motor.

Description

The present invention relates to an externally driven gate, in particular a Segment or roller door, according to the preamble of claim 1. In such A safety device is used to detect gates in the movement path of a Gates, rolling grilles, lifting gates and the like.

Safety devices of a corresponding type are, for example, from the Document DE-U-8615042 or DE-A-3416546 known. According to DE-U-8615042 is a safety bar consisting of a tube made of elastomeric material End profile on one side with a lamp and on the other side with a provided photosensitive resistance. If the security bar on an obstacle hits, the light beam is interrupted, causing an engine brake Switching pulse is generated.

DE-A-3416546 relates to a safety device for stopping a motor moving objects. To better address one Safety device having a light barrier arrangement for stopping To reach objects moving by motor, there is the light barrier arrangement a light transmitter and a light receiver, one at both ends Light channel having a profile rail are arranged. When hitting a The profile rail made of an elastically deformable material becomes an obstacle squeezed together reducing the cross section of the light channel so that the Light beam is interrupted.

With these elastically deformable safety strips, however, there is only one adequate security against injuries and damage is given, if their Deformation area the caster path of the leading edge of the end profile from the actuation of the switching device to the complete braking of the same equivalent. Due to the weight and especially the kinetic energy of the Apart from the switching delay, the door leaf and the end profile result however, a relatively long overtravel, so that high and therefore expensive safety strips must be used.

Another disadvantage of such, made of profiled elastomeric material Existing safety strips exist apart from the inevitable Operating force and the resistance resulting from their deformation in that there are switching delays or even according to the direction of impact Switching failures can result.

Because of these problems, people have started Arrangements of light barriers in at least the overtravel of the door leaf corresponding distance in front of the leading edge of the end profile of the door leaf to be arranged on this so that the movement of the door leaf is stopped when a Obstacle interrupts the light beam from the light barrier arrangement. Because the beam of light runs at a distance in front of the closing profile of the door leaf, it is ensured that the end profile with an obstacle interrupting the light beam in Touch comes.

Examples of this are in documents EP-B-0325602 and EP-B-0284066 listed. From EP-B-0325602 a safety device for roller shutters is known of which a light barrier is provided, the transmitter and sensor elements on both sides the end profile at a distance corresponding to the braking distance below the End profile are arranged on support arms. The support arms are sliding in led respective brackets, which are connected to a lower part of the door leaf are. If the support arm hits the ground or a stop, the Transmitter and transducer elements are moved relative to the door leaf towards this and reach the end of the closing movement of the gate in a position at least in the height of the bottom edge of the door leaf.

EP-B-0284066 is a high-speed door with one in the area of the lower edge the final profile provided safety device known that at their Actuation the brake is applied. The safety device contains one Photoelectric sensor, whose transmitter and sensor elements on both sides of the end profile in a distance corresponding to the braking distance below this in the area of lower ends of stamps are arranged in guides of the end profile or lateral sword-like extensions are inserted. When the Stamps on the floor or a stop immerse the stamps in the guides, so that the end profile can be supported on the floor.

In the above two examples, the donor and Sensor element arranged on part of the door leaf, which leads to the fact that the Encoder and transducer elements can be moved with the door leaf. Based on these The electrical lines and other components of the electrical are subject to movement Circuit that extend between the door leaf and frame, strong dynamic Loads caused by vibrations of the door leaf and continuous Bending stresses are caused. In addition, dirt, dust and Deposit water on various electrical system components and become one Decrease in performance or malfunction of the system. As a nuisance to these known systems, the fact that the electrical Supply of the encoder and receiving elements must be performed through the gate, so that the construction of the gate or the gate segments must be adapted to this. This affects the flexibility of the user, but also of the manufacturer, what the Concerning gate design.

Are known for securing gates, for example, from US Pat. No. 5,233,185 Light barrier arrangement formed light curtain systems on one side of the door leaf to be assembled. There is no adequate personal and property protection on the given the light curtain side of the door leaf. One installed on both sides Light barrier arrangements, the effort is too high and the light curtain system too expensive. In addition, this system is prone to faulty switching when e.g. B. Power supply components such as Spiral cable in case of external weather influences Immerse yourself in the light path of the light grid in an uncontrolled manner, or else that The door leaf bulges even when exposed to wind.

FR-A-2685496 discloses one equipped with light barrier arrangements Safety device, in particular for elevator doors, in which to solve the problem is that the area spanned by the light barrier arrangements with the Movement area of the leading door edges coincides and therefore at Movement of the door must be prevented that the drive from the light barriers is switched off, which are interrupted by the doors themselves. For this purpose is a separate position reporting system for the known safety device Detection of the momentary position of the elevator doors between these and the Elevator cabin provided depending on the position of the elevator doors in Switch off the light barriers in front of the door edges before the Door edge arrives so that these light barrier interruptions do not End door closing movement.

Even with externally driven processing machines, such as presses or Press brakes, for example according to US-A-4,166,369 or EP-A-0 789 182 Safety devices containing light barrier arrangements are provided, the each with separate position reporting systems for the moving machine parts or Tool parts are equipped, their collision with the body one Operator whose protection is to be prevented. The position reporting systems capture the instantaneous position of the moving machine part concerned and cause the shutdown of those light barriers that are next at the Movement of the machine part can be covered or interrupted by this, thus only an interruption of the light barrier by an obstacle object of the machine.

The object of the present invention is therefore to provide a safety device Generic type to create the maximum with easy installation offers system and personal protection for a door of any design and with little control engineering effort.

This object is achieved by the features of claim 1.

According to the invention, it becomes a self-sufficient, as it were Safety device created, the safety circuit works so that at once the gate is in a certain position (initialization phase) predetermined activation algorithm run for the light barrier arrangement can. The algorithm according to the invention makes it possible, for example, to direct the rays into the To lay the door movement path so that now a single light barrier arrangement is sufficient to cover the entire Monitor the path of movement of the gate, which means the device-related Effort is further reduced. Because the current position of the gate is different Defines activation states of the light barriers, the synchronizes itself Safety device automatically with the movement of the gate. An entrance to the Security device from the gate control system is no longer required, so that the security device according to the invention quasi as a "stand-alone solution" for any gate or the like on the market can be retrofitted. In addition, the required control circuit simple. With the invention Security device results in a security level of the Monitoring. Because every object that the monitored movement area of the Touched door leaf inevitably leads to the safety device responding and already prevents the drive unit for the door from starting. any Control errors, but also inertia-related movement deviations (running larger moving masses) are compensated from the outset.

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

In the case of the externally driven door specified here, commercially available Light barrier strips can be used.

Maximum security is achieved if the Light barrier arrangement spanned area and the movement area of the leading edge of the door coincide, because this means that both side door guides are completely secured against unintentional reaching in. there there is the additional advantage that the bar or bars of Photoelectric sensor arrangement covered by the guidance of the gate and thus simultaneously is protected from damage. An expensive collision protection can thus eliminated.

The number of times set to the transition activation state Photoelectric sensors changed depending on the speed of movement of the gate, see above can be adjusted to the speed of movement of the gate if necessary be made to take into account the inertia of the gate.

The light barriers in the passive state are useful for Opening the gate sequentially switched to the active state, which is an advantageous Signal flow in the system and leads to a constant maximum security status, too if the gate is only opened in gaps and then closed again.

If the activation states at least in a buffer device of two neighboring light barriers are continuously buffered, so the Safety device simultaneously as a detector device for determining the Position and the direction of movement of the gate can be used.

With the training according to claim 7 is for in the Maximum area included in the safety device is a reasonable measure of e.g. 2.5 m established. The effort for the position determination and thus for the This further reduces the safety device.

With the features of claims 9 and 10, the sensitivity of the Safety devices are kept particularly high where specific Hazard patterns occur, e.g. at a low height above the ground in which is flat moving booms of forklift vehicles. The so-called cross-beam technique according to claim 10 has the particular advantage that simpler Light protection strips with a larger division pattern and the same division of the transmitter / receiver can be used.

The safety device is not based on any of the orientations Gate movement or limited to certain door leaf designs.

If the strips of the light barrier arrangement are arranged on the guides are, the beam area of the gate movement area comes so close that already for one Sufficient security is provided for most of the applications.

The highest level of security results from further training according to Claim 13, with the particular advantage of being easy to retrofit existing guidance systems.

It should be noted here that so far in the description and the claims there is talk of light barriers, not light radiation in the visible Spectrum range are limited, but for example with infrared rays can work.

Fig. 1

eine teilweise geschnittene Vorderansicht eines fremdangetriebenen Rolltors mit Sicherheitseinrichtung nach der Erfindung;

Fig. 2

die Ansicht gemäß "II" in Figur 1;

Fig. 3

eine der Figur 2 ähnliche Ansicht einer Variante;

Fig. 4

eine Seitenansicht gemäß "IV" in Figur 1;

Fig. 5

eine der Figur 4 ähnliche Ansicht einer Variante des Tors;

Fig. 6

den Schnitt "VI-VI" in Figur 4;

Fig. 7

einen der Figur 6 entsprechenden Schnitt einer Variante des Führungsprofils;

Fig. 8 und Fig. 9

Blockschaltbilder der Ansteuer- und Auswerteeinrichtung der Sicherheitseinrichtung; und

Fig. 10

ein Flußdiagramm zur Erläuterung der Arbeitsweise der Sicherheitseinrichtung.

Further features and advantages of the present invention will become apparent from the following description of preferred embodiments of the present invention with reference to the accompanying drawings. Show it:

Fig. 1

a partially sectioned front view of an externally driven roller door with safety device according to the invention;

Fig. 2

the view according to "II" in Figure 1;

Fig. 3

a view similar to Figure 2 of a variant;

Fig. 4

a side view according to "IV" in Figure 1;

Fig. 5

a view similar to Figure 4 of a variant of the gate;

Fig. 6

the section "VI-VI" in Figure 4;

Fig. 7

a section corresponding to Figure 6 of a variant of the guide profile;

8 and 9

Block diagrams of the control and evaluation device of the safety device; and

Fig. 10

a flowchart to explain the operation of the safety device.

In the description of the figures are those components that are each other correspond, provided with similar reference numerals, only another Is preceded by an ordinal number.

A roller door 11 of width BR and height HR is known in the essentially from two laterally arranged hollow guide profiles 12 and 13 with a U-shaped Cross-section, a cross member resting on the side guide profiles 14, in which a motor and a winding shaft driven by the motor are accommodated, and one in vertical slot-like guides of the side Guide profiles 12 and 13 guided and wound on the winding shaft flexible Door leaf 15.

Since the roller door can have a well-known construction, here is on a detailed description of the further structure is dispensed with.

The roller door 11 is an independent of an input by the door control, d. H. assigned self-sufficient safety device. This is on both sides of the door leaf 15 in each case a bar 17, 18 of a light barrier arrangement, for example, based on infrared rays, with a bar attached Light transmitter and the other bar accommodates the light receiver, so that a variety is formed by one-way light barriers with beams 19-1 to 19-n.

In the embodiment shown, a receiver is assigned to each transmitter. In addition, the rays run parallel to each other. However, this is not mandatory required. Several receivers can be assigned to a transmitter. Moreover the rays 19 can also run obliquely.

The strips 17, 18 are attached in such a way that the light beams 19 spanned surface 20 with that of the leading door edge 21 of the door leaf 15 swept movement area 122 (FIG. 3) at least one line 123 (FIG. 3) has in common. In the embodiment according to FIGS. 1, 2, 4 and 5, the levels fall together, i.e. the light curtain generated by the light barrier arrangement lies directly in the closing plane of the door leaf.

All embodiments have in common that the strips 17, 18, 117, 118 on the Guide rails 12, 13 and 112, 113 are attached. According to Figures 2, 4 and 5 are they are arranged within the guide rail or the guide profile 12, 13 at which Embodiment according to Figure 3 attached to the side of the profiles 112, 113, on different sides of the door leaf.

With the light barrier arrangement, the closing movement of the gate monitored to rule out the leading edge of the gate on an obstacle meets. Figure 5 shows that the monitoring height H accordingly to a reasonable degree can be limited, for example to 2500 mm. Figure 5 further shows that the shape of the door leaf can be arbitrary, for example formed by folded segments can. The leading edge 221 is in turn guided in a guide profile 213 in which also the light bar 218 can be included.

Figures 6 and 7 show variants for the arrangement of the light strips in or on the relevant management profile:

According to Figure 6, the guide profile 312 with another, on the light bar Provided 317 adapted profile chamber, which is the guide chamber 325 for a Roller 326 of the door leaf 315 connects. Retrofitting a gate with this one specified safety device goes through an exchange of the guide profile vonstatten.

According to FIG. 7, the guide profile 412 can essentially be retrofitted remain unchanged. Here the web 427 of the guide profile 412 receives a number of Bores 428 in a hole pattern corresponding to the light barrier arrangement. The strips 417 are attached to the outside of the web 427.

So that the rays leading from the transmitter to the receiver Arrangement of light barriers in the movement area of the leading gate edge 21 can run, the safety device has a special control circuit with which the beams sequentially depending on the position and movement of the Different activation states can be assigned to the door leaf. This will be in the explained the following:

In each case the light barrier with the beam 19-0, which when closing the Tores the leading edge 21 is closest, receives from the control circuit 40 Activation state NULL, i.e. when covering this shortly thereafter Light beam through the edge 21, this light barrier does not give the closing movement of the Interruption signal. This activation state is Called transition activation state.

All light barriers with beam 19-0 in the direction of movement Rays 19-x that have already been covered by the door leaf take the inactive one State X on. This activation state is called the passive state.

In contrast, the light barriers with beams 19-1 to 19-n are active 1, i.e. any obstacle in the area of rays 19-1 to 19-n ultimately causes Output signal SA, which is applied to an interrupter or inverter relay 41 to to stop or reverse the drive of the motor. You can see from the Representation according to Figure 1, that thereby the control 42 of the door operator of the Control circuit 40 for the light barriers is disconnected, i.e. that both devices 40, 42 work independently.

When the door leaf reaches beam 19-0, the control circuitry ensures that beam 19-0 becomes passive beam 19-x, while beam 19-1 becomes new Beam 19-0 will. This means that all light barriers go off when the door leaf is closed sequentially from active state 1 to transition activation state NULL and finally into the passive state X, automatically from the movement of the Gate leaf controlled.

The only exception is the light barrier with the top beam 19- *, the one with the transition activation state begins NULL.

The safety device also serves as a device for determining the Position of the door leaf. For this purpose, preferably when opening the gate released light barriers sequentially via the transition state NULL in the active state 1 armed.

Figures 8 and 9 show a possible embodiment for the control the arrangement of the light barriers and the evaluation of the individual Signals applied to light barriers. Figure 8 shows the transmitter part 40-2, and Figure 9 shows the associated receiver part 40-1.

By means of a multiplexer arrangement MUX1 to MUX4 known per se the individual transmitters S1 to Sn z. B. in the form of light emitting diodes, and the receiver EI to En in the form of phototransistors, i.e. the light barriers, individually addressable and evaluable. That is, the individual transmitters, e.g. LEDs are - from the micro controller controlled - selectively switch on and off individually and selectively.

On the other hand, the receiver, e.g. from the photo transistors recorded signals individually and selectively using the microcontroller on the receiver side. To eliminate Interference can be filtered (43), amplifier (44) and threshold circuits 45 (Schmitt trigger) can be used.

With this arrangement, specific light barriers can also be targeted individually are hidden in order to determine predetermined boundary conditions of the gate, e.g. a brief entry via a threshold ramp or the presence of a current high snow cover.

Finally, on the basis of FIG. 10, the security device is used horizontal program sequence explained:

The system is initialized in step 1. The position of the leading gate edge is determined, already referring to the individual Addresses pending signals can be accessed. The current position of the Gate edge is at the xth address, i.e. at the xth ray.

If an object is detected during the position determination, then the Control circuit outputs an output signal SA, i.e. the outputs are set.

Otherwise, the light barrier arrangement is evaluated from position x + 2, d. that is, the address x + 1 has the state ZERO and all beams are x + 2 to x + n active.

If an obstacle is now detected, the outputs are set. Otherwise it runs the routine again.

When the gate is opened, those in passive state X are Photoelectric switches in sequence to "1", d. H. switched to the active state. Run it then essentially the same program steps as when closing, however inverted. If the gate is now stopped, the last one released Photoelectric switch set to the transition activation state "NULL".

Of course there are deviations from those described above Embodiments possible without leaving the basic idea of the invention:

Radiation protection is not necessarily limited to light rays.

It is also possible for the transmitter and receiver to have a single guide rail are assigned so that a reflection light barrier is used. It is also possible to work with a number of reflective light sensors.

In the exemplary embodiments shown, the light source can, for example a conventional light bulb, a light emitting diode or a laser. As The light receiver can be a photoelectric receiver such as e.g. a photocell, a Photo resistor, a photo element or a photo diode can be used.

Claims (13)

1. Externally driven door, particularly segmented door or rolling shuttered door, the door leave (15) of which is movable in a guided fashion, with a safety device having a light barrier arrangement (17, 18) monitoring the movement path of a leading door edge and consisting of a plurality of light barriers (19) being arranged in movement direction of the door in staggered manner one beside the other, said light barriers comprising, on one side of the door opening, a transmitter, and, on the other side of the door opening, a receiver or reflector, and having a safety circuit by which the closing movement of the door is reversible or stoppable, if an obstacle is detected in the movement path of the door, whereby the area (20, 120) spanned out by the light barrier arrangement has at least one intersection line (123) in common with the movement area scanned by the leading door edge (21), characterized in that the safety device comprises a control circuit (40) for the light barriers which, in dependency from the position and the movement of the door, allocates to the light barriers sequentially in movement direction three different activation states;

   of said activation states one activation state being an transition activation state which is allocated by the control circuit at least to one of the light barriers (19-0) being adjacent to the leading door edge (21), but having it not yet detected, so that this at least one light barrier, upon the following detection of the leading door edge, does not supply a signal activating the security circuit;

   of said activation states a further activation state being a passive state which is allocated by the control circuit (40) respectively to a light barrier (190-0) being previously in the transition activation state at the time that this light barrier detects the leading door edge (21), and which state causes allocation of the transition activation state to a light barrier being adjacent to the before-mentioned light barrier in direction of movement of the door and having been previously not yet in the transition activation state, by the control circuit, whereby the light barriers in the passive state generate no signal activating the security circuit; and

   of said activation states a third one being an active state in which each light barrier (19-1 to 19-n) detecting an obstacle generates a signal activating the security circuit.
2. Externally operated door in accordance with claim 1, characterized in that the area defined by the light barrier arrangement and the movement area of the leading door edge are planes.
3. Externally operated door in accordance with claim 1 or 2, characterized in that the area defined by the light barrier arrangement and the movement area of the leading door edge are coincident.
4. Externally operated door in accordance with one of the claim 1 to 3, characterized in that the number of the light barriers (19-0) switched into the transition activation state is variable dependent from the movement velocity of the door.
5. Externally operated door in accordance with one of the claims 1 to 4, characterized in that the light barriers being in the passive state are switched sequentially into the active state during the opening of the door.
6. Externally operated door in accordance with one of the claims 1 to 5, characterized in that storage means are provided, into which the activation states of at least two adjacent light barriers are continuously intermediately stored for determining the direction of the movement of the door from the change of the activation states.
7. Externally operated door in accordance with one of the claims 1 to 6, characterized in that the light barrier arrangement comprises a starting light barrier (19-*) which, in the opening position of the door (15), in which the closing edge (21) is outside of the light barrier arrangement (17,18), has the transition activation state, whereby, particularly in case that the door leaf is already within the region of the light barrier arrangement when switching on the security device, the starting light barrier is determined and defined automatically.
8. Externally operated door in accordance with one of the claims 1 to 7, characterized in that the distance of the light barriers form each other increases in closing movement direction of the door (15)
9. Externally operated door in accordance with one of the claims 1 to 8, characterized in that the light barrier arrangement, at least sectionwise, comprises light barriers in which one transmitter is allocated to at least to receivers the output signals of which are processed.
10. Externally operated door in accordance with one of the claims 1 to 9, characterized in that the leading door edge and the door (15), respectively, are movable vertically.
11. Externally operated door in accordance with one of the claims 1 to 9, characterized in that the leading door edge (21) is movable horizontally.
12. Externally operated door in accordance with one of the claims 1 to 11, characterized in that at least a leading portion of the door leaf is guided in lateral guiding means (12, 13) which are mounted on frames, and that elements of the light barrier arrangement are positioned on the frame means, preferently on the guiding means (12, 13).
13. Externally operated door in accordance with claim 12, characterized in that the elements of the light barrier arrangement having the shape of bars (17, 18) are integrated in guiding profiles (12, 13) of said guiding means.

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