EP1297235B1 - Building or site closure, drive device for driving a leaf of said closure and corresponding control method - Google Patents

Description

The invention relates to a Drehtorantriebsvorrichtung for driving a building or ground closure wing in the form of a pivotable about an axis swing gate, with the features of the preamble of the appended claim 1 and a building or site closure, namely a swing gate with the features of the preamble of claim 11. Also The invention relates to a control method according to claim 12.

• einem ortsfest anzuschließenden ersten Element,
• einem an den Gebäude- oder Geländeabschlussflügel anzuschließenden zweiten Element,
• einem Antriebsaggregat zum relativen Bewegen des ersten und des zweiten Elements, um so den Gebäude- oder Geländeabschlussflügel anzutreiben, und
• einer Positionserkennungseinrichtung zum Erkennen, dass der Gebäude- oder Geländeabschlussflügel sich in einer bestimmten Position befindet.

DE 42 37 385 A1 describes a drive device for driving a pivotable about an axis building or terrain closure wing with:

• a first element to be connected in a fixed position,
• a second element to be connected to the building or ground closure wing,
• a power plant for relatively moving the first and second members so as to power the building or terrain closure wing, and
• a position detection device for detecting that the building or terrain closure wing is in a certain position.

The drive device known from DE 42 37 385 A1 has, as the first element, a stationary drive spindle unit with a drive spindle which can be driven in rotation by an electric motor with a corresponding gear. The spindle engages in a thrust cylinder with internal thread, which is connected as a second element to the building closure wing to be moved and during rotation of the spindle relative to the drive spindle unit for opening and closing of the wing is displaceable. In order to stop the drive when reaching the respective end position, the drive device known from DE 42 37 385 A1 is provided with a position detection device which has arranged between the drive spindle unit and the cylinder limit switch which upon reaching one of the opening or closing position corresponding relative days cylinder and drive spindle unit for outputting a switching signal are actuated. In such a limit switch solution, the drive spindle moves between two mechanically set points, usually determined by push buttons or initiators.

According to the same principle, many conventional rotary door drives available on the market, for example drives of a gate pivoting about a vertical axis between an opening and closing movement, operate. Such known Drehtorantriebe form the preamble of the appended claim 1, and thus provided swing gates have the features of the preamble of claim 11.

There are also on the market door drives, in which the drive shaft of the electric motor is connected to an incremental encoder for supplying pulses to a pulse counter. Assigning two specific positions, such as the end positions, which are detected by limit switches or by driving the drive against attacks, the corresponding meter readings, so you can due to this assignment and based on the respective count the current position of the gate also between the end positions to capture. If the position of the gate is detected or adjusted at a reference point, then no mechanical switching devices are necessary in this solution, which can then also be referred to as reference point processing. Only by the counting of the increments on the transmission side and the passing over of a reference point are the doorways for "open" and "closed" determined. The incremental encoder always delivers only one pulse train during forward and reverse travel. Without further information can not be determined by this, in which direction the drive device moves. For this reason, so far always additional reference points have become necessary. These reference points must first be taught in, usually via a Lemfahrt, in which the drive device moves against stops. Such Lemfahrten make u. U. a significant security risk because of the need for retraction into mechanical stops any overload protection does not work and as well as information about the current direction of motion is missing.

It is also possible to determine the required door travel over a preset time. The travel between "gate open" and "gate closed" is controlled by means of a potentiometer for a set time.

All three aforementioned possibilities lead, which is also achieved by the invention, to the same result, namely to stop the door leaf in the respective end position "gate open" or "gate closed".

The problem with the limit switch solution is the necessity of setting the limit switches, which can lead to operating errors. The problem with the other two position detection methods by means of incremental encoders or the like or time recording, which position detections due to the need for further position determination (reference point determination) relative to which the respective current position is given, hereinafter referred to as relative position detections or relative position detections is that in the event of an emergency release or in particular after a power supply interruption of the control of the drive device, the position information is missing, so that after each interruption a Lemfahrt for Einlemen the end positions or other reference points must be performed. Since the power supply is interrupted in the event of an emergency release, or after a power failure, there is no information as to where increased forces occur due to end positions and where not. Due to this, sufficient force limitation is not possible during these reference runs. Thus, with each of these trips there is a risk of crushing. Farther is in the known method for Torpositionsbestimmung then, if a failure in an end position, for example, "gate closed" and at power return, the gate continues towards this end position, so for example, further in the direction of "gate closed", without fixed stops Overrunning the end position possible. Also in this case there is a risk of crushing. A squeezing on automatically operated swing door leaves can lead to considerable injuries, depending on the lever position of the door leaf and the force required (drives with 2000 N are not uncommon).

The design-related possible high forces in Drehtorantrieben thus represent an emstzunehmende risk of injury. Insofar the position detection plays by a control of the drive device is a particularly important role in order to achieve the most effective safety shutdown can. In addition, there is a risk of destroying fittings as well as construction-related risk of crushing, especially in swing gate operators due to possible leverage effects in case of incorrect positioning. Since conventional drives operate with limit switches and / or with incremental encoders, which are usually mounted directly on the engine, missing in the case of emergency release and in particular after interruption of the power supply to the controller then position information. Also, it is not possible during the first Lemfahrt the power to limit sufficiently. This would be achievable only with increased effort of the operator because of the learning process, which also leads to a security risk because of the possibility of incorrect operation.

In the case of drive devices with incremental encoders, it is true that in principle the counter readings for the end positions can be stored in a manner that is fail-safe. Since the current counter reading during the process of the drive device but constantly changes, a power failure safe storage for this current count is not possible. It is lost in the event of a power failure, and the drive device must be readjusted to reference points such as the end positions every time such incidents occur, ie it is necessary to carry out a learning tour with the stated safety risks each time.

• einem durch die Laufschiene gebildeten ortsfest anzuschließenden ersten Element,
• einem an den Gebäude- oder Geländeabschlussflügel anzuschließenden zweiten Element, nämlich dem Motorschlitten,
• einem in dem Motorschlitten untergebrachten Antriebsaggregat zum relativen Bewegen des ersten und des zweiten Elements, um so den Gebäude- oder Geländeabschlussflügel anzutreiben, und
• einer durch den Spannungsteiler verwirklichten Positionserkennungseinrichtung zum Erkennen, dass der Gebäude- oder Geländeabschlussflügel sich in einer bestimmten Position befindet;

wobei der Spannungsteiler einen den beiden Elementen zugeordneten Wegsensor bildet, der anhand der relativen Lage der beiden Elemente ein eine stetig monotone Funktion dieser relativen Lage darstellendes Weg- oder Positionssignal erzeugt.WO99 / 04122A1 relates to a completely different type of building closures, namely a sliding door system, which is naturally designed completely differently than a hinged door with drive. In the known sliding door system, a drive motor is accommodated in a drive slide which can be moved back and forth within a running rail. A position-determining direction formed by a voltage divider which acts via a current input for the drive slide in the running rail is described. WO 99/04122 A1 thus describes a drive device for driving a building or ground closure wing in the form of a sliding door with:

• a first element to be fixedly connected by the running rail,
• a second element to be connected to the building or ground closure wing, namely the snowmobile;
• a drive unit housed in the snowmobile for moving the first and second members relatively so as to drive the building or ground closure wing, and
• a position detecting means realized by the voltage divider for detecting that the building or land closing wing is in a certain position;

wherein the voltage divider forms a displacement sensor associated with the two elements, which generates based on the relative position of the two elements a path or position signal representing a continuous monotonous function of this relative position.

From US 4,780,655 a sliding door with an inductive displacement detection is known. However, according to the prior art, such inductive displacement detection is only possible via an additional transmission and the additional arrangement of an inductive displacement sensor.

The object of the invention is much simpler and simpler, and even in operation after such incidents, much safer (s ) Drehtorantriebsvorrichtung and driven swing gate to create. In addition, a security of the Operation-increasing control method for such a drive device or such a driven swing gate are proposed.

This object is achieved by a Drehtorantriebsvorrichtung with the features of claim 1, by a swing gate with the features of claim 11 and by a method according to claim 12.

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

Drehtorantriebsvorrichtungen for driving Drehtorflügeln usually work on the principle that is moved by a drive unit a stationary to be connected first element relative to a to be connected to the Drehtorflügel second element. According to the invention, a displacement sensor is now assigned to the two elements, in particular formed by the two elements, which, based on the relative position of the two elements, generates a path signal representing a preferably continuous monotonous (monotonically increasing or monotonically decreasing) function of this relative position. As elements can directly serve those parts that are already present in the drive device. In the displacement sensor, the relative position of the two elements is detected and converted into an electrically processable measured variable, which is preferably a continuous monotonous function of this relative position. This can be done by different physical methods. If the relationship between the relative position of the two elements and the measured variable used to generate the displacement or position signal is (strictly) monotonic, preferably continuously strictly monotonous, increasing or decreasing, at least in the region of interest of interest, then it is possible for anyone Value of the measured variable, in which the relative position has been converted to assign a specific relative position.

According to the invention, an absolute path recognition is created, since each signal value of the path signal unambiguously indicates a specific relative position of the two elements and thus a specific position of the rotary door leaf. In addition to the important improvement in reliability, the commissioning of the swing gate operator with the solution according to the invention is simplified because neither limit switch must be mounted or set, nor mechanical reference points such as end stops must be approached. In an unlocked state, the swing gate can be brought by hand or deadman switch in the desired end position, a control device simply stores the corresponding - absolute - distance information as an endpoint. This also makes it possible to secure the travel path during the first reference / leash travel by means of a force limitation. The absolute path recognition also provides direction information immediately without prior intervention. Safety risks caused by driving in the wrong direction can thus also be avoided during driver's trips and / or after disturbances such as power failures. In this way, it is also easy to save certain control points where a control change is to take place. For example, the Drehtorflügel or another to be driven building or terrain closure element by hand or deadman switch could also be placed in positions where the drive, for example, to switch from a faster ride to a slower ride or vice versa. All these control points are detected by the controller based on the absolute path information of the path sensor formed by the two elements and can be easily stored without installation effort. According to the invention, the two relative to each other in the course of the wing movement moving elements of the drive device itself are preferably used as parts of a displacement sensor, in other words, the displacement sensor is formed by the drive unit movement on the Drehtorflügel transmitting elements themselves.

The amazingly simple idea of the invention can be realized in many ways, depending on the nature and structure of the two elements. For example, the two elements could form parts of a capacitor or the like of capacitive resistance, which changes its capacity to each other when the elements move. Also, the two elements could form an ohmic resistance that varies with relative displacement. In other embodiments, the two elements are parts of an optical sensor which, for example due to the intensity of reflected electromagnetic waves, such as infrared waves, emits a dependent on the distance between portions of the elements signal. It is also conceivable to connect the two elements elastically with each other and to provide the elastic connection with strain gauges. Ie. Any measuring method for length measurement is suitable which delivers electronically usable signals and from whose values the absolute position of the two elements relative to one another can be clearly deduced.

Experiments have shown, however, that the above-mentioned realizations in practice are currently possible only with greater effort and thus increased costs. Especially outdoors, e.g. Because of the high dependence on the time of common dielectrics, capacitive path detections can only be implemented with relatively high outlay using environmental conditions such as temperature and in particular moisture and aging phenomena and are associated with relatively high measurement errors. Reliable and simpler in construction is a preferred embodiment of the invention, in which the relative displacement of the two elements can be detected inductively. Inductive length measuring methods offer high accuracies with low influence of contamination, weather influences such as temperature fluctuations and aging. In many cases, the measurement can be carried out without contact and thus without mechanical wear, which can be implemented relatively easily in practice, in particular in rotary door drives. Preferably, the two elements are parts of an inductive resistor whose inductance changes upon relative movement of the two parts. In a preferred embodiment, one of the two elements has a coil and the other element has a coil core region which more or less intervenes in the coil, depending on the relative position of the two elements.

This can be realized in a particularly simple manner if the two elements are linearly movable or displaceable relative to one another and, in particular, telescopically engage one another. Under linear motion is understood to mean a straight-line displacement of the two elements. This may be a parallel displacement such as in a slide guided in a guide, but it may be that the elements in addition to the linear movement to rotate each other, as is the case for example in a screwing. In some mechanical principles of drive devices, such as spindle drives, rack drives, pneumatic or hydraulic Drehtorantrieben but also telescopically interlocking elements are present. Such drives are particularly well suited for the invention, since there an inductive sensor can be realized in a simple manner often simply by providing a coil without further mechanical change. The retracting into the other element one element can then, especially if it is a metallic thrust cylinder, for example, a Spindeldrehtorantriebes or a hydraulically or pneumatically actuated cylinder-piston unit, ideally more or less in the attached to the other element or by him form formed coil retracting coil core, so that changes in the telescopic displacement of the two elements, the inductance due to the permeability change of the material present in the interior of the coil.

A mechanically particularly exact association between the position of the swing gate and the relative position of the two elements and the ability to drive the wing exactly in a certain position are then achieved when, as basically known in the prior art mentioned, one of the elements an internal thread and the other element has a rotatably driven by the drive unit relative to the internal thread, with the internal thread engaged in the spindle or threaded rod.

This could for example be realized by a drive spindle unit with motor, gear, spindle and housing, to which the coil is mounted in such a way that the cylinder is more or less retractable into the coil.

The invention relates to Drehtorantriebe for driving a pivotable in particular about a vertical axis or vertical axis rotary door leaf. Particularly in the case of rotary door drives, high forces can occur in the vicinity of the swivel joints due to the design, which represent a serious risk of injury. For this reason, a position detection plays an important role, since it can be detected on the basis of an exact position determination, whether a detected increased power demand at a certain position is normal or based on a fault, such as an obstacle in the range of motion of the gate. For the most effective safety shutdown therefore the most accurate position detection is necessary, as it can be achieved with the inventive solution. In a concrete embodiment, it is preferably provided that the first element is formed by a thrust cylinder connectable to the rotary door leaf, which is more or less retractable in a coil provided on the second element as Spulenkembereich, the second element preferably a driving the sliding movement of the thrust cylinder, comprises a spindle driven by an electric motor of the drive unit.

For measuring and converting the inductance into an evaluable signal, an advantageous embodiment of the drive device according to the invention is provided with an inductance measuring and signal generating device which detects the inductance corresponding to the current relative position of the two elements and generates a corresponding signal. Preferably, a square wave signal with a frequency dependent on the inductance or with a pulse / pause ratio which depends on the inductance is generated. The latter can be easily transmitted over longer lines. A frequency signal is in processable as the signal supplied by a conventional incremental encoder circuit. It has been found to be advantageous for inductance measurement that the inductance measuring and signal generating device has an LC resonant circuit with inductance formed essentially by the coil whose natural frequency is determined by means of an oscillator circuit and used for signal generation.
For redundancy reasons, it is advantageous if, in addition to the absolute travel sensor, a relative travel sensor is also used. A particularly preferred embodiment of the invention is therefore characterized by a relative displacement sensor with an incremental pulse generator associated with the drive unit for determining relative travel by counting pulses and assigning count values to certain, additionally additionally detected positions and preferably additionally by a switching device by means of the one Control device of the drive device alternately or optionally, preferably via a common signal line, to the displacement sensor or the relative displacement sensor for Bewegungsübenrwachung and position determination of the building or terrain closure wing is connected. In order to allow operation in a traditional manner, if the absolute path sensor provides erroneous values, a further preferred embodiment of the invention comprises a plausibility check direction, which connects the control device to the respective other sensor if one of the two sensors provides implausible values. The plausibility checker can also be used to issue error messages and / or perform an emergency shutdown or emergency release.
The Drehtorantriebsvorrichtung invention and the Drehtor invention are particularly safe operated with a control method, with which before (any) operation of the drive device initially supplied from the absolute displacement sensor displacement or position signal is queried. By such queries, the controller first has at least approximate information about the actual current position of the swing gate.
Due to this information, dangerous or unauthorized modes of operation and operating conditions can be prevented by the controller. For example, a command to approach the swing gate in the direction "closed" could be prevented if the position signal indicates that the wing is already in the end position "closed".

The inventive provision of an absolute displacement sensor has even more advantages. Such is the force applied to move a swing gate must be, as a rule, depending on the respective position of the wing. The information of the displacement sensor could now be used to set a path-dependent force threshold, and this even during a Lemfahrt. If a force, which is much higher than the force usually used in this area, is needed at a location whose approximate position is indicated by the displacement sensor, this indicates that the door has been driven against an obstacle. The controller could react based on the absolute path signal already at the Lemfahrt on such threshold excesses and switch off the drive unit. In order to determine the force threshold, weather sensors, for example a wind sensor, can also be provided in order to compensate for weather-related power demand changes.

The displacement sensor according to the invention makes it unnecessary in previous conventional drive devices from time to time necessary adjustments of Referenzzählem. With the previous incremental encoders, there was the possibility that the pulse count did not receive or did not register one or the other impulse. For this reason, was done from time to time or even with each operation of the door drive an adjustment of the count by retracting into reference points. This is no longer necessary in the absolute displacement measurement according to the invention, because yes there is at least a rough ground - or depending on the effort also a very accurate stop - for the absolute actual position of the swing gate.

Fig. 1

eine Draufsicht auf einen Gebäude- oder Geländeabschluss in Form eines Drehtores mit einer Antriebsvorrichtung in Form eines Drehtorantriebes;

Fig. 2

eine perspektivische stark vereinfachte schematische Darstellung einer Antriebseinheit des Drehtorantriebes;

Fig.3

den mechanischen Aufbau einer erfindungsgemäßen Drehtorantriebsvorrichtung;

Fig. 4

ein Schaltbild eines bei der Antriebsvorrichtung nach Fig. 1 - 3 in der Messelektronik verwendeten Colpitts-Oszillators;

Fig. 5

ein Prinzipschaltbild für den Anschluss einer der Wegsensorik der Antriebsvorrichtung zugeordneten Sensorplatine an eine Steuerung; und

Fig. 6

ein Flussdiagramm für die Steuerungssoftware der Antriebsvorrichtung.

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

Fig. 1

a plan view of a building or site closure in the form of a revolving door with a drive device in the form of a Drehtorantriebes;

Fig. 2

a perspective greatly simplified schematic representation of a drive unit of the swing gate operator;

Figure 3

the mechanical structure of a Drehtorantriebsvorrichtung invention;

Fig. 4

a circuit diagram of a used in the drive device of Figure 1 - 3 in the measuring electronics Colpitts oscillator.

Fig. 5

a schematic diagram for connecting a sensor of the displacement sensor associated with the sensor board to a controller; and

Fig. 6

a flowchart for the control software of the drive device.

In FIG. 1, as an example of a terrain or building closure, a revolving gate 10 with a gate leaf 12 pivotable about a vertical axis is shown. The arrow 14 indicates the opening direction of the door leaf 12. The door leaf 12 is driven by a drive device in the form of a swing door drive 16. This has a first stationary to be connected element in the form of a motor housing unit 18 and a second, relative to the motor housing unit movable element in the form of a push cylinder 20 which is connected to the door leaf 12. The push cylinder 20 is movable along its longitudinal axis, driven by a drive unit 22 (see Fig. 2), linear to the motor housing unit 18. If the thrust cylinder 20 is pulled by the drive unit 22 from the position shown in Fig. 1 in the direction of the motor housing unit 18, the door leaf 12 opens in the opening direction 14. The thrust cylinder 20 engages telescopically in a coil sleeve 24, which is part of the motor housing unit 18 is fixed or fixed to this.

On (or in) the formed for example of plastic bobbin tube 24, a coil 26 is wound in the interior of the thrust cylinder 20 when moving the gate leaf 12 more or less immersed, as indicated in Fig. 2 and 3.

The drive unit 22 has, as shown in FIG. 2, an electric drive motor 28 which rotatably drives a spindle 32 via a gear 30. On the shaft of the drive motor 28, an incremental encoder 34 (of known design, eg slotted disc with light barrier) is arranged, which emits a pulse train in accordance with the movement of the drive motor 28. These pulses are counted by a counter, not shown, and used for relative detection of the path and position of the door leaf 12.

In the following, the mechanical structure of a spindle drive 36 is explained with reference to FIG. 3, which converts the rotational movement of the spindle 32 into a sliding movement, indicated by arrows 38, of the push cylinder 20.

In the present swing door drive 16, the cylindrical push cylinder 20 made of stainless steel, coupled via a threaded bushing 40 formed by a brass nut, driven by the rotating spindle 32 (threaded, ferromagnetic steel) in the longitudinal direction 38. This linear movement forms - non-linear - the goal position. The inductance of the coil 26 changes in turn proportionally (and thus constantly strictly monotone) to the position of the push cylinder 20. The threaded bush 40 is provided with internal thread and attached to the motor housing unit 18 end of the push cylinder 20. The driving spindle 32 rotates, but is otherwise fixed relative to the coil 26th

It is therefore used here for length measurement in inductive measuring method. This offers high accuracy with little influence of contamination, temperature fluctuations and aging. The measurement is carried out without contact in the embodiment shown here. The thrust cylinder 20 is ideally a movable spool core or Spulenkembereich for the inductive measuring system: It is metallic, precisely guided and forms the door position accurately and in linear motion.

The basic principle of length detection relies on the inductance change of the coil 26 by changing the media in its magnetic field. It is quite possible - as in the example shown - the position of a paramagnetic part (here: the thrust cylinder 20 formed of stainless steel) selectively against a ferromagnetic part (here: the spindle 32 made of tempered steel) are recognized. For detecting the inductance, a frequency measurement is primarily connected. For this purpose, first a suitable measuring frequency is determined by observing the available signal processing possibilities (existing hardware). On the basis of the measurement frequency range specified in this way, the coil parameters, and in particular the number of turns, are adapted.

In some embodiments (not shown), differential methods are used with two (variometer) or three (differential transformer) coils. Such methods offer high insensitivity to external magnetic disturbances with a slightly higher expenditure on equipment. Large temperature fluctuations, which occur especially with external gates, can influence the output frequency of an oscillator used for the detection of the inductance, possibly also indirectly the inductance. However, the temperature fluctuations do not influence the inductance difference or only very little.

An inductance measuring and signal generating device should convert the inductance change (or the inductance difference change in the case of several coils) into an easily transferable and electronically evaluable signal with the least possible outlay.

A conceivable solution is to use a simple sine-wave oscillator to generate the measuring frequency (carrier frequency) as measuring alternating current into the coils. In the case of the variometer circuit (not shown), in the simplest case the zero crossings are detected with Schmitt triggem. A simple logic circuit can be made from these signals z. B. generate a square wave signal with variable pulse / pause ratio. Such a digital signal can be easily amplified and transmitted over longer lines, without falsifying the measurement result. The corresponding evaluation with a microcontroller is a standard application, which usually achieves better results than analog value measurements. The differential methods and other methods without capacitors or reference frequency sources therefore offer some interesting advantages, but the disadvantages have so far prevailed.

In the illustrated example, only one coil 26 is used, which brings price advantages and is completely sufficient for most applications.

In the following an inductance measuring and signal generating device for such a configuration with only one coil 26 of the type shown in Fig. 3 in the form of an electronic transducer 42 will now be explained in more detail with reference to FIG. Due to the different materials in the field region of the coil 26, a suitable range for the measurement frequency is selected. According to Fig. 4, a wiring is proposed as an active LC resonant circuit. Such a circuit combines a simple structure with very good handling and dynamics of the output.

The principle of the circuit shown in Fig. 4 is known as Colpitts oscillator. This is an electronic oscillator circuit serving as a capacitive three-point circuit (Colpitts circuit) for generating high-frequency electrical oscillations with a parallel resonant circuit 44 in which the voltage fed back in phase to an active component (triode or transistor 46 as shown) is fed through a capacitive voltage divider is won. This consists of two series-connected capacitors of different capacitance C1 and C2. The ratio of the capacitances determines the degree of feedback, their geometric mean the oscillator frequency. The parallel resonant circuit 44 is through the two capacitors C1 and C2 and through the coil 26th educated. Between the parallel resonant circuit 44 and the transistor 46, the position signal 48 is tapped.

Compared with the preferred embodiment resulting from FIGS. 3 and 4, the above-explained variometer principle with two coils and tapping between the two coils is not so well suited, since the measurement signals are symmetrical to the central position. However, the frequency-determining capacitors cause naturally disturbing Drifterscheinungen. In the optimal case, it is possible in the circuit of Fig. 4 by skillful selection of components, the temperature behavior of the coil and capacitor to compensate each other exactly, so that a sufficient insensitivity to over the temperature coefficient (as here in the outer gate area) can be achieved.

Manufacturing-related offset and linearity errors are virtually non-significant, since the measurement frequency values for the relevant gate positions, i. H. the particular frequency positions of the position signal 48 indicative of certain positions of interest of the gate leaf, preferably not being taught in during the (first) startup at the installation site. Problems due to long-term drift (ie aging of the capacitor) can easily be eliminated if a second position detection system (as in the present case an incremental encoder) can be used for the adjustment. For this purpose, in the present embodiment, an incremental encoder having the incremental encoder 34 (not shown in detail) is used. Such an incremental encoder represents a relative displacement sensor 50, while the circuit of FIG. 4 with the coil 26 and the cylinder 20 represents an absolute displacement sensor. The term "relative" here means that information is supplied which can only be used in relation to a reference point indicating a secured door position for determining the goal position, while the information provided by the absolute path sensor 50 can be used directly for determining the goal.

Swing gate operators with relative displacement sensors via incremental encoders and controllers designed for this purpose are already on the market. With the circuit described in the following according to FIG. 5, the existing Drehtorantriebe can be upgraded without much effort to a Drehtorantrieb invention.

On a sensor board 54 are the electronic components except the coil 26 of the relative displacement sensor 50 (the exact circuit is shown in Fig. 4), the measuring electronics of the incremental encoder as a relative displacement sensor 52 and a switching device 56 united. The sensor board 54 is connected via a supply line 58, a signal line 60 and a ground line 62 to a controller 64 of the swing door drive 16. By means of the switching device 56, either the position signal 48 of the absolute displacement sensor 50 or the relative displacement signal (output signal) 66 of the relative displacement sensor 52 is selectively applied to the signal line 60. The transducer 42 ensures that the position signal 48 and the output signal 66 of the relative displacement sensor 52 (incremental encoder) also have shapes that allow comparable processing. In this way, despite adding the new technique of the absolute displacement sensor 50, one can remain compatible with existing controls, both position signals 48, 66 are transmitted to the controller 64 via a signal line 60.

The relative displacement sensor 50 described here is provided in the illustrated exemplary embodiment, the swing gate operator 16 with switching electronics for relative / absolute travel measurement (as shown in FIG. 5) primarily as an additional safety device. Although the relative displacement sensor 50 is fundamentally superior to the conventional incremental encoder 34 by its absolute measuring principle, it is not initially used as the only position detection in a currently preferred embodiment, above all for safety reasons. Rather, both path information (48, 66) are made accessible to the controller 64 by the small additional circuit shown in FIG. The electrical compatibility to drives without absolute displacement sensor 50 is maintained. Also, no additional line is required.

The output signal 66 of the relative displacement sensor 52 formed by the incremental encoder is only interesting during a movement of the drive motor 28. The checking of the absolute door position, however, can be limited to the stoppage phases of the swing gate operator 16 without further ado. The position signals 48, 66 can therefore be transmitted in the time-multiplex method, wherein in the simplest case, the switching device 56 is formed by a timer (monoflop) 68 in the arranged on the motor housing unit 18 sensor board 54 or includes such. The timer 68 makes the switching between the absolute and the relative position signal 48, 66 before.

The timer 68 is started at a standstill of the drive motor 28 by a brief interruption of the sensor supply voltage. This is indicated by a switch 70 at the connection of the supply line 58 to the controller 64. If the timer 68 is active, the absolute position signal 48 is transmitted at the current measuring frequency. When the timer 68 reaches its idle state, it switches the signal line 60 to the relative displacement sensor 52 and thus to the incremental encoder 34 through. Since the drive motor 28 is still stationary, the output signal changes from the measuring frequency of the absolute position signal 48 to a static level. This can be easily checked by the controller 64. If now the drive motor 28 is started, then, as in the conventional technique, the path pulses of the relative displacement sensor 52 formed by the incremental encoder on the signal line 60.

The controller 64 can therefore before each drive by briefly interrupting the sensor supply voltage, the absolute position signal 48, d. H. request the current measurement frequency of the absolute displacement sensor 50 to verify the current position data. In normal operation, this can be used to detect, for example, incorrect positioning by means of mechanical decoupling and re-coupling elsewhere. After a power failure, reference travel to a limit stop can be dispensed with.

A control method for the swing gate operator 16 implemented by software in the controller 64 will be explained in more detail below with reference to FIG.

After a travel request by an operator (step A), the sensor supply voltage on the supply line 58 is first interrupted in step B via the switch 70. Because of this, the timer 68 switches the signal line 60 to the absolute position signal 48 of the absolute displacement sensor 50. In step C it is then checked whether this absolute position signal 48 has a plausibly high frequency. The frequency values may vary depending on the design of the displacement sensor 50, usually they will be in the range of 10 - 20 kHz. If no such frequency exists, an error message is output in accordance with step D. If such is the case, the frequency of the absolute position signal 48 is measured and a position value is calculated therefrom, step E. In step F it is then checked whether the calculated position value lies in an expected range. If this is not the case, this leads again to an error message according to step D. If the calculated position value lies within an expected range, a control and an adaptation of the expected range to be expected for future position determination is carried out on the basis of the now obtained position value (step G). ,

As explained above, after the time of the timer 68 has elapsed and the switchover of the signal line 60 to the relative position signal due to a standstill of the drive motor 28 and thus of the incremental encoder 34 has taken place, a static signal input must be present. This is checked according to step H; If the signal input is not static, there is an error message according to step D. However, if the signal input is static, a polling operation for the relative displacement sensor 52 is activated (step I), this will be explained in more detail below. Thereafter, the controller 64 initiates the starting of the drive motor 28 and thereby starts the travel of the gate 12 (step J).

• a) Umschalten/Erkennen der beiden Signalarten (Messfrequenz des absoluten Positionssignals 48 bzw. Impulse des relativen Positionssignals 66)
• b) Auswerten des relativen Positionssignals 66
• c) Auswerten des absoluten Positionssignals 48
• d) Auf Plausibilitätsfehler reagieren (kein relatives Positionssignal, widersprüchliche Positionsdaten etc.)
• e) Positionswerte erfassen und pflegen.

The control software accordingly includes mainly the following functions:

• a) switching / detecting the two signal types (measuring frequency of the absolute position signal 48 or pulses of the relative position signal 66)
• b) evaluating the relative position signal 66
• c) evaluating the absolute position signal 48
• d) React to plausibility errors (no relative position signal, contradictory position data, etc.)
• e) Enter and maintain position values.

To a)

In principle, the "requesting" of the relative position signal 48 can also take place cyclically at arbitrary times during the standstill of the swing gate operator 12. In this state, the software has "nothing to do" anyway. But how long is a meaningful measurement interval? For example, letting it measure once a minute might mean thousands of "meaningless" measurements if the door leaf 12 is not moved for several weeks. Then disconnects someone and immediately pressed a remote control to move the gate 12, the only interesting reading can be lost.

Accordingly, the deterministic behavior explained above is preferred in which the absolute path transmitter 50 is interrogated immediately before each trip (steps A and B). Naturally, the measurement time must be relatively short, which in principle is at the expense of the measurement accuracy. This problem can be alleviated somewhat by the LC oscillator (transducer 42) receives a buffering of its supply voltage individually so that it oscillates stable throughout, even during the interruption pulse for switching. Since, in the present case, the measuring frequency of the relative position signal 48 is approximately between ten and twenty kilohertz, averaging can be carried out to improve the immunity to interference even with a measuring time of, for example, 50 milliseconds.

Advantageously, this measurement is run in parallel to other processes preceding a journey. Such processes are z. Testing / polling of safety devices, decrypting receiver signals, waiting for pre-warning times etc.

The pulses of the incremental encoder forming the relative displacement sensor 52 lie in the frequency range between zero and about two hundred hertz, with a pulse-pause ratio of about one to three. Thus, the relative position signal 66 is clearly distinguishable from the symmetrical relative position signal 48 at a much higher frequency. Note, however, the possibly strong coupling of interference frequencies.

To b)

Because of the low frequency of the relative position signal 66, it is sufficient to interrogate the signal input cyclically (polling). From the information requested, in addition to a high-resolution value for the relative position, it is also possible to obtain a sufficiently accurate value for the engine speed.

To c)

In the evaluation of the absolute position signal 48, a polling method will generally not provide the required accuracy. Again, it is now beneficial to perform the absolute measurement at a standstill, because usually the software load is low.
When measuring at a standstill, the use of a single simple microcontroller with only two independent timing units for the control sufficient because these two timer units (timer units) of the microcontroller at standstill for measurement can be used ("input capture"), while otherwise by a Speed control of the motors (PWM) are occupied. The controller 64 contains only one microcontroller and can also be used for a two-leaf swing gate (not shown) with two swing door drives 16 - one per gate leaf.

To d)

By checking before each trip, the controller can dynamically respond to whether there is an absolute displacement sensor 50 at all or whether it provides plausible values. For the practice, this means that a missing or defective absolute displacement sensor 50 does not have to lead to the failure of the swing gate operator 16. However, it is a critical question how to respond in particular to the lack of security regarding the "decoupling problem".

To e)

During a teach-in process in the course of the first start-up, the measurement frequencies of the absolute position signal 48 for the end positions are stored. This can be done directly at the start of the journey from the respective end position, that is, only the storage process, but not the measurement process is specific to the "Lemfahrten". The Lemvorgang done for example via a deadman switch, so an actuator that must hold the operator constantly during the process.

In order to compensate for drift phenomena as well as other deviations, it is advantageous to adjust the expected range for the absolute value whenever the position data (from absolute and relative measurement) is compared, if the other data of the previous trip were as expected. The force course over the way normally provides a more reliable orientation.

The two displacement sensors 50, 52 thus form a position detection device with which the position of the door leaf 12 can be accurately determined for safe operation of the swing door drive.

Claims (12)

1. Rotating gate driving apparatus (16) for driving a rotating gate panel (12) which is pivotable about an axis, preferably a vertical axis, having:

   - a first element (18) which is to be connected in a fixed position,

   - a second element (2) which is to be connected to the rotating gate panel (12), the two elements (18, 20) being movable or displaceable in linear manner relative to one another and the two elements (18, 20) engaging telescopically one inside the other,

   - a drive unit (22) for relatively moving the first element (18) and second element (20) so as to drive the rotating gate panel (12), and

   - a position detecting device (50, 52) for detecting when the rotating gate panel (12) is in a specific position;

   characterised in that
   the position detecting device (50, 52) comprises a travel sensor (50) associated with the two elements (18, 20) and in particular formed by the two elements (18, 20), said sensor generating a travel or position signal (48), by means of the relative position of the two elements (18, 20), which represents a preferably constantly monotonous function of this relative position.
2. Rotating gate driving apparatus according to claim 1, characterised in that the travel sensor (50) is an inductive travel sensor which inductively detects the relative position of the two elements (18, 20).
3. Rotating gate driving apparatus according to claim 2, characterised in that one of the two elements (18) comprises or forms a coil (26) and the other element (20) comprises or forms a coil core region (20) which engages to a greater or lesser extent in the coil depending on the relative position of the two elements (18, 20).
4. Rotating gate driving apparatus according to one of claims 1 to 3, characterised in that one of the elements (20) comprises an internal thread (40) and the other element (18) comprises a spindle (32) or threaded rod which engages with the internal thread (40) and is rotationally driven by the drive unit (22) relative to the internal thread (40).
5. Rotating gate driving apparatus according to claim 3, characterised in that one (20) of the two elements (18, 20) is formed by a thrust cylinder (20) or thrust piston which can be connected to the rotating gate panel (12) or connected in a fixed position, and which, as a coil core region, can be introduced to a greater or lesser extent into the coil (26) provided on the other of the two elements (18), which is correspondingly connectable in a fixed position or to the rotating gate panel (12), the other element (18) preferably further comprising a spindle (32) which drives the displacement movement of the thrust cylinder (20) or piston and is driven by an electric motor (28) of the drive unit (22).
6. Rotating gate driving apparatus according to claim 2, characterised by an inductivity measuring and signal generating device (42) which detects the inductivity corresponding to the current relative position of the two elements (18, 20) and using this generates a square wave signal having a frequency dependent on the inductivity or having a pulse/interval ratio depending on the inductivity.
7. Rotating gate driving apparatus according to claims 6 and 3, characterised in that the inductivity measuring and signal generating device (42) comprises an LC resonant circuit (44) with an inductivity essentially formed by the coil (26), the inherent frequency of which is determined by means of an oscillator circuit and used to generate the signal.
8. Rotating gate driving apparatus according to one of claims 1 to 7, characterised by a relative travel sensor (52) with an incremental pulse provider (34) associated with the drive unit (22) and indicating an aggregate movement, for determining relative travel by counting pulses and associating the counted values with specific positions of the gate panel (12) closing off the building or floor which have additionally been determined by some other method.
9. Rotating gate driving apparatus according to claim 8, characterised by a switchover device (56) by means of which a control device (64) of the drive mechanism (16) can be alternately or selectively connected, preferably via a common signal line (60), to the travel sensor (50) or the relative travel sensor (52) for monitoring the movement and determining the position of the gate panel (12) closing off the building or floor.
10. Rotating gate driving apparatus according to claim 9, characterised by a plausibility checking device (C, F, H) which connects the control device (64) to the other sensor (50, 52) and/or initiates a fault message or switches off the drive unit when one of the two sensors (50, 52) yields implausible values.
11. Rotating gate (10) having:

    - a rotating gate panel (12) which is pivotably movable about an axis, preferably a vertical axis,

    - a drive mechanism (16) for driving the rotating gate panel (12),

    - a first element (18) which is to be connected in a fixed position,

    - a second element (2) which is to be connected to the rotating gate panel (12), the two elements (18, 20) being movable or displaceable in linear manner relative to one another and the two elements (18, 20) engaging telescopically one inside the other, so that the first element (18) and second element (20) move relative to one another as the rotating gate panel (12) moves, and

    - a position detecting device (50, 52) for detecting when the rotating gate panel (12) is in a specific position;

    characterised in that
    the position detecting device (50, 52) comprises a travel sensor (50) associated with the two elements (18, 20) and in particular formed by the two elements (18, 20), said sensor generating a travel or position signal (48), by means of the relative position of the two elements (18, 20), which represents a preferably constantly monotonous function of this relative position.
12. Method of controlling a rotating gate driving apparatus (16) according to one of claims 1 to 10 or a driven rotating gate (10) according to claim 11,
    characterised by:

    interrogating (B/70) the travel or position signal (48) supplied by the travel sensor (50) before operation of the rotating gate driving apparatus (16) and

    preventing the operation when the travel or position signal (48) is outside a permitted range (F) for the desired operation.

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