EP2243916A2 - Gate drive device with absolute position sensor - Google Patents

Abstract

The device has a rotation angle sensor (204) connected on a rotor over a transmission gearing (210), and/or a rotary member connected with the rotor such that overall movement of door wings between end positions are lesser than 360 degree rotation of a rotary element (208) of the rotation angle sensor. Another rotation angle sensor (206) is provided with another rotary element (226) for detecting angle of rotation. The latter rotary member rotates faster than the former rotary member of the former rotation angle sensor during rotation of the rotor and/or the rotating member. An independent claim is also included for a method for controlling a door drive device.

Description

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

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

All available on the market door drives have a preferably designed as an electric motor motor with a rotor over the previously explained gear and a motor gearbox is geared to the door leaf connectable.

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

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

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

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

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

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

The rotation angle sensor of the absolute value encoder has as a rotary element, for example, a magnet mounted on a rotary shaft. The position of the magnet is detected by taking advantage of the Hall effect, and from this a position signal is generated. In order for this position signal to represent a continuous, monotonous function of the gate position and thus always indicate an absolute value of a specific gate position, this rotary element may move from one end position (for example the closed position) to the other end position (for example the open position) during the entire door path. do not turn more than 360 °. If the rotary element made more than one complete revolution, for example a rotation of 370 degrees, then the output signal would correspond to the same signal as at the position of 10 degrees. Thus, one would again only have a relative gate position, the absolute value in turn being obtainable only on the basis of further information, for example determined by a counter.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

The first and / or the second rotation angle sensor are preferably designed as absolute value sensors which supply a signal which represents a continuous monotonous function of the rotational angle position of the respective rotary element.

For example, a voltage signal is output, which increases steadily monotonically with the rotation angle of the rotary member.

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

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

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

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

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

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

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

Corresponding small gears for the Torwegsensor are available on the market, for example, for model making.

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

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

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

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

Fig. 1

eine perspektivische Ansicht einer ersten Ausführungsform einer Torantriebsvorrichtung zum Antreiben einer Torwelle;

Fig. 2

eine perspektivische Ansicht der ersten Ausführungsform der Torantriebsvorrichtung vergleichbar der Ansicht von Fig. 1, wobei einige Elemente zu Darstellungszwecken weggelassen worden sind;

Fig. 3

eine Vorderansicht auf die Torantriebsvorrichtung von Fig. 1,

Fig. 4

eine Seitenansicht der Torantriebsvorrichtung von Fig. 1;

Fig. 5

eine Rückansicht der Torantriebsvorrichtung von Fig. 1;

Fig. 6

eine geschnittene Draufsicht auf die Torantriebsvorrichtung von Fig. 1;

Fig. 7

eine Detailansicht von vorne auf einen Teilbereich der Torantriebsvorrichtung von Fig. 1;

Fig. 8

der Teilbereich von Fig. 7 von der Seite gesehen;

Fig. 9

eine Detailansicht eines Teilbereichs der Rückansicht von Fig. 5; und

Fig. 10

der Teilbereich von Fig. 7 von vorne, wobei einige Elemente zu Darstellungszwecken weggelassen worden sind;

Fig. 11

eine schematische Darstellung eines bei der Torantriebsvorrichtung verwendbaren Absolutwertgebers; und

Fig. 12

eine schematische Darstellung des Absolutwertgebers zusammen mit einer Torantriebsteuerung zum Steuern der Torantriebsvorrichtung.

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

Fig. 1

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

Fig. 2

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

Fig. 3

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

Fig. 4

a side view of the door drive device of Fig. 1 ;

Fig. 5

a rear view of the door drive device of Fig. 1 ;

Fig. 6

a sectional plan view of the door drive device of Fig. 1 ;

Fig. 7

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

Fig. 8

the subarea of Fig. 7 seen from the side;

Fig. 9

a detailed view of a portion of the rear view of Fig. 5 ; and

Fig. 10

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

Fig. 11

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

Fig. 12

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

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

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

For example, as described in more detail in "EBERLEIN, W; BARAN:" Better Direct ", in WISSENSPORTAL baumaschine.de, 1 (2005)", torque motors are direct motors which directly on drive shafts of machines without intermediate links such as gears, belts or clutches to be assembled. For further details on torque motors, reference is expressly made to the aforementioned reference. The most important components of a torque motor are a stator and a rotor. A torque motor can be considered simplified as a high torque optimized, large servomotor with hollow shaft.

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

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

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

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

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

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

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

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

• Holding the gate in a stop position (gate closed or gate open),
• Holding the gate in case of spring breakage (failure of a
  Counterweight device of the gate) and power failure,
• Catching (braking) and holding the gate during spring break during the movement,
• Force impact protection of persons and objects during the closing movement and
• Manual operation for opening and closing the door, eg during a power failure or during assembly.

The holding of the gate in a holding position by a braking device 18 with a brake 20th

In the in the Fig. 1 to 10 illustrated embodiment of the door drive 10, the brake device 18 as a brake a plurality of spring brakes 20, 21.

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

Further, the output shaft designed as a hollow shaft 15 is integrally arranged on the rotor 14. The hollow shaft 15 has a groove 24 for wedging a to be accommodated in the hollow shaft Torwelle 102 (only in the second embodiment in Fig. 11 shown). As a result, the hollow shaft 15 can be coupled directly to the door shaft 102.

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

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

Like from the Fig. 1 and 2 it can be seen, an absolute encoder 34 is further provided on the rotor toothing 22, which is always coupled by a gear 36 geared to the rotor 14 and detected the rotational position of the rotor 14 by means of a Hall effect rotational angle sensor. This will be discussed later. Thus, the angular position of the rotor 14 and thus the coupled thereto Torwelle is always detected and to a door drive control 38 (see Fig. 12 ). In the door drive control 38, a frequency converter is arranged, by means of which the torque motor 12 is driven. Also, target positions for the gate are stored in the door drive control 38 in nonvolatile memories, which - controlled by the absolute value transmitter 34 - can be controlled by means of the torque motor 12.

In Fig. 1 Further, a manual override device 40 is shown, by means of which the rotor 14 can be rotated manually and by means of which the brake 20 can be turned off for manual rotation.

The manual override device 40 has a bearing 42 for a chain drive 44 which also acts as a first switching mechanism for the brake 20. The chain drive 44 is identical to that in the EP 1 028 223 B1 formed chain drive trained.

Next, the manual override device 40 as a second switching mechanism for switching the brake 20 is still a manual operation unit 46.

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

The spring brake 21 has the brake shaft 30, which has the gear 28 at one end, which meshes with the intermediate gear 26 and at another end has a further gear 50. At a shaft region arranged therebetween, two brake springs 52 are arranged to form the spring brake 21, 21 '. These are formed by a first leg spring 54 and a second leg spring 55. How best Fig. 4 can be seen, both leg springs 54, 55 a fixed to a holder 56 fixed end 57, 58, a winding portion 59, 60 and a leg 61, 62 on. The turn portions 59, 60 are each wound in opposite directions and wound around the shaft portion of the brake shaft 30. The dimensions are chosen so that the inner diameter of the two turn portions 59, 60 of the unloaded torsion springs 54, 55 before installation are slightly smaller than the outer diameter of the shaft portion of the brake shaft 30. The difference is between 0.2 and 0.5 mm.

As a result, the winding regions 59, 60 of the torsion springs 54, 55 in the state of rest are biased against the shaft region of the brake shaft 30. In an alternative embodiment, not shown, additional or alternative to the bias of the leg springs 54, 55 separate biasing elements - as on the legs 61, 62 attacking -vorgesehen to the winding portion 59, 60 of the brake springs 52 to press the associated brake shaft 30. As in the Fig. 1 to 10 shown, the two legs 61, 62 tangentially from the brake shaft 30 and are detected by the spring loosening 48.

The spring loosening device 48 has a respective cam 64, 65 per leg spring 54, 55. The two cams 64, 65 are mounted on a camshaft 66, which is rotatable by pivoting the bearing 42.

The two legs 61, 62 take the camshaft 66 between them, so that upon rotation of the camshaft bent in the one direction of rotation of a leg 61 farther away and thus the associated winding portion 59 is released from the brake shaft, and upon rotation of the camshaft 66 in the opposite direction of the other leg 62 is bent away from the camshaft 66, whereby the other winding portion 60 is released in accordance with the brake shaft 30.

How best Fig. 3 it can be seen, the bearing 42 of the chain drive 44 is pivotally mounted about a pivot axis 68. At the opposite end, the bearing 42 is connected via a linkage 70 to the camshaft 66 of the spring loosening device 48. Like this in the EP 1 028 223 B1 explained in more detail and shown, engages a chain 72 of the chain drive 44 on a ring gear with internal teeth arranged with sprocket (not shown here). This ring gear is with play of an internal gear 74 on a centrally disposed shaft 76 (see Fig. 4 ) arranged around. The bearing 42 is by means of springs 78 in their in Fig. 3 and 4 shown center position where the Kettenhohlrad the internal gear 74 is not detected, biased.

When pulling on a strand of the chain 72, however, the bearing 42 is pivoted against the bias of the springs 78 about the pivot axis 78 in the pulling direction. As a result, the Kettenhohlrad engages the internal gear 74. The shaft 76 of the internal gear is, as in Fig. 4 is shown in detail, via an intermediate gear 80 with the further gear 50 of the brake shaft in engagement.

Via the brake shaft 30 and the intermediate gear 26, the shaft 76 of the manual override device 40 is thus engaged with the rotor toothing 22.

The linkage 70 is adjusted such that a release of the corresponding leg spring 54, 55 from the brake shaft 30 takes place only when meshing between the internal gear 74 and the chain ring gear.

In addition to the camshaft 66 with the two cams 64, 65, the spring-loosening device 48 also has a slide 82, which acts on the two legs 61, 62 and can be displaced by means of the electromagnet 32. The legs 61, 62 are received in slots (not shown) of the slider 82, so that when the slider 82 in one direction (eg., Down in Fig. 7 ) only one leg 61 is moved to loosen the first leg spring 54, while the second leg 62 of the second leg spring 55 remains unmoved. When the slider 82 is displaced in the opposite direction (for example, upward in FIG Fig. 7 ), only the second leg 62, namely that of the second leg spring 55 is then moved to loosen this second leg spring 55.

As explained, the slider 82 can be moved by the electromagnet 32. For this purpose, the slider 82 is provided with a rod portion 84 which extends through the electromagnet 32 therethrough. Further, the slider 82 by the switching mechanism of the manual operation device 40, so here by the manual operation unit 46 movable. For this purpose, on the slide 82, here on the rod region 84 at the opposite end, a pin 86 engages on a pivot shaft 88 of the manual actuation unit 46.

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

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

By train on the Bowden cable 94, the lever 90 is pivoted. As a result, the pivot shaft 88 is pivoted, so that the slider 82 is moved via the pin 86 so as to loosen one of the leg springs 54, 55 and thus to release the brake device 18. As a result, a gate connected to the hollow shaft 15 can be manually moved without decoupling of the door shaft 102 from the rotor 14 and thus without decoupling from the absolute encoder 34.

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

The first rotation angle sensor 204 has a first rotary element 208, which is connected via a transmission gear 210 to an input shaft 212 of the door travel sensor 200 with a large translation. The first rotary element 208 has a first magnet 216 seated on an output shaft 214 of the transmission gear 210. Furthermore, the first rotation angle sensor 204 has a first detection unit 218, which determines the rotational angle position of the first Detected magnet 216 and outputs a first gate position signal 220 in the form of a first voltage U ₁ . This first gate position signal 220 is a signal that increases steadily monotonically with the rotational angle position of the first magnet 216.

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

The ratio of the transmission 210 is more than 1: 100, for example between 1: 100 and 1: 150. For a rotation of the output shaft 214 thus more than 100 revolutions of the gear 36 are required. Overall, the translation 210 is selected such that in all conceivable door types to which the door drive 10 is to be connected, in the course of a total door movement between the Öffnungsendstellung and the Schließendstellung (or vice versa) no complete rotation of 360 ° degrees of the first magnet 216. In this way, the first door position signal 220 can always be assigned a specific position of the connected door leaf. It is always possible to determine the respective present door position on the adjacent door position signal.

The second rotation angle sensor 206 has a second rotation angle element 226 that rotates many times faster than the first rotation element 208. The second rotary element 226 has a second magnet 228 which sits on the input shaft 212 and thus rotates at the same speed as the gear 36. Furthermore, the second rotation angle sensor 206 has a second detection unit 230. The second detection unit 230 is preferably designed as an absolute value sensor and is designed such that it generates from the present rotational angle position of the second magnet 228, a second position signal 232 in the form of a second voltage U ₂ , which is a steadily increasing monotonically increasing function of the respective rotational angular position of the second magnet 228 is. Corresponding rotation angle sensors 206, 204, which generate continuously monotonous signals from rotational positions of magnets, are available on the market, for example, as Hall effect rotational angle sensors.

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

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

In particular, path-dependent speed profiles for the rotor 14 can be provided in the door drive control 38 in order to control the door leaf at different speeds as a function of the path. Corresponding control signals are applied to the torque motor 12 as control signals 240. The door drive control 38 can then monitor via the second rotation angle sensor whether the rotor 14 carries out corresponding movements. If the rotor movement deviates from the control commands, an error can be determined from this. In particular, in the illustrated configuration, smaller changes in speed of the rotor 14 can be detected, which are caused for example when the gate leaf to a relatively soft obstacle. The door operator control 38 can then respond by a corresponding shutdown. Overall, a very precise control of Troquemotors 12 and the connected thereto door is possible.

LIST OF REFERENCE NUMBERS

10

door drive

12

torque motor

13

synchronous motor

14

rotor

15

Hollow shaft (output shaft)

16

Base plate (of a drive housing)

17

stator

18

braking means

20

brake

21

spring brake

21 '

spring brake

22

rotor teeth

24

Groove in the hollow shaft

26

intermediate gear

28

gear

30

brake shaft

31

switching device

32

electromagnet

34

Absolute encoders

36

gear

38

door drive

40

Manual actuator

42

storage

44

chain drive

46

Manual operation unit

48

Spring loosening device

50

another gear of the brake shaft

52

brake spring

54

first leg spring

55

second leg spring

56

bracket

57

solid end

58

solid end

59

winding portion

60

winding portion

61

leg

62

leg

64

cam

65

cam

66

camshaft

68

Swivel axis of storage

70

linkage

72

Chain

74

internal gear

76

wave

78

feathers

80

intermediate gear

82

pusher

84

bar area

86

pen

88

pivot shaft

90

lever

92

pulley construction

94

Bowden

96

Cover plate of the drive housing

100

drive housing

102

door shaft

200

Torwegsensor

202

casing

204

first rotation angle sensor

206

second rotation angle sensor

208

first rotary element

210

up gear

212

input shaft

214

output shaft

216

first magnet

218

first detection unit

220

first gate position signal

222

Transmission input shaft

224

gear

225

gear

226

second rotary element

228

second magnet

230

acquisition unit

232

second position signal

240

control signal

U ₁

first tension

U ₂

second tension

Claims (17)

A door drive apparatus (10) comprising a motor (12) having a rotor (14) operatively connectable to a door leaf to be driven by the door operator (10), and a first rotation angle sensor (204) for determining the current door position; first rotation angle sensor (204) via a transmission gear (210) to the rotor (14) and / or a rotating therewith rotating member (36) is connected, that a total movement of a gate to be connected between the end positions less than 360 ° one to the rotation angle detection rotating the first rotary member (208) of the first rotation angle sensor (204) causes
marked by
a second rotation angle sensor (206) having a second rotation angle detection element (226) that rotates many times faster than the first rotation element (208) of the first one upon rotation of the rotor (14) and / or rotating member (36) Angle of rotation sensor (204). Door drive device (10) according to claim 1,
characterized,
that the first (2049 and / or the second rotation angle sensor (206) are formed as absolute value sensors. Door drive device according to claim 2,
characterized,
in that the first (204) and the second rotational angle sensor (206) are designed as Hall-effect rotational angle sensors, wherein the first and the second rotational element have a magnet (216, 228) whose rotational angular position can be detected, such that a signal (220, 232) is output, which is a continuous monotonous function of the rotational angular position of the magnet (216, 228). Door drive device (10) according to one of the preceding claims, characterized in that
in that the first (204) and the second rotation angle sensor (206) are parts of a door travel sensor (200) which has an input shaft (212) which can be connected in terms of gear with the rotor (14) and / or the rotary member, in particular with a toothed wheel (36) driving the second rotary member (226) and via an intermediate transmission gear (210) the first rotary member (208). Door drive device (10) according to claim 4,
characterized,
that the toothed wheel (36) meshes with a toothing (22) on the rotor (14). Door drive device (10) according to claim 3 or 4,
characterized,
in that the second rotary element (226) is driven directly by the input shaft (212) and the transmission gear (210) provides a ratio of more than 1:20, preferably more than 1:50, in particular more than 1: 100. Door drive device (10) according to any one of the preceding claims, characterized in that
that the motor is a torque motor (12) or a direct motor which is directly connected without an intermediate gear in a door shaft of a driven gate. A door operator (10) according to any one of the preceding claims, characterized by control means (38) for controlling the motor (12) and / or the door operator (10) based on a signal (220) from the first angle sensor (204) and a signal (232) is formed from the second rotation angle sensor (206). Door drive device (10) according to claim 8,
characterized,
in that the control device (38) determines from the signal (220) of the first rotation angle sensor (204) the current door position, in particular for approaching and stopping in end positions and for performing path-dependent control profiles, and / or
in that the control device (38) monitors the function of the motor (12) on the basis of the signal of the second rotation angle sensor (206) and / or determines the speed and / or acceleration and / or torsional vibrations of the motor (12), in particular about speed-dependent controls and / or To carry out surveillance. Door drive device (10) according to one of the preceding claims, characterized in that
that it is designed to drive a number of different gates and / or gate types, wherein the first rotation angle sensor (204) is formed such that its first rotary element (208) when connecting the door drive device to the gate whose movement from end to end position most Rotations of the rotor (14) required, in a full door travel performs a rotation of less than 360 °. Door drive device (10) according to one of the preceding claims, characterized in that
that the second rotation angle sensor (206) directly to one with a door shaft to be connected to the output shaft (15) of the door drive (10) engages. Doorway sensor (200), in particular for a door drive device (10) according to one of the preceding claims,
for detecting a door path and / or a gate position, with a first rotary angle sensor (204) designed as an absolute value transmitter and geared to a rotary member of a door or door drive (10) or a rotor (14) of a motor (12) of a door drive (10) is connectable such that a Movement of the gate to be connected between its end positions causes a rotation of less than 360 ° of a first rotary member (208) of the first rotation angle sensor (204),
characterized by a second rotation angle sensor (206) having a second rotary element (226) for detecting the rotation angle, which rotates by a multiple faster than the first rotary element (208) upon rotation of the first rotary element (208). Doorway sensor (200) according to claim 12,
marked by
an input shaft (212) having an input rotary member (36) to which the second rotary member (226) engages for rotation and
a transmission gear (210) connected to the input shaft (212) and having an output shaft (214) that rotates many times slower than the input shaft (212), the first rotary member (208) being connected to the output shaft (214) of the transmission gear (210 ) attacks. Gate with a gate that is movable between a first and a second end position,
marked by
A door drive device (10) according to any one of claims 1 to 11 and / or by a door travel sensor (200) according to any one of claims 12 or 13. Gate according to claim 14,
characterized,
that a door shaft is provided which is coupled to a door leaf in such a way that it rotates during movement of the gate,
wherein preferably the second rotation angle sensor (206) and / or the Torwegsensor (200) directly engage the Torwelle. Gate according to claim 15,
characterized,
that the second rotary element (226) rotates many times faster than the door shaft. Method for controlling a driven gate,
marked by
Generating a first position signal (220) by means of a first rotation angle sensor (204) generating the first position signal as a continuous monotonic function of the rotational angular position of a first rotary element (208) of the first rotary angle sensor (204), the first rotary element (208) at a full rotation Run the gate from one end position to another performs a rotation of less than 360 °, and
Generating a second position signal (232) by means of a second rotation angle sensor (206) which generates the second position signal as a continuous monotonous function of the rotational angular position of a second rotational element (226) of the second rotational angle sensor (206), wherein the second rotational element moves around when the gate is driven a multiple faster, in particular 10 times or faster, more especially 50 times or faster, and preferably more than 100 times or faster than the first rotary element (208) rotates and
Controlling and / or monitoring a door travel based on the first and second position signals (220, 232).

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