FI116408B - Lifting door safety edge - Google Patents

Description

116408

SAFETY EDGE DOOR

The invention relates to a method according to the preamble of claim 1 for generating door stop information for a door structure. The invention also relates to a door structure according to the preamble of claim 4.

Lifting doors are used in a wide variety of applications, as they do not require much space around the door to open and close, allowing the 10 possible working areas to be extended very close to the door. For example, in automated manufacturing systems, equipment and conveyors are often protected by lifting doors, allowing the various parts of the system to be placed close together. On the other hand, persons working with the system may also be very close to the aforementioned parts, whereby, for example, the hand of the worker may be accidentally trapped between the moving doors 15 and other parts. In order to avoid damage, the lifting door closing movement must be stopped and, if possible, the door must be opened to open when an unexpected obstacle occurs between the door. A variety of safety stop solutions have been developed for unexpected shutdown of the door.

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The safety shutdown of lifting doors can be achieved both mechanically and. ···. electronically in many different ways. Typical electrical sensor edges require wiring from the edge of the lift door to the door control unit, and continuous movement of the • ** "door will cause the cables to wear and possibly damage the cables.

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EP 0 246 284 discloses a safety edge for a lifting door which mechanically stops a downwardly moving door when it encounters an obstacle. The operation of the safety edge is based on the fact that when the edge encounters _: · 30 obstacles, the shape of the edge changes which causes the stop bars at the ends of the edge to wedge in the vertical guide rails of the door. against. Stopping the movement of the door results in overloading of the running engine, which can be detected by known solutions and

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utilizing this information can either stop the engine or change the direction of rotation of the engine 35, raising the lift door and removing the obstruction between the door.

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The main object of the present invention is to provide a method and door structure suitable for frequent and high-speed operation in an opening and closing lifting door, such as, for example, a security door of an automatic manufacturing system. In particular, the ky-5 has a charging station lifting door for transferring materials and articles to or from the automatic racking system.

To accomplish this purpose, the method of generating door stop information according to the invention is essentially characterized in what is disclosed in the characterizing part of independent claim 1.

The door structure according to the invention, in turn, is mainly characterized by what is disclosed in the characterizing part of independent claim 4.

Other dependent embodiments disclose certain preferred embodiments of the invention.

The basic idea of the invention is to stop the door that is closing almost immediately, if necessary simultaneously mechanically and simultaneously. electrically when a door encounters an unexpected obstacle, such as! *, for example, a worker's hand. Mechanical stop of the door is executed!; : by transferring the movement energy in the direction of closing the door through the various locking pieces: #i '25 to the brake energy. On the basis of sudden, usually vertical, movement of the door, the * * motor moves the door off and possibly rotates in the other direction so that the obstacle can be removed between the door.

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The safety edge of the lifting door consists of a bumper and clamping members formed thereon. The gripping members engage by wedging on the guide rails fitted to the sides of the door, thereby substantially stopping the movement of the door relative to the guide rails. Sudden stopping of a door causes a vertical movement of the guides, from which the stopping of the door is recorded and, based on this information, the motor driving the door is controlled. The information may also be used for purposes other than controlling the 116 4 l h 3 engine, such as to provide various alarms, or to control various functions of the manufacturing system or charging system in which the lift door operates.

In addition to stopping the movement of the door based on said impulse, it is advantageous to combine a safety breaker which generates a control signal when the slatted door collapses into an obstacle.

The door structure according to the invention provides a reliable and fast mechanical shutdown of the door, which also works during electrical and cable failures. The electric motor control of the door motor is fast, durable and reliable, as the data transmission does not require easily damaged mobile cabling. In addition, said security edge of the door structure can be made lightweight, making it very suitable for fast 15 and frequent repetitive movement. The simplicity and lightness of the structure is also an advantage when aiming for the quietest operation of the door.

The door structure according to the invention may be formed on a plurality of doors of different sizes and sizes. It is also possible for the safety edge and the guides of the door structure according to one embodiment of the invention to be subsequently retrofitted to the door.

The invention will now be described in more detail with reference to the enclosed silicon drawings, in which Figure 1 shows in principle an embodiment of the door structure *, Figure 2 shows a detail of the safety edge of the door structure of Figure 1;

; Figure 4 shows a detail B-B of Figure 1

v: cross section, 116 4 u 8 4 Fig. 5 shows in principle a safety edge stop member in a normal operating position; in principle, the safety breaker located in the upper part of the door structure in the normal position, and Figure 10 shows the safety breaker of Figure 9 in the stop position.

Figure 1 illustrates an embodiment of the invention in which the door element 1 is disposed in a so-called. double door. Hereby, both vertical portions of the door element form a protective door 1, of which the second door is always closed when one of the doors 20 is open. This type of operation is typical of an automatic storage charging station. It is also possible ... to make door 1 on one side only, so that only one example - V * is needed! vertical shares.

The door element 1 according to the example consists of rigidly connected rails, such as aluminum slats, which are fitted at each end to the vertical rails 2, ·· '' 'as shown in Figures 3 and 4. The door element 1 thus formed is moved. in the guides 2, typically by means of a drive unit 3 and two belts 4. The drive unit 3 is preferably driven by an electric motor and a suitable control unit for controlling the direction of rotation and possibly rotation of the motor. The belts 4 for transmitting movement from the motor 3; to the door, are horizontally secured at least at one point to at least one slat of the door element 1. A variety of suitable solutions can be used as belts 4, such as ropes, flat belts and V-belts, but preferably the belts are toothed The belts 4 and their guide wheels preferably act as a support surface for the door in the horizontal portion of the double door, while for the vertical portion the door depends on the effect of gravity between the vertical rails 2.

5 At the lower edge of the door element 1 there is a safety edge 5 as shown in Figure 2. By means of said safety edge 5, the closing of the door 1 is stopped if there is an obstacle between the door. The vertical cross-section of the security edge 5 is shown in Figures 4 and 5. Stopping the movement of the door 1 takes place as will be explained later. The safety edge 5 consists of 10 buffers 6, which are secured to the upper slats by means of fastening members 7. The fastening piece 7 preferably has an oblique groove 8 with respect to the movement direction of the door 1, to which the bumper 6 is movable. The inclination and shape of the groove 8 of the fastener 7 may vary from application to application, but generally speaking, a larger angle between the groove 15 and the direction of movement will result in a later stopping of the door 1 within a shorter distance. Preferably, a roller 9 is provided at the end of the bumper 6, by means of which the door 1 is guided and passes through the guide 2. The mounting member 7 and the roller 9 are arranged vertically movable within the guide 2, as shown in Figures 3 and 8. The bumper 6 20 can be shaped in the best way for the application and may have a shape other than that of the rigid profile it shown in the example. The purpose of the mounting member 7, groove 8 and roller 9 is to increase the dimensions of the safety edge 5; larger than the inside dimensions of the guide 2 when the roller 9 does not move, whereby wedging is possible.

The conductor 2 has a substantially U-shaped horizontal cross-section, as shown in Figures 3 and 4, with an opening opening toward the door 1 located in the conductor. Distance between opposite walls of guide 2 ;;; 30 is dimensioned such that the roller 9 attached to the bumper 6 can move freely between the walls of the guide; · * as shown in Figure 4, but the guide is dimensioned! however, allows you to stop the buffer later on. * ·; no matter the way. It is very advantageous to form a guide 2 from two parts according to Figs. 7 and 8, of which a second part 2b is inserted 35 in the first part 2a so as to allow vertical movement of the second part with respect to the first part. The inner part 2b of the guide 2, which is closer to the door 1, can be dimensioned so that it fits within the outer part 2a with a small clearance allowing the parts to move together. The movement can be limited by various mechanical structures and the movement can be detected by a spring-like element connected to the inner part, the state of which is substantially altered by motion, either by stretching or squeezing it. The inner part 2b can also be attached by means of resilient fastening means to the body or the outer part 2a, or the inner part may be joined by an elastic material, for example a silicone adhesive, to the outer part. Thus, the range of motion of the inner portion 2b of the guide 2 is substantially limited and it is advantageous to limit said range of motion to match the characteristics of the sensor used. In the outer part 2a of the guide 2, it is advantageous to provide fastening means for fixing the guide, if necessary, to the frame or the surrounding structures. Both parts 2a, 2b of the guide 2 are preferably substantially U-shaped in cross-section.

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It is advantageous to make the guide 2 from a material on whose surface the roller 9 fixed to the bumper 6 can be lightly rolled and to which guide the fixing piece 7 can be securely wedged in the stop position. Preferably, the conductor 2 '• j is made of aluminum by drawing or extruding, but the conductor 2 can be made from a variety of materials suitable for the purpose, such as other metals and plastics. Also, the horizontal cross-section of the guide 2 may deviate from the U-shape, for example, a substantially C * '; ··] shaped cross-section is preferred in some applications.

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* * * I · 25 Door element 1 is moved through machine unit 3 and two belts 4. As the machine unit 3, it is preferable to use an electric motor and a suitable control unit. The choice of motor 3 is influenced by the required torque, · “]: which depends, e.g. the size of the door element 1, and the required speed of rotation, which depends on the desired operating time of the door. The motor 3 used is' ::! 30 are usually short-circuited motors, which are connected to the gear unit if necessary to achieve the desired operating speed. The short-circuiting motor can: if necessary, also be connected to the frequency converter, whereby the door; ί The control possibilities of the movement become more diverse. Other types of motors may also be used, such as servo motors. The direction of rotation and possibly the speed of rotation of the Moot-35 market 3 is controlled by a suitable control unit which can be implemented, for example, by means of programmable logic or relays which provide the necessary information from another system.

Figures 9 and 10 show a safety switch 10 fitted to the door structure.

5 Safety switch 10 generates a control signal when the primary stop mode has failed. In the example, the primary stop is based on the control of the machine 3 by impulse, but the stop method may also be another.

10 The safety switch 10 is a sensor member, preferably a mustache switch, which detects a deformation of the door structure. The deformation occurs when the movement of the door edge stops, for example, when the edge collides with an obstacle while the other door continues to move under the influence of gravity and / or the motor 3. The door structure then begins to fold over the edge and as the pleat 15 advances to the height of the safety switch 10, the foldable door raises the mustache member of the safety switch as shown in Figure 10. In this case, the safety switch 10 transmits a control signal to a suitable object such as the motor 3, the control unit and / or the control room, preferably causing the motor to stop and alarm. It is highly advantageous to use as a tur-20 stabilizer 10 a sensor which also acts as the safety sensor described above and also as a shock sensor described later. In this case, ··] can either be reduced in number of sensors or advantageously provided with a secure sensor.

; The following shows how the above described door structure according to an embodiment of the invention, and in particular its safety edge 5, functions. ·; VAT. The normal closing and opening action of the lifting door 1 is not described in more detail here, but the description of the operation is mainly directed; how the structure according to the invention works when there is an unexpected obstacle in front of the closing door: .. '30.

The relative movement of the attachment piece 7 and the bumper 6 with respect to each other is shown in Figures 5 and 6. As the door 1 moves vertically: I ·. and when the buffer 6 of the downward-facing door encounters an obstacle '', J 35 is the mutual positions of the buffer and the mounting member 7 as shown in Figure 5. The bumper 6 and the mounting member 7 are disposed substantially equidistant with the center of the roller 9 fitted to the bumper 6 on the vertical center line of the mounting member as shown.

When the downwardly moving buffer 6 encounters an obstacle, its movement substantially stops. However, in this case the attachment piece 7 continues to move relative to the buffer 6 as shown in Fig. 6. The center of the roller 9 moves away from the vertical center line of the attachment piece 7, whereby the path of the attachment piece relative to the bumper 6 is substantially determined by the shape of the bevelled groove 8 formed in the attachment piece. During movement 10, the horizontal width of the combination of roller 9 and attachment piece 7 increases. As a result of the increase in width, the combination of the roller 9 and the fastener 7 will wedge against the walls of the guide 2 and the movement of the fastener will stop. Despite stopping the movement of the mounting body 7, the door 1 slats continue to move 15 with the force of the motor 3, whereby the slats "" fold "over the stopped bumper 6.

The force exerted by the stopping and "folding" door 1 does not apply substantially to the stopping obstacle but through the fasteners 7 and 20 rollers 9 to stop the guides 2. Stopping the movement of the door 1 causes the guides 2 to have a substantially vertical motor 3 operation. Impulse on conductor 2 • * ·· can be better noticed and distinguished from other operating vibration by using the double conductor shown earlier.

By placing a suitable sensor in connection with the guide 2, the door 1 can be suddenly. the impulse caused by the stop to register and transmit the information to the engine control unit 30 and / or to another desired destination. Sensor type; depends eg. the degree of safety required and the forces involved and the motor 3 control unit, but in some applications, the sensor can be used, for example. mechanical safety limit switch, inductive proximity sensor and accelerometer. It is very advantageous to use an 8 · 35 sensor which acts as both said shock sensor and also as a safety switch 10 as described previously. In this case, it is possible to either reduce the number of sensors or, most preferably, to perform a secure sensing with multiple parallel sensors. The sensor can be located in a plurality of locations in the door structure, such as, for example, at the top or bottom of the guide or between the ends of the guide. Preferably, the sensor is located at or near the top of the guide, whereby the location allows for a combination of the impact sensor and the safety switch, the up positioned sensor is easily protected from mechanical shocks and the sensor is also a short distance from the control unit typically located at the top of the door structure.

Based on the sensor impulse information, i.e. the control signal, the motor 3 can be stopped and turned in its direction of rotation and the door 1 opened upwards, whereby the obstacle can be removed between the door. Whether only the motor 3 is stopped or the door 1 is fully or partially opened can be implemented according to the application, while retaining the basic idea of the present invention, as well as how the post-barrier 15 functions are performed, such as automatic door 1 re-closing.

The mechanical stopping of the door 1 may be accomplished in a manner different from that of the preceding example, without however impeding the control of the machine 3 or other desired member based on the impulsive movement of the mechanical stopping of the door in accordance with the present invention. The safety edge 5 shown in the example, the stop based on the impulse and the safety switch 10 • '·· can be used in the same door structure as shown in the example, or they can be freely combined, whereby one, two or all three embodiments.

The invention is not limited to the direct example shown in the previous example. . The door structure according to the invention can be used in addition to the lifting door 1 according to the example in other types of doors, such as roller doors.

Claims (11)

A method in a door structure for forming stop data for a door (1), said door structure comprising at least 5. a conductor (2), - a door (1) adapted to move at least one section of the conductor (2) and - a safety edge (5) arranged in the canyon on the door (1) and with which the movement energy of the door (1) is led at least partially to the conductor 10 (2) when the safety edge collides with an obstacle, and in the method the door (1) is read by means of the safety edge (5) at least in part with the conductor (2) when the safety edge encounters an obstacle, and a shock signal is generated by the shock means, characterized in that for the conductor (2) or a part (2b) of the easterly a movement occurs when it is gripped by the safety edge (5), and the rising pulse-like movement can be detected to form a control signal. Method according to Claim 1, characterized in that 20. the door (1) is moved on the actuator (3), or ... - the control signal is transmitted to a door structure controlling system, or the control signal is transmitted to a door signal (1). alarm system. : '· 25 Method according to Claim 1 or 2, characterized in that an impulse-like motion is transmitted on such a section of the conductor, which is movably adapted to the rest of the conductor structure. :. ·. 30 4. A door structure comprising at least one conductor (2), - a door (1) adapted to move at least one section of the conductor (2), and - a safety edge (5) disposed in the rabbit on the door (1) for: 8 to stop the movement of the door (1) when the safety edge has collided [···. with an obstacle, 1 1 ø 4 u 8 - the safety edge (5) comprises means (7, 9) arranged to grip the conductor (2) when the safety edge has encountered a barrier, - sensor, 5 characterized by - (2) or part (2b) of it is arranged movable in the direction of movement of the door when the means (7, 9) engage the conductor, and - the movable part of the conductor (2) is arranged to cause a shock which can be detected with the sensor means. 10 Door structure according to claim 4, characterized in that the door structure comprises sensor means for detecting a movement of the conductor (2) or part (2b) thereof and for forming a control signal. 15 Door structure according to claim 4, characterized in that the conductor (2) comprises at least two parts (2a, 2b), of which the second part is adapted to move relative to the first part. Door structure according to claim 6, characterized in that the sensor means 20 are arranged to detect a movement of one part (2a, 2b) of the conductor (2), which movement is a consequence of a shock. Door structure according to claim 4, characterized in that the safety edge (5) comprises at least a substantially perpendicular to the door (1) in the "direction of movement" existing buffer (6), on which an attachment piece is provided "one end". (7) and a roller (9), which mounting piece and roller are adapted to be movable in the conductor (2), and the reciprocal position of the mounting piece and roller is arranged to change as the buffer at the safety edge collides with an obstacle to stop the door movement and to effect a pulse in the conductor. Door structure according to claim 4, characterized in that the door structure comprises an additional drive means (3) for moving the door (1), and a :: control unit for controlling the drive means (3). *> 35 1164 u8 Door structure according to claim 4, characterized in that the door structure further comprises a sensor (10) located in the upper part of the conductor to detect the folding of the door (1) and to form a control signal. ♦ ·