Door drive comprising angle detection of the closing shaft

The present invention relates to a door drive arranged on a door leaf, door frame, door lintel, wall or the like, with a drive unit which has at least one motor and one gearing cooperating with a closing shaft for actuating the door leaf.

[0002] Door drives of the type of interest here are used to actuate door leaves and are mounted on a door frame, on a door lintel or an adjacent wall. Depending on the version, the door drive can also be mounted on the door leaf itself, but in any case it is possible to activate the door leaf in the opening movement, in the closing movement or in both movements. Usually a closing shaft comes out of the door gear transmission, connected to the door trim or forming an active connection with the door leaf via a rod. The door drive motor can be made as a simple spring force accumulator and is in active connection with the transmission. Automatic door drives have an electromechanical or electrohydraulic drive, which can be activated by a controller to open and close the door leaf. The combination of an electromechanical or electrohydraulic drive with a spring force reservoir gives the possibility of closing the door through the spring force reservoir.

[0003] In the case of door drives made in a fully automated manner, they are usually activated to open the door by means of a self-reversing switch or a motion sensor and serve both to carry out the opening process and usually the delayed closing process of the door leaf. In addition, automatic door opener is known, connected to the power distribution network of the building, to form a component of safety devices, in particular fire protection devices, and so that they can be activated centrally. Especially for public buildings and for the infrastructure of larger buildings, frequented by larger numbers of people, fully automatic door closers are widespread.

[0004] Particularly in the case of door drives, there is a need within the framework of protective measures to obtain information about the state of opening or closing and about the speed of movement of the door leaf in opening and closing.

[0005] To this end, door closing machines or door drives have been equipped with incremental measuring transducers.

[0006] DE 10 2006 040 231 A1 describes, for example, an incremental measuring transducer located on the output shaft of a motor. The motor is coupled without a transmission to the drive pulley. The location of the incremental measuring transducer on the output shaft of the driving motor has the disadvantage that when using the gearbox between the driving motor and the output shaft of the door drive, additional construction space in the area of ​​the motor output shaft must be provided, which negatively affects the size of the door drive. In addition, replacement of a damaged incremental transducer is only possible by removing the drive motor, which hinders (de) assembly.

EP 2 212 503 B1 [0007] DE 103 006 44 A1 describes an impulse disc of an incremental measuring transducer integrated with a door drive gearbox. For this purpose, a combined crowned face or friction face is used to transfer the rotational movement of the transmission shaft to a separate drive shaft of the impulse discs. This serves the purpose of spatial separation of the impulse disc from the transmission. This construction, however, is first of all very expensive. Secondly, there is the disadvantage that the impulse disk system must be additionally closed to the outside to prevent the ingress of dirt particles, which means that the whole structure becomes even more effortless. In addition, the (de) assembly of the incremental converter remains effortless.

[0008] Another example of a door drive is disclosed in DE 10101515 A1.

[0009] The object of the present invention is therefore to provide a door drive that overcomes the aforementioned drawbacks of the prior art, providing reliable information about the opening and closing status of the door leaf and simple for (de) assembly.

[0010] This task is solved based on the door drive according to the preamble of claim 1 in combination with the characterizing features. Advantageous developments of the invention are given in the dependent claims.

[0011] The invention includes technical knowledge in that the drive unit has an encoder that provides information on the position and / or movement of the door leaf via an electric signal. [0012] As a result, an angle recognition element for the door leaf is developed, which is integrated with the door drive itself. By detecting the opening angle of the door leaf, the actual operating status of the door drive or closing shaft connected to the door leaf can be detected. Detection can therefore occur not only for the closed position and for the open position, but extends over the entire range of movement of the door leaf. By this angle detection it is possible to accurately determine the position of the door leaf. By making the detection means as an encoder, information is provided digitally and can be provided to close the control circuit for controlling the door leaf to the door drive controller. For example, the door can be opened or braked in this way depending on the opening angle faster or slower. In addition, errors and / or door failures can be determined from the angle data. Thanks to this, it is possible to detect an object in the area of ​​movement of the door leaf and block its movement. In addition, a detailed analysis of door drive errors is possible via the encoder and digital information provided through it.

[0013] The digital information provided by the encoder inside the door drive to the controller can be used for current control of the door drive or it can also be additionally stored. It is thus possible to store many opening movements of the door leaf to assess, for example, the frequency with which the door has been passed. Past failures can also be stored by information provided by the encoder.

[0014] According to a further embodiment of the invention, a shaft exits the transmission, making a rotational movement corresponding to the rotational movement of the closing shaft. The gear unit may include several intermediate shafts such that at least one of the shafts is sufficient so that the encoder can be placed on the shaft. The shafts always rotate, corresponding to the rotational movement of the closing shaft, so that the type and number of gear stages can be used to draw conclusions about the rotational movement of the closing shaft. The transmitting sync can be in accordance with another embodiment

EP 2 212 503 B1 also integrated into the transmission, so that the shaft does not have to come out directly from the transmission housing. Of course, the encoder can also be positioned on the engine, such that, for example, the engine has a rear shaft having the same rotational motion as the output shaft of the engine. A encoder can therefore be provided connected by means of a flange in a conventional manner on the rear side to the drive motor. In addition, it is possible to directly connect the encoder to the closing shaft, so that the position and rotational speed of the closing shaft are directly detected.

[0015] According to the development of the door drive according to the invention, a rotary encoder disk is arranged on the shaft, which has at least one, preferably two radially circulating truss structures, to enable the reading of rotational movement. The encoder is a component of the encoder and can for example be produced by a pickling method or a punching method. The rotary encoder disk is circular, with the lattice structure in the outer edge area of ​​the circular disk. In addition, the encoder has at least one optical, magnetic or capacitive sensor with which the rotary motion of the encoder can be recorded. In particular, optical measuring constructions are known in which the light beam is directed at the truss structure and is transformed in the method of x-ray or reflection using a detector, often in the form of a photodiode, periodic interruption of the light beam into an electric signal. A signal is provided, containing information about both movement, speed of movement, and also about the direction of movement. However, the magnetic or capacitive design of the sensor also allows the desired electrical signal to be delivered.

[0016] Furthermore, the encoder can have a housing made in the form of a shell and extending in the form of a cover over the drive unit. Advantageous design of the housing arrangement can be provided between the gear unit and the engine, the gear housing being, for example, as an injection molded plastic component or as an aluminum die-cast component has a form exactly matching the encoder of the encoder. The gear housing can also be made of other metallic materials and can be implemented according to various designs using a planetary gear. According to the development, the housing has the shape of a U-shaped cross section so that it can be mounted from the vertical direction to the mounting plane of the door drive through the drive unit, the housing further including fixing holes for fastening elements to connect it to the drive unit.

[0017] An additional development of the invention has a encoder encoder with which the sensor is integrated on the inner side or is placed on it on the outer side, the sensor can cooperate with the encoder encoder when the casing is mounted above the drive unit. The sensor, which includes, for example, a light source and a photodetector, can be integrated into the cube housing that is positioned in a space-saving manner on the inside of the encoder housing. The rotary encoder disc extends over an angular section deep into the slotted recess of the sensor housing, so that interaction can be achieved from the measurement technique of the truss structure on the encoder rotor disc with the sensor.

[0018] According to the invention, an electrical plug connector unit can be arranged on the encoder housing, with which the encoder can be electrically connected to the main printed circuit board. The main printed circuit board forms the door drive controller at

Through which the electrical power supply of the motor can also occur. In order to connect the encoder to the main printed circuit board, cabling must be provided, which can preferably be carried out via the plug connector unit relative to the encoder. The plug connector unit is located on the outside of the encoder housing, so that the encoder can be integrated into the door drive control system via a conventional plug connector.

[0019] Another possible construction of the door drive gearing has a gear housing formed of the first and second shell members that are in contact with each other. An internal gear space is created in which the gear itself can be embedded. According to this embodiment, the encoder encoder housing can be made in the form of a half-shell and can be positioned preferably by at least one latching means and at least one screw connection on the outside of one of the shell members. The encoder housing may have a half-shell in the form of a cover, so that the half-shell is attached to the outer shell gear element. The latching means may comprise a molded latching element on the housing, which in the assembled state of the housing may latch in a latching recess present on the shell member. If a latching means is arranged, then the bolted connection with the bolted element is used for mounting with the exact position of the encoder on the gearbox shell element.

[0020] It can further be provided that the encoder has an electronic circuit board for embedding the sensor and / or sensor electronic circuit, the electronic circuit board being mounted on or in the encoder encapsulated in the form of a half-shell. Thus, only the sensor signal cable is led out of the encoder housing, which means that simplified construction and improved assembly can be achieved. Also according to this embodiment, the sensor signal cable can be connected via a plug connector to the electronic printed circuit board.

[0021] The shaft for mounting the encoder shell exits at a predetermined position from the shell element of the gear housing, the encoder housing is so placed on the shell element that the gear shaft is covered by the encoder shell. If the encoder is mounted on the shaft, it rotates inside the encoder. Thus, the sensor can read the rotary motion of the encoder wheel when the electronic circuit board is positioned to embed the sensor so that the encoder wheel can move through the gap in the sensor.

[0022] According to a further embodiment of the attachment of the encoder plate on the shaft, a clamping disk may be provided. The mounting disk may have at least one mounting projection made to enter at least one recess on the encoder rotor. The clamping disc can be made with a hub so that it can be mounted on the shaft. At the same time, the clamping disk can be pressed onto the shaft to allow the clamping disk to be mounted on the shaft without rotation. When the encoder disk is in contact with the mounting disk, the mounting lugs enter the recesses on the encoder disk. The encoder disk may have a centrally located interruption into which the flange shaped molding of the mounting disk extends to place the encoder disk centrally on the mounting disk. In addition, the encoder shield may contain sheet metal, manufactured

For example, by means of a punching method or a laser cutting method, it is also possible to introduce a truss structure and recesses into the disc through these methods.

[0023] According to a further embodiment of the mounting disk, it may have latch projections located on the hub side made to walk into the latch groove present on the shaft. The latching groove on the shaft can be made as a circumferential indentation, for example three latching projections with latching noses facing inwards from the side on the mounting disc are arranged. In this case, the snap-in projections can be made in one piece with the clamping disk. [0024] A further embodiment of the door drive comprises a modular structure, the drive unit being made as an electric or electrohydraulic unit, and the encoder can be operated irrespective of the motor or transmission form. This creates the advantage that a simple way to replace expensive motors when starting a series of door drives with cheaper motors of another design, which may also differ in terms of design. The use of the encoder therefore remains intact in accordance with this system. Motors with a simple conventional design and which can be obtained in an inexpensive way (conventional brush motor) can be used by a high-quality electric controller with an active closed-loop control circuit, only enabled by the encoder. In the case of different motor variants that are used in door drives, pay attention only to the same shaft diameter, and the flange-connected motor must also be made independently and equally. This modular design of the door drive drive unit increases flexibility when used in various areas, so that the same door drive with motors of different sizes can be used, for example for doors of different sizes with appropriate opening moments.

[0025] The modular design of the door drive includes a drive unit designed as a drive module, the door drive further comprising a main module including a main printed circuit board and has a connection module, whereby the encoder can also be placed modularly on the drive unit. As a result, the door drive is developed according to the principle of team construction, which can be optimally combined to match the required purpose. Thus, the door drive can be operated with or without an encoder, and modules can also be exchanged with each other if necessary with different specifications. This highly flexible assembly system system for creating a door drive not only allows the door drive specification to be flexibly adapted to a particular application, but the door drive can also be changed or supplemented during later operation by simply replacing or supplementing modules (modular type encoder). Door drives usually have a mounting plate on which individual components are assembled, forming the structure of the door drive itself. Due to the modular design according to the assembly structure system, different modules can be mounted on the mounting plate, as long as they have identical connection geometries. Thus, the drive module, main module and connection module are mounted on one mounting plate, whereby the modules can also be mounted one below the other. The top-mounted encoder can be mounted according to a preferred embodiment independently of the other modules, so that it can be attached to a door drive and optionally replaced as an optional functional feature.

[0026] A particular advantage of using the encoder in the door drive is the door kinematics controlled by the encoder in the control circuit. Both shortly before the closed state and shortly before the maximum open position of the door leaf, the door leaf movement is usually slowed down. In addition, different door leaf speeds may be required, which can be achieved regardless of the door leaf opening angle via the encoder in the active control circuit by electric motor control.

[0027] Further remedies improving the invention will be further described below together with a description of preferred embodiments of the invention based on the figures.

[0028] In the drawing they show:

figure 1 a view of a first embodiment of a door drive in which the individual modules and the encoder are shown;

figure 2 a view of the first possibility of mounting the encoder on a door gear transmission;

figure 3 a view of the door drive drive unit in the area of ​​the encoder according to the first assembly option, the shaft coming out of the gear housing and the encoder disk being placed on the shaft;

figure 4 a view of the drive unit according to figure 3, the encoder housing being mounted on the drive unit;

figure 5 a schematic view of a first embodiment of the components forming the encoder with the encoder, sensor and encoder of the encoder;

figure 6 a view of a second embodiment of a door drive with a transmission composed of two shell members in contact with each other, the encoder being shown in a free arrangement in front of the transmission;

figure 7 a perspective view of a gear shell member according to the embodiment of figure 6 in assembled condition;

figure 8 an inside view of a second embodiment of the encoder;

figure 9 a free view of the encoder according to the view in figure 8;

FIG. 10 is a perspective view of the retainer of the encoder wheel through the mounting disk according to the embodiment of the encoder in FIG. 8, and FIG. 11 is another embodiment of the mounting disk for mounting the encoder wheel.

[0029] The door drive 1 shown in figure 1 comprises a drive unit 2 located between the main module 13 and the connection module 14. The drive unit 2 has a motor 3 and a transmission 4, the motor 3 being connected by means of a flange on the end side to gearbox 4 and forms the door drive 1. The transmission 4 comprises a housing 10 of the encoder 6, which is shaped so that the housing 10 of the encoder 6 forms the same external outline of the drive unit 2. The external outline of the transmission 4 is adapted so that the housing 10 of the encoder 6, made for example as an injection molded component made of plastic, it can be attached with a precise fit on the gearbox 4. According to an embodiment, the encoder housing 10 is located between the motor 3 and the transmission 4. In addition, the main module 13 has a main printed circuit board 12 located on the top side on the main module 13.

[0030] Figure 2 shows a view of the mounting capability of the housing 10, which is mounted on the door drive 1. A shaft 7 extends from the transmission 4, arranged on the gear 8 of the encoder. If the housing 10 is mounted on the transmission 4, then the sensor 9, invisible in figure 2, placed on the inside of the housing 10, can cooperate with the encoder disk 8 on the shaft 7 to detect the desired electrical signal by the encoder 6. It can be clearly seen that the encoder 6 is separated from the motor 3 and cooperates with the transmission 4 or shaft 7. The assembly of the housing 10 preferably takes place from the vertical direction to the mounting plane of the door drive 1 by sliding onto the transmission 4 or its housing. Thus, the housing 10 of the encoder 6 can later be removed also with the door door 1 assembled. Fastening holes 11 are used to fix the housing 10, through which fasteners can be inserted, preferably in the form of a screw, and screwed to the gearbox 4 or its housing. In connection with the previously necessary mounting of the rotary encoder disk 8 on shaft 7, apart from a very simple construction, a very simple (de) assembly is also created.

[0031] Instead of the fixing holes, fixing rails 11 can also be made, on which the housing 10 is slid and which is held in a clamping and / or snapping manner.

[0032] In figure 3 a perspective view of the door drive 1 is shown in the assembly area of ​​the encoder 6 next to the motor 3. From the transmission 4 extends the shaft 7 on which the encoder disk 8 is mounted. The rotary encoder disk 8 preferably has a lattice structure 15 in order to cooperate by measuring technique with the encoder sensor 9 not shown. The rotational movement of the shaft 7 corresponds to the rotational movement of the closing shaft 5 of the door drive 1 with which the door leaf connects, usually via a rod. Optionally, another truss structure 15 may be present on the encoder disk 8 in order to easily detect by rotation the direction of rotation of the encoder disk 8 via the encoder 6.

[0033] The transmission 4, i.e. its half shells 17 and / or 18 have fixing holes 17a through which the screws, arranged from above in figure 3, are screwed together with a fixing body not shown, such as a mounting plate, frame, wall, door leaf or the like.

[0034] In figure 4 a perspective view of the door drive 1 according to figure 3 is shown, the housing 10 of the encoder 6 being mounted on the transmission 4. It can be seen that the housing 10 of the encoder 6 is adapted in shape to the contour between the motor 3 and transmission 4, so that no additional construction space is needed to integrate the encoder 6 inside the door drive 1 and construction space is saved. This creates a universally used sensor for detecting the angle of rotation.

[0035] The gear housing 4 preferably has a retaining element 10a in which a fastening screw is mounted for the associated fastening hole 17a of the gear 4 in a secure manner. Deposition in a secure manner is preferably due to the head of the respective clamping screw being clamped in the retainer with a predetermined measure so that the retaining screw still rotates in the retainer 17a and can thus be screwed on. That is, the screw head preferably has a circular cross section.

[0036] In figure 5 a schematic view of the encoder 6 formed from the encoder disk 8 with the truss structure 15, housing 10, sensor 9 and direct sensor is shown

EP 2 212 503 B1 of the electronic system 9 '. The rotary encoder disk 8 is rotated through a shaft coming out of the transmission 4. On the inside of the housing wall 10 (fragmented), a sensor 9 is arranged so that it is protected from dust and other dirt and moisture. If the housing 10 is mounted on the transmission 4, then the sensor 9 can cooperate with the lattice structure 15 on the rotary encoder disk 8 and detect the rotational movement of the rotary encoder disk 8.

[0037] Alternatively, the sensor 9 and the electronic sensor system 9 'are arranged on a printed circuit board, which is, for its part, positioned, or inserted and fixed in the housing 10. [0038] In Figure 6, another embodiment of the transmission 4, showing in addition, the first shell element 17 and the second shell element 18. Shell elements 17 and 18 are in contact with each other and form a housing with the interior of the housing in which the transmission is mounted or placed, and thus torque transmitting parts, such as shafts and gear wheels. In the first shell element 17, for example, a break 33 is shown through which the shaft 7, not shown, can exit from the inner space of the gear. In addition, the first shell element 17 has means on the outer side through which the encoder 6 shown free can be positioned in front of the gear housing through its housing 10 on the shell element 17. These elements primarily comprise a screw element 20 which can be passed through Screw bushing 21 on housing 10 and screwed into threaded hole 22 in the first shell element 17. The encoder housing 10 has a simultaneously formed latch member 19 which can be latched to engage in the latch recess 23 on the first shell member 17. Finally, these means preferably further include insertion holes 36 into which the invisible in the figure 6, protruding, preferably mandrel sections 37 of housing 10, and immobilize (pre) the encoder 6 in mounting position.

[0039] When the housing 10 is attached to the shell member 17, it is then possible to first engage the latch molded member 19 to the latch recess 23, and then to screw the screw member 20.

[0040] In Figure 7, a first shell member 17 is shown for forming the gear housing of the door drive gear. The transmitting caddy 6 is shown assembled on the first shell member 17, so that the screw member 20 is shown in a screwed state and the latch member 19 in a latched state.

[0041] In figure 8 the view from the inside of the encoder 6 according to another embodiment is shown. The transmitting caddy 6 first includes a housing 10 in which an electronic printed circuit board 16 is mounted on the inside. The electronic circuit board 16 has a sensor 9 and an associated sensor electronics 9 '. A sensor signal cable 25 is arranged on the back side of the electronics board 16, wherein the sensor signal cable 25 can be positioned via the plug connector. In addition, for example, a gear 24 with a shaft 7 is shown, on which a rotary encoder disk 8 with a truss structure 15 extending on the outside can be arranged. The rotary encoder disk 8 is so positioned with respect to the sensor 9 that it extends on the angle segment through the slot 31 located in the sensor 9. The location of the encoder disk 8 on the shaft 7 is shown in more detail in Figure 9 below.

[0042] Furthermore, the insertion sections 37, described with reference to figure 6, are also visible.

[0043] In figure 9 a free view of the encoder 6 of the encoder 6 is shown in free view with its fastening means including a snap-in form element 19 and at least one passage for the screw 21. In addition, an electronic board 16 is shown on which an example of an electronic sensor system 9 'is shown. The sensor signal cable 25 adheres to the sensor electronics 9 'to connect the sensor electronics to the central door drive controller. In addition, the sensor 9 is shown in a free view, through which the slot 31 extends. In this slot 31, the encoder disk 8 is positioned at least partially in assembled condition. In addition, a gear wheel 24 is shown having an extension, serving as a gear wheel retainer 30 for seating the next gear wheel. A shaft 7 adheres to the retainer 30 of the gear wheel, on which is mounted the rotary encoder disk 8 with a truss structure

15. A mounting disk 26 is used to seat the encoder disk 8 on the shaft 7, whereby the position of the encoder disk 8 through the mounting disk 26 on the shaft 7 is shown in more detail in Figure 10.

[0044] In Figure 10, the encoder disk 8 with the lattice structure 15 and the hub side interruption, to which the preferably slotted recesses 28 adjoin, are shown in a free view. Furthermore, two recesses 28 in the form of holes are provided in the flat surface of the encoder disk. Accordingly, the mounting disk 26 has geometry on the mounting lugs 27. If the encoder disk 8 is flush with the mounting disk 26, then the geometry of the mounting lugs 27 enters the geometry of the recesses 28 and may, for example, snap into it or become trapped. Furthermore, the mounting disk 26 has a collar 34 in the form of a collar extending deep into the rupture 35 to seat the encoder disk 8 in a manner centered relative to the mounting disk 26.

[0045] In figure 11 the rear side of the clamping disk 26 is shown, not visible in figure 10, in connection with the shaft 7. The clamping disk 26 has latch projections 29 on this side, located on the hub side. The latching projections 29 are equally spaced, for example, three times around the periphery and have inward-facing latching noses so that they can snap into a latching groove 32 preferably clamping, arranged on the shaft 7 of the gear 24.

[0046] Alternatively or additionally, the inner surface of the invisible flange cap 34 facing the gear shaft enters the clamping or driving pin with the corresponding outer surface of the shaft 7. Shaft 7 is provided at the end facing the clamping disk 26, preferably in cone, which makes it easier to attach the clamping disc 26 to the shaft 7.

[0047] As a result, thanks to the invention, a very simple built and mounted angle detection element for door drives is developed, which can furthermore be universally used.

[0048] The invention is not limited in its embodiment to the above-mentioned preferred embodiment. Moreover, many variants are possible, using the presented solution also in the case of versions of a substantially different type.

List of markers [0049] door drive

EP 2 212 503 B1 drive unit gear motor closing shaft encoder encoder shaft encoder sensor

9 'sensor electronics housing

10a retainer fixing hole main circuit board main module connection module truss structure electronic circuit board first shell element

17a fastening hole second shell snap element screw element screw passage screw hole threaded recess snap wheel gear signal sensor cable mounting plate mounting recess recess latch projection retaining element gear wheel slot groove snap-in break flange cap interruption placement section

EP 2 212 503 B1