EP1082511A1

EP1082511A1 - Combined bearing and drive system

Info

Publication number: EP1082511A1
Application number: EP00909256A
Authority: EP
Inventors: Peter-Klaus Budig; Ralf Werner; Uwe Schuffenhauer
Original assignee: Dorma Deutschland GmbH
Current assignee: Dorma Deutschland GmbH
Priority date: 1999-02-26
Filing date: 2000-02-25
Publication date: 2001-03-14
Also published as: HUP0102740A2; HUP0102740A3; NO20005359L; JP2003526026A; DE19908349A1; WO2000050719A1; AU3160700A; SK15722000A3; BR0005006A; CA2329664A1; NO20005359D0; PL343670A1; CN1294652A

Abstract

The invention relates to a combined bearing and drive system, which consists of a permanently excited magnetic support system comprising at least one stationary and at least one mobile magnet bar, where pairs of opposite stationary and mobile magnet bars have poles of the same polarity. The system also consists of a linear motor which is coupled to the magnetic support system. The linear motor and support system are both housed in the same casing. The aim of the invention is to provide an improved bearing and drive system of this kind which is more compact, more functional, requires fewer materials and is less costly. To this end the support system has a symmetrical structure and all the stationary magnet bars and all the mobile magnet bars are arranged in a separate plane. Said support system is in a delicate balance and comprises symmetrically arranged lateral guide elements.

Description

Title: Combined bearing and drive system

description

The invention relates to a combined storage and drive system according to the preamble of claim 1 for an automatically operated door. The combined bearing and drive system consists of a permanently excited magnetic support system, which has at least one fixed and at least one movable magnet row, with pairs of fixed and movable magnetic rows opposite one another being magnetically poled with the same name, and a linear motor that is coupled to the magnetic support system, the linear motor and the support system are housed in a common housing.

Such a bearing and drive system is known from DE 40 16 948 A1, wherein interacting magnets, under normal load, bring about contact-free, floating guidance of the door leaf which is movably held in a sliding guide by means of a linear motor. The V-shaped arrangement of the permanent magnets is disadvantageous since such an arrangement cannot provide a laterally stable guideway for the rotor of the linear motor.

In addition, it is known to classically move linearly moving devices by means of mechanical bearings and to connect them to the drive in the form of a rotating motor with ropes, belts, toothed belts, etc. The motors can be operated controlled or regulated. The separation of the bearing and the drive requires a great deal of design effort and furthermore leads to signs of wear due to the mechanical contact of the bearing points.

It is therefore the object of the invention to further develop a bearing and drive system according to the preamble of claim 1 in such a way that a space-saving system is created while increasing the functionality and reducing the use of materials and costs.

CONFIRMATION COPY This object is achieved with the features specified in claim 1. Advantageous embodiments of the subject matter of claim 1 are specified in the subclaims.

The bearing and drive system according to the invention has the advantage that, on the one hand, the guidance of the bearing can be functionally improved due to the optimization of the magnetic circuit arrangement of the support system and, on the other hand, the required load capacity can be achieved with a small magnet volume and consequently the magnet costs are low .

The functional integration of bearing and drive through the coupling of a permanent magnetic support system with a linear motor enables a compact and common arrangement in a suitable housing. A linear, permanently excited levitation system is used as the support system, which is based on the repulsive force effect of identical magnetic pole structures. The attached device, e.g. B. doors of single or multi-leaf sliding door systems, can be moved easily and completely silently. Due to the contactless storage, there is no wear and there is no need for lubricants. Since there is no abrasion on the bearing and the bearing and drive system is completely arranged within a housing, malfunctions in the technological process are reduced to a minimum by external influences. By creating a constructive unit, no separate bearings are necessary. The result is a compact, mechanically robust and inexpensive drive.

The housing is advantageously made of a light material, such as. B. an aluminum profile. Here, a U-profile is preferable to other types of profile, particularly with high weight loads due to its inherent stability.

The arrangement of the linear motor depends on the type of housing used and the specific installation situation. The linear motor can e.g. B. vertically below or above or laterally offset next to the levitation system, wherein the linear motor can be oriented horizontally or vertically in relation to the attached device. Any transverse forces that occur are compensated for by the bearing and drive system. The device can be attached directly or indirectly to the rotor of the linear motor or to the floating part of the support system. The indirect attachment takes place by means of a corresponding construction, for. B. in the form of a bracket or an arm. In principle, the device must run in its own guide and the device-support system connection should compensate for any displacements that occur. When used in a multi-leaf door system, the doors are coupled in such a way that they are moved in opposite directions. A connection of the two suspended support systems is advantageous.

The permanent magnetic bearing works on the principle of repulsive force. This operating principle enables a stable floating state without electrical control devices. No auxiliary energy is required to maintain the state of suspension. Such magnetic linear guides are characterized by the fact that there is no mechanical friction due to their extreme ease of movement and silent operation, and they are wear and maintenance free.

The permanently magnetically excited support system is in an unstable balance due to the symmetrical structure. There are rows of magnets on the fixed support as well as on the movable support which, depending on the design, are spaced apart or not. The opposite rows of magnets are always magnetically poled with the same name in order to achieve the magnetic force effect. Both the fixed support and the movable support are flat, so that the rows of magnets to be attached are each oriented in one plane and stable guidance results with the aid of the lateral guide elements. If the magnet system is exactly in the middle of the magnet rows, the lateral force is zero. This position is realized with the guide elements. With small tolerances, there are high lateral forces, which increase disproportionately with increasing displacement. To ensure sufficient rigidity of the guide, the suspension system is built into the support profile with a frame. Through the use of high energy magnets, e.g. B. from neodymium-iron-boron (NdFeB), because of the higher remanence induction, much higher force densities can be generated than with hard ferrite magnets. As a result, the magnet system can be designed to be geometrically small and therefore space-saving with high-energy magnets for a given load-bearing capacity. The high material costs of the high-energy magnets are at least compensated for by the comparatively small magnet volume.

In principle, the load capacity changes with the air gap, i. H. with the distance between the fixed and moving part of the support system. The smaller the air gap, the greater the load capacity in the magnet system. The relationship between the deflection and the force is generally not linear.

The permanent magnetic levitation system can be constructed in one or more rows. The magnetic circuit arrangements can be optimized by varying the direction of magnetization, the spacing of the magnet rows and the guiding of the magnetic flux through steel inserts.

Depending on the magnet arrangement, the distance between adjacent rows of magnets has a decisive influence on the load capacities. With the same direction of magnetization of adjacent magnet rows in both the fixed and the moving part, this distance should be as large as possible. When arranging magnet series of the same name on the fixed and moving part, but different polarity of neighboring magnet series, the greatest load capacity is generated with a small magnet spacing.

A further increase in the load capacity is possible if the permanent magnets are surrounded by steel parts, so that the magnetic flux is concentrated in the area of the air gap. Steel parts on the sides of the magnet rows and on the base surface of the magnets facing away from the air gap serve as magnetic inference. The increase in load capacity is achieved by optimizing the thickness of the steel parts on the sides and on the base of the magnets. The space-saving embedding of the magnets in the steel parts is particularly advantageous from a space-saving point of view. The rotor of the linear motor is connected to the floating part of the support system, the magnet distance being located in the area of the power reserves of the high-energy magnets. Due to the high force effect of the high-energy magnets, the length of the carrier can be reduced to a minimum, so that only a few magnets are required.

A single or multi-phase AC linear motor in synchronous or asynchronous design is used as the drive. This can have a one-sided or double-sided effect. The control or regulation of the linear motor is carried out with control electronics. The travel path is recorded by sensors which mark the end positions of the doors and can also be used for locking functions. The travel path can also be recorded using a magnetically incremental measuring system.

A double-acting linear two-phase synchronous motor which does not generate any transverse forces is preferred, so that the levitation system is not loaded transversely to the direction of movement. The direct connection of the support system to the central runner creates an optimal arrangement in terms of weight distribution. A bearing for guiding the runner is provided between the two parts, since small guide tolerances in the guide rail have to be compensated for.

In an advantageous embodiment of the invention, a synchronous linear motor with an ironless rotor is used. The electromagnetically active part has only the length due to the thrust force, while the part / parts which carry the permanent magnets have the length of the travel path plus the length of the electromagnetic part. The movement is carried out by a short stator, which consists of a two-phase winding attached to a carrier. It is particularly advantageous that the masses to be moved are small, since only a two-phase winding is used. As a result, the power converter is also only two-phase and therefore inexpensive.

The use of such a motor enables an arrangement of the drive system which is advantageous in terms of assembly technology. The drive is arranged horizontally next to the magnetic support system. So it will possible to assemble and disassemble the drive independently of the support system. This is not only important for commissioning, but especially in the case of repairs combined with an engine change, since only the engine has to be removed. Since the air gap of the support system can be made variable by designing the permanent magnetic arrangement, the contact-free operation of the support system can also be guaranteed even when the door is inclined. The freedom to make decisions about guiding the door on the underside can thus be made depending on the application.

In addition to use in door and gate drives with storage, the combined storage and drive system can also be used in feeders, handling devices or transport systems.

The invention will now be described in more detail using exemplary embodiments. Show:

Figure 1: A combined bearing and drive system with a linear motor at the top.

Figure 2: A combined bearing and drive system with a linear motor at the bottom.

Figure 3: Another embodiment of a combined bearing and drive system with a linear motor arranged below.

Figure 4: Another embodiment of a combined bearing and drive system with a linear motor arranged below.

Figure 5: A diagram of a combined bearing and drive system with a horizontally arranged linear motor.

Figure 6: A magnetic circuit arrangement with adjacent rows of magnets of the same magnetization direction.

Figure 7: A magnetic circuit arrangement with adjacent rows of magnets of different polarity. The same or equivalent components are provided with the same reference numerals in the following description.

Bearing and drive systems 1 are outlined in FIGS. 1 to 4. A linear motor 2 and a support system 7 are operatively connected to one another and arranged together in a housing 4. A movable rotor 5 of the linear motor 2 is connected to a floating part of the support system 7 by means of a connection 6. Depending on the embodiment, a device 8 arranged on the bearing and drive system 1 is attached either to the linear motor 2 or to the support system 7. This device 8 can, for. B. establish the connection to doors or gates, not shown, of automatic door systems. In addition to the use in door and gate drives with storage, the combined storage and drive system 1 can also be used in feeding devices, handling devices or transport systems.

The support system 7 consists of a support 9 fixedly mounted on the housing 4, on which a magnetic yoke 10 in the form of a sheet of ferromagnetic material is arranged. The yoke 10 carries two rows of magnets 11 and 12 with permanent magnets. A magnetic yoke 14 is fastened to a movable carrier 13, on which two rows of magnets 15 and 16 with permanent magnets are also attached. The device 8 to be stored and driven is fastened to the movable carrier 13. The fixed rows of magnets 11, 12 and the rows of magnets 15, 16 attached to the opposite movable support 13 are polarized so that a repulsive force occurs between them. The lateral guidance of the movable carrier 13 takes over guide elements 17 in connection with lateral guide plates 18, which are formed by the housing 4 in FIGS. 1 and 2.

The linear motor 2 has a magnetic circuit 20 that is fixedly mounted on the housing 4 and the permanent magnetic excitation 19 attached to it. In between is the position-adjustable, vertically arranged rotor 5 with a winding 3. The rotor 5 is mechanically connected to the movable carrier 13 via the connection 6. The structure of the two versions of the bearing and drive system 1 according to FIGS. 1 and 2 differs in the arrangement of the essential elements. In FIG. 1, the support system 7 is arranged below the linear motor 2, the device 8, connecting the support system 7 and the linear motor 2, lying between them. According to FIG. 2, the linear motor 2 is arranged below and connected to the support system 7 located above it via the connection 6. The device 8 is arranged above the support system 7 on the upwardly open housing 4.

The attachment of the device 8 to the bearing and drive system 1 is also possible according to FIGS. 3 and 4. The shape and the installation situation of the housing 4 used are important here. This results in the possibility of attaching the device 8 to the rotor 5 of the linear motor 2 or of fastening the device 8 to the floating support 13 by means of a construction 22. In both cases, the door attached to the device 8, for example, must run in its own guide, the connection between door and suspension system being intended to compensate for any displacements that occur.

According to Figure 3, the housing 4 consisting of an aluminum profile is open at the bottom. U-shaped profiles in particular are suitable for such applications due to their inherent stability. The device 8 is mounted on the rotor 5 of the linear motor 2. Separate guide elements 21 on the connection 6 stabilize the central bearing of the rotor 5 and the device 8 attached to it. Because of the ease of movement, the guide elements 17 and 21 are ideally designed as ball bearings. The coupling with a second half of the door takes place with a mechanical connection, not shown, such as. B. a rope or strap so that the door halves are moved in opposite directions. A fixed connection between the two floating supports 13 would be favorable.

According to Figure 4, the housing 4 consisting of an aluminum profile is open at the top, with a distance from the room. The device 8 is a special construction 22 with connected to the movable support 13. The connection of the attached door halves can be realized with a toothed belt, which firmly connects the floating supports 13.

A flat linear motor 2 is suitable as the drive and, due to its compact design, is installed in the housing 4 below the support system 1. For optimal weight distribution, the linear motor 2 is fastened centrally below the support system 1. The linear motor 2 is controlled via control electronics. The supply voltage is expediently less than 60 volts and the nominal current is approximately 3 amperes. The travel path is recorded by sensors which mark the end positions of doors and can also be used for locking functions. The travel path can also be recorded using a magnetically incremental or analog measuring system.

The linear motor 2 can be arranged differently in relation to the support system 7. The above statements concern vertical arrangements. A laterally offset arrangement next to the support system 7 is shown schematically in an advantageous embodiment according to Figure 5. The synchronous linear motor 2 has an ironless rotor 5. The electromagnetically active part has only the length due to the thrust force, while the part / parts which carry the permanent magnets have the length of the travel path plus the length of the electromagnetic part. The movement is carried out by a short stator, which consists of a two-phase winding attached to a carrier. It is particularly advantageous that the masses to be moved are small, since only a two-phase winding is used. As a result, the power converter is also only two-phase and therefore inexpensive.

The use of such a motor enables an arrangement of the bearing and drive system 1 which is advantageous in terms of assembly technology. The linear motor 2 is arranged horizontally next to the magnetic support system 7. This makes it possible to assemble and disassemble the linear motor 2 independently of the support system 7. This is of crucial importance not only during commissioning, but especially in the case of a repair combined with a motor change, since only the linear engine 2 must be removed. Since the air gap L of the support system 7 can be made variable by designing the permanent magnetic arrangement, the contactless operation of the support system 7 can also be guaranteed when the door is inclined. The scope for decision-making regarding the guidance of a door on the underside can thus be made depending on the application.

The permanent magnetic support system 7 works on the principle of repulsive force. This operating principle enables a stable floating state without electrical control devices. No auxiliary energy is required to maintain the state of suspension. Through the use of high energy magnets, e.g. B. from neodymium-iron-boron (NdFeB), because of the higher remanence induction, much higher force densities can be generated than with hard ferrite magnets. As a result, the magnet system can be designed to be geometrically small and therefore space-saving with high-energy magnets for a given load-bearing capacity.

On the fixed support 9, as well as on the movable support 13, rows of magnets 11, 12 and 15, 16 are respectively arranged, which, depending on the design, are spaced apart or not. The opposite rows of magnets 11, 15 and 12, 16 are in any case magnetically poled with the same name in order to achieve the magnetic force effect. Both the fixed support 9 and the movable support 13 are flat, so that the rows of magnets 11, 12, 15, 16 to be fastened thereon are each oriented in one plane and stable guidance results with the aid of the lateral guide elements 17.

By varying the direction of magnetization, the distance A of the magnet series and the guidance of the magnetic flux through steel inserts

10, 14 the magnetic circuit is optimized. In principle, the load capacity changes with the air gap L, i.e. H. with the distance between the fixed and moving beams 9 and 13. The smaller the air gap L, the greater the load-bearing capacity in the load-bearing system 7. The relationship between the deflection and the force is generally not linear.

Depending on the magnet arrangement, the distance A between adjacent rows of magnets

11, 12 and 15, 16 have a decisive influence on the load capacities. In FIG. 6 shows the adjacent rows of magnets 11 and 15, both of the fixed support 9 and of the movable support 13, in the same direction of magnetization. Furthermore, in both carriers 9 and 13 magnetic poles of the same name face the air gap L. The distance A between the adjacent rows of magnets 11 and 15 should be as large as possible.

In FIG. 7, because of the necessary repulsive force effect, magnet series 11, 15 and 12, 16 of the same name face each other on the fixed and moving carrier 9 and 13, however, the south poles are the magnet series 11 and 15 and the north poles are the other magnet series 12 and 16 Air gap L facing. With such an arrangement, the greatest load capacity is generated with a small magnet spacing A.

A further increase in the load-bearing capacity is possible if the rows of magnets 11, 12, 15, 16 are surrounded by steel shims 10, 14, so that the magnetic flux is concentrated in the area of the air gap L. Here, the steel parts 10, 14 are designed as magnetic reflux on the sides S and on the magnetic heights H of the magnet rows 11, 12, 15, 16 facing away from the air gap L. The increase in the load capacity is achieved by optimizing the magnet heights H and the sides S. In order to keep the amount of iron used for the magnetic yoke as low as possible, the magnet rows 11, 12, 15, 16 were embedded flush in the steel shims 10, 14. An optimized arrangement of the magnet heights H and the sides S depending on the load capacity is approx. 2 mm each.

Reference list

1 storage and drive system

2 linear motors

3 winding

4 housing

5 runners

6 connection

7 suspension system

8 device

9 carriers

10 Inference, steel shim

11 row of magnets

12 row of magnets

13 carriers

14 Inference, steel shim

15 row of magnets

16 row of magnets

17 guide element

18 guide plate

19 excitement

20 circle

21 guide element

22 construction

L air gap

A Magnetic gap

S side height

H magnet height

Claims

claims

1. Combined bearing and drive system (1) from a permanently excited magnetic support system (7), which has at least one fixed and at least one position-changeable row of magnets (11, 12, 15, 16), pairs of opposing stationary and position-changeable rows of magnets (11, 15 and 12, 16) are magnetically poled with the same name, and from a linear motor (2) which is coupled to the magnetic support system (7), the linear motor (2) and the support system (7) in a common housing (4 ) are accommodated, characterized in that the support system (7) is constructed symmetrically and all fixed magnet rows and all movable magnet rows are each arranged in one plane, the support system (7) being in an unstable equilibrium and symmetrically arranged lateral guide elements (17 ) having.

2. Combined storage and drive system according to claim 1, characterized in that the guide elements (17) are roller-shaped.

3. Combined storage and drive system according to claim 1 or 2, characterized in that the linear motor (2) is designed synchronously or asynchronously.

4. Combined bearing and drive system according to one of the claims 1 to 3, characterized in that the linear motor (2) is single or multi-phase.

5. Combined bearing and drive system according to one of claims 1 to 4, characterized in that the linear motor (2) is a single-sided or double-acting linear motor (2).

6. Combined bearing and drive system according to one of the claims 1 to 5, characterized in that a two-phase, double-acting synchronous linear motor (2) is used.

7. Combined storage and drive system according to one of the claims 1 to 6, characterized in that the adjacent rows of magnets (11, 12, 15, 16) are spaced apart or spaced apart from one another.

8. Combined bearing and drive system according to one of the claims 1 to 7, characterized in that the adjacent rows of magnets (11, 12, 15, 16) of a plane are magnetically poled by the same name or not.

9. Combined bearing and drive system according to one of the claims 1 to 8, characterized in that the rows of magnets (11, 12, 15, 16) are surrounded by steel shims (10, 14).

10. Combined bearing and drive system according to claim 9, characterized in that the rows of magnets (11, 12, 15, 16) are embedded flush in the steel shims (10, 14).

11. Combined storage and drive system according to one of claims 1 to 10, characterized in that the support system (7) above, below or laterally offset to the linear motor (2) is arranged.

12. Combined bearing and drive system according to one of the claims 1 to 11, characterized in that one at the

Bearing and drive system (1) arranged device (8) is directly or indirectly attached to the support system (7) or the linear motor (2).

13. Combined bearing and drive system according to claim 12, characterized in that the linear motor (2) is arranged horizontally or vertically to the device (8).

14. Combined bearing and drive system according to one of the claims 1 to 13, characterized in that the housing (4) consists of cast, screwed, glued or connected in a suitable other way profile material.

15. Combined storage and drive system according to one of the claims 1 to 14, characterized in that the housing (4) is U-shaped.

16. Combined bearing and drive system according to one of the claims 1 to 15, characterized in that the housing

(4) is made of aluminum.

17. Combined storage and drive system according to one of the claims 1 to 16, characterized in that the storage and drive system (1) is supplied by a low voltage electronics.

18. Combined storage and drive system according to one of the claims 1 to 17, characterized in that a position measuring technique is available.

19. Combined storage and drive system according to one of the claims 1 to 18, characterized in that locking devices are present.

20. Combined bearing and drive system according to one of the claims 1 to 19, characterized in that high-energy magnets are used in the rows of magnets (11, 12, 15, 16).