EP1632634A2 - A door actuated by a direct linear motor for public transport means, particularly rail vehicles - Google Patents

A door actuated by a direct linear motor for public transport means, particularly rail vehicles Download PDF

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Publication number
EP1632634A2
EP1632634A2 EP05466012A EP05466012A EP1632634A2 EP 1632634 A2 EP1632634 A2 EP 1632634A2 EP 05466012 A EP05466012 A EP 05466012A EP 05466012 A EP05466012 A EP 05466012A EP 1632634 A2 EP1632634 A2 EP 1632634A2
Authority
EP
European Patent Office
Prior art keywords
door
linear motor
holder
carriage
actuator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP05466012A
Other languages
German (de)
French (fr)
Other versions
EP1632634A3 (en
Inventor
Pavel Kaspar
Stanislav Horkel
Jan Masek
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vukv AS
Original Assignee
Vukv AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vukv AS filed Critical Vukv AS
Publication of EP1632634A2 publication Critical patent/EP1632634A2/en
Publication of EP1632634A3 publication Critical patent/EP1632634A3/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D19/00—Door arrangements specially adapted for rail vehicles
    • B61D19/003—Door arrangements specially adapted for rail vehicles characterised by the movements of the door
    • B61D19/005—Door arrangements specially adapted for rail vehicles characterised by the movements of the door sliding
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/322—Position control, detection or monitoring by using absolute position sensors
    • E05Y2400/324—Switches
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/322—Position control, detection or monitoring by using absolute position sensors
    • E05Y2400/328—Position control, detection or monitoring by using absolute position sensors of the linear type
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E05Y2800/74—Specific positions
    • E05Y2800/748—Specific positions end
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/51—Application of doors, windows, wings or fittings thereof for vehicles for railway cars or mass transit vehicles

Definitions

  • the invention deals with a sliding and push-out sliding doors actuated by a direct linear motor for public transport means, particularly rail vehicles.
  • the sliding door wings slide into the walls or along the walls when opening.
  • the wings may move on a linear or arched path.
  • the mechanism is usually placed under a cover in the space over the door opening and the wings are suspended on that.
  • the mechanism may also be placed behind the back edge of the wing where the wing moves to open.
  • a guiding element with a shifting slider is the main part of the mechanism.
  • the guiding element is attached on the fixed part of the vehicle body.
  • Movement of the wings of the push-out sliding doors, where the wing first shifts to the front of the side wall and then slides linearly outside along the side wall away from the door opening, is provided by the door mechanism, which is usually located in the space over the door opening, and the wing is suspended on the mechanism.
  • the actuator unit may consist of a mechanical actuator unit or an electric actuator unit, according to the available energy source.
  • the actuator units of electric door may be rotating geared electric motors or direct linear electric motors.
  • a disadvantage of rotating electric motors is, that gearing mechanisms changing rotation movement to linear are necessary. Gearing mechanisms however have considerable friction, flexibility and slack, which reduce the life (increases wear) rigidity, dynamics and accuracy of movement.
  • Direct linear electric motors remove the main disadvantage of geared rotating electric motors, the gearing.
  • the aim of the invention is to solve compact actuation and a new generation mechanism opening sliding and push-out sliding doors of rail vehicles with a direct linear electric motor, while the actuator design has to meet the demanding criteria of safety and reliability and also has to show high degree of technical and technological level.
  • the principle of the novelty of the sliding door actuated by a direct linear electric motor for public transport means, particularly for rail vehicles, is based on the fact that a holder of mechanism guide with a linear motor holder are attached to the vehicle body in the middle of the space over the door opening.
  • a sliding door actuator is movably mounted to the mechanism guide holder, on which the sliding door wing itself is suspended.
  • a linear motor rotor is a part of the sliding door actuator, for example in the form of an electronic aluminium sheet, which forms a rotor (slider) of the linear motor.
  • End sensors controlling the end position of the door wings are mounted on the holder of the mechanism guide.
  • a cable guiding rod is also arranged on the mechanism guide holder.
  • a holder with a sensor detecting people in the door opening is attached to the sliding door actuator.
  • the principle of the novelty of the push-out sliding door actuated by a direct linear electric motor for public transport means, particularly for rail vehicles, is based on the fact that a mechanism frame is attached to the vehicle body in the middle of the space over the door opening. There is a holder attached to the frame through at least two balance beams. A linear electric motor and a carriage guided against the frame by a pulley in the shape of the guiding rail, are arranged on the holder. A linear motor rotor is a part of the slider, for example in the form of an electronic aluminium sheet (slider).
  • the door wing is movably mounted to the holder by means of a traveller. The carriage is connected through the traveller with the door wing by 1 : 2 gearing.
  • Figures 1 and 2 show the sliding doors actuated by a linear motor designed for public rail vehicles.
  • a linear motor designed for public rail vehicles.
  • a sliding door actuator 3 with a sheet of electronic aluminium forming a rotor (slider) of the linear motor 4 is movably attached to the mechanism guide holder 2 .
  • the sliding door wing 1 is suspended on the sliding door actuator 3 .
  • Stops 5 , end sensors 7 and a cable guiding rod 9 are mounted at both ends of the mechanism guide holder 2 . Tongues 6 of the stops 5 and a holder 8 with a sensor of movement of people are attached to the sliding door actuator 3 .
  • Figures 3 and 4 show push-out sliding doors actuated by a linear motor designed for public rail vehicles.
  • a frame 3 of the push-out sliding door controlling mechanism is mounted on the vehicle body over the door opening.
  • a holder 4 is fixed on the frame 3 of the push-out sliding door controlling mechanism via a front balance beam 5 and a rear balance beam 6 , which are arranged on ...
  • a linear motor 8 is attached and a carriage 7 movably arranged on the holder 4 .
  • the carriage 7 is guided against the controlling mechanism frame 3 on a pulley in a shaped rail 10 .
  • a sheet of electronic aluminium forming the linear motor 8 rotor (slide) is a part of the carriage 7 .
  • the wing 1 of the push-out sliding door is movably attached with its arm 2 by means of a traveller 9 on the holder 4 .
  • the carriage 7 is connected with the push-out sliding door wing 1 through a traveller 9 via gearing 1:2.
  • the door is fully automatic with a microcomputer control.
  • the actuator is equipped with a sensor signalling presence of people at the door.
  • the front edge of the door wing is equipped with a contact ledge indicating a touch with an obstacle, as a safety element against squeezing.
  • the actuator may be switched off by switches on both sides and the door may be opened and closed manually.
  • the door is mechanically stabilized in the open and dosed positions. It may be locked in the dosed position.
  • the invention ensures the maximum actuating power in closing.
  • the door according to the invention in the sliding version is designed for interiors of public transport means, particularly rail vehicles. It may also be applied in buildings where extensive movement of people is expected.
  • the door according to the invention in the push-out sliding version is designed as an entrance door of public transport means, particularly rail vehicles.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The door actuated by a direct linear motor for public transport means is designed as a sliding door, while a mechanism guide holder /2/ is attached to the vehicle body over the door opening, with a holder /10/ and a linear motor /4/, and a movably attached actuator /3/, on which the door wing /1/ is suspended, a rotor of the linear motor /4/ is a part of the actuator /3/, while at least two end sensors /7/ detecting the end position of the door, at least two stops /5/ fixing the door in the open and closed positions and a cable guiding rod /9/ are arranged on the holder /2/, while at least two tongues /6/ are arranged on the actuator /3/ of the sliding door.
The door actuated by a direct linear motor for public transport means is designed as a push-out sliding door, a mechanism frame /3/ is attached to the vehicle body over the door opening, a holder /4/ is attached by means of at least two balance beams /5,6/, an electric linear motor /8/ and a movably attached carriage /7/ are arranged on the holder, the carriage is guided by a pulley /10/ in shape of the guiding rail against the frame /3/, while a linear motor rotor /8/ is a part of the carriage /7/, and the door wing /1/ is placed by its arm /2/ by means of a traveller /9/ on the holder /4/, and the carriage /7/ is connected by gearing via the traveller /9/ with the door wing /1/.

Description

  • A door actuated by a direct linear motor for public transport means, particularly rail vehicles.
    • Field of technology
  • The invention deals with a sliding and push-out sliding doors actuated by a direct linear motor for public transport means, particularly rail vehicles.
    • The existing state of technology
  • The sliding door wings slide into the walls or along the walls when opening. The wings may move on a linear or arched path. The mechanism is usually placed under a cover in the space over the door opening and the wings are suspended on that. The mechanism may also be placed behind the back edge of the wing where the wing moves to open. A guiding element with a shifting slider is the main part of the mechanism. The guiding element is attached on the fixed part of the vehicle body.
  • Movement of the wings of the push-out sliding doors, where the wing first shifts to the front of the side wall and then slides linearly outside along the side wall away from the door opening, is provided by the door mechanism, which is usually located in the space over the door opening, and the wing is suspended on the mechanism.
  • Both the sliding and the push-out sliding doors are equipped with an actuator unit for easier handling. The actuator unit may consist of a mechanical actuator unit or an electric actuator unit, according to the available energy source. The actuator units of electric door may be rotating geared electric motors or direct linear electric motors. A disadvantage of rotating electric motors is, that gearing mechanisms changing rotation movement to linear are necessary. Gearing mechanisms however have considerable friction, flexibility and slack, which reduce the life (increases wear) rigidity, dynamics and accuracy of movement.
  • Direct linear electric motors remove the main disadvantage of geared rotating electric motors, the gearing.
    • The nature of the invention
  • The aim of the invention is to solve compact actuation and a new generation mechanism opening sliding and push-out sliding doors of rail vehicles with a direct linear electric motor, while the actuator design has to meet the demanding criteria of safety and reliability and also has to show high degree of technical and technological level.
  • The principle of the novelty of the sliding door actuated by a direct linear electric motor for public transport means, particularly for rail vehicles, is based on the fact that a holder of mechanism guide with a linear motor holder are attached to the vehicle body in the middle of the space over the door opening. A sliding door actuator is movably mounted to the mechanism guide holder, on which the sliding door wing itself is suspended. A linear motor rotor is a part of the sliding door actuator, for example in the form of an electronic aluminium sheet, which forms a rotor (slider) of the linear motor. End sensors controlling the end position of the door wings are mounted on the holder of the mechanism guide. There are also at least two stops mounted on the mechanism guide holder, fixing the door in the open or closed positions by positioning a tongue against the particular stop, while at least two tongues are arranged on the sliding door actuator.
  • A cable guiding rod is also arranged on the mechanism guide holder. A holder with a sensor detecting people in the door opening is attached to the sliding door actuator.
  • The principle of the novelty of the push-out sliding door actuated by a direct linear electric motor for public transport means, particularly for rail vehicles, is based on the fact that a mechanism frame is attached to the vehicle body in the middle of the space over the door opening. There is a holder attached to the frame through at least two balance beams. A linear electric motor and a carriage guided against the frame by a pulley in the shape of the guiding rail, are arranged on the holder. A linear motor rotor is a part of the slider, for example in the form of an electronic aluminium sheet (slider). The door wing is movably mounted to the holder by means of a traveller. The carriage is connected through the traveller with the door wing by 1 : 2 gearing.
    • Summary of the pictures on the drawing
  • The enclosed drawings show the doors of public rail vehicles actuated by linear motor, while figures 1 and 2 present the sliding doors and the push-out sliding doors are in figures 3 and 4.
    • Examples of the invention implementation
  • Figures 1 and 2 show the sliding doors actuated by a linear motor designed for public rail vehicles. On the vehicle wall in the space over the door opening there is a holder 2 of the mechanism guide with a holder 10 of the linear motor 4. A sliding door actuator 3 with a sheet of electronic aluminium forming a rotor (slider) of the linear motor 4, is movably attached to the mechanism guide holder 2. The sliding door wing 1 is suspended on the sliding door actuator 3. Stops 5, end sensors 7 and a cable guiding rod 9 are mounted at both ends of the mechanism guide holder 2. Tongues 6 of the stops 5 and a holder 8 with a sensor of movement of people are attached to the sliding door actuator 3.
  • After switching the linear motor 4 on the sliding door actuator 3 together with the slide door wing 1 start shifting on the mechanism guide holder 2. End positions of the sliding door are detected by the end sensors 7. The sliding door is fixed in the open and closed positions by a tongue 6 touching the flexible stop 5. Slide door opening may be initiated either by a button or automatically after detection of movement at the door by a sensor attached to the holder 8.
  • Figures 3 and 4 show push-out sliding doors actuated by a linear motor designed for public rail vehicles. A frame 3 of the push-out sliding door controlling mechanism is mounted on the vehicle body over the door opening. A holder 4 is fixed on the frame 3 of the push-out sliding door controlling mechanism via a front balance beam 5 and a rear balance beam 6, which are arranged on ... A linear motor 8 is attached and a carriage 7 movably arranged on the holder 4. The carriage 7 is guided against the controlling mechanism frame 3 on a pulley in a shaped rail 10. A sheet of electronic aluminium forming the linear motor 8 rotor (slide) is a part of the carriage 7. The wing 1 of the push-out sliding door is movably attached with its arm 2 by means of a traveller 9 on the holder 4. The carriage 7 is connected with the push-out sliding door wing 1 through a traveller 9 via gearing 1:2.
  • After switching the linear motor 8 on the carriage 7 starts shifting as against the holder 4. The carriage 7 is shifted in the guiding rail 10 in longitudinal as well as transversal directions in the first phase of the movement, by which the whole holder 4 tilts closer to the side wall of the vehicle thanks to the front balance beam 5 and the rear balance beam 6. That will make the door wing 1 shift to the front of the side wall of the vehicle and in the next phase the door wing shifts along the shape of the guiding rail 10 along the vehicle side wall until it is fully open. Closing of the door happens in the opposite order.
  • The door is fully automatic with a microcomputer control.
  • It is equipped with a non-contact safety sensors against squeezing on both sides.
  • For better safety the actuator is equipped with a sensor signalling presence of people at the door.
  • The front edge of the door wing is equipped with a contact ledge indicating a touch with an obstacle, as a safety element against squeezing.
  • The actuator may be switched off by switches on both sides and the door may be opened and closed manually.
  • The door is mechanically stabilized in the open and dosed positions. It may be locked in the dosed position.
  • Force transfer between the actuating unit and the door wing is done by a gear element with proportion 1:2.
  • Thanks to a completely new solution of location of the balance beams against the guiding element and the actuator unit attachment the invention ensures the maximum actuating power in closing.
    • Industrial applicability
  • The door according to the invention in the sliding version is designed for interiors of public transport means, particularly rail vehicles. It may also be applied in buildings where extensive movement of people is expected.
  • The door according to the invention in the push-out sliding version is designed as an entrance door of public transport means, particularly rail vehicles.

Claims (4)

  1. A door actuated by a direct linear motor for public transport means in sliding version characterized by the fact, that a mechanism guide holder /2/ is attached to the vehicle body over the door opening, with a holder /10/ and a linear motor /4/, and a movably attached actuator /3/, on which the door wing /1/ is suspended, a rotor of the linear motor /4/ is a part of the actuator /3/, while at least two end sensors /7/ detecting the end position of the door, at least two stops /5/ fixing the door in the open and closed positions and a cable guiding rod /9/ are arranged on the holder /2/, while at least two tongues /6/ are arranged on the actuator /3/ of the sliding door.
  2. A door actuated by a direct linear motor for public transport means in sliding version characterized by the fact, that a mechanism frame /3/ is attached to the vehicle body over the door opening, a holder /4/ is attached by means of at least two balance beams /5,6/, an electric linear motor /8/ and a movably attached carriage /7/ are arranged on the holder, the carriage /7/ is guided by a pulley /10/ in shape of the guiding rail against the frame /3/, while a linear motor rotor /8/ is a part of the carriage /7/, and the door wing /1/ is placed by its arm /2/ by means of a traveller /9/ on the holder /4/, and the carriage /7/ is connected by gearing via the traveller /9/ with the door wing /1/.
  3. A door actuated by a direct linear motor according to claim 1 characterized by the fact, that the sliding door is equipped with a sensor detecting movement at the door, located on the actuator /3/.
  4. A door actuated by a direct linear motor according to claim 2 characterized by the fact, that the push-out sliding door is equipped with a sensor detecting movement at the door, located on the holder /4/.
EP05466012A 2004-09-02 2005-09-02 A door actuated by a direct linear motor for public transport means, particularly rail vehicles Withdrawn EP1632634A3 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CZ20040922A CZ2004922A3 (en) 2004-09-02 2004-09-02 Door with a drive mediated by a linear electric motor of mass transportation conveyances, particularly rail vehicles

Publications (2)

Publication Number Publication Date
EP1632634A2 true EP1632634A2 (en) 2006-03-08
EP1632634A3 EP1632634A3 (en) 2010-02-17

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP05466012A Withdrawn EP1632634A3 (en) 2004-09-02 2005-09-02 A door actuated by a direct linear motor for public transport means, particularly rail vehicles

Country Status (2)

Country Link
EP (1) EP1632634A3 (en)
CZ (1) CZ2004922A3 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2161150A3 (en) * 2008-09-05 2013-03-13 Volvo Construction Equipment Holding Sweden AB Sliding door safety device for heavy construction equipment
ITUD20130106A1 (en) * 2013-08-09 2015-02-10 Mios Elettronica S R L EQUIPMENT FOR THE OPENING / CLOSING OF A DOOR FOR MEANS OF TRANSPORT AND PROCEDURE FOR OPENING / CLOSING A DOOR
CN110552578A (en) * 2018-05-31 2019-12-10 比亚迪股份有限公司 Door drive arrangement and have its door assembly and rail vehicle of rail vehicle
CN111206841A (en) * 2020-01-10 2020-05-29 南京航空航天大学 Bilateral short primary linear motor direct-drive type subway door machine

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0062726A2 (en) * 1981-03-20 1982-10-20 AGUDIO S.p.A. Device for moving the two sliding doors of a car of a continuous cable-way with automatic clamping or catching (cable-car)
EP0614844A2 (en) * 1993-03-10 1994-09-14 Otis Elevator Company Linear door motor system for elevators
EP0626495A1 (en) * 1993-03-26 1994-11-30 Klein Iberica, S.A. Mechanism for sliding glass doors
EP0676358A2 (en) * 1994-04-07 1995-10-11 Otis Elevator Company Elevator cab door drive system
US20020118113A1 (en) * 2001-02-27 2002-08-29 Oku Shin-Ichi Object detection sensor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0062726A2 (en) * 1981-03-20 1982-10-20 AGUDIO S.p.A. Device for moving the two sliding doors of a car of a continuous cable-way with automatic clamping or catching (cable-car)
EP0614844A2 (en) * 1993-03-10 1994-09-14 Otis Elevator Company Linear door motor system for elevators
EP0626495A1 (en) * 1993-03-26 1994-11-30 Klein Iberica, S.A. Mechanism for sliding glass doors
EP0676358A2 (en) * 1994-04-07 1995-10-11 Otis Elevator Company Elevator cab door drive system
US20020118113A1 (en) * 2001-02-27 2002-08-29 Oku Shin-Ichi Object detection sensor

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2161150A3 (en) * 2008-09-05 2013-03-13 Volvo Construction Equipment Holding Sweden AB Sliding door safety device for heavy construction equipment
ITUD20130106A1 (en) * 2013-08-09 2015-02-10 Mios Elettronica S R L EQUIPMENT FOR THE OPENING / CLOSING OF A DOOR FOR MEANS OF TRANSPORT AND PROCEDURE FOR OPENING / CLOSING A DOOR
CN110552578A (en) * 2018-05-31 2019-12-10 比亚迪股份有限公司 Door drive arrangement and have its door assembly and rail vehicle of rail vehicle
CN110552578B (en) * 2018-05-31 2022-02-08 比亚迪股份有限公司 Door drive arrangement and have its door assembly and rail vehicle of rail vehicle
CN111206841A (en) * 2020-01-10 2020-05-29 南京航空航天大学 Bilateral short primary linear motor direct-drive type subway door machine

Also Published As

Publication number Publication date
EP1632634A3 (en) 2010-02-17
CZ2004922A3 (en) 2006-04-12

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