EP1894877B1 - Door drive for an automatic door - Google Patents

Abstract

The drive has a brushless direct current motor (10) e.g. permanently-excited synchronous motor, generating drive power, and a belt drivewheel (12) controlling a tough toothed belt (16) that transmits the power to the door panels (2, 3). An actuation device controls the motor, and comprises a digital magnetic absolute value sensor for generating an angular signal proportional to an angle of rotation of the motor. A commutation circuit commutates the motor, to which the signal from the sensor is fed, where the signal from the sensor is fed to a door position controller as an input variable.

Description

The invention relates to a door drive for an automatic door, in particular for an automatic sliding and / or elevator door, which has at least one door leaf, with an electric motor for generating a driving force, a drive device for controlling and / or regulating the electric motor, a / r in Opening and closing direction of the door guided belt or chain for transmitting the driving force to the door leaf, and with a door position control device.

DE 103 39 621 A1 discloses a brushless electric motor, DE 10 2004 034 636 A1 a direct drive with rotary encoder.

Input mentioned or similar door drives are known from EP 0 837 536 B1 . DE 101 31 211 A1 and DE 20 2005 006 404 U1 ,

In the field of automatic doors, especially in elevator doors, there is a need to build the door drive as compact as possible, because the door drive for the user of the elevator must be installed blinded and thus affects the space for the door drive and the compactness and cost of an entire elevator system.

At the DE 101 31 211 A1 known door drive is a DC motor with gear available. Transmissions generate unwanted noise and transmission losses and lead to rapid wear and cost due to the high number of moving mechanical parts. Conventional DC motors have large and unfavorable dimensions for door controls.

JP 2006 197750 A discloses a door drive according to the preamble of claim 1.

The invention is based on the object, a door drive of the type mentioned in a simple manner and yet inexpensive and compact form.

This object is achieved by the features of the characterizing part of claim 1.

The angle signal of the angle sensor is thus used both for the purpose of motor commutation and for door position control, resulting in a special savings in space, effort and costs. The angle signal can be used in addition to the position detection of the door for detecting the speed of the door.

Preferably, the angle sensor is working according to a magnetic principle, designed as an absolute encoder and prepared for unambiguous scanning of a complete revolution (360 °) of the electric motor.

By using a combination of a brushless motor with a magnetic absolute encoder results in a door control very compact design and quiet operation at low cost.

Electronically commutated and / or brushless electric motors are known as such. In an electronically commutated motor, the mechanical commutation system, ie the commutator brushes, is replaced by a motorized control unit, also called a BL controller (brushless controller). For example, several high-current silicon chips and a programmable microprocessor take over the task of the brush apparatus, that is, the wear-resistant and failure-prone interaction of copper fins and carbon brushes.

The elimination of the brush system results in the advantage of less noise, the advantage of lower wear and cost through a smaller number of moving, mechanical parts and the advantage of absence of contamination by brush abrasion.

One distinguishes sensorless controllers, eg in DE 103 46 711 A1 described, and controllers which have to determine the current rotational position of the motor an angle or rotary encoder, for example in the form of an optical encoder, a photoelectric sensor, a Hall sensor encoder, in particular a digital Hall sensor with eg 6 states resolved per revolution , a quadrature encoder or a resolver, a special resolver that operates on an electro-inductive basis and provides analog information about the angular position of the motor, coded as sine and cosine ,

In particular for gearless applications, a very high resolution is required in order to drive the motor with sinusoidal commutation quietly and cheaply. This is so far only possible with a resolver. Resolvers are very expensive and require a lot of space.

Simple Hall sender and Quadraturencoder have the disadvantage that the rotor position is not at any time, namely not immediately after switching on the power supply network, immediately available. Therefore, a separate synchronization of the rotor angle based on a reference point or complex calculations is necessary.

To commutation of a brushless electric motor is off DE 100 17 061 A1 the use of a combination of a sensor based on the magnetoresistive effect (AMR sensor) known with at least two Hall sensors. This allows a clear angle detection over 360 °.

In the context of the invention, an absolute value encoder is understood to mean an angle measuring device which outputs position information in the form of a numerical value, possibly coded, which is unique over the entire resolution range of the absolute value encoder, so that no initial reference or calibration travel, such as, for example, is required. with an incremental encoder, is required.

The absolute value encoder of the door drive is designed in particular as a single-turn encoder.

The magnetic absolute encoder or rotary encoder operates in particular after the magnetoresistive or after the GMR effect. The Giant Magneto Resistance (GMR) effect is a quantum mechanical effect observed in thin film structures of alternating ferromagnetic and non-magnetic layers.

The evaluation is preferably carried out in a Wheatstone bridge. This can provide a sine / cosine signal in the two sub-bridges, allowing each position to be identified at full angle (360 °).

The magnetic absolute value encoder or rotary encoder is alternatively formed by interconnecting a plurality of Hall sensors, preferably 3, 4 or 6 Hall sensors. An intelligent evaluation electronics, e.g. based on DSP, allows a unique detection of the entire full circle.

Furthermore, the angle transmitter preferably has a resolution of at least 10 bit / 360 °, in particular of at least 11 bit / 360 ° or of at least 12 bit / 360 °. This is of particular advantage in connection with a high-torque, high-torque motor. In a gearless drive is a high temporal resolution even at low speeds possible. This means that even very slow door speeds can be adjusted down to standstill. Furthermore, the high resolution leads in a gearless drive and in particular in a sinusoidal control of the motor to a nearly harmonics-free torque development, which is characterized by very good concentricity properties with low noise levels.

1. a) Die Rotorposition ist zu jedem Zeitpunkt, also auch unmittelbar nach Einschalten der Strom- oder Spannungsversorgung, bekannt, so dass die Notwendigkeit des Einsynchronisierens des Rotorwinkels entfällt.
2. b) Speziell führt die hohe Winkelauflösung zu einer hohen zeitlichen Auflösung auch bei geringen Drehzahlen, so dass auch sehr langsame Geschwindigkeiten bis hin zum Stillstand ausgeregelt werden können.
3. c) Bei sinusförmiger Ansteuerung des Motors ergibt sich eine nahezu oberwellenfreie Drehmomentenentfaltung, welche sich durch sehr gute Rundlaufeigenschaften bei geringer Geräuschentwicklung auszeichnet.
4. d) Geringe Kosten.
5. e) Geringe Bauhöhe.

The use of a magnetic absolute encoder of high resolution for driving the electric motor has considerable advantages for the drive:

1. a) The rotor position is known at any time, ie immediately after switching on the power or voltage supply, so that the need for synchronizing the rotor angle is eliminated.
2. b) Specifically, the high angular resolution leads to a high temporal resolution even at low speeds, so that even very slow speeds can be compensated up to a standstill.
3. c) With sinusoidal control of the motor results in a nearly harmonics-free torque development, which is characterized by very good concentricity properties with low noise.
4. d) Low costs.
5. e) Low height.

For a compact design and in particular for the accommodation within a door fighter or a lintel, it is particularly useful if the angle encoder in the axial direction an extension of max. 40 mm, preferably of max. 20 mm.

In particular, the angle encoder is mounted coaxially with the motor shaft.

The electric motor is preferably designed as a, in particular permanently excited, synchronous motor.

Preferably, the length of the electric motor - measured without any bearings, drive pinion and electronic components - less than 60 mm, in particular less than 36 mm.

In addition, preferably, the length of the electric motor - measured at a distance of at least 35 mm from the shaft and without any bearings, drive pinion and electronic components - less than 60 mm, in particular less than 36 mm.

In addition, the diameter and / or the edge length of the electric motor preferably lies in the range between 50 mm and 200 mm, preferably in the range between 80 mm and 160 mm.

Another expedient design is that the electric motor has a drive torque of at least 0.008 Nm / kg or at least 0.01 Nm / kg door mass, in particular a drive torque in the range of 3.0 Nm to 4.5 Nm, preferably from the Range from 3.5 to 4.0 Nm.

According to a preferred embodiment, a drive pinion or pulley for driving the belt or the chain is mounted on the shaft of the electric motor. This results on the one hand the advantage of a compact design and on the other hand, the advantage that the belt or chain is gearless and / or vorgelegelos driven by the electric motor (direct drive). A transmission would significantly increase the axial extent of the overall system of electric motor and transmission compared to a gearless drive. In a countershaft, the space would also increase because the driving force would first have to be transmitted from the motor shaft via the countershaft to a non-axially located double pinion, which in turn drive only the chain or the belt. Gearlessness also means lower losses and noise.

The drive pinion or pulley is in particular attached to a freestanding end of the shaft. This results the advantage of universal integration into the door system.

It is particularly expedient that the electric motor - preferably completely - within a door fighter or a lintel at the upper end of the door, in particular above a car of the elevator, is arranged. Ideally, no space is required above the elevator car of the elevator installation for installation or assembly of the door drive. This results in special advantages compared to a solution with a countershaft, in which the electric motor must be mounted usually above the door fighter.

As a door striker is understood in the context of the invention, any fixed built into the door frame crossbar, in particular a horizontal profile between the lower door system and an upper part, in the case of an elevator of the upper part of the car. The door striker is usually arranged above the door leaves of the door.

According to a very particularly preferred embodiment, the motor is mounted such that its shaft is perpendicular to the opening and closing direction of the door and / or aligned horizontally. This is a particularly compact and with respect to the driving force deflection-free and thus low-loss arrangement possible.

In such an attachment of the electric motor, there is also the advantage that one and the same, for example, as a spare part reproached engine, both on the left and at the right end or at any position between the door striker can be mounted and thus the distinction between the left and right Wave output, as necessary with gear motors, can be omitted.

According to another preferred embodiment, the motor together with the drive pinion or pulley in the shaft direction has an extension of less than 100 mm, preferably less than 80 mm, up. With such dimensions, the engine including drive sprocket or pulley in a lintel or door striker with particularly small dimensions of height and / or width less than 110 mm can be accommodated.

The door drive further preferably has a control unit with an installed control program for moving the door into its open and / or closed position.

The control unit is in particular so prepared that the electric motor - at least in normal operation - with a speed of less than 600 U / min, preferably with a speed of less than 500 U / min, operated.

According to a further preferred embodiment, angle sensor is mounted on the side facing away from the drive pinion or pulley side of the electric motor.

Overall, a total length of electric motor, drive pinion or pulley and angle encoder in the shaft direction of less than 110 mm, preferably less than 98 mm, appropriate.

FIG 1

eine Tür, für welche ein Türantrieb nach der Erfindung einsetzbar ist,

FIG 2

eine Frontansicht eines inneren Bereichs, eines so genannten Türkämpfers, im oberen Teil der Tür der Figur 1,

FIG 3

eine Draufsicht auf das Innenleben des Türkämpfers der Figur 2,

FIG 4

Details zur elektrischen Ansteuerung des für den Türantriebs der Figur 1 verwendeten Motors, und

FIG 5

weitere Details zur Verwendung eines Winkelgebers für die Ansteuervorrichtung und die Antriebsvorrichtung nach der Erfindung.

An embodiment of a door drive according to the invention will be described below with reference to FIGS. 1 to 5 explained in more detail. In the context of this embodiment based on door drives, the drive device and the drive device according to the invention are described, which are to be regarded as an independent inventive part regardless of the specific application. Show it:

FIG. 1

a door for which a door drive according to the invention can be used,

FIG. 2

a front view of an inner area, a so-called Türkämpfers, in the upper part of the door FIG. 1 .

FIG. 3

a top view of the interior of the doorstep the FIG. 2 .

FIG. 4

Details for the electrical control of the door drive of the FIG. 1 used engine, and

FIG. 5

Further details on the use of an angle encoder for the drive device and the drive device according to the invention.

FIG. 1 shows an automatic door 1 of an elevator with two equal-sized, counter-rotating door leaves 2, 3. The door 1 is enclosed by a door frame 4, which is closed and supported in the upper part of a door striker or lintel 5. When the door leaves 2, 3 are open, access to a car 6 of the elevator started behind it is possible. The opening and closing direction of the door leaves 2, 3 is denoted by 7. The door mass is up to 400 kg.

FIG. 2 shows the area of the door fighter 5 in a front view, as opposed to FIG. 1 removed fender aperture would represent. Within the door damper or the lintel 5, an electronically commutated and brushless, permanently excited synchronous motor 10 is arranged such that its motor shaft 11 perpendicular to the opening and closing direction 7 and horizontally, in the FIG. 2 perpendicular to the drawing plane, runs. The motor 10 may be driven in 2-phase or 3-phase. The entire arrangement of electrical commutation and motor 10 may also be referred to as a brushless DC motor.

At the free end of the shaft 11, a drive pinion, drive wheel or pulley 12 or the like is attached. Together with a pulley 14 attached to the opposite end of the door damper 5, the pulley 12 carries a tough elastic toothed belt 16 which transmits the driving force of the motor 10 to the door leaves 2, 3.

FIG. 3 shows the arrangement of FIG. 2 in a view from above. It can be seen that the motor 10 is gearless on the partially rubber-made timing belt 16 acts. The pulley 12 is seated directly on the shaft 11 of the motor 10. The diameter D of the motor 10 is 160 mm.

Coaxial with the motor shaft 11, ie on the illustrated axis of rotation A of the motor 10, a digital magnetic absolute encoder 20 is mounted. This one will be in FIG. 4 explained in more detail. The depth extent L of the entire assembly consisting of motor 10, drive wheel 12 and angle encoder 20 is less than or equal to 110 mm. Due to this flat design, the entire arrangement in the door 5 or lintel (lintel) with very compact dimensions can be accommodated.

• Tiefenausdehnung L₂ des Winkelgebers 20: ca. 30 mm. Tiefenausdehnung L₁ von Motor 10 samt Antriebsrad 12: ca. 80 mm.
• Gesamte Tiefenausdehnung oder Gesamtlänge L: weniger als 110 mm.

In FIG. 4 the entire arrangement consisting of motor 10, drive wheel 12 and angle encoder 20 in detail and interaction with a door drive associated with the control unit 24 is shown. Not only the motor 10, but also the angle encoder 20 is designed particularly flat:

• Depth extension L _{2 of} the angle sensor 20: approx. 30 mm. Depth extension L ₁ of motor 10 together with drive wheel 12: about 80 mm.
• Total depth or total length L: less than 110 mm.

The angle sensor 20 is located on the side facing away from the drive wheel 12 side of the motor 10 and is mounted centrally with respect to the axis A of the motor 10. The angle of rotation φ is indicated in the figure. The controller 24 supplies the motor 10 via a line 28 controlled and / regulated with from a power source 26, for example, the public power grid, derived energy. The angle encoder 20 reports via a line 22 an - analog or coded - angle number value to the controller 24. The resolution of the combination of angle encoder 20 and controller 24 is 12 bits, so that for 360 ° an angular resolution of 360 ° / 4096 = 0, 09 ° results.

1. a) Das Steuergerät 24 des Türantriebs weist eine Kommutierungsschaltung 32 zur elektronischen Sinus-Kommutierung und/oder Sinusmodulation des als Synchron- oder Asynchronmotor ausgebildeten Motors 10 auf. Der Kommutierungsschaltung 32 ist das Winkelsignal 22 zugeführt. Hierfür wird die hohe Auflösung des Winkelgebers 20 in vollem Umfang benötigt. Besonders vorteilhaft ist diese Anordnung bei einem elektronisch kommutierten (EC) und bürstenlosen, permanent erregten Synchronmotor 10, vorzugsweise ohne Getriebe, weil sich gegenüber für die Kommutierung eingesetzten Resolver-Drehmeldern ein erheblicher Preisvorteil bei gleicher Funktionalität ergibt. Bei einem EC-Motor kann die Kommutierungsschaltung 32 als BL-Controller bezeichnet werden.
   Die Kommutierungsschaltung 32 bildet zusammen mit dem Winkelgebers 20 eine Ansteuervorrichtung 30 nach der Erfindung. Die Ansteuervorrichtung 30 bildet zusammen mit dem Motor 10 eine Antriebsvorrichtung 33 nach der Erfindung.
2. b) Das Steuergerät 24 des Türantriebs weist ferner als funktionelle Einheit eine Türpositionssteuereinrichtung 34 auf, der ebenfalls das Winkelsignal 22 zugeführt ist. Die Türpositionssteuereinrichtung 34 regelt den Türzustand und/ oder die Türposition. Mit dem Winkelzahlenwert ist über den Durchmesser des verwendeten Antriebsritzels 12 die Position der Türblätter 2 und 3 bekannt, so dass das Steuergerät 24 bzw. die Türpositionssteuereinrichtung 34 in bekannter Weise Betriebsfahrten in die Öffnungs- oder Schließstellung oder Betriebstestfahrten zur Ermittlung solcher Endstellungen durchführen kann. Hierfür wird in der Regel eine niedrige und nicht die volle Auflösung des Winkelgebers 20 benötigt. Die Türpositionssteuereinrichtung 34 kann neben der Türposition - z.B. bei Vorhandensein eines Timers - auch die Türgeschwindigkeit beeinflussen, kontrollieren, steuern und/ oder regeln.

In FIG. 5 is shown in detail in block diagram form, as the angle signal 22 of the angle sensor 20 is used simultaneously for different purposes:

1. a) The control unit 24 of the door drive has a commutation circuit 32 for electronic sine commutation and / or sinusoidal modulation of the motor 10 designed as a synchronous or asynchronous motor. The commutation circuit 32 is the angle signal 22 is supplied. For this purpose, the high resolution of the angle sensor 20 is required in full. This arrangement is particularly advantageous in the case of an electronically commutated (EC) and brushless, permanently excited synchronous motor 10, preferably without a gear, because compared to resolver resolvers used for the commutation, a considerable price advantage results for the same functionality. For an EC motor, the commutation circuit 32 may be referred to as a BL controller.
   The commutation circuit 32, together with the angle sensor 20, a drive device 30 according to the invention. The drive device 30, together with the motor 10, a drive device 33 according to the invention.
2. b) The control unit 24 of the door drive further has as a functional unit a door position control device 34, which is also supplied with the angle signal 22. The door position controller 34 controls the door state and / or the door position. With the angle number value, the position of the door leaves 2 and 3 is known about the diameter of the drive pinion 12 used, so that the control unit 24 or the door position control device 34 can perform operating runs in the open or closed position or operating test runs for determining such end positions in a known manner. For this purpose, a low and not the full resolution of the angle sensor 20 is usually required. The door position control device 34 can also influence, control, control and / or regulate the door speed in addition to the door position - eg in the presence of a timer.

The drive device 33, together with door position control device 34, a door drive 36 according to the invention.

Claims (22)

1. Door drive (36) for an automatic door (1), in particular for an automatic sliding and/or lift door which has at least one door panel (2,3) with

   - an electric motor (10) for generating drive power,

   - an actuation device (30) for controlling and/or regulating the electric motor (10),

   - a belt or chain (16) running in the opening and closing direction (7) of the door (1) for transmitting the drive power to the door panel (2,3), and

   - a door position controller (34),

   with the electric motor (10) having a brushless construction and the actuation device (30) having

   - an angle sensor (20) for generating an angular signal (22) proportional to the angle of rotation (ϕ) of the motor (10) and

   - a commutation circuit (32), for commutating the electric motor (10) electronically, to which the angular signal (22) from the angle sensor (20) is fed, and

   where the angular signal (22) from the angle sensor (20) is fed to the door position controller (34) as an input variable,
   characterised in that
   the angle sensor (20) works on a magnetic principle, is constructed as an absolute value sensor and designed for sensing unambiguously one complete revolution (360°) of the electric motor (10) and where the angle sensor has a resolution of at least 10 bits/360°.
2. Door drive (36) according to claim 1,
   characterised in that
   the electric motor (10) is a synchronous motor, in particular a permanently-excited one.
3. Door drive (36) according to claim 1 or 2,
   characterised in that
   the length of the electric motor (10) - measured without any bearings, drive pinion and/or electronic components - is less than 60 mm, preferably less than 36 mm.
4. Door drive (36) according to one of claims 1 to 3,
   characterised in that
   the length of the electric motor (10) - measured at a distance of at least 35 mm from the shaft and without any bearings, drive pinion and/or electronic components - is less than 60 mm, preferably less than 36 mm.
5. Door drive (36) according to one of claims 1 to 4,
   characterised in that
   the diameter (D) and/or the edge length of the electric motor (10) lies in a range between 50 mm and 200 mm, preferably in the range between 80 mm and 160 mm.
6. Door drive (36) according to one of claims 1 to 5,
   characterised in that
   the electric motor (10) is designed for a drive torque of at least 0.008 Nm/kg or of at least 0.01 Nm/kg of door mass, in particular for a drive torque in the range from 3.0 Nm to 4.5 Nm, preferably in the range from 3.5 to 4.0 Nm.
7. Door drive (36) according to one of claims 1 to 6,
   characterised in that
   the angle sensor (20) is based on the principle of the magnetoresistive effect.
8. Door drive (36) according to claim 7,
   characterised in that
   the angle sensor (20) is based on the principle of the GMR effect.
9. Door drive (36) according to one of claims 1 to 6,
   characterised in that
   the angle sensor (20) is formed by connecting together several Hall sensors.
10. Door drive (36) according to one of claims 1 to 9,
    characterised in that
    the angle sensor (20) is constructed as a single-turn sensor.
11. Door drive (36) according to one of claims 1 to 10,
    characterised in that
    the angle sensor (20) has a resolution of at least 11 bits/360° or at least 12 bits/360°.
12. Door drive (36) according to one of claims 1 to 11,
    characterised in that
    the angle sensor (20) has a length (L₂) in the axial direction of at most 40 mm, preferably not more than 20 mm.
13. Door drive (36) according to one of claims 1 to 12,
    characterised in that
    the angle sensor (20) is arranged coaxially with the motor shaft (11) .
14. Door drive (36) according to one of claims 1 to 13,
    characterised in that
    a drive pinion or belt drivewheel (12) for driving the belt or chain (16), as applicable, is attached to the motor shaft (11) of the electric motor (10).
15. Door drive (36) according to one of claims 1 to 14,
    characterised in that
    the drive pinion or belt drivewheel (12) is attached to an unsupported end of the motor shaft (11).
16. Door drive (36) according to one of claims 1 to 15,
    characterised in that
    the belt or chain (16), as applicable, is driven by the electric motor (10) without gearing and/or transmission.
17. Door drive (36) according to one of claims 1 to 16,
    characterised in that
    the electric motor (10) is arranged - preferably completely - within a door springer or door lintel (5) at the top end of the door (1), in particular above a lift cage (6) of the lift.
18. Door drive (36) according to one of claims 1 to 17,
    characterised in that
    the electric motor (10) is mounted in such a way that its motor shaft (11) is aligned at right angles to the direction of opening and closing (7) of the door (1) and/or horizontally.
19. Door drive (36) according to one of claims 1 to 18,
    characterised in that
    the electric motor (10) together with its drive pinion or belt drivewheel (12), as applicable, has a length (L₁) of less than 100 mm in the direction of the shaft, preferably less than 80 mm.
20. Door drive (36) according to one of claims 1 to 19,
    characterised by
    a controller (24) with an installed control program for driving the door (1) to its open and/or closed position.
21. Door drive (36) according to claim 20,
    characterised in that
    the controller (24) is designed in such a way that the electric motor (10) is operated - at least in normal operation - at a speed of less than 600 r.p.m., preferably at a speed of less than 500 r.p.m.
22. Door drive (36) according to one of claims 1 to 21,
    characterised in that
    the overall length (L) of the electric motor (10), drive pinion or belt drivewheel (12), as applicable, and angle sensor (20) is less than 110 mm in the direction of the shaft, preferably less than 98 mm.

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