EP1894877B1 - Actionnement de porte pour une porte automatique - Google Patents

Actionnement de porte pour une porte automatique Download PDF

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Publication number
EP1894877B1
EP1894877B1 EP07114135A EP07114135A EP1894877B1 EP 1894877 B1 EP1894877 B1 EP 1894877B1 EP 07114135 A EP07114135 A EP 07114135A EP 07114135 A EP07114135 A EP 07114135A EP 1894877 B1 EP1894877 B1 EP 1894877B1
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EP
European Patent Office
Prior art keywords
door
drive
electric motor
motor
angle sensor
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.)
Active
Application number
EP07114135A
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German (de)
English (en)
Other versions
EP1894877A3 (fr
EP1894877A2 (fr
Inventor
Uwe Krause
Uwe Nolte
Guido Sonntag
Heinz Ludwig
Jahn Spannberger
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Siemens AG
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Siemens AG
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Publication date
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Publication of EP1894877A3 publication Critical patent/EP1894877A3/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/06—Door or gate operation of sliding doors
    • B66B13/08—Door or gate operation of sliding doors guided for horizontal movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/14—Control systems or devices
    • B66B13/143—Control systems or devices electrical
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/322—Position control, detection or monitoring by using absolute position sensors
    • E05Y2400/326—Position control, detection or monitoring by using absolute position sensors of the angular type

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • Electronically commutated and / or brushless electric motors are known as such.
  • the mechanical commutation system ie the commutator brushes
  • a motorized control unit also called a BL controller (brushless controller).
  • BL controller brushless controller
  • 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.
  • 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 ,
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the angle encoder in the axial direction an extension of max. 40 mm, preferably of max. 20 mm.
  • the angle encoder is mounted coaxially with the motor shaft.
  • the electric motor is preferably designed as a, in particular permanently excited, synchronous motor.
  • 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.
  • 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.
  • 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.
  • 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.
  • a drive pinion or pulley for driving the belt or the chain is mounted on the shaft of the electric motor.
  • a transmission would significantly increase the axial extent of the overall system of electric motor and transmission compared to a gearless drive.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • angle sensor is mounted on the side facing away from the drive pinion or pulley side of the electric motor.
  • 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 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.
  • a door frame 4 which is closed and supported in the upper part of a door striker or lintel 5.
  • 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.
  • 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.
  • a drive pinion, drive wheel or pulley 12 or the like is attached at the free end of the shaft 11.
  • 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.
  • a digital magnetic absolute encoder 20 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.
  • 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 ⁇ 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 drive device 33 together with door position control device 34, a door drive 36 according to the invention.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Claims (22)

  1. Entraînement ( 36 ) de porte pour une porte ( 1 ) automatique, notamment pour une porte automatique coulissante et/ou d'ascenseur, qui a au moins un vantail ( 2, 3 ) de porte, comprenant
    - un moteur ( 10 ) électrique pour produire une force d'entraînement,
    - un dispositif ( 30 ) de commande pour commander et/ou réguler le moteur ( 10 ) électrique,
    - une courroie ou une chaîne ( 16 ) guidée dans la direction ( 7 ) d'ouverture et de fermeture de la porte ( 1 ) pour transmettre la force d'entraînement au vantail ( 2, 3 ) de porte, et
    un dispositif ( 34 ) de commande de la position,
    dans lequel
    - le moteur ( 10 ) électrique est constitué sans balai et le dispositif ( 30 ) de commande a
    - un indicateur ( 20 ) d'angle pour produire un signal ( 22 ) d'angle proportionnel à l'angle ( ϕ ) de rotation du moteur ( 10 ), et
    - un circuit ( 32 ) de commutation pour la commutation électronique du moteur ( 10 ) électrique, circuit auquel le signal ( 22 ) d'angle de l'indicateur ( 20 ) d'angle est envoyé, et
    dans lequel le signal ( 22 ) d'angle de l'indicateur ( 20 ) d'angle est envoyé en tant que grandeur d'entrée au dispositif ( 34 ) de commande de la position de la porte, caractérisé en ce que l'indicateur ( 20 ) d'angle opère suivant un principe magnétique et est constitué en indicateur de valeur absolue et est agencé pour la détection défini d'un tour ( 360° ) complet du moteur ( 10 ) électrique, et
    dans lequel l'indicateur ( 20 ) d'angle a une résolution d'au moins 10 bits/360°.
  2. Entraînement ( 36 ) de porte suivant la revendication 1,
    caractérisé en ce que le moteur ( 10 ) électrique est un moteur synchrone, notamment à excitation permanente.
  3. Entraînement ( 36 ) de porte suivant la revendication 1 ou 2,
    caractérisé en ce que la longueur du moteur ( 10 ) électrique, mesurée sans palier, pignon d'entraînement et/ou composant électronique éventuel, est plus petite que 60 mm, de préférence plus petite que 36 mm.
  4. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 3,
    caractérisé en ce que la longueur du moteur ( 10 ) électrique du dispositif ( 33 ) d'entraînement, mesurée à une distance d'au moins 35 mm de l'arbre et sans palier pignon d'entraînement et/ou composant électronique éventuel, est plus petite que 60 mm, de préférence plus petite que 36 mm.
  5. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 4,
    caractérisé en ce que le diamètre ( D ) et/ou la longueur du côté du moteur ( 10 ) électrique est comprise entre 50 mm et 200 mm, de préférence entre 80 et 160 mm.
  6. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 5,
    caractérisé en ce que le moteur ( 10 ) électrique est conçu pour un couple de rotation d'entraînement d'au moins 0,008 Nm/kg ou d'au moins 0,01 Nm/kg de masse de la porte, notamment pour un couple d'entraînement allant de 3,0 Nm à 4,5 Nm, de préférence allant de 3,5 à 4,0 Nm.
  7. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 6,
    caractérisé en ce que l'indicateur ( 20 ) d'angle est agencé suivant le principe de l'effet magnétorésistif.
  8. Entraînement ( 36 ) de porte suivant la revendication 7,
    caractérisé en ce que l'indicateur ( 20 ) d'angle est agencé suivant le principe de l'effet GMR.
  9. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 6,
    caractérisé en ce que l'indicateur ( 20 ) d'angle est formé par la mise en circuit commun de plusieurs indicateurs de Hall.
  10. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 9,
    caractérisé en ce que l'indicateur ( 20 ) d'angle est constitué sous la forme d'un indicateur single-turn.
  11. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 10,
    caractérisé en ce que l'indicateur ( 20 ) d'angle a une résolution d'au moins 11 bit/360° ou d'au moins 12 bit/360°.
  12. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 11,
    caractérisé en ce que l'indicateur ( 230 ) d'angle a dans la direction axiale une étendue ( L2 ) de 40 mm au maximum, de préférence de 20 mm au maximum.
  13. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 12,
    caractérisé en ce que l'indicateur ( 20 ) d'angle est disposé coaxialement à l'arbre ( 11 ) du moteur.
  14. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 13,
    caractérisé en ce qu'un pignon d'entraînement ou une poulie ( 12 ) est monté sur l'arbre ( 11 ) du moteur ( 10 ) électrique pour l'entraînement de la courroie ou de la chaîne ( 16 ).
  15. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 14,
    caractérisé en ce que le pignon d'entraînement ou la poulie ( 12 ) est fixé à une extrémité libre de l'arbre ( 11 ) du moteur.
  16. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 15,
    caractérisé en ce que la courroie ou la chaîne ( 16 ) est entraînée par le moteur ( 10 ) électrique sans engrenage et/ou sans transmission intermédiaire.
  17. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 16,
    caractérisé en ce que le moteur ( 10 ) électrique est disposé de préférence complètement à l'intérieur d'un dormant de porte ou d'un linteau ( 5 ) de porte à l'extrémité supérieure de la porte ( 1 ), notamment au dessus de la cabine ( 6 ) de l'ascenseur.
  18. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 17,
    caractérisé en ce que le moteur ( 10 ) électrique est monté de manière à ce que son arbre ( 11 ) soit dirigé perpendiculairement à la direction ( 7 ) d'ouverture et de fermeture de la porte ( 1 ) et/ou horizontalement.
  19. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 18,
    caractérisé en ce que le moteur ( 10 ) électrique ensemble avec le pignon d'entraînement ou la poulie ( 12 ) a dans la direction de l'arbre une étendue ( L1 ) de moins de 100 mm, de préférence de moins de 80 mm.
  20. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 19,
    caractérisé par un appareil de commande à programme de commande installé pour déplacer la porte ( 1 ) et la mettre dans sa position d'ouverture et/ou dans sa position de fermeture.
  21. Entraînement ( 36 ) de porte suivant la revendication 20,
    caractérisé en ce que l'appareil ( 24 ) de commande est agencé de manière à ce que le moteur ( 10 ) électrique fonctionne, au moins en fonctionnement normal, à une vitesse de rotation de moins de 600 tours/min de préférence à une vitesse de rotation de moins de 500 tours/min.
  22. Entraînement ( 36 ) de porte suivant l'une des revendications 1 à 21,
    caractérisé en ce que la longueur ( L ) totale du moteur ( 10 ) électrique, du pignon d'entraînement ou de la poulie ( 12 ) et de l'indicateur ( 20 ) d'angle, dans la direction de 1" arbre, est plus petite que 110 mm, de préférence plus petite que 98 mm.
EP07114135A 2006-08-28 2007-08-10 Actionnement de porte pour une porte automatique Active EP1894877B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006040232A DE102006040232A1 (de) 2006-08-28 2006-08-28 Türantrieb für eine automatische Tür

Publications (3)

Publication Number Publication Date
EP1894877A2 EP1894877A2 (fr) 2008-03-05
EP1894877A3 EP1894877A3 (fr) 2008-05-21
EP1894877B1 true EP1894877B1 (fr) 2010-05-05

Family

ID=38626812

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07114135A Active EP1894877B1 (fr) 2006-08-28 2007-08-10 Actionnement de porte pour une porte automatique

Country Status (6)

Country Link
US (1) US20080047200A1 (fr)
EP (1) EP1894877B1 (fr)
AT (1) ATE466806T1 (fr)
DE (2) DE102006040232A1 (fr)
ES (1) ES2345123T3 (fr)
PT (1) PT1894877E (fr)

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JP2023542359A (ja) 2020-09-17 2023-10-06 アッサ・アブロイ・インコーポレイテッド ロック位置用磁気センサ
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EP1408305B9 (fr) * 2002-10-10 2008-10-22 ebm-papst St. Georgen GmbH & Co. KG Dispositif de mesure de l'angle absolu d'un arbre tournant
US7436139B2 (en) * 2003-01-29 2008-10-14 Matra Manufacturing & Services Sas Phase advance angle optimization for brushless motor control
DE10339621A1 (de) * 2003-08-28 2005-04-07 Berger Lahr Gmbh & Co. Kg Bürstenloser Elektromotor
DE102004034636A1 (de) * 2004-07-16 2006-02-16 Bosch Rexroth Ag Direktantrieb mit Drehwinkelgeber
JP2006197750A (ja) * 2005-01-14 2006-07-27 Mitsubishi Electric Engineering Co Ltd モータ駆動制御装置
DE202005006404U1 (de) * 2005-04-21 2005-06-23 Wittur Ag Flachmotor-Türantriebsmodul
DE102006040231A1 (de) * 2006-08-28 2008-03-13 Siemens Ag Türantrieb für eine automatische Tür

Also Published As

Publication number Publication date
DE102006040232A1 (de) 2008-03-13
PT1894877E (pt) 2010-05-26
ES2345123T3 (es) 2010-09-15
DE502007003643D1 (de) 2010-06-17
ATE466806T1 (de) 2010-05-15
EP1894877A3 (fr) 2008-05-21
EP1894877A2 (fr) 2008-03-05
US20080047200A1 (en) 2008-02-28

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