EP3044397A1 - Procédé de commande d'un entraînement électrique d'une porte ou d'un battant de porte et dispositif de commande de porte - Google Patents

Procédé de commande d'un entraînement électrique d'une porte ou d'un battant de porte et dispositif de commande de porte

Info

Publication number
EP3044397A1
EP3044397A1 EP14796463.9A EP14796463A EP3044397A1 EP 3044397 A1 EP3044397 A1 EP 3044397A1 EP 14796463 A EP14796463 A EP 14796463A EP 3044397 A1 EP3044397 A1 EP 3044397A1
Authority
EP
European Patent Office
Prior art keywords
door
travel
drive
door leaf
leaf
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.)
Granted
Application number
EP14796463.9A
Other languages
German (de)
English (en)
Other versions
EP3044397B1 (fr
Inventor
Marcus Gutzmer
Martin Rumpel
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.)
Siemens AG
Original Assignee
Siemens AG
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 Siemens AG filed Critical Siemens AG
Publication of EP3044397A1 publication Critical patent/EP3044397A1/fr
Application granted granted Critical
Publication of EP3044397B1 publication Critical patent/EP3044397B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • 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
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
    • 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
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/3013—Electronic control of motors during manual wing operation
    • E05Y2400/3015—Power assistance
    • 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
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/3013—Electronic control of motors during manual wing operation
    • E05Y2400/3016—Overriding existing wing movement
    • 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
    • E05Y2400/36—Speed control, detection or monitoring
    • 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
    • E05Y2400/44—Sensors not directly associated with the wing movement
    • 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
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/11—Application of doors, windows, wings or fittings thereof for buildings or parts thereof for industrial buildings
    • 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
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/13—Type of wing
    • E05Y2900/132—Doors

Definitions

  • the invention relates to a method for controlling an electric drive of a door or a door leaf according to claim 1 and a door control device according to claim 9.
  • Door control devices serve to control and / or regulate at least one electric drive motor for opening or closing at least one door or a door leaf, in particular at least one sliding door or a wing of a sliding door.
  • Sliding doors are mainly used in elevators, on platforms for access control to trains, at the entrance of buildings or for personal protection in industrial environments, e.g. on machine tools.
  • Electric drive motors for example, DC motors or, more recently, electronically commutated, brushless, permanently excited synchronous motors with or without a downstream transmission are used.
  • door control devices are integrated into an automation system and connected to a central higher-level controller via an industrial communication link (e.g., PROFIBUS, PROFINET).
  • industrial communication link e.g., PROFIBUS, PROFINET
  • the electric door drive By means of the electric door drive is a door or a door leaf in a first direction of travel (closing direction) from an open position to a closed position and conversely, movable in a second traveling direction (opening direction) from the closed position to the opened position.
  • first direction of travel closing direction
  • second traveling direction opening direction
  • Sliding doors are also known as "obstacle detection.” When the door moves in the closing direction, it causes a permanent manual force on the front
  • End face of the door in the closing direction to stop the drive or a reversal of the direction of movement (reversing).
  • an undershooting of a predetermined desired closing speed and / or exceeding a maximum torque is monitored, for example.
  • pulse monitoring of the incremental encoder is possible.
  • a permanent manual action of force on a front end face of the door in the opening direction leads to a stop of the drive.
  • the solution of this object is achieved by a method having the features of patent claim 1 and a door control device having the features of claim 9.
  • Advantageous embodiments of the method are the subject of claims 2 to 8 and advantageous embodiments of the door control device are the subject of claims 10 to 15.
  • the electric drive of the door or the door leaf at least partially, preferably completely, by manual force acting in one of the directions of travel on the side surface of the door or the door leaf or a component arranged thereon (eg a door handle), controlled.
  • the underlying idea is to use the already existing side surface of the door itself as a kind of "input system" for the control of the drive and thus the movement of the door, so that no additional input system is necessary an operator can be easily reached by hand, even if the operator moves with the door that opens or closes. In contrast to an end face of the door - no risk of crushing for an operator, a risk to persons can be avoided.
  • By direct manual action of force in the direction or directions of travel a particularly intuitive and therefore simple control of the drive and thus the movement of a heavy door can also take place. It can be made possible by the manual force effects either only a control of a part of the movements of the door (eg only a start or stop the door) or preferably a control of all movements (eg speed changes, reversing functions).
  • a duration and / or direction and / or strength of the manual force effects are determined for the control of the drive.
  • This information can be flexibly linked to one another either in a door control itself or in one of these superordinate control systems, and depending on the application, a wide variety of target specifications for the drive can be derived, for example, commanded, deleted, interrupted or modified. Different parameters can be set in the determination of these values to set different sensitivities and thus adapt the control to different doors, drives, weights, rubber lips, etc.
  • the duration and / or direction and / or strength of the manual force effects can be determined particularly easily and without additional complex sensor systems by means of a feed current of the drive or an intermediate circuit current of a power or voltage supply of the drive. From the determined values of the duration and / or direction and / or strength of the manual application of force, a door control device itself can derive a status of the drive and derive reactions in dependence thereon. The status of the drive can also be reported to a higher-level control device, which then by appropriate instructions to a door control device triggers a reaction.
  • the determination of the duration and / or direction and / or strength of the force can be effected particularly simply by comparing an actual value of the feed-in current or intermediate circuit current with a, preferably automatically learned, reference value.
  • the reference value can be determined for example during commissioning by a learn run for the entire travel and represent the actual value of the feed or DC link current without external force on the door.
  • the duration and / or direction and / or strength of the manual force can be determined particularly easily by means of an incremental path caused by the force effects and / or a caused by the force effects speed of the drive or the door or the door leaf.
  • a generation of a driving order to open or close the door or the door leaf can be done in a simple and user-friendly way that when motionless the door or door leaf and a pulse-shaped manual force in one of the directions of the drive is controlled such that moves the door or the door in this direction of travel.
  • the drive can then be controlled, for example, such that the movement of the door or the door is stopped in the direction of travel. This can then cause a deletion of a driving order.
  • the drive can be controlled such that the movement of the door or the door leaf in the direction of travel with a predefined, in particular reduced, speed. So that no maintenance or modification of a previous driving order be connected. If, in the case of an existing driving job, this permanent force effect is eliminated, this in turn can cause a deletion or interruption of a driving job.
  • a door control device for an electric drive of a door or a door leaf, wherein the door or the door leaf by means of the drive in a first direction of travel (closing direction) from an open position to a closed position and vice versa in a second direction of travel (opening direction) of the closed position in the open position is movable, and wherein the door or the door has at least one extending in the two directions of travel side surface is formed such that it at least for driving the door or the door in at least one of the two directions of drive partially, preferably completely, as a function of manual forces acting in one of the directions of travel on the side surface of the door or the door leaf or a component arranged thereon (eg door handle).
  • a door control device 1 shown in a simplified schematic representation in FIG. 1 serves to control and / or regulate an electric drive motor 2 for opening or closing a sliding door 3.
  • the door 3 is, for example, a sliding door with a high weight of preferably more than 300 kg. Such sliding doors are used for example in commercial and industrial companies.
  • the electric drive motor 2 is preferably an electronically commutated, brushless, permanent-magnet synchronous motor.
  • the door control device 1 forms, together with the motor 2, a door drive 9.
  • the door control device 1 comprises a power part 5 for voltage / power supply of the motor 2 and a control part 10 for controlling and / or regulating the power part 5 and thus of the motor 2.
  • the power section 5 comprises a rectifier 6 and a commutation circuit 7 for the motor 2.
  • the rectifier 6 and the commutation circuit 7 are connected to one another via a DC link 8.
  • the rectifier 6 may be connected to a power supply network on the input side (possibly via a mains transformer) (not shown).
  • the control part 10 comprises a microcontroller system with a microcontroller and a data memory, not shown.
  • the door control device 1 is accommodated in a housing 20 and thus forms a compact device.
  • the housing 20 has a communication interface 23 for communication with a device external industrial communication system 30 (e.g., a data bus or network such as PROFIBUS or PROFINET).
  • a device external industrial communication system 30 e.g., a data bus or network such as PROFIBUS or PROFINET.
  • door drives 9 and a higher-level control 31 for the door drives 9 may be coupled.
  • the higher-level controller 31, the communication system 30 and the door drives 9 form a
  • the higher-level control 31 is connected via the communication system 30 to the door control devices.
  • gen 1 connected via the respective interface 23 to the control.
  • the motor 2 drives via its output shaft 4 a Umlenkrol- le 12 which positively drives a toothed belt 13 to which the door 3 is attached via a holder 14.
  • the toothed belt 13 is guided over a second deflection roller 15, which is either not driven, or - for example, in particularly heavy doors - is also driven by a motor which is synchronized with the motor 2.
  • a rack instead of the toothed belt 13 and a rack may be provided.
  • the door 3 is moved from an open position to a closed position by means of the motor 2 in a first direction of travel (closing direction), which is denoted “S” in FIG. 1, and vice versa in a second traveling direction (opening direction) 1 is denoted by "0", movable from the closed position to the open position.
  • the door 3 has two in the two directions of travel S, 0 extending side surfaces, of which in Figure 1, only the front side surfaces 16 is visible. Furthermore, the door 3 has a front end face 17 in the closing direction S and an end face 18 in the opening direction 0.
  • the motor 2 is in at least one of the two directions of travel S or 0 by manual force effects in one of the directions of travel S, 0 on the side surface 16 of the door 3 or a component arranged thereon (eg a door handle 19). act, controllable.
  • an analysis and evaluation unit 11 determines a duration, direction and strength of the manual forces acting on the side surface 16.
  • the incremental encoder 21 may for this purpose also be coupled to a rotor of the motor 2, the toothed belt 13 or one of the deflection rollers 12, 15.
  • predefined movement states of the door or operating states of the drive 9 can be concluded and predefined reactions (eg triggering, deletion, interruption, change of travel orders , ie predefined motion profiles for the door 3) are triggered.
  • This analysis can be based on parameters which can be set individually in the analysis and evaluation unit 11, so as to enable an adaptation to different door systems with regard to the sensitivity of the analysis and the reactions.
  • the analysis and evaluation unit 11 can be located either in the control part 10 of the door control device 1 or alternatively also in the higher-level control device 31. In the latter case, the values for the current I or I 'as well as for the incremental path X or the speed V determined by the door control device 1 are transmitted in the form of status information via the interface 23 and the communication system 30 to the higher-level control device 31 or vice versa
  • the analysis and evaluation unit 11 can have one or more recognition algorithms and control automatisms, which are stored, for example, in the form of one or more executable programs in a data memory of the analysis and evaluation unit 11 and executed by a processor of the analysis and evaluation unit 11 can be.
  • a first analysis method which can be realized by the analysis and evaluation unit 11, can be aimed at having a motionless door 3 and a pulse-shaped manual door
  • impulse start-up impulse drive
  • FIG. 2 shows a recognition algorithm 41 and an associated control unit 42 for "pulse startup".
  • the automatic control unit 42 In the presence of an enable signal IMP_R, the automatic control unit 42 generates a drive task for moving the door 3 in the direction of the force F acting on the side surface 16 or the direction of rotation of the door 3 determined by means of the incremental encoder 21
  • a second analysis method that can be implemented by the analysis and evaluation unit 11 may be aimed at controlling the motor 2 in a movement of the door 3 in one of the directions of travel S, 0 and a jerky force acting on the side surface 16 of the door 3 against this direction of travel. that the movement of the door 2 in the direction of travel is stopped.
  • This function can be referred to as "assisted stop” and allows a manual stop of the door 3 by a slight jolt on the door opposite to the direction of travel.
  • the analysis and evaluation unit 11 comprises a recognition algorithm 43 and an associated automatic control 44 for the "assisted stopping".
  • the recognition algorithm 43 is based on an analysis of the low-pass filtered feed-in current I of the motor 2, hereinafter referred to as "I *", which reflects the driving force of the motor 2.
  • the underlying method evaluates an actual value of the current I * relative to an automatically learned reference value I R.
  • This reference value I R is determined in a manner familiar to the expert in the commissioning of the door drive 9 by means of a learning cycle for the entire traverse path of the door 3. This is done separately for the opening and closing direction 0 or S.
  • FIG. 4 shows an example of the time profile of the low-pass-filtered motor current I * when the door 3 is moving in the opening direction 0.
  • no force F acts on the side wall 16 of the door 3, so that the motor current I * is equal to the reference value I. R corresponds.
  • the detection algorithm 43 sets an output signal AS active.
  • the motor current I * increases until the time t3, the force on the side wall 16 is omitted.
  • the recognition algorithm 43 can be flexibly adapted to different door systems with regard to its sensitivity.
  • the signal AS is fed to the automatic control unit 44.
  • the automatic controller 44 generates a command ST for clearing the currently present driving order in the presence of an enable signal AS_R for the "assisted stopping", resulting in stopping the movement of the door 3.
  • a third analysis method that can be implemented by the analysis and evaluation unit 11 can be aimed at controlling the motor 2 in one of the travel directions 0, S and a permanent force acting on the side surface 16 of the door 3 in this direction of travel in a movement of the door 3, that the movement of the door 3 in the direction of travel is at a lower speed than in a normal drive.
  • This function may be referred to as "assisted drive” and allows movement of the door 3 in synchronism with movement of an operator in the direction of travel.
  • the analysis and evaluation unit 11 comprises a recognition algorithm 45 and an associated automatic control 46 for the function "assisted driving".
  • the recognition algorithm 45 is likewise based on an analysis of the low-pass-filtered motor current I *, again an evaluation of an actual value of the current I * related to the automatically learned reference value I R.
  • FIG. 6 shows an example of the time profile of the low-pass-filtered motor current I * when the door 3 is in motion Opening direction 0.
  • the motor current I * corresponds approximately to the reference value I R.
  • the detection algorithm 45 sets an output signal AD active.
  • the motor current I * continues to decrease until the force F on the side wall 16 is removed by the time t3. Thereafter, the motor current I * increases again and reaches the limit I G at the time t4, in which the output signal AD is reset again.
  • the recognition algorithm 45 can be flexibly adapted to different door systems with regard to its sensitivity.
  • the signal AD is supplied to the automatic control unit 46.
  • the automatic controller 46 generates a command RD for changing an existing normal speed driving job to a reduced speed driving job in the presence of an assisted driving enable signal AD_R.
  • the functions "pulse starting” and “assisted stopping” are combined with one another in the analysis and evaluation unit 11, for example.
  • the automatic control 47 can be activated via an extension signal "Supported stop” IMP_R_ext in conjunction with the enable signal IMP_R for the "pulse startup".
  • the automatic control 47 operates in the slow drive profile and an instruction RD for a motion task with reduced speed is generated. As soon as the recognition algorithm 43 signals an opposing force by setting the signal AS, the active travel job is deleted by the automatic control system 47 by a command ST.
  • the Assisted Hold feature is a dynamic feature that can be turned on and off while driving.
  • the function "pulse start" is first active and generates a command ND for a normal speed driving order for the door 3 in the opening direction 0.
  • the automatic controller 48 converts the normal speed driving command ND to a reduced speed driving order command RD, as long as the manual force action F in Opening direction 0 continues, the signal AD is still active but the manual force is eliminated, the signal AD is reset.
  • the automatic controller 48 then generates a command ST for deleting the driving order, resulting in a stop of the door 3.
  • a corresponding functional action acts on a manual force F 1 in the closing direction S.

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)

Abstract

L'invention concerne un procédé de commande d'un entraînement électrique (2) d'une porte (3) ou d'un battant de porte, la porte (3) ou le battant de porte étant mobile au moyen de l'entraînement (2) dans un premier sens de déplacement (S) d'une position ouverte dans une position fermée et inversement dans un second sens de déplacement (O) de la position fermée dans la position ouverte, l'entraînement pouvant être commandé par des actions manuelles (F) exercées sur la porte (3) ou le battant de porte pour déplacer la porte ou le battant de porte dans l'un au moins des deux sens de déplacement, et la porte (2) ou le battant de porte comportant au moins une face latérale s'étendant dans les deux sens de déplacement (16). Selon l'invention, une commande simple d'un entraînement électrique d'une porte lourde ou d'un battant de porte lourd doit être possible par des actions manuelles tout en évitant de mettre en danger les personnes et sans systèmes d'entrée supplémentaires. Selon l'invention, pour déplacer la porte (3) ou le battant de porte, l'entraînement (2) est commandé au moins en partie, de préférence totalement, par des actions manuelles (F) qui sont exercées dans l'un des sens de déplacement (S, O) sur la face latérale (16) de la porte (3) ou du battant de porte ou sur un élément (19) disposé sur celle-ci ou celui-ci.
EP14796463.9A 2013-11-26 2014-11-03 Procédé pour commander un actionneur électrique d'une porte ou vantail de porte et dispositif de commande de porte Active EP3044397B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013224148.8A DE102013224148A1 (de) 2013-11-26 2013-11-26 Verfahren zur Steuerung eines elektrischen Antriebs einer Tür oder eines Türflügels sowie Türsteuereinrichtung
PCT/EP2014/073507 WO2015078660A1 (fr) 2013-11-26 2014-11-03 Procédé de commande d'un entraînement électrique d'une porte ou d'un battant de porte et dispositif de commande de porte

Publications (2)

Publication Number Publication Date
EP3044397A1 true EP3044397A1 (fr) 2016-07-20
EP3044397B1 EP3044397B1 (fr) 2020-12-30

Family

ID=51894009

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14796463.9A Active EP3044397B1 (fr) 2013-11-26 2014-11-03 Procédé pour commander un actionneur électrique d'une porte ou vantail de porte et dispositif de commande de porte

Country Status (3)

Country Link
EP (1) EP3044397B1 (fr)
DE (1) DE102013224148A1 (fr)
WO (1) WO2015078660A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016205367A1 (de) 2016-03-31 2017-10-05 Meiko Maschinenbau Gmbh & Co. Kg Reinigungsvorrichtung und Verfahren zum Reinigen von Reinigungsgut
DE102019107187A1 (de) * 2019-03-20 2020-09-24 Brose Fahrzeugteile Se & Co. Kommanditgesellschaft, Bamberg Steuersystem zur Ansteuerung einer Antriebsanordnung
DE102020125098A1 (de) * 2020-09-25 2022-03-31 Dormakaba Deutschland Gmbh Verfahren zum Verschwenken eines Flügels mit einer Antriebseinrichtung und Antriebseinrichtung zum Verschwenken eines Flügels
DE102021204691A1 (de) * 2021-05-10 2022-11-10 Geze Gmbh Antrieb für eine Tür
CN114622500B (zh) * 2022-01-27 2024-01-16 浙江大华技术股份有限公司 闸翼转向学习方法、系统、闸机、计算机设备和存储介质

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JPH10252349A (ja) * 1997-03-11 1998-09-22 Asmo Co Ltd 車両ドア開閉装置
DE19956076A1 (de) 1999-11-22 2001-05-31 Siemens Ag Antriebseinrichtung für Aufzugtüren
DE202004017100U1 (de) * 2004-10-29 2005-03-03 Gretsch-Unitas GmbH Baubeschläge Beschlag für eine Hebe-Schiebe-Tür
DE102006040232A1 (de) 2006-08-28 2008-03-13 Siemens Ag Türantrieb für eine automatische Tür
EP1970519B1 (fr) * 2007-03-12 2010-01-20 Delphi Technologies, Inc. Procédé d'actionnement de porte
DE102011004019B4 (de) 2011-02-14 2015-02-12 Siemens Aktiengesellschaft Elektrisch angetriebene Tür

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Also Published As

Publication number Publication date
WO2015078660A1 (fr) 2015-06-04
EP3044397B1 (fr) 2020-12-30
DE102013224148A1 (de) 2015-05-28

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