EP3635209A1

EP3635209A1 - Door moving device, door system comprising a door and a door moving device, and method for moving a door

Info

Publication number: EP3635209A1
Application number: EP18725145.9A
Authority: EP
Inventors: Rainer Haevescher; Artur Neumann; J rg GROTENDORST
Original assignee: ZF Friedrichshafen AG
Current assignee: Signata GmbH
Priority date: 2017-06-07
Filing date: 2018-05-08
Publication date: 2020-04-15
Also published as: WO2018224230A1; CN110741131B; US20200087973A1; CN110741131A; DE102017209526A1

Abstract

The invention relates to a door moving device (115) for a door (110). The door moving device (115) comprises at least one providing device (200), a drive device (205), and a brake device (210). The providing device (200) is designed to provide a force in order to control the movement of the door (110). The drive device (205) is designed to generate a drive torque in order to drive the providing device (200). The brake device (210) can be electrically actuated and is designed to generate a braking torque in a de-energized state in order to brake the providing device (200) of the door (110).

Description

DOOR MOVEMENT DEVICE, DOOR SYSTEM WITH A DOOR AND A DOOR MOVEMENT DEVICE AND METHOD FOR MOVING A DOOR

The present approach relates to a door moving device for a door, a door system having a door and a door moving device, and a method for moving a door.

Standard for vehicle doors are defined detents, which ensure that the door stops at certain opening angles. Alternatively, the door is moved on some vehicles to increase comfort with an actuator. Here, hydraulic door controls or purely motorized door controls can be used.

Against this background, the present approach provides an improved door moving device for a door, a door system having a door and an improved door moving device, and an improved method of moving a door according to the main claims. Advantageous embodiments will become apparent from the dependent claims and the description below.

The door moving device presented here advantageously enables a door to be moved, braked and locked using a small amount of energy consumption and installation space.

A door moving device for a door comprises at least one providing device, a driving device and a braking device. The providing device is configured to provide a force for controlling a movement of the door. The drive device is designed to generate a drive torque for driving the supply device. For this purpose, the drive means may comprise, for example, an electric actuator such as an electric motor. The drive device can be designed to generate a necessary drive torque for enabling opening and / or closing of the door. The braking device is electrically actuated and adapted to in a de-energized state to generate a braking torque for braking the provision device of the door.

A portion or element of the providing device may be formed as an interface for coupling the force into the door. Through the interface, the force for controlling the movement of the door, in the assembled state of the door moving device, can be used to close or open the door. By the braking device, the supply device can be braked or held so strong that an unwanted movement of the door is prevented. By the braking device can provide the braking torque in the de-energized state, the door can be kept in an open position without the use of electrical energy.

It is advantageous in this case if the braking device comprises at least one magnetorheological material such as a magnetorheological elastomer and an actuator for setting a viscoelastic property of the magnetorheological material. Thus, the braking device may be designed to generate a first braking torque, for example for holding or locking the door, in an energized state and, in an energized state, a second braking torque that is smaller than the first braking torque. Thus, the door can be easily move in an energized state of the braking device, d. h., It is then required little energy from the drive device.

The door movement device may comprise a control device, which is designed to output a drive signal for controlling the drive device and additionally or alternatively a brake signal for controlling the brake device. In this case, the brake signal may be designed so as not to be provided for the de-energized state and to provide a current required for controlling the actuator for the energized state.

The providing device may comprise at least one shaft which is coupled to the braking device. Such a shaft is well suited for providing the power and coupling facilities. Here, the wave, for example be coupled at one end to the braking device and, for example, at a further free end a gear for transmitting the force to the door. The door movement device can also have a transmission device with at least one transmission element, wherein the transmission device also couples the drive device with the provision device, ie the shaft. Between the drive device and the shaft and a plurality of translation elements of the translation device can be arranged. The translation device may be arranged between the gear and the brake device. Thus, both the braking torque and the driving torque can act on the shaft to provide the force to control the movement of the door.

In order to mechanically couple or couple the door movement device with the door, it is advantageous if the provision device comprises an element of a hinge, for example a hinge, of the door. The hinge band can be arranged in the region of the toothed wheel.

In order to make the control of the door controllable as a function of environmental parameters, the door movement device can have at least one surroundings sensor device which is designed to sense an obstacle in a movement area or an opening area of the door. In response to a corresponding read obstacle signal, the control device can then, for example, cause the door to brake or prevent the door from being opened or closed. For this purpose, the environment sensor device can comprise at least one 2D camera and / or 3D camera and / or one light barrier device and / or one 3D scanner.

The door movement device may further comprise at least one sensor device which is designed to sense a closing angle and / or a torque during the movement or an operation of the door. In response to a corresponding read in closing angle signal and / or torque signal, which may represent, for example, a closed or almost closed door, the control device can then cause, for example, an automatic closing of the door in a final locking position. A door system comprises at least the door and one of the presented door movement devices. A door system presented here can serve as a substitute for known door systems, the presented door system advantageously realizing the advantages already described, thanks to the door moving device. To open and close the door, the provision device of the door movement device is coupled to the door, for example mechanically connected.

A method of moving a door includes at least the following steps:

Generating a drive torque for driving a providing means for providing a force for controlling the movement of the door; and

Generating a braking torque for braking the supply device using an electrically actuated braking device, in a de-energized state of the braking device.

This method may be practicable using any of the previously proposed door movement devices. Even by such a method, the already described advantages of the door moving device can be realized technically simple and inexpensive.

Embodiments of the approach presented here are shown in the drawings and explained in more detail in the following description. It shows:

1 is a schematic side view of a vehicle with a door system with a door and a door moving device according to an embodiment; FIG. 2 shows a schematic illustration of a door movement device according to an exemplary embodiment; FIG. and

3 is a flowchart of a method for moving a door according to one embodiment. In the following description of preferred embodiments of the present approach, the same or similar reference numerals are used for the elements shown in the various figures and similarly acting, wherein a repeated description of these elements is omitted.

1 shows a schematic side view of a vehicle 100 having a door system 105 with a door 110 and a door movement device 115 according to one exemplary embodiment. By way of example, the vehicle 100 is a passenger car.

The door 110 is according to this embodiment, a side door of the vehicle 100, according to an alternative embodiment, the

Door 110 is formed as a tailgate or other door of the vehicle 100. The door movement device 115 is arranged in the region of the door 110. According to this embodiment, the door 110 and the door moving device 115 are connected to each other by means of a hinge strap 120.

FIG. 2 shows a schematic illustration of a door movement device 115 according to an exemplary embodiment. This may be the door movement device 115 described in FIG.

The door movement device 115 has at least one supply device 200, a drive device 205 and a brake device 210.

The providing device 200 is configured to provide a force for controlling a movement of the door 110. For this purpose, the supply device 200 may be coupled in the installed state with the door 110, so that the force can be transmitted to the door. The drive device 205 is designed to generate a drive torque for driving the supply device 200. The braking device 210 is electrically actuatable and designed to generate a braking torque for braking the supply device 200, at least in a de-energized state. In the de-energized state, the braking device 210 is not supplied with electrical energy, for example. According to this exemplary embodiment, the braking device 210 comprises at least one magnetorheological material 215, for example an elastomer, and an actuator 220 for setting a viscoelastic property of the magnetorheological material 215. According to this exemplary embodiment, the provision device 200 comprises at least one shaft 225, which is provided by the magnetorheological material 215 is guided and depending on the viscosity of the magnetorheological material 215 is more or less braked. The greater the viscosity of the magnetorheological material 215, the greater the friction between the magnetorheological material 215 and the shaft 225. The braking device 220 is designed to generate a first braking torque when the actuator 220 is deenergized and in an energized state of the actuator 220 to generate a second braking torque acting on the shaft 225. In this case, the second braking torque is smaller than the first braking torque. According to one exemplary embodiment, the first braking torque is suitable for preventing the door from moving in a separate, for example gravity-driven, movement. By energizing the actuator 220, the braking torque can be reduced. This is useful, for example, when the door 110 is driven by the door movement device 115. According to one embodiment, the actuator 220 is configured to generate a magnetic field acting on the magnetorheological material 215 in the activated state in which the actuator 220 flows through an electric current. The magnetic field influences the viscosity of the magnetorheological material 215, here reduced in order to reduce the braking effect acting on the shaft 225. According to an exemplary embodiment, the braking device 210 is arranged at one end of the shaft 225. If no magnetic field generated by the actuator 220 is applied to the magnetorheological material 215, the magnetorheological material 215 according to one embodiment has a high viscosity, by which said first braking torque is effected.

According to this exemplary embodiment, the provisioning device 200 comprises a transmission device 230, which in turn has, for example, two transmission elements 235, here gear wheels. The translation device 230 couples the drive device 205, in this case an electric motor, to the delivery device 200. According to this embodiment, a torque of a shaft of the drive device 205 is transmitted to the shaft 225 via the translation device 230.

At a free end 240 of the shaft 225, the shaft 225 has, for example, a toothed wheel 245 for transmitting a force provided by the shaft 225 to the door 110. The hinge strap 120 already shown in FIG. 1 is part of the door movement device 1 15 and coupled to the shaft 225 via gear 245 in accordance with this exemplary embodiment. In this way, a torque 225 of the shaft to the hinge 120 and thus the force for controlling the movement of the door 1 10 on the door 1 10 are transmitted. According to an alternative embodiment, the door movement device 1 15 comprises, alternatively or in addition to the hinge strap 120, another element of a hinge or a hinge of the door 1 10.

As an alternative to the shaft 225, the supply device 200 may have a different element for transmitting power, for example a toothed rack.

The door movement device 15 according to one embodiment has a control device 250, for example in the form of a control device, which is designed to output a drive signal 255 for controlling the drive device 205 and / or a brake signal 260 for controlling the brake device 210. For example, an operating voltage for operating the drive device 205 to the drive device 205 can be provided by the drive signal 255. The drive signal 255 is designed, for example, to activate the drive device 205 in response to an opening movement to be performed and / or a closing movement of the door 110 to be performed. By the brake signal 260, an operating current for the actuator 220 can be provided or controlled. For example, in response to an opening movement to be performed and / or closing movement of the door 110 to be performed, an operating current may be provided to the actuator 220 to reduce the braking action of the magneto-rheological material 215. According to one embodiment, the door movement device 1 15 has a sensor device 265, which is designed to sense a closing angle and / or a torque during the movement of the door 1 10. In addition, the door movement device 1 15 optionally has an environment sensor device which is designed to sense an obstacle in a movement region of the door 1 10. A sensor signal of the sensor device 265 is used by the controller 250 according to one embodiment to provide the drive signal 255 and / or the brake signal 260.

The door movement device 15 includes a housing 270, by which the supply device 200, the drive device 205 and the brake device 210 are enclosed. The free end 240 of the shaft 225 is located outside of the housing 270. For this purpose, the shaft 225 is guided through a passage opening of a wall of the housing 270 provided with a bearing 275.

In the following, embodiments of the approach will be explained in more detail:

The door movement device 1 15 presented here is an electromechanical system for assisting in the operation of at least one vehicle door.

Unlike known hydraulic door controls, the door movement device 15 represents a simple system that allows easy-definable current-free behavior of the door 1 to be operated, using low costs. Unlike known purely motor door controls, the door movement device 1 15 also requires only a small space and especially in a long static holding the door 1 10 in a position advantageously little to no power. A high power density of the brake actuator in the form of the actuator 220 results in the small space.

The door movement device 1 15 can also be referred to as an optimized actuator, which makes it possible to set currentless holding forces of a door 1 10 defined. An advantage of the door movement device 15 is an overall low energy consumption. consumption. The small space allows this arrangement in a limited hinge region of the door 110. Also optimized is an acoustic behavior, as by a variable door operation replicating door locks by software is possible. The door moving device 115 further enables braking against obstacles in the door swinging area, fixing the door 110 as a carving aid, and automatically pulling the door 110. Also, a door opening and closing speed can be limited and determined when the vehicle is tilted.

The door movement device 115 may also be referred to as an intelligent actuator with electronics, which includes an electric actuator in the form of the drive device 205 and a brake in the form of the braking device 210. Actuator and brake are controlled by the common control device 250. A main function of the drive device 205 is actively moving the door 110, ie opening and / or closing the door 110. The built-in braking device 210 additionally generates high braking torques until the door 110 stops. In this case, the braking device 210 generates a braking torque even when de-energized , An electric motor can not produce the high standstill moments of a brake. On the other hand, a brake can not actively move a door 110. The braking device 210 may generate much higher braking torques than a motor with the same size and the same energy requirements. An important feature is also the electroless brake function z. The door movement device 115 therefore once again summarizes a common assembly of the electric drive device 205, also called DC motor, the electrically operated brake device 220 with currentless braking function by a magnetorheological brake actuator and an associated electronic control, Thus, the control device 250, with a superposition control of drive device 205 and braking device 210. The low energy consumption is especially true if the door 110 is to be fixed in an open position for a long time.

According to this embodiment, the door movement device 115 also has the sensor device 265 for closing angles and torques in the door operation integrated. At an output of the door moving device 1 15, the shaft 225 is arranged with the gear 245. The hinge strap 120 has a toothing to the door movement device 15 1. Another consideration is an overall system for automatically opening and / or closing the door 1 10. For this purpose, the environment sensor device is required to assess an opening range of the door 1 10 with respect to obstacles. According to this embodiment, the environment sensor device has at least one 2D camera and / or 3D camera and / or one light barrier device and / or one 3D scanner. It is also possible to tighten the door 1 10 from a pre-catch to a final locking position in a lock area, this process is also called "soft-close".

3 shows a flowchart of a method 300 for moving a door according to an exemplary embodiment. This can be a method 300 that can be carried out by the door movement devices described in one of FIGS. 1 to 2.

The method 300 comprises at least one step 305 of generating a drive torque and a step 310 of generating a brake torque.

In step 305 of generating a drive torque, a drive torque for driving a providing means for providing a force for controlling the movement of the door is generated.

In step 310 of generating a braking torque, a braking torque for braking the providing device is generated by using an electrically operable braking device, in a de-energized state of the braking device.

If an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature. REFERENCE CHARACTERS

100 vehicle

105 door system

1 10 door

1 15 door movement device

120 hinged band

200 provisioning device

205 drive device

210 braking device

215 magnetorheological material

220 actor

225 wave

230 translation device

235 translation element

240 free end

245 gear

250 control device

255 drive signal

260 brake signal

265 sensor device

270 housing

275 bearings

300 procedures

305 step of generating a drive torque

310, step of generating a brake torque

Claims

claims

A door moving device (115) for a door (110), the door moving device (115) having at least the following features: providing means (200) for providing a force for controlling movement of the door (110); drive means (205) adapted to generate a drive torque for driving the providing means (200); and an electrically operable brake device (210) configured to generate a braking torque for braking the supply device (200) in a de-energized state.

The door moving device (115) according to claim 1, wherein the braking means (210) comprises at least one magnetorheological material (215) and an actuator (220) for adjusting a viscoelastic property of the magnetorheological material (215).

3. Door movement device (115) according to one of the preceding claims, wherein the braking device (210) is adapted to generate a first braking torque in the de-energized state and a second braking torque in an energized state, which is smaller than the first braking torque.

4. Door movement device (115) according to one of the preceding claims, with a control device (250) which is adapted to a drive signal (255) for controlling the drive device (205) and / or a brake signal (260) for controlling the braking device ( 210).

5. Door moving device (115) according to one of the preceding claims, wherein the drive device (205) comprises at least one electric motor.

6. Door movement device (1 15) according to one of the preceding claims, wherein the supply device (200) comprises at least one shaft (225) which is coupled to the braking device (210).

7. Door movement device (1 15) according to one of the preceding claims, with a translation device (230), which couples the drive device (205) with the supply device (200).

8. A door moving device (1 15) according to any one of the preceding claims, wherein the providing means (200) at a free end (240) has a gear (245) for transmitting the force to the door (1 10).

A door moving device (1 15) according to any one of the preceding claims, wherein the providing means (200) comprises an element of a hinge of the door (1 10).

10. Door movement device (1 15) according to one of the preceding claims, comprising a sensor device (265) which is adapted to sense a closing angle and / or a torque during the movement of the door (1 10).

1 1 .Türbewegungsvorrichtung (1 15) according to one of the preceding claims, with an environment sensor device which is adapted to sense an obstacle in a range of movement of the door (1 10).

A door system (105) comprising a door (110) and a door moving device (15) according to any one of the preceding claims, wherein the providing means (200) of the door moving device (15) is coupled to the door (110).

13. Method (300) for moving a door (1 10), wherein the method (300) comprises at least the following steps: Generating (305) a drive torque for driving a providing device (200) to provide a force for controlling the movement of the door (110); and

Generating (310) a braking torque for braking the providing device (200) using an electrically operable braking device (210) in a de-energized state of the braking device (210).