EP3757338A1 - Device and method for controlling the motion of a door - Google Patents

Abstract

A door movement control device (10) has a mechanism that can be attached in the power flow between the door and the fixed point to drive and / or brake the door movement relative to the fixed point, which is designed to exert a force between the door (48a) and the fixed point (48e), the rotating electrical machine (11) which can be used as part of an electrically actuatable braking device, a gear (12) which is connected at its drive end (22a) to the electrical machine (11), and a power transmission element (34) which is connected to the Output end (21e) of the transmission (12) is connected. The rotating electrical machine (11) has a brushless direct current motor and a belt drive.

Description

The invention relates to a device and a method for controlling the movement of a door. Doors usually work together with door frames to create a tight seal. In this respect, there is a certain risk potential. When the door leaf swings into the door frame, there is a shear effect between the two, which can cause more or less severe injuries. The same applies to opening a door when the door leaf is pivoted against an adjacent wall, which can lead to entrapment. The potential for injury is greater, the faster the door movement and the more massive the door itself is, i.e. ultimately the greater the kinetic energy contained in the door movement, which increases with the square of the speed.

Door movement control devices have therefore been developed which limit the speed of door movement to certain values. Then the kinetic energy and thus the risk of accidents and injuries are also limited.

Hydraulic movement controls are known in which, when the door is opened, a mechanical energy storage device such as a pressure spring or gas pressure spring is tensioned in order to then close the door again. When closing, hydraulic fluid is controlled by valves so that the door movement speed can be slowed down. The disadvantage of hydraulic controls is that they pose an additional risk in the event of a fire and that their effectiveness is temperature-dependent, since the viscosity of hydraulic oil is temperature-dependent.

Electric door movement control devices have therefore been developed. Here, the door movement to be braked is transformed into the rotary movement of a rotating machine, with the rotating machine being braked electrically, for example by applying a short circuit to its terminals.

Figures 4a and 4b show, in an oblique view and top view, a common way of assembling door movement control devices. 48a is a door leaf which can be rotated relative to a door frame 48b. 48c shows the control device which is attached to the door leaf 48a in the embodiment shown. 48c itself shows a carrier or a housing for the relevant components. A lever arm which is displaceable along a rail 48e is denoted by 48d. In the embodiment shown, the rail 48e is attached to the door frame 48b and forms the fixed point for the door movement. The lever 48d can be pivoted about the pivot point 48f and is mounted displaceably in the rail 48e at the end 48g.

Figure 4c shows the mechanical structure of a known device which can be housed inside the housing seen at 48c. 40 symbolizes an electric motor with an output shaft 47a. The torque generated by the motor 40 is reduced in speed in four stages. The stages correspond to the engagements 41, 42, 43 and 44 of respective gears 46a to 46h which are seated on respective shafts 47a to 47e. The speed of the motor 40, which can be a few thousand revolutions per minute, is reduced by the gear unit to an angular speed which corresponds to the pivoting speed of the lever 48d when the door is moved. This pivoting movement has speeds of mostly less than ten revolutions per minute. The lever 48d is non-rotatably connected to the axis 47e of the last gear stage 44 and thus brings the torque generated by the motor 40 into the relative movement of the door 48a with respect to its fixed point (rail 48e). As far as considered in this description, the torque introduced by the motor is a braking torque that opposes a door movement that has been caused by other means. The braking torque can be generated by creating a short circuit at the terminals of the electrical machine. The electric machine then acts as a generator, the generated power is consumed by its own internal resistance. The energy converted in this way is taken from the door's kinetic energy and manifests itself as a braking effect.

The disadvantage of the previously known electrical solutions is that they are comparatively noisy. For a rotating electrical machine to be able to develop sufficient braking force, it must have a sufficient speed. In order to translate the door movement into a rotary movement of sufficient speed, a gear is necessary. These transmissions are comparatively noisy, especially on the components where the higher speeds are present.

It is the object of the invention to specify a device and a method for controlling the movement of a door, which operate electromechanically, are compact and generate little noise. In addition, the requirements of DIN EN 1154 should be met, in which, among other things, closing torque curves and degrees of efficiency are specified in order to meet safe conditions for fire protection doors.

This object is achieved with the features of the independent claims.

A door movement control device is specified in which a rotating electrical machine is used to apply a braking force for the door movement. The first drive-side gear stage of the gear is designed as a belt gear to further reduce noise. This leads to a further reduction in noise in two respects: On the one hand, the noise caused by the otherwise existing meshing of toothed gear stages is reduced. On the other hand, due to the flexible belt material, the electrical machine is acoustically less strongly coupled to the environment, so that the emission of engine noise is also reduced.

A flat belt is preferably provided as the belt, which is seamless, stable in length and preferably less than 2mm thick.

To further reduce noise, the toothed gear stage closest to the drive end can be designed with helical teeth. Helical gear stages produce less noise during meshing, so that their use again reduces the noise development.

In addition, the pinion of the first drive-side toothed gear stage can be designed with comparatively few teeth, for example with three or four or five teeth. The frequency of the intervention noise correlates with the frequency of the intervention. The frequency of the interventions decreases with the number of teeth, so that with a pinion with a small number of teeth, noises are shifted into lower frequency ranges, which are usually also perceived as less annoying.

Particularly advantageous conditions with regard to sound emission result when the electrical machine is a brushless direct current motor.

The rotating electrical machine can have an external rotor. It therefore has an internal stator. “Inside” and “outside” relate to the radial direction with respect to the axis of rotation of the rotating electrical machine. The stator is then inside and ultimately in the area of the - virtual - axis of rotation of the machine and is surrounded by the rotor. Such machines or motors are referred to as "external rotor machine" or "external rotor motor". At the same speed, they generate higher braking and drive torques than internal rotor machines / motors of the same size. It is therefore possible to use lower engine speeds in the overall design, so that this alone reduces the development of noise. Depending on the overall design, this can also mean that one gear stage can be saved.

However, modern designs of conventional motors with an internal rotor also deliver sufficiently high torques so that an electrical machine with an internal rotor can also be used.

The braking effect of the machine is transformed into a force that brakes the door movement via a gear mechanism, which is exerted by a lever that moves at a low angular velocity that correlates with the door movement. The machine-side end of the gear is referred to as the drive end, the lever-side end as the output end.

To stabilize the running of the belt of the belt drive on the pulleys, the pulleys can be barrel-shaped, that is, viewed in the thickness direction, have a slightly larger diameter in their respective middle than at the ends, viewed in the thickness direction.

A method for controlling the movement of a door with respect to a fixed point is also specified. A rotating electrical machine with an external rotor generates a braking force between the door and the fixed point. The braking force can be controlled or regulated by suitably setting the electrical application to the rotating electrical machine. The variable force of the door movement is communicated via the external runner. The control of the electrical loading of the rotating electrical machine with an external or internal rotor can take place by means of pulse width modulation of a short-circuit switch at the terminals of the machine.

Fig. 1

in Draufsicht wesentliche Teile der Vorrichtung,

Fig. 2

ein Schrägbild der mechanischen Komponenten,

Fig. 3

ein einfaches Schaltbild des elektrischen Teils der Einrichtungen, und

Fig. 4a, b und c

Abbildungen zum Stand der Technik.

Embodiments of the invention are described below with reference to the drawings, which show

Fig. 1

essential parts of the device in plan view,

Fig. 2

an oblique view of the mechanical components,

Fig. 3

a simple circuit diagram of the electrical part of the equipment, and

Figures 4a, b and c

Prior art illustrations.

The door movement control device and the method described above and below can be designed for revolving doors - rotatable about an axis - or for sliding doors - displaceable along the axis. It can be an internal or external door of the building. Although developments for doors and their movement control are described in the present text, they should also be understood to be applicable in the same way for gates and windows and other closures of building openings, whereby these can also be rotationally or translationally displaceable, unless otherwise stated.

FIGS. 1 and 2 show an embodiment of the door movement control device according to the invention in a top view and an oblique view. 11 is the rotating electrical machine, which has an external rotor / rotor. It can be an electric motor or, specifically, a generator. The rotor / runner is located radially on the outside. The stator is inside. With a flange 13 is designated, by means of which the machine can be attached to a carrier or housing, not shown. The flange 13 is rotatably connected to the stator. 16 indicates the electrical connections of the machine. The shaft 21a is non-rotatably connected to the external runner / rotor of the electrical machine and has double ball bearings in the stator, which it penetrates over its entire length.

The Figs. 1 and 2 show an externally cup-shaped structure for the outer rotor of the electrical machine 11. The visible cup-shaped component is the outer circumference of the runner / rotor, which rotates during operation. In one embodiment, a generator belt 17 can be located on the outer circumference, which generates a generator 14 for generating electrical energy for a controller 34 and for operating the braking device. The flange 13 is firmly connected to the internal stator of the machine 11 and causes it to be attached to the installation environment. The flange 13a has threaded bores. The fastening plate 13b can have elongated holes or via elongated holes in a carrier be attached to this in order to be able to attach the electrical machine 11 in a displaceably adjustable manner in order to enable the tension of the flat belt 15.

The rotary movement of the external rotor / rotor is transmitted via shaft 21a to a gear 12, which reduces the speed of the machine 11 to the low angular speed of the lever 48d. The angular speed of the lever 48d is given because it is determined by the door actuation either by a person or some other drive source. Assuming, for example, that a door is opened from 0 ° to 90 ° within 1.5 s, this would correspond to a full circular movement within 6 s or 10 revolutions per minute. It must be taken into account that the pivoting speed of the door does not correspond 1: 1 to the pivoting speed of the lever 48d. But they correlate in terms of magnitude.

Electrical machines with external rotors / runners generate a sufficient torque in the range below and up to approx. 2000 rpm with an acceptable size. If you want a little higher speed ranges, e.g. B. use up to 2500 rpm of the motor, a total speed reduction of 1/250 is necessary, which is achieved by the gear 12 as a reduction of the rotational speed from the drive end, with the motor / machine 11, shaft 21a, to the output end, axis 21e with lever 48d is to be delivered. Depending on the design, this can be supplied by a three-stage or four-stage gearbox. Accordingly, the overall speed ratio of the transmission between input and output can be less than 300 or less than 200.

If lower speeds are required due to the use of a machine with an external rotor, this already reduces the noise development. Usually, both the frequency and the amplitude of the noise of electrical machines correlate monotonically with the speed of rotation. This means that when the speed is reduced, both the noise amplitude and the noise frequency can be lowered and relocated to less uncomfortable areas.

Since, however, modern designs of electrical machines with an internal rotor now also deliver sufficiently high torques, an electrical machine with an internal rotor can also be used.

A further reduction in the development of noise results when one or more gear stages, preferably the first gear stage at the drive end of the gear - on the machine side - is designed as a belt drive. Figure 2 shows it with the reference numerals 15 and 22a and 22b. A belt drive has no gears, but rather a tensioned belt 15 running over discs 22a, 22b of different diameters. This avoids the engaging noise of the teeth of the toothing of gears. This is particularly effective in the range of high speeds of the transmission, that is to say at the drive-side end of the electrical machine 11.

The electric machine can be mounted so as to be translationally displaceable relative to the rest of the transmission. The displaceability can be perpendicular to the axis of rotation of the electrical machine, so that the belt 15 can be tensioned by the displaceability.

The pulleys of the belt drive can be barrel-shaped. "Barrel-shaped" means that the disc diameter in the thickness direction is larger in the middle than at the ends. Then the belt runs self-centering on the pulleys and is not thrown off. The transmission ratio or diameter ratio of the belt drive can be 1: 2 to 1: 6 and is preferably 1: 4 ± 20% or ± 10%.

The large pulley is preferably cantilevered and can have needle sleeves as a bearing, for example a large sleeve 21ba partially within the pulley and a small sleeve 21bb away from the pulley. About the axial forces To accommodate the helically toothed gears, the axes can be closed in the axial direction with ball heads that run on hardened bases of the needle bushes or a cover plate. Needle bushings can be used on the inclined and also on the straight toothed gear shafts. A needle sleeve on the gear shaft, which carries an inclined and a straight toothed gear, can dip into the axial extension of the large pulley. This reduces the overall height of the device.

The rotating electrical machine is preferably a brushless DC machine with an external rotor, in particular a brushless DC motor, which is operated as a generator that acts on its drive with a braking force. The door movement can be controlled by braking it. In order to achieve this, the terminals of the electrical machine operated as a generator can preferably be short-circuited in a controlled or regulated manner. The electrical machine's own internal resistance then acts as an electrical load on the generator terminals, at which the energy generated is consumed in accordance with the machine parameters and a corresponding braking effect is generated on the door movement. The energy consumption inside the machine leads to its heating, which is tolerable or can be reduced by suitable cooling.

The transmission can have a multi-stage structure, in particular three or four stages. The next stage to the drive can be the already mentioned belt drive consisting of pulleys 22a, 22b and belt 15. A second gear stage with gears can follow. It can be helical to reduce the engaging noise of the teeth. The pinion with the highest speed, that is to say the small gear of the gear stage closest to the drive, preferably has only a few teeth in order to reduce the frequency of the engagement noise. The pinion can have fewer than eight teeth, in particular seven, six, five, four or three.

The belt drive has the pulleys 22a, 22b and the belt 15. The first toothed gear stage has the gears 23a and 23b. The second toothed gear stage has the gears 24a and 24b. The following gear stage has gears 25a and 25b. In the four-stage embodiment shown, five axles 21a, 21b, 21c, 21d and 21e are provided in order to be able to hold and store the individual rotating components in a suitable manner. 21a coincides with the axis of rotation of the electrical machine 11. 21e coincides with the axis of rotation of the lever 48d. The gear ratios of the individual gear stages can be between 1: 2 and 1: 8. The diameter ratio of the disks 21a, 21b or the tooth ratio of the gears is considered here. The speed is continuously reduced away from the electric machine or, looking in the other direction, increased by the comparatively slow rotary movement of the lever 48d through the transmission into a speed range within which the electric machine 11 can be effectively active. The total speed reduction of the gear unit can be between 1:50 and 1: 500 from the drive end to the output end, axis 21a to axis 21e.

The door movement / control device 10 can have a mechanical energy store 26a, a tension band 26b and a deflection roller 26c. He is in Fig. 2 only indicated schematically. It can be a spring, for example a mechanical compression spring or a gas spring. The design is usually such that the mechanical energy store 26a is "charged", that is to say is tensioned, when a door is opened. This is done by the force to be applied by the person opening the door to open the door. The mechanical energy store 26a then closes the door by driving it in the direction of door closing. This can take place in that the mechanical energy store 26a attaches with a corresponding lever to the rotational axis 21e on the output side, that is to say acts on the same axis as the lever 48d.

The door movement caused by the mechanical energy store 26a is then braked as far as necessary by the door movement / control device with the external rotor in order to keep it in safe areas. It will be in In this context, however, it should be noted that the door movement / control device can also intervene when the door is opened, for example as a backcheck mechanism, in particular by slowing down opening of the door that is too fast. Here, too, short circuits can again be caused at the terminals of the electrical machine 11, as described above.

The external rotor motor can be equipped with both a brake winding and a generator winding. You lose some braking torque, but you can use a motor to brake and generate electricity. The motor gets two additional lines for this. Then no separate generator is required to generate the required electrical energy in order to manage without an external electrical energy supply. Fig. 3 shows a simplified equivalent circuit diagram of the circuit used. The electrical machine is symbolized by 11. 12 symbolizes the gear connected to it, which in turn acts on the door movement. 35 is a short-circuit switch that can preferably be actuated electronically, for example an FET. It is operated by a controller 34 including a driver circuit, for example by means of pulse width modulation.

31 symbolizes a rectifier, shown here as a full-wave rectifier, to whose AC voltage terminals the terminals of the electrical machine 11 are located. The DC voltage output is smoothed via a capacitor 32 and can charge an energy storage device 33, for example a rechargeable battery, in order to provide the electrical energy required for operating the controller 34 and for keying the switch 35.

Not shown are sensors that can be provided in order to be able to operate the door movement control device in an adapted manner. The sensor system can include position sensors for the door movement and / or speed sensors for the door movement and can be connected to the controller 34, which controls or regulates the braking device to the setpoint values in accordance with predetermined criteria. In particular, it can switch the short-circuit switch 35 on and off, in particular by means of a pulse width modulation signal that is generated in a driver (not specifically shown) with a suitable duty cycle.

The output frequency of the electrical power of the electrical machine 11 in generator mode can depend on its speed, its number of poles and other parameters and can be in the kilohertz range. The pulse frequency for the pulse width modulation can be higher or significantly higher and can be over 10 kHz or over 100 kHz.

As already mentioned, the electrical machine is an electrical machine with an external rotor, that is to say with a radially external rotor. It is more preferably a brushless direct current motor. The outer rotor can have permanent magnets of a suitable arrangement and suitable number of poles. The internal stator has one or more suitable windings. Unlike the in Fig. 3 A plurality of short-circuit switches can be provided, for example three, in order to be able to short-circuit three winding units (U, V, W) in pairs.

The Figs. 1 and 2 show an embodiment in which a separate generator 14 is provided for charging an electrical energy store 33, the speed of which is once again increased / translated compared to that of the electrical machine 11. A belt drive with generator belt 17 can again be provided here, the outer circumference of the electrical machine 11 being used as a disk. The belt 17 runs over this "pulley" and runs over another pulley of smaller diameter, which sits on the axis of the generator 14. In this way, the generator 14 can have a speed of a few thousand rpm and thus generate energy effectively. Fig. 3 shows a circuit diagram in which a single electric machine 11 is provided, which is used with special windings both as a brake and as a generator. Brake and generator windings are to be dimensioned appropriately.

In general, the door movement / control device can have a carrier which is suitable and is suitably designed for the stable mounting of the components of the device. In particular, the individual axes 21 and components - electrical machine 11, control 34, electrical components according to FIG Fig. 3 , possibly a separate generator 14 - held stable. If necessary, a housing with the necessary openings is provided. The housing can be a structural unit with the carrier of the components. The external rotor motor and the gear unit are preferably located inside a housing 48c, so that the moving parts are shielded.

The ones in the Fig. 1, 2 and 3 Components shown can be found in the Figures 4a and 4b housing / support 48c shown and thus attached to a door leaf 48a, for example at its upper edge. The lever 48d sits on the shaft 21e and protrudes from the housing 48c and is supported on a slide rail serving as a fixed point 48e on the door frame 48b.

The door movement control device can be designed according to DIN EN 1154 for closing forces according to EN3 to EN6. It can be designed for door weights between 40 kg and 200 kg. In a narrow sense, the door movement control device is actually intended and designed for a door, in particular a revolving door, in the conventional sense of the word, in particular a door whose width is less than 2 meters or 1.5 meters and whose height is less than 2.5 meters or 2 meters.

Features in this description should be viewed as combinable with one another even if their combination is not expressly described, provided that it is technically possible. Features that are described in a certain context, claim, figure or embodiment should also be understood as being removable therefrom and combinable with other, broader or narrower contexts, claims, figures or embodiments, insofar as this is technically possible. Presentation of procedural steps should also be understood as a description of components implementing these process steps, and vice versa.

List of reference symbols

10

Door movement control device

11

electric machine

12th

transmission

13a

flange

13b

Mounting plate

14th

generator

15th

Flat belt

16

electrical connection

17th

Generator belt

21a

Drive end / shaft

21e

Output end

21a - 21e

axes

21ba

large needle sleeve

21bb

small needle sleeve

22a

small disc

22b

big disc

23

Gear stage

23a

pinion

23b

gear

24a, 24b

Gears

25a, 25b

Gears

26a

mechanical energy storage

26b

Drawstring

26c

Pulley

30th

circuit

31

Rectifier

32

capacitor

33

Electric energy storage

34

electronic control

35

Short circuit switch

40

engine

41- 44

Gear stages

46a - 46h

Gears

47a - 47e

axes

48a

door

48b

Door frame

48c

casing

48d

lever

48e

fixed point

48f

pivot point

48g

Sliding shoe

Claims (17)

Door movement control device (10) for controlling the opening or closing movement of a door (48a) with respect to a fixed point (48e), with a mechanism that can be attached in the power flow between the door and the fixed point for driving and / or braking the door movement with respect to the fixed point, which is designed for this purpose is to exert a force between the door (48a) and the fixed point (48e), and which has: a rotating electrical machine (11) which can be used as part of an electrically actuatable braking device, a gear (12) which is mechanically non-rotatably connected to the electrical machine (11) at its drive end (21a), and a power transmission element (48d) which is connected to the output end (21e) of the transmission (12), characterized in that the electrical machine (11) is a brushless direct current motor, and the transmission has a belt drive (22a, 22b, 15) with differently sized disks (22a, 22b) at its drive end (22a), the smaller ones (22a) of which are non-rotatably connected to the electrical machine (11). Device according to Claim 1, in which the gear (12) is constructed in three stages or four stages or higher stages, the first stage having the belt drive and the following stages having toothed gears, the second stage following the belt drive having helical gears (23a, 23b) may have. Device according to one of the preceding claims, characterized in that the gear stage (23) closest to the drive end (21a) of the transmission (12) in the power flow has a helical toothing, its pinion (23a) having fewer than 8 teeth, preferably 7, 6 , 5, 4 or 3. Device according to one of the preceding claims, in which the rotating electrical machine (11) has an external rotor. Device according to one of the preceding claims, in which the belt pulleys (22a, 22b) are barrel-shaped and the electrical machine (11) can be fastened so as to be adjustable in a direction transverse to its direction of the axis of rotation. Device according to one of the preceding claims, in which the gear (12) is constructed in three or four stages, each stage has a speed reduction ratio between 1: 2.5 and 1: 5 and the total speed ratio of the gear (12) between drive and output is less than 500 or less than 300 or less than 200. Device according to one of the preceding claims, in which the braking device has an electronic short-circuit switch (35) for short-circuiting the terminals of the rotating electrical machine (11). Device according to one of the preceding claims, with a mechanical energy store (26a) for storing mechanical energy and driving the door with the stored mechanical energy. Apparatus according to Claim 9, the mechanical energy store (26a) being connected to the output end (21e) of the transmission. Apparatus according to claim 8 or 9, with an electronic controller (34) for controlling the braking device, the controller being designed to actuate the braking device when the door is driven by the mechanical energy store (26), and the controller preferably also for this purpose is designed to actuate the braking device when the door movement charges the mechanical energy storage device, the actuation of the braking device preferably including the, in particular, pulse-width-modulated switching of an electronic short-circuit switch (35). Device according to one of the preceding claims, with an electrical energy store (32) for storing electrical energy for the operation of the braking device and / or the controller (34), the electrical energy store being supplied by the rotating electrical machine (11) or by a separate generator (14). is loadable. Device according to Claim 11, with a generator for generating electrical energy that can be stored in the electrical energy store, the generator being a specially provided generator winding of the machine. Device according to one of the preceding claims, with a carrier on which the electrical machine and / or transmission axles and / or the generator and / or the mechanical energy store and / or the electrical energy store and / or the control are attached. Device according to one of the preceding claims, with a housing in which the electrical machine and / or transmission axles and / or transmission disks and / or transmission gears and / or the generator and / or the mechanical energy storage and / or the electrical energy storage and / or the control are housed and from which the force transmission element (48d) or a gear shaft to which the force transmission element is attached protrudes from the housing. Device according to one of the preceding claims, which can be attached to a door leaf (48a) and for which a region of the door frame or a device attached to it forms the fixed point (48e). Method for controlling the movement of a door in relation to a fixed point, in which a rotating electrical machine generates a braking force between the door and the fixed point via a belt drive. Door movement control device (10) for controlling the opening or closing movement of a door (48a) with respect to a fixed point (48e), with a mechanism that can be attached in the power flow between the door and the fixed point for driving and / or braking the door movement with respect to the fixed point, which is designed for this purpose is to exert a force between the door (48a) and the fixed point (48e), and which has: a rotating electrical machine (11) which can be used as part of an electrically actuatable braking device, a gear (12) which is mechanically non-rotatably connected to the electrical machine (11) at its drive end (21a), and a power transmission element (48d) which is connected to the output end (21e) of the transmission (12), in particular according to one of the preceding claims, characterized in that
that the transmission has a belt drive with a flat belt, the flat belt being seamless, stable in length and preferably less than 2mm thick.

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