JPH08232542A - Automatic door opening-closing device - Google Patents
Automatic door opening-closing deviceInfo
- Publication number
- JPH08232542A JPH08232542A JP7035717A JP3571795A JPH08232542A JP H08232542 A JPH08232542 A JP H08232542A JP 7035717 A JP7035717 A JP 7035717A JP 3571795 A JP3571795 A JP 3571795A JP H08232542 A JPH08232542 A JP H08232542A
- Authority
- JP
- Japan
- Prior art keywords
- magnetic pole
- armature
- door
- pole portion
- door opening
- 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
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
- E05D15/00—Suspension arrangements for wings
- E05D15/06—Suspension arrangements for wings for wings sliding horizontally more or less in their own plane
- E05D15/0621—Details, e.g. suspension or supporting guides
- E05D15/066—Details, e.g. suspension or supporting guides for wings supported at the bottom
- E05D15/0665—Details, e.g. suspension or supporting guides for wings supported at the bottom on wheels with fixed axis
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
- Linear Motors (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明はリニアモータを用いた自
動ドア開閉装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic door opening / closing device using a linear motor.
【０００２】[0002]
【従来の技術】自動ドアとして、従来よりリニアモータ
を使用して開閉を行うものが提供されている。一例を図
１７以下に示す。ドア５の上端面には継鉄５０が設けら
れているとともにドア枠６に設けられたレール６０上を
走行する車輪５２が取り付けられている。ドア５の上記
継鉄５０上には間隔をおいて永久磁石５１が固着されて
おり、ドア枠６の上部枠の下面には電機子１が固着され
ている。この電機子１は、コイル１２が巻回される磁極
歯１１を継鉄１０から所定間隔毎に下方に突出させたも
ので、図示例においては、磁極歯１１のピッチと永久磁
石５１のピッチとの比が１：１．５となるようにされて
いる。また、永久磁石５１はその上面の磁極が隣接する
ものの間で逆磁性となるようにされている。図１８中の
６１は電機子１と永久磁石５１との対向間隔（ギャッ
プ）を一定に保つために上記車輪５２をガイドするレー
ルである。2. Description of the Related Art Conventionally, automatic doors that open and close using a linear motor have been provided. An example is shown in FIG. A yoke 50 is provided on the upper end surface of the door 5, and wheels 52 that travel on rails 60 provided on the door frame 6 are attached. Permanent magnets 51 are fixed to the yoke 50 of the door 5 with a space therebetween, and the armature 1 is fixed to the lower surface of the upper frame of the door frame 6. The armature 1 has magnetic pole teeth 11 around which a coil 12 is wound and protrudes downward from the yoke 10 at predetermined intervals. In the illustrated example, the pitch of the magnetic pole teeth 11 and the pitch of the permanent magnets 51 are the same. The ratio is set to 1: 1.5. Further, the permanent magnets 51 are designed so that the magnetic poles on the upper surface thereof become opposite magnetism between adjacent ones. Reference numeral 61 in FIG. 18 denotes a rail that guides the wheel 52 in order to keep the facing gap (gap) between the armature 1 and the permanent magnet 51 constant.
【０００３】このものにおいて、ドア５の移動方向に並
んでいる各コイル１２に３相交流電流を相順に順次供
給、あるいは相順を切り替えて図中の左方向または右方
向の進行磁界を発生させれば、この進行磁界と永久磁石
５１との間に働く磁力により、ドア５を進行磁界と同じ
速度で移動させる推進力が働く。従って、ドア５の位
置、つまりは永久磁石５１の位置を検出する検出手段を
設けて、検出位置に応じて所定の方向に推進力が生じる
ように各コイル１２への供給電流位相を制御すれば、ド
ア５はその方向に駆動される。In this device, a three-phase alternating current is sequentially supplied to the coils 12 arranged in the moving direction of the door 5 in a phase order, or the phase order is switched to generate a traveling magnetic field in the left or right direction in the figure. Then, the magnetic force acting between the traveling magnetic field and the permanent magnet 51 acts as a propulsive force that moves the door 5 at the same speed as the traveling magnetic field. Therefore, by providing a detecting means for detecting the position of the door 5, that is, the position of the permanent magnet 51, and controlling the supply current phase to each coil 12 so that the propulsive force is generated in a predetermined direction according to the detected position. , The door 5 is driven in that direction.
【０００４】[0004]
【発明が解決しようとする課題】ここにおいて、この種
の同期型リニアモータを用いたものにおいては、永久磁
石５１の磁力によるところの吸引力（ディテントトル
ク）が無励磁時においても電機子１の磁極歯１１と永久
磁石５１との間に作用しているわけであるが、このディ
テントトルクの存在は、上記推進力にリップルを発生さ
せて制御を困難とする上に、無励磁時のドア５の開閉の
抵抗となり、停電時におけるドア５の手動開閉に力を要
するものとなる。また、永久磁石５１が存在するため
に、鉄屑などの粉塵が多い悪環境下では、この対策が困
難であるとともにメンテナンスも困難となる。Here, in the case of using this type of synchronous linear motor, the attraction force (detent torque) due to the magnetic force of the permanent magnet 51 of the armature 1 is generated even when the armature 1 is not excited. Although it acts between the magnetic pole teeth 11 and the permanent magnet 51, the presence of this detent torque causes ripples in the above-mentioned propulsive force to make control difficult, and also the door 5 at the time of non-excitation. It becomes a resistance to the opening and closing of the door 5, and a force is required to manually open and close the door 5 at the time of power failure. Further, due to the presence of the permanent magnet 51, this measure is difficult and maintenance is difficult in an adverse environment where a lot of dust such as iron scraps is present.
【０００５】本発明はこのような点に鑑み為されたもの
であり、その目的とするところは推進力にリップルが少
なくて制御が容易である上に非常時にもドアの開閉を軽
く行うことができる自動ドア開閉装置を提供するにあ
る。The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to easily open and close a door even in an emergency, in addition to having less ripple in propulsive force and easy control. It is to provide an automatic door opening / closing device that can.
【０００６】[0006]
【課題を解決するための手段】しかして本発明は、コイ
ルが巻回される磁極歯を所要のピッチで並べた電機子
と、この電機子に対向するとともに電機子に向けて突出
する突極が所要のピッチで並んでいる磁極部とからなる
スイッチドリラクタンス型リニアモータを動力とし、こ
のリニアモータの可動子が固着されているドアを上記リ
ニアモータの固定子が設けられたドア枠に走行自在に配
するとともに、固定子と可動子との間の位置関係を検出
する位置検出センサーと、この位置検出センサーの出力
に応じて上記電機子のコイルの通電制御を行う制御部と
を備えていることに特徴を有している。SUMMARY OF THE INVENTION The present invention, therefore, is directed to an armature in which magnetic pole teeth around which a coil is wound are arranged at a required pitch, and a salient pole facing the armature and projecting toward the armature. Is powered by a switched reluctance type linear motor consisting of magnetic poles arranged at a required pitch, and the door to which the mover of this linear motor is fixed is moved to the door frame provided with the stator of the linear motor. It includes a position detection sensor that is freely arranged and that detects the positional relationship between the stator and the mover, and a control unit that controls energization of the armature coil according to the output of this position detection sensor. It is characterized by being
【０００７】上記電機子における各磁極歯として、磁極
部側に対抗する先端を磁極歯が並ぶ方向において複数に
分割したものを用いるとともに、磁極部側の歯も上記分
割された磁極歯のピッチに対応して設けたものとしても
よい。電機子と磁極部のうちの一方が他方を囲む円筒状
としたり、ドアの両側面に電機子と磁極部との対を夫々
設けたりしてもよく、特に後者においては、一方の電機
子と磁極部との対を他方の電機子と磁極部との対に対し
て、ドアの移動方向に所定距離ずらして配設してもよ
い。As each magnetic pole tooth in the above-mentioned armature, a tip which opposes the magnetic pole portion side is divided into a plurality in the direction in which the magnetic pole teeth are arranged, and the teeth on the magnetic pole portion side also have the pitch of the divided magnetic pole teeth. It may be provided correspondingly. One of the armature and the magnetic pole portion may have a cylindrical shape surrounding the other, or a pair of the armature and the magnetic pole portion may be provided on both side surfaces of the door. The pair with the magnetic pole portion may be arranged so as to be displaced by a predetermined distance in the moving direction of the door with respect to the pair of the other armature and the magnetic pole portion.
【０００８】位置検出センサーとしては、可動子側に配
した明暗パターン縞のパターンを検出する光学素子にて
形成したものを好適に用いることができる。As the position detecting sensor, a sensor formed of an optical element for detecting the pattern of bright and dark pattern stripes arranged on the mover side can be preferably used.
【０００９】[0009]
【作用】本発明によれば、スイッチドリラクタンス型の
リニアモータを用いていることから、無励磁時の吸引力
であるディテントトルクがなく、これに伴ってドアに働
く推進力にリップルが少なくなっているものである。そ
して、上記電機子における各磁極歯として、磁極部側に
対抗する先端を磁極歯が並ぶ方向において複数に分割し
たものを用いるとともに、磁極部側の歯も上記分割され
た磁極歯のピッチに対応して設けたものとするとトルク
リップルの低減を図ることができる。According to the present invention, since the switched reluctance type linear motor is used, there is no detent torque, which is the attractive force when there is no excitation, and the ripple in the propulsive force acting on the door is reduced accordingly. It is what Then, as each magnetic pole tooth in the armature, a tip that opposes the magnetic pole portion side is divided into a plurality in the direction in which the magnetic pole teeth are arranged, and the tooth on the magnetic pole portion side also corresponds to the pitch of the divided magnetic pole teeth. If provided, the torque ripple can be reduced.
【００１０】電機子と磁極部のうちの一方が他方を囲む
円筒状とした時には、両側励磁が容易となるとともにエ
アギャップの管理が容易となる。ドアの両側面に電機子
と磁極部との対を夫々設けた場合にも、エアギャップの
管理が容易となり、殊に一方の電機子と磁極部との対を
他方の電機子と磁極部との対に対して、ドアの移動方向
に所定距離ずらした時には、トルクリップルの低減を図
ることができる。When one of the armature and the magnetic pole portion has a cylindrical shape surrounding the other, both-side excitation is facilitated and the air gap is easily controlled. Even when each pair of armature and magnetic pole portion is provided on both side surfaces of the door, the air gap can be easily managed, and in particular, one pair of armature and magnetic pole portion can be connected to the other armature and magnetic pole portion. When the pair is shifted by a predetermined distance in the moving direction of the door, the torque ripple can be reduced.
【００１１】また位置検出センサーとして、可動子側に
配した明暗パターン縞のパターンを検出する光学素子に
て形成したものを用いれば、制御に必要な検出精度を少
ない素子数にて得ることができる。ここにおけるスイッ
チドリラクタンス型モータの基本構造を図１５に示す。
リング状の継鉄１０の内面には所定間隔で磁極歯１１が
突設されているとともに、各磁極歯１１にはコイル１２
が巻回されて、固定子Ｓである電機子１が形成されてい
る。また、固定子で囲まれた回転自在となっている可動
子Ｒはその外周面に所定間隔で突極２１が突設されてい
る。上記コイル１２には、チョッピング動作により、直
流方形波パルス電流が供給されて磁束を発生させる。な
お、図示例は固定子Ｓと可動子Ｒとの磁極歯／突極数が
８／６となっているが、ここでは簡略化のために、コイ
ル１２は１相分だけ示している。If a position detection sensor formed by an optical element for detecting the pattern of bright and dark pattern stripes arranged on the mover side is used, the detection accuracy required for control can be obtained with a small number of elements. . The basic structure of the switched reluctance motor here is shown in FIG.
On the inner surface of the ring-shaped yoke 10, pole teeth 11 are provided at predetermined intervals, and each pole tooth 11 has a coil 12.
Is wound to form the armature 1 that is the stator S. Further, the rotatable movable element R surrounded by the stator is provided with salient poles 21 on its outer peripheral surface at predetermined intervals. By the chopping operation, a DC square wave pulse current is supplied to the coil 12 to generate a magnetic flux. In the illustrated example, the number of magnetic pole teeth / salient poles of the stator S and the mover R is 8/6, but here, for simplification, the coil 12 is shown for one phase.
【００１２】今、特定相のコイル１２に電流を流して磁
束を発生させたならば、磁気回路のリラクタンス（磁気
抵抗）が最小となるように、つまり固定子Ｓの電流が供
給されているコイル１２が巻回された磁極歯１１に可動
子Ｒの突極２１が揃うように可動子Ｒを回転させるトル
クが発生する。つまり、重要なのは磁気回路のリラクタ
ンスであって、磁束の方向は一般の交流機と異なって単
方向でよく、このために基本的には固定子Ｓのコイル電
流は直流でよく、スイッチング回路の簡素化を図れる利
点を有しているものである。Now, if a current is passed through the coil 12 of a specific phase to generate a magnetic flux, the reluctance (magnetic resistance) of the magnetic circuit is minimized, that is, the coil to which the current of the stator S is supplied. A torque for rotating the mover R is generated so that the salient poles 21 of the mover R are aligned with the magnetic pole teeth 11 around which the winding 12 is wound. In other words, what is important is the reluctance of the magnetic circuit, and the direction of the magnetic flux may be unidirectional unlike general AC machines. Therefore, basically, the coil current of the stator S may be DC, which simplifies the switching circuit. It has the advantage that it can be realized.
【００１３】可動子Ｒの位置をθ、磁気回路の随伴エネ
ルギーをＷとすると、トルクＴは Ｔ＝ｄＷ／ｄθ と表すことができ、第１次近似として磁化特性の非線形
性を無視すると、磁気随伴エネルギーＷはコイルのイン
ダクタンスをＬとする時、 Ｗ＝１／２ＬＩ2 と表すことができるので、上記両式より Ｔ＝１／２Ｉ2 ｄＬ／ｄθ の関係が得られ、トルクＴはインダクタンスＬの空間分
布と密接な関係をもつことがわかる。そしてインダクタ
ンスＬは、磁極歯１１と突極２１とが対向する時に最大
となり、磁極歯１１と突極２１とが最も離れている時に
最小となる。この間、可動子Ｒの位置に対するインダク
タンス変化を線形であると理想化したならば、図１６に
示すインダクタンスＬの空間分布を得ることができ、図
１５に示すモータにおいては、可動子Ｒの１回転に対し
て、図１６に示すインダクタンス変化が６回発生する。
そして、図中のθ1 ＜θ＜θ2 の領域において励磁直流
電流を流せば、上記式から明らかなように、正トルクが
発生し、θ3 ＜θ＜θ4 の領域において励磁直流電流を
流せば負トルクが発生する。他の相に対しても同様に可
動子Ｒ位置に応じて励磁を切り替えていけば、連続的な
回転トルクが得ることができる。このモータを展開した
ものがスイッチドリラクタンス型のリニアモータであ
る。When the position of the mover R is θ and the associated energy of the magnetic circuit is W, the torque T can be expressed as T = dW / dθ. If the nonlinearity of the magnetization characteristic is ignored as the first approximation, Since the associated energy W can be expressed as W = 1 / 2LI 2 when the inductance of the coil is L, the relationship of T = 1 / 2I 2 dL / dθ is obtained from the above equations, and the torque T is the inductance L It has a close relationship with the spatial distribution of. The inductance L becomes maximum when the magnetic pole teeth 11 and the salient poles 21 face each other, and becomes minimum when the magnetic pole teeth 11 and the salient poles 21 are most distant from each other. Meanwhile, if the inductance change with respect to the position of the mover R is idealized to be linear, the spatial distribution of the inductance L shown in FIG. 16 can be obtained, and in the motor shown in FIG. In contrast, the inductance change shown in FIG. 16 occurs 6 times.
If an exciting DC current is applied in the region of θ 1 <θ <θ 2 in the figure, a positive torque is generated as is clear from the above equation, and the exciting DC current is changed in the region of θ 3 <θ <θ 4. If it flows, negative torque will be generated. Similarly, for the other phases, if the excitation is switched according to the position of the mover R, a continuous rotation torque can be obtained. An expanded version of this motor is a switched reluctance type linear motor.
【００１４】[0014]
【実施例】以下本発明を図示の実施例に基づいて詳述す
ると、図１〜図４において、ドア枠６に設けたレール６
０上を転動する車輪５２を備えたハンガー５３がドア５
の上端に固着されてドア５が走行自在とされている。ま
た、ハンガー５３上には、スペーサ５４を介して可動子
Ｒである磁極部２が固着されている。ここにおける磁極
部２は、所定間隔毎に上方へ突出する突極２１を備えて
いる。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the illustrated embodiments. In FIGS. 1 to 4, a rail 6 provided on a door frame 6 is shown.
Hanger 53 with wheels 52 rolling over 0 door 5
The door 5 is fixed to the upper end of the door so that the door 5 can travel freely. Further, the magnetic pole portion 2 which is the mover R is fixed on the hanger 53 via a spacer 54. The magnetic pole portion 2 here is provided with salient poles 21 projecting upward at predetermined intervals.
【００１５】上記ドア枠６の下面で且つドア５の走行範
囲の中間点には、固定子Ｓである電機子１が固着されて
いる。ドア５の長さとほぼ同じ長さとなっている電機子
１は、継鉄１０と継鉄１０の下面に所定間隔毎に突出す
る磁極歯１１とこの磁極歯１１に集中巻で巻回したコイ
ル１２とからなるもので、継鉄１０及び磁極歯１１はケ
イ素鋼板を積層したもので一体に形成されて左右一対の
Ｌ字形フレーム６６，６６で挟まれてボルトで固定され
ることでドア枠６に固着されている。磁極部２もケイ素
鋼板を積層したもので形成されている。また、図示例で
は磁極歯１１の数と突極２１の数との比が３：２になっ
ているとともに、この比に応じたピッチで図４に示すよ
うに磁極歯１１及び突極２１が並んでいる。図２中の５
５はレール６０下面に微小間隔で対向する押さえ部材で
あり、電機子１と磁極部２との間のエアギャップを一定
に保つ。前記スペーサ５４は、エアギャップの調整のた
めのものである。An armature 1 which is a stator S is fixed to the lower surface of the door frame 6 and at the midpoint of the traveling range of the door 5. The armature 1 having substantially the same length as the door 5 includes a yoke 10 and magnetic pole teeth 11 projecting at a predetermined interval on the lower surface of the yoke 10 and a coil 12 wound around the magnetic pole teeth 11 by concentrated winding. The yoke 10 and the magnetic pole teeth 11 are integrally formed by laminating silicon steel plates and are sandwiched by a pair of left and right L-shaped frames 66, 66 and fixed to the door frame 6 by bolts. It is fixed. The magnetic pole portion 2 is also formed by laminating silicon steel plates. In the illustrated example, the ratio between the number of magnetic pole teeth 11 and the number of salient poles 21 is 3: 2, and the magnetic pole teeth 11 and salient poles 21 are arranged at a pitch corresponding to this ratio as shown in FIG. Lined up. 5 in FIG.
Reference numeral 5 denotes a pressing member that faces the lower surface of the rail 60 at a minute interval, and keeps the air gap between the armature 1 and the magnetic pole portion 2 constant. The spacer 54 is for adjusting the air gap.
【００１６】更にドア枠６の側面には、可動子Ｒの側面
に設けた３列の明暗パターン縞３０から光学的に磁極歯
１１と突極２１との相対位置関係を検出する位置検出セ
ンサー３を配設してある。上記３列の明暗パターン縞３
０は、図４に示すように、４つの磁極歯１１図の間隔
（極ピッチ）をτとする時、図６に示すように、τ／２
間隔で明暗が変換しているパターン縞をτ／３ごとずら
して３列設けたもので、位置検出センサー３はこの３列
の明暗パターン縞３０から検出した明暗の組み合わせに
より、τ／６ごとの相対位置を検出することができるも
のとなっている。Further, on the side surface of the door frame 6, a position detection sensor 3 for optically detecting the relative positional relationship between the magnetic pole teeth 11 and the salient poles 21 from three rows of light and dark pattern stripes 30 provided on the side surface of the mover R. Is provided. Light and dark pattern stripes 3 in the above 3 rows
0 is τ / 2, as shown in FIG. 6, when the interval (pole pitch) of the four magnetic pole teeth 11 is τ as shown in FIG.
The pattern stripes in which the light and dark are converted at intervals are shifted by τ / 3 and are provided in three rows. The position detection sensor 3 uses the combination of the light and dark detected from the three rows of light and dark pattern stripes 30 to obtain every τ / 6. The relative position can be detected.
【００１７】３相となっている電機子１のコイル１２に
通電する時、各相毎によって得られる静推進力は、ドア
５の移動によって図５(a)に示すように変化するが、位
置検出センサー３の出力を利用して、各相のコイル１２
への通電を図中Ｐ１，Ｐ２，Ｐ３のタイミングで切り換
えれば、図５(b)に示す静推進力を得ることができるも
のであり、この時、前述のようにディテントトルクは作
用しないために、リップルの少ない推進力を得ることが
できる。When the coil 12 of the armature 1 having three phases is energized, the static propulsion force obtained for each phase changes according to the movement of the door 5 as shown in FIG. Using the output of the detection sensor 3, the coil 12 of each phase
By switching the energization to P1, P2, P3 in the figure, the static propulsion force shown in FIG. 5 (b) can be obtained. At this time, the detent torque does not act as described above. In addition, the driving force with less ripple can be obtained.
【００１８】図７にシステム構成図を示す。主制御部４
２と速度制御部４３、速度検出部４４、電流分配部４５
とからなるコントローラ４は、人体検出センサー４１の
出力信号に応じてドア５を動作させる目標位置を出力す
るもので、速度制御部４３は主制御部４２からの速度指
令値ｖ＊と、位置検出センサー３の出力信号が速度検出
部４４に入力されることで得られた現在の速度ｖｒとの
差からコイル１２に流すべき電流指令値ｉ＊を算出し、
電流分配部４５は、速度制御部４３からの出力信号と、
位置検出センサー３からの相状態信号（固定子Ｓと可動
子Ｒとの相対位置）とにより、通電すべきコイル１２と
通電方向を決定し、通電器４６の各相のパワー素子のオ
ンオフを決定する。上記人体検出センサー４１は、人体
などを無接触で検出するもの、あるいはタッチスイッ
チ、マットスイッチ等から構成されている。ドア５の開
閉速度はあらかじめ定められた値、または人が必要な速
度に主制御部４２で設定する。FIG. 7 shows a system configuration diagram. Main control unit 4
2, speed control unit 43, speed detection unit 44, current distribution unit 45
The controller 4 consisting of outputs the target position for operating the door 5 according to the output signal of the human body detection sensor 41. The speed control unit 43 detects the speed command value v * from the main control unit 42 and the position detection. The current command value i * to be passed through the coil 12 is calculated from the difference from the current speed vr obtained by inputting the output signal of the sensor 3 to the speed detection unit 44,
The current distributor 45 outputs the output signal from the speed controller 43,
The coil 12 to be energized and the energizing direction are determined by the phase state signal (relative position between the stator S and the mover R) from the position detection sensor 3, and on / off of the power element of each phase of the energizer 46 is determined. To do. The human body detection sensor 41 is configured to detect a human body or the like without contact, a touch switch, a mat switch, or the like. The opening / closing speed of the door 5 is set by the main control unit 42 to a predetermined value or a speed required by a person.
【００１９】磁極歯１１と突極２１の数比を図８(a)に
示すように６：４としたり、あるいは８：６としたりす
れば、トルクリップルが更に少なくなる。また、コイル
１２が巻回された磁極歯１１の磁極部２との対向部を図
８(b)に示すように２つに分割したり、図８(c)に示すよ
うに３つに分割したりするとともに、これに応じて磁極
部２の突極２１の数を増やす（ピッチを小さくする）よ
うにしても、やはりトルクリップルの低減を図ることが
できる。なお、磁極歯１１と突極２１との数比や形状は
これら実施例に限定されるものではない。If the number ratio between the magnetic pole teeth 11 and the salient poles 21 is set to 6: 4 or 8: 6 as shown in FIG. 8 (a), the torque ripple is further reduced. Further, the facing portion of the magnetic pole tooth 11 around which the coil 12 is wound with the magnetic pole portion 2 is divided into two as shown in FIG. 8 (b) or divided into three as shown in FIG. 8 (c). If the number of the salient poles 21 of the magnetic pole portion 2 is increased (the pitch is decreased) accordingly, the torque ripple can be reduced. The number ratio and shape of the magnetic pole teeth 11 and the salient poles 21 are not limited to those in these embodiments.
【００２０】他の実施例を図９及び図１０に示す。ここ
では軸方向に並ぶ環状の突極２１を外周面に備えた円筒
状の磁極部２を、やはり円筒状に形成した電機子１で囲
んだものとしている。この場合、両側励磁が容易となる
とともにエアギャップの管理も容易となる。図１１に示
す実施例においては、ハンガー５３の両側面に夫々磁極
部２を設けるとともに、ドア枠６の両側内面に各磁極部
２と対向する電機子１，１を夫々設けている。このよう
にした時には、推進力が増加する上に、電機子１，１に
よる吸引力が両側から働いて互いに相殺されることから
エアギャップの管理が容易となり、またドア枠６の高さ
を低減することができる。Another embodiment is shown in FIGS. Here, the cylindrical magnetic pole portion 2 having annular salient poles 21 arranged in the axial direction on the outer peripheral surface is surrounded by the armature 1 which is also formed in a cylindrical shape. In this case, both-side excitation is facilitated and the air gap is easily controlled. In the embodiment shown in FIG. 11, the magnetic pole portions 2 are provided on both side surfaces of the hanger 53, and the armatures 1, 1 facing the magnetic pole portions 2 are provided on both inner surfaces of the door frame 6, respectively. In this case, the propulsive force is increased, and the suction forces of the armatures 1 and 1 work from both sides to cancel each other, which facilitates the management of the air gap and reduces the height of the door frame 6. can do.
【００２１】更に、電機子１と磁極部２の対を２組設け
るにあたり、図１２に示すように、両組をドア５の移動
方向において所定の距離（図示例においてはτ／６）だ
けずらして配置すれば、スイッチドリラクタンス型モー
タにおける欠点、つまり吸引力による推進力しか得られ
ないために、最小の推進力値がきわめて小さくなるとい
う欠点を、２組における推進力分布を所要の電気角（図
示例では６０°）だけずらすことによって補うことがで
き、これに伴い、トルクリップルの低減を図ることがで
きる。Further, when providing two pairs of the armature 1 and the magnetic pole portion 2, as shown in FIG. 12, both pairs are displaced by a predetermined distance (τ / 6 in the illustrated example) in the moving direction of the door 5. However, the disadvantage of the switched reluctance type motor, that is, the propulsion force due to the suction force can be obtained, the minimum propulsion force value becomes extremely small. It can be compensated for by shifting by (60 ° in the illustrated example), and accordingly, the torque ripple can be reduced.
【００２２】図１３及び図１４は相対位置検出のための
位置検出センサー３と明暗パターン縞３０との他例を示
しており、図１３に示すものにおいては、「明」「明」
「暗」の３つを規則的に並べた明暗パターン縞３０をτ
／６ずらして２列配置したものを用いた場合を、図１４
は上記明暗パターン縞３０を１列だけ用いるとともに、
位置検出センサー３として光学的検出素子３３を上記パ
ターンが並ぶ方向において所定の間隔（ｘ＝τ＋ｎτ／
３（ｎ≠３の倍数））隔で設けたものを用いた場合を示
している。位置検出センサー３としては、このほか、ホ
ール素子などを用いたものであってもよい。13 and 14 show another example of the position detection sensor 3 for detecting the relative position and the light and dark pattern stripes 30. In the one shown in FIG. 13, "bright" and "bright" are shown.
The light and dark pattern stripes 30 in which three “dark” are regularly arranged are τ
FIG. 14 shows the case where the two rows are arranged by shifting / 6.
Uses only one row of the light and dark pattern stripes 30 and
The optical detection elements 33 as the position detection sensor 3 are arranged at predetermined intervals (x = τ + nτ /
3 shows the case where the elements provided at intervals of 3 (n ≠ 3) are used. In addition to this, the position detection sensor 3 may use a Hall element or the like.
【００２３】[0023]
【発明の効果】以上のように本発明においては、スイッ
チドリラクタンス型のリニアモータを用いていることか
ら、無励磁時の吸引力であるディテントトルクがなく、
これに伴ってドアに働く推進力にリップルが少なくなっ
ているものであり、ドアの高精度な開閉制御が容易とな
っているほか、高温や鉄屑等の埃の多い悪環境に強く、
且つ安価に提供することができる。しかも、上記ディテ
ントトルクが無いことから、無励磁時、特に停電等の非
常時にもドアの開閉を軽く行うことができるものであ
る。As described above, in the present invention, since the switched reluctance type linear motor is used, there is no detent torque which is an attractive force at the time of non-excitation,
As a result, the propulsive force acting on the door has less ripple, which makes it easier to control the opening and closing of the door with high accuracy, and is resistant to high temperatures and bad environments with a lot of dust such as iron scraps.
And it can be provided at low cost. Moreover, since there is no detent torque, it is possible to open and close the door lightly even when there is no excitation, especially in an emergency such as a power failure.
【００２４】そして、上記電機子における各磁極歯とし
て、磁極部側に対抗する先端を磁極歯が並ぶ方向におい
て複数に分割したものを用いるとともに、磁極部側の歯
も上記分割された磁極歯のピッチに対応して設けたもの
とするとトルクリップルの低減を図ることができる上
に、トルク／電流比の向上を図ることができる。また、
電機子と磁極部のうちの一方が他方を囲む円筒状とした
時には、両側励磁が容易となるとともにエアギャップの
管理が容易となり、ドアの両側面に電機子と磁極部との
対を夫々設けた場合にも、エアギャップの管理が容易と
なり、殊に一方の電機子と磁極部との対を他方の電機子
と磁極部との対に対して、ドアの移動方向に所定距離ず
らした時には、スイッチドリラクタンス型モータにおけ
る欠点である最小推力値がきわめて低いという欠点を補
うことができるとともに、トルクリップルの低減を図る
ことができる。As each magnetic pole tooth in the armature, a tip which opposes the magnetic pole portion is divided into a plurality in the direction in which the magnetic pole teeth are arranged, and the tooth on the magnetic pole portion side is also the divided magnetic pole tooth. If provided according to the pitch, the torque ripple can be reduced and the torque / current ratio can be improved. Also,
When one of the armature and the magnetic pole part has a cylindrical shape that surrounds the other, both sides are easily excited and the air gap is easily managed, and a pair of the armature and the magnetic pole part is provided on each side of the door. In this case, the air gap can be easily managed, especially when the pair of one armature and the magnetic pole portion is displaced from the other pair of the armature and the magnetic pole portion by a predetermined distance in the moving direction of the door. As a result, the drawback of the switched reluctance type motor that the minimum thrust value is extremely low can be compensated, and the torque ripple can be reduced.
【００２５】また位置検出センサーとして、可動子側に
配した明暗パターン縞のパターンを検出する光学素子に
て形成したものを用いれば、制御に必要な検出精度を少
ない素子数にて得ることができて低コストとなる。If a position detection sensor formed of an optical element for detecting the pattern of bright and dark pattern stripes arranged on the mover side is used, the detection accuracy required for control can be obtained with a small number of elements. And low cost.
【図１】一実施例を示すもので、(a)は正面図、(b)はリ
ニアモータの斜視図である。1A and 1B show an embodiment, in which FIG. 1A is a front view and FIG. 1B is a perspective view of a linear motor.
【図２】同上の横断面図である。FIG. 2 is a transverse sectional view of the above.
【図３】(a)(b)は夫々同上の一部拡大正面図である。3 (a) and 3 (b) are partially enlarged front views of the same.
【図４】同上の磁極歯と磁極部との関係の説明図であ
る。FIG. 4 is an explanatory diagram of a relationship between magnetic pole teeth and magnetic pole portions of the above.
【図５】(a)(b)は同上の駆動力の説明図である。5 (a) and 5 (b) are explanatory views of the driving force of the above.
【図６】同上の位置検出センサーの動作説明図である。FIG. 6 is an operation explanatory view of the position detection sensor of the above.
【図７】同上のブロック回路図である。FIG. 7 is a block circuit diagram of the above.
【図８】(a)(b)(c)は夫々他例を示す概略図である。8A, 8B, and 8C are schematic views showing other examples.
【図９】他の実施例を示す斜視図である。FIG. 9 is a perspective view showing another embodiment.
【図１０】同上の縦断面図である。FIG. 10 is a vertical sectional view of the above.
【図１１】別の実施例の横断面図である。FIG. 11 is a cross-sectional view of another embodiment.
【図１２】同上の他例の水平断面図である。FIG. 12 is a horizontal sectional view of another example of the above.
【図１３】位置検出センサーの他例の説明図である。FIG. 13 is an explanatory diagram of another example of the position detection sensor.
【図１４】位置検出センサーの別の例の説明図である。FIG. 14 is an explanatory diagram of another example of the position detection sensor.
【図１５】スイッチドリラクタンス型モータの説明図で
ある。FIG. 15 is an explanatory diagram of a switched reluctance motor.
【図１６】同上の動作説明図である。FIG. 16 is an explanatory diagram of an operation of the above.
【図１７】従来例の正面図である。FIG. 17 is a front view of a conventional example.
【図１８】同上の断面図である。FIG. 18 is a sectional view of the above.
【図１９】同上の部分拡大正面図である。FIG. 19 is a partially enlarged front view of the above.
１ 電機子 ２ 磁極部 ３ 位置検出センサー ５ ドア ６ ドア枠 １１ 磁極歯 １２ コイル ２１ 突極 1 Armature 2 Magnetic pole part 3 Position detection sensor 5 Door 6 Door frame 11 Magnetic pole tooth 12 Coil 21 Salient pole
─────────────────────────────────────────────────────
─────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成７年４月１０日[Submission date] April 10, 1995
【手続補正１】[Procedure Amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】０００９[Correction target item name] 0009
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【０００９】[0009]
【作用】本発明によれば、スイッチドリラクタンス型の
リニアモータを用いていることから、無励磁時の吸引力
であるディテントトルクが少なく、これに伴ってドアに
働く推進力にリップルが少なくなっているものである。
そして、上記電機子における各磁極歯として、磁極部側
に対抗する先端を磁極歯が並ぶ方向において複数に分割
したものを用いるとともに、磁極部側の歯も上記分割さ
れた磁極歯のピッチに対応して設けたものとするとトル
クリップルの低減を図ることができる。According to the present invention, since the switched reluctance type linear motor is used, the detent torque, which is the attractive force during non-excitation, is small , and the ripple of the propulsive force acting on the door is accordingly small. It is what
Then, as each magnetic pole tooth in the armature, a tip that opposes the magnetic pole portion side is divided into a plurality in the direction in which the magnetic pole teeth are arranged, and the tooth on the magnetic pole portion side also corresponds to the pitch of the divided magnetic pole teeth. If provided, the torque ripple can be reduced.
【手続補正２】[Procedure Amendment 2]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００１５[Name of item to be corrected] 0015
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００１５】上記ドア枠６の下面で且つドア５の走行範
囲の中間点には、固定子Ｓである電機子１が固着されて
いる。この電機子１は、継鉄１０と継鉄１０の下面に所
定間隔毎に突出する磁極歯１１とこの磁極歯１１に集中
巻で巻回したコイル１２とからなるもので、継鉄１０及
び磁極歯１１はケイ素鋼板を積層したもので一体に形成
されて左右一対のＬ字形フレーム６６，６６で挟まれて
ボルトで固定されることでドア枠６に固着されている。
ドア５の長さとほぼ同じ長さとなっている磁極部２もケ
イ素鋼板を積層したもので形成されている。また、図示
例では磁極歯１１の数と突極２１の数との比が３：２に
なっているとともに、この比に応じたピッチで図４に示
すように磁極歯１１及び突極２１が並んでいる。図２中
の５５はレール６０下面に微小間隔で対向する押さえ部
材であり、電機子１と磁極部２との間のエアギャップを
一定に保つ。前記スペーサ５４は、エアギャップの調整
のためのものである。An armature 1 which is a stator S is fixed to the lower surface of the door frame 6 and at the midpoint of the traveling range of the door 5. The armature 1 includes a yoke 10 and magnetic pole teeth 11 protruding from the lower surface of the yoke 10 at predetermined intervals, and a coil 12 wound around the magnetic pole teeth 11 by concentrated winding. The teeth 11 are integrally formed by stacking silicon steel plates, sandwiched between a pair of left and right L-shaped frames 66, 66, and fixed to the door frame 6 by being fixed with bolts.
The magnetic pole portion 2 having substantially the same length as the door 5 is also formed by laminating silicon steel plates. In the illustrated example, the ratio between the number of magnetic pole teeth 11 and the number of salient poles 21 is 3: 2, and the magnetic pole teeth 11 and salient poles 21 are arranged at a pitch corresponding to this ratio as shown in FIG. Lined up. Reference numeral 55 in FIG. 2 denotes a pressing member that faces the lower surface of the rail 60 at a minute interval, and keeps the air gap between the armature 1 and the magnetic pole portion 2 constant. The spacer 54 is for adjusting the air gap.
【手続補正３】[Procedure 3]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００２２[Name of item to be corrected] 0022
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００２２】図１３及び図１４は相対位置検出のための
位置検出センサー３と明暗パターン縞３０との他例を示
しており、図１３に示すものにおいては、「明」「明」
「暗」の３つを規則的に並べた明暗パターン縞３０をτ
／６ずらして２列配置したものを用いた場合を、図１４
は上記明暗パターン縞３０を１列だけ用いるとともに、
位置検出センサー３として光学的検出素子３３を上記パ
ターンが並ぶ方向において所定の間隔（ｘ＝τ＋ｎτ／
３（ｎ≠３の倍数））で設けたものを用いた場合を示し
ている。位置検出センサー３としては、このほか、ホー
ル素子などを用いたものであってもよい。13 and 14 show another example of the position detection sensor 3 for detecting the relative position and the light and dark pattern stripes 30. In the one shown in FIG. 13, "bright" and "bright" are shown.
The light and dark pattern stripes 30 in which three “dark” are regularly arranged are τ
FIG. 14 shows the case where the two rows are arranged by shifting / 6.
Uses only one row of the light and dark pattern stripes 30 and
The optical detection elements 33 as the position detection sensor 3 are arranged at predetermined intervals (x = τ + nτ /
3 shows the case of using the one provided by the (n multiples of ≠ 3)). In addition to this, the position detection sensor 3 may use a Hall element or the like.
【手続補正４】[Procedure amendment 4]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００２３[Name of item to be corrected] 0023
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００２３】[0023]
【発明の効果】以上のように本発明においては、スイッ
チドリラクタンス型のリニアモータを用いていることか
ら、無励磁時の吸引力であるディテントトルクが少な
く、これに伴ってドアに働く推進力にリップルが少なく
なっているものであり、ドアの高精度な開閉制御が容易
となっているほか、高温や鉄屑等の埃の多い悪環境に強
く、且つ安価に提供することができる。しかも、上記デ
ィテントトルクが少ないことから、無励磁時、特に停電
等の非常時にもドアの開閉を軽く行うことができるもの
である。As described above, according to the present invention, since the switched reluctance type linear motor is used, the detent torque which is the attraction force at the time of non-excitation is small.
Ku, which ripple is low to the propulsion force acting Along with this on the door, in addition to high-precision opening and closing control of the door has become easy, strongly dusty adverse environments such as high temperature and iron scrap And can be provided at low cost. Moreover, since the detent torque is small , the door can be opened and closed lightly even when there is no excitation, especially in an emergency such as a power failure.
Claims (6)
チで並べた電機子と、この電機子に対向するとともに電
機子に向けて突出する突極が所要のピッチで並んでいる
磁極部とからなるスイッチドリラクタンス型リニアモー
タを動力とし、このリニアモータの可動子が固着されて
いるドアを上記リニアモータの固定子が設けられたドア
枠に走行自在に配するとともに、固定子と可動子との間
の位置関係を検出する位置検出センサーと、この位置検
出センサーの出力に応じて上記電機子のコイルの通電制
御を行う制御部とを備えていることを特徴とする自動ド
ア開閉装置。1. A magnetic pole portion in which an armature in which magnetic pole teeth around which a coil is wound are arranged at a required pitch, and salient poles facing the armature and projecting toward the armature are arranged at a required pitch. Using a switched reluctance type linear motor as a power source, the door to which the mover of this linear motor is fixed is movably arranged on the door frame provided with the stator of the above linear motor, and it is movable with the stator. An automatic door opening / closing device, comprising: a position detection sensor that detects a positional relationship with a child; and a control unit that controls energization of a coil of the armature according to an output of the position detection sensor. .
対向する先端が磁極歯が並ぶ方向において複数に分割さ
れており、磁極部側の歯は上記分割された磁極歯のピッ
チに対応して設けられていることを特徴とする請求項１
記載の自動ドア開閉装置。2. The magnetic pole teeth of the armature are divided into a plurality of tips in the direction in which the magnetic pole teeth are arranged such that the tips facing the magnetic pole portion are arranged, and the teeth on the magnetic pole portion side correspond to the pitch of the divided magnetic pole teeth. It is provided by being provided.
The automatic door opening and closing device described.
む円筒状に形成されていることを特徴とする請求項１記
載の自動ドア開閉装置。3. The automatic door opening / closing device according to claim 1, wherein one of the armature and the magnetic pole portion is formed in a cylindrical shape surrounding the other.
夫々設けられていることを特徴とする請求項１記載の自
動ドア開閉装置。4. The automatic door opening / closing apparatus according to claim 1, wherein a pair of an armature and a magnetic pole portion is provided on each side surface of the door.
機子と磁極部との対に対して、ドアの移動方向に所定距
離ずれて配設されていることを特徴とする請求項４記載
の自動ドア開閉装置。5. The pair of armature and magnetic pole portion is arranged so as to be displaced from the other pair of armature and magnetic pole portion by a predetermined distance in the moving direction of the door. Item 4. The automatic door opening / closing device according to item 4.
明暗パターン縞のパターンを検出する光学素子にて形成
されていることを特徴とする請求項１記載の自動ドア開
閉装置。6. The automatic door opening / closing device according to claim 1, wherein the position detection sensor is formed by an optical element for detecting a pattern of bright and dark pattern stripes arranged on the mover side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP03571795A JP3740704B2 (en) | 1995-02-23 | 1995-02-23 | Automatic door opener |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP03571795A JP3740704B2 (en) | 1995-02-23 | 1995-02-23 | Automatic door opener |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08232542A true JPH08232542A (en) | 1996-09-10 |
| JP3740704B2 JP3740704B2 (en) | 2006-02-01 |
Family
ID=12449619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP03571795A Expired - Fee Related JP3740704B2 (en) | 1995-02-23 | 1995-02-23 | Automatic door opener |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3740704B2 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990049807A (en) * | 1997-12-15 | 1999-07-05 | 이종수 | Linear Motors for Elevator Doors |
| EP1122391A2 (en) | 2000-02-03 | 2001-08-08 | Toyota Shatai Kabushiki Kaisha | Automatic opening and closing device for a door |
| JP2001220952A (en) * | 2000-02-07 | 2001-08-17 | Matsushita Electric Works Ltd | Sliding door opening-closing device |
| DE102005002040A1 (en) * | 2005-01-14 | 2006-07-27 | Dorma Gmbh + Co. Kg | Sliding door with a magnetic drive system and control |
| DE102005002038A1 (en) * | 2005-01-14 | 2006-07-27 | Dorma Gmbh + Co. Kg | Sliding door has magnetic drive system with modular coil assembly with controlled individual coils to induce interaction with one or more rows of magnetic elements to produce advance forces |
| DE102005002041A1 (en) * | 2005-01-14 | 2006-07-27 | Dorma Gmbh + Co. Kg | Sliding door, has magnetic linear drive for door leaf, magnet row with rare earth-high performance magnets, and mechanical auxiliary drive including energy storage which releases stored energy for opening door, during emergency operation |
| DE102005002061A1 (en) * | 2005-01-14 | 2006-07-27 | Dorma Gmbh + Co. Kg | Sliding door with a magnetic drive system with a coil unit |
| DE102005002051A1 (en) * | 2005-01-14 | 2006-09-14 | Dorma Gmbh + Co. Kg | Sliding door, with a magnetic drive system, has a power store linked to an emergency control to allow the door to be opened on a power failure or a main control breakdown |
| DE102005002048A1 (en) * | 2005-01-14 | 2006-09-14 | Dorma Gmbh + Co. Kg | Sliding door, with a magnetic drive system, has a power store linked to an emergency control to allow the door to be opened on a power failure or a main control breakdown |
| DE102005002042B4 (en) * | 2005-01-14 | 2009-02-12 | Dorma Gmbh + Co. Kg | Sliding door with a magnetic drive system and individually opening door leaves and method for their control |
| JP2015534451A (en) * | 2012-11-08 | 2015-11-26 | エレガント アイディアズ ファウンデーション | Electric motor with improved inductance and coil winding and interconnection method |
| CN107732541A (en) * | 2017-10-26 | 2018-02-23 | 中山市欧派克五金制品有限公司 | The plug-in structure of the linear motion actuator of sliding door |
-
1995
- 1995-02-23 JP JP03571795A patent/JP3740704B2/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990049807A (en) * | 1997-12-15 | 1999-07-05 | 이종수 | Linear Motors for Elevator Doors |
| EP1122391A2 (en) | 2000-02-03 | 2001-08-08 | Toyota Shatai Kabushiki Kaisha | Automatic opening and closing device for a door |
| US6449905B2 (en) | 2000-02-03 | 2002-09-17 | Toyota Shatai Kabushiki Kaisha | Automatic open and close device for door |
| EP1122391A3 (en) * | 2000-02-03 | 2005-06-15 | Toyota Shatai Kabushiki Kaisha | Automatic opening and closing device for a door |
| JP2001220952A (en) * | 2000-02-07 | 2001-08-17 | Matsushita Electric Works Ltd | Sliding door opening-closing device |
| DE102005002061A1 (en) * | 2005-01-14 | 2006-07-27 | Dorma Gmbh + Co. Kg | Sliding door with a magnetic drive system with a coil unit |
| DE102005002038A1 (en) * | 2005-01-14 | 2006-07-27 | Dorma Gmbh + Co. Kg | Sliding door has magnetic drive system with modular coil assembly with controlled individual coils to induce interaction with one or more rows of magnetic elements to produce advance forces |
| DE102005002041A1 (en) * | 2005-01-14 | 2006-07-27 | Dorma Gmbh + Co. Kg | Sliding door, has magnetic linear drive for door leaf, magnet row with rare earth-high performance magnets, and mechanical auxiliary drive including energy storage which releases stored energy for opening door, during emergency operation |
| DE102005002040A1 (en) * | 2005-01-14 | 2006-07-27 | Dorma Gmbh + Co. Kg | Sliding door with a magnetic drive system and control |
| DE102005002051A1 (en) * | 2005-01-14 | 2006-09-14 | Dorma Gmbh + Co. Kg | Sliding door, with a magnetic drive system, has a power store linked to an emergency control to allow the door to be opened on a power failure or a main control breakdown |
| DE102005002048A1 (en) * | 2005-01-14 | 2006-09-14 | Dorma Gmbh + Co. Kg | Sliding door, with a magnetic drive system, has a power store linked to an emergency control to allow the door to be opened on a power failure or a main control breakdown |
| DE102005002048B4 (en) * | 2005-01-14 | 2008-12-04 | Dorma Gmbh + Co. Kg | Sliding door with a magnetic drive system and escape route functionality |
| DE102005002051B4 (en) * | 2005-01-14 | 2008-12-11 | Dorma Gmbh + Co. Kg | Sliding door with a magnetic drive system and escape route functionality |
| DE102005002038B4 (en) * | 2005-01-14 | 2009-02-05 | Dorma Gmbh + Co. Kg | Sliding door with a magnetic drive system with a linear motor stator |
| DE102005002042B4 (en) * | 2005-01-14 | 2009-02-12 | Dorma Gmbh + Co. Kg | Sliding door with a magnetic drive system and individually opening door leaves and method for their control |
| JP2015534451A (en) * | 2012-11-08 | 2015-11-26 | エレガント アイディアズ ファウンデーション | Electric motor with improved inductance and coil winding and interconnection method |
| CN107732541A (en) * | 2017-10-26 | 2018-02-23 | 中山市欧派克五金制品有限公司 | The plug-in structure of the linear motion actuator of sliding door |
| CN107732541B (en) * | 2017-10-26 | 2024-05-03 | 中山市欧派克五金制品有限公司 | Plug-in linear motor structure for sliding door |
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| Publication number | Publication date |
|---|---|
| JP3740704B2 (en) | 2006-02-01 |
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