EP1902995A2 - Door drive for an automatic door - Google Patents

Abstract

The mechanism has a electronically commutated and brushless permanent-field synchronous motor (10) comprising a shaft (11) for generating a driving force, where the motor is mounted such that the shaft is aligned perpendicular to an opening and closing direction (7) of a sliding and/or elevator door. A belt or chain is guided in the opening and closing direction for transmitting the driving force to a door leaf. An angular encoder e.g. single-turn encoder, generates an angle signal proportional to angle of rotation of the motor, and is arranged coaxially to the shaft.

Description

The invention relates to a door drive for an automatic door, in particular for an automatic sliding and / or elevator door, comprising at least one door leaf, comprising a motor for generating a driving force and a (n) guided in the opening and closing direction of the door belt or chain Transmission of the driving force on the door leaf, wherein the motor is mounted such that its shaft is perpendicular to the opening and closing direction of the door and / or aligned horizontally.

Such or similar door drives are known from EP 0 837 536 B1 . DE 101 31 211 A1 . DE 20 2005 006 404 U1 . WO 00/39017 A1 and DE 19 53 242 A ,

In the field of automatic doors, especially in elevator doors, there is a need to build the door drive as compact as possible, because the door drive for the user of the elevator must be installed blinded and thus affects the space for the door drive and the compactness and cost of an entire elevator system.

At the DE 101 31 211 A1 known door drive is a motor with gear available. Transmissions generate unwanted noise and transmission losses and lead to rapid wear and cost due to the high number of moving mechanical parts.

The invention has for its object to provide a door drive, which avoids the disadvantages of a transmission and yet is compact buildable.

This object is achieved based on the above-mentioned door drive according to the invention by an angle sensor for Generation of an angle of rotation of the motor proportional angular signal, which is arranged coaxially with the motor shaft.

This is a particularly compact and with respect to the driving force deflection-free and thus low-loss arrangement possible.

According to a very particularly preferred embodiment, a drive pinion or pulley for driving the belt or the chain is mounted on the shaft of the motor.

This results on the one hand the advantage of a compact design and on the other hand, the advantage that the belt or the chain is gearless and / or vorgelegelos driven by the motor. A transmission would significantly increase the axial extent of the overall system of engine and transmission compared to a gearless drive. In a countershaft, the space would also increase because the driving force would first have to be transmitted from the motor shaft via the countershaft to a non-axially located double pinion, which in turn drive only the chain or the belt.

The drive pinion or pulley is in particular attached to a freestanding end of the shaft. This results in the advantage of universal integrability in the door system.

It is particularly expedient that the engine - preferably completely - within a door fighter or a lintel at the upper end of the door, in particular above a car of the elevator, is arranged. Ideally, no space is required above the elevator car of the elevator installation for installation or assembly of the door drive. This results in special advantages compared to a solution with a countershaft, in which the engine must be mounted usually above the door fighter.

As a door striker is understood in the context of the invention, any fixed built into the door frame crossbar, in particular a horizontal profile between the lower door system and an upper part, in the case of an elevator of the upper part of the car. The door striker is usually arranged above the door leaves of the door.

In the attachment of the motor according to the invention further provides the advantage that one and the same, for example, as a spare part reproached motor, both on the left and at the right end or at any position between the door striker can be mounted and thus the distinction between the left and right Wave output, as necessary with gear motors, can be omitted.

According to another preferred embodiment, the motor together with the drive pinion or pulley in the shaft direction has an extension of less than 100 mm, preferably less than 80 mm. In addition, the diameter and / or the edge length of the motor preferably lies in the range between 50 mm and 200 mm, preferably in the range between 80 mm and 160 mm. With such dimensions, the engine including drive sprocket or pulley in a lintel or door striker with particularly small dimensions of height and / or width less than 110 mm can be accommodated.

Preferably, the length of the motor measured without bearing, drive pinion and any electronic components is less than 60 mm, in particular less than 36 mm.

In addition, preferably the length of the motor - measured at a distance of at least 35 mm from the shaft - without bearing, drive pinion and any electronic components is less than 60 mm, in particular less than 36 mm.

Another expedient design is that the engine has a drive torque of at least 0.008 Nm / kg or at least 0.01 Nm / kg door mass, in particular a drive torque from the range of 3.0 Nm to 4.5 Nm, preferably from the range of 3.5 to 4.0 Nm.

According to another particularly preferred embodiment, the motor is electronically commutated and / or brushless. Thus, the aforementioned embodiments can be realized in a particularly advantageous and compact manner.

In an electronically commutated motor, the mechanical commutation system, i. the commutator brushes, replaced by a motor-mounted control unit, which is also called BL controller (brushless controller). In it, for example, take over several Hochstromsiliziumchips and a programmable microprocessor the task of the brush apparatus, so the wear and failure-prone interaction of copper fins and carbon brushes.

The elimination of the brush system results in the advantage of less noise, the advantage of lower wear and cost through a smaller number of moving, mechanical parts and the advantage of absence of contamination by brush abrasion.

The motor is also preferably designed as a, in particular permanently excited, synchronous motor.

The door drive further preferably has a control unit with an installed control program for moving the door into its open and / or closed position.

The control unit is in particular so prepared that the engine - at least in normal operation - with a speed of less than 600 U / min, preferably with a speed of less than 500 U / min, operated.

According to another preferred embodiment, the angle sensor is mounted on the side facing away from the drive pinion or pulley side of the motor.

The angle signal of the angle sensor is used according to a preferred embodiment for driving a commutation circuit for electronic commutation of the motor.

According to another preferred embodiment, the angle signal of the angle sensor is - additionally or alternatively - supplied as input to a door position control device.

Most preferably, the angle signal of the angle sensor is used for both purposes, resulting in a special savings in space, effort and expense.

For a compact design and in particular for the accommodation within the door striker or lintel, it is particularly useful if the angle encoder in the axial direction an extension of max. 40 mm, preferably of max. 20 mm.

Overall, a total length of motor, drive pinion or pulley and angle encoder in the shaft direction of less than 110 mm, preferably less than 98 mm, appropriate.

Furthermore, the angle transmitter preferably has a resolution of at least 10 bit / 360 °, in particular of at least 11 bit / 360 ° or of at least 12 bit / 360 °. This is of particular advantage in connection with a high-torque, high-torque motor. In a gearless drive, a high temporal resolution is possible even at low speeds. This means that even very slow door speeds can be adjusted down to standstill. Furthermore, the high resolution leads in a gearless drive and in particular in a sinusoidal control of the motor to a nearly harmonics-free torque deployment, which characterized by very good concentricity with low noise levels.

Most preferably, the angle encoder is designed as an absolute encoder.
In the context of the invention, an absolute value encoder is understood to mean an angle measuring device which outputs position information in the form of a numerical value, possibly encoded, which is unique over the entire resolution range of the absolute value encoder, so that no initial reference or calibration travel, as for example with an incremental encoder , is needed.

The absolute value encoder can preferably completely dissolve at least one revolution (360 °) and is designed in particular as a single-turn encoder.

An absolute value encoder has the advantage over a Hall sender or a quadrature encoder that the rotor position is immediately available at any time, ie also immediately after the power supply system has been switched on. It eliminates the previously necessary synchronizing the rotor angle based on a reference point or complex calculations. In addition, there is a considerable cost advantage over a resolver solution at the encoder itself, but also on the part of the design of the control unit (control electronics). Compared to a resolver solution also results in a lower height.

Further preferred is an angle encoder is provided, which operates on a magnetic principle and is designed in particular as a magnetic absolute encoder.

The magnetic absolute encoder or rotary encoder operates in particular according to the GMR effect. The Giant Magneto Resistance (GMR) effect is a quantum mechanical effect observed in thin film structures of alternating ferromagnetic and non-magnetic layers.

The evaluation is preferably carried out in a Wheatstone bridge. This can provide a sine / cosine signal in the two sub-bridges, allowing each position to be identified at full angle (360 °).
The magnetic absolute value encoder or rotary encoder is alternatively formed by interconnecting a plurality of Hall sensors, preferably 3 or 6 Hall sensors. An intelligent evaluation electronics, eg based on DSP, allows a clear detection of the entire full circle.

1. a) Die Rotorposition ist zu jedem Zeitpunkt, also auch unmittelbar nach Einschalten der Strom- oder Spannungsversorgung, bekannt, so dass die Notwendigkeit des Einsynchronisierens des Rotorwinkels entfällt.
2. b) Speziell führt die hohe Winkelauflösung zu einer hohen zeitlichen Auflösung auch bei geringen Drehzahlen, so dass auch sehr langsame Geschwindigkeiten bis hin zum Stillstand ausgeregelt werden können.
3. c) Bei sinusförmiger Ansteuerung des Motors ergibt sich eine nahezu oberwellenfreie Drehmomentenentfaltung, welche sich durch sehr gute Rundlaufeigenschaften bei geringer Geräuschentwicklung auszeichnet.
4. d) Geringe Kosten.
5. e) Geringe Bauhöhe.

The use of a magnetic absolute encoder for position determination in an automatic door and / or for annotating the motor is particularly advantageous if the drive sprocket or pulley is mounted directly on the shaft of the motor, however, the use of the magnetic absolute encoder for driving or controlling an automatic Regardless of meaning and as an independent solution to look at door, because even then already considerable advantages for the door drive can be achieved:

1. a) The rotor position is known at any time, ie immediately after switching on the power or voltage supply, so that the need for synchronizing the rotor angle is eliminated.
2. b) Specifically, the high angular resolution leads to a high temporal resolution even at low speeds, so that even very slow speeds can be compensated up to a standstill.
3. c) With sinusoidal control of the motor results in a nearly harmonics-free torque development, which is characterized by very good concentricity properties with low noise.
4. d) Low costs.
5. e) Low height.

FIG 1

eine Tür, für welche ein Türantrieb nach der Erfindung einsetzbar ist,

FIG 2

eine Frontansicht eines inneren Bereichs, eines so genannten Türkämpfers, im oberen Teil der Tür der Figur 1,

FIG 3

eine Draufsicht auf das Innenleben des Türkämpfers der Figur 2,

FIG 4

Details zur elektrischen Ausführung und Ansteuerung des für den Türantriebs der Figur 1 verwendeten Motors, und

FIG 5

weitere Details zu einem Winkelgeber für die Ansteuerung des für den Türantrieb der Figur 1 verwendeten Motors und für die Türlageermittlung.

An embodiment of a door drive according to the invention will be explained in more detail with reference to Figures 1 to 5.
Show it:

FIG. 1

a door for which a door drive according to the invention can be used,

FIG. 2

a front view of an inner area, a so-called Türkämpfers, in the upper part of the door of Figure 1,

FIG. 3

a plan view of the interior of the door fighter of Figure 2,

FIG. 4

Details of the electrical design and control of the motor used for the door drive of Figure 1, and

FIG. 5

Further details on an angle encoder for controlling the motor used for the door drive of Figure 1 and for the door position determination.

Figure 1 shows a door 1 of an elevator with two equal-sized, oppositely moving door leaves 2, 3. The door 1 is enclosed by a door frame 4, which is completed and supported in the upper part of a door striker or door lintel 5. When the door leaves 2, 3 are open, access to a car 6 of the elevator started behind it is possible. The opening and closing direction of the door leaves 2, 3 is denoted by 7. The door mass is up to 400 kg.

FIG. 2 shows the area of the door fighter 5 in a front view, as it would be when the fender panel removed with respect to FIG. Within the door damper or the lintel 5, an electronically commutated and brushless, permanently excited synchronous motor 10 is arranged such that its motor shaft 11 is perpendicular to the opening and closing direction 7 and horizontal, in the figure 2 perpendicular to the plane. At the free end of the shaft 11, a drive pinion, drive wheel or pulley 12 or the like is attached. Together with an attached at the opposite end of the door 5 damper guide roller 14 leads Pulley 12 has a tough elastic toothed belt 16, which transmits the driving force of the motor 10 to the door leaves 2, 3.

FIG. 3 shows the arrangement of FIG. 2 in a view from above. It can be seen that the motor 10 is gearless on the partially rubber-made timing belt 16 acts. The pulley 12 is seated directly on the shaft 11 of the motor 10. The diameter D of the motor 10 is 160 mm.

Coaxial with the motor shaft 11, i. on the illustrated axis of rotation A of the motor 10, a magnetic absolute encoder 20 is mounted. This will be explained in more detail in FIG. The depth extent L of the entire assembly consisting of motor 10, drive wheel 12 and angle encoder 20 is less than or equal to 110 mm. Due to this flat design, the entire arrangement in the door 5 or lintel (lintel) with very compact dimensions can be accommodated.

In Figure 4, the entire assembly consisting of motor 10, drive wheel 12 and angle encoder 20 in detail and interaction with a door drive associated control unit 24 is shown. Not only the motor 10, but also the angle encoder 20 is designed particularly flat:

Depth extension L _{2 of} the angle sensor 20: approx. 30 mm. Depth extension L ₁ of motor 10 together with drive wheel 12: about 80 mm.
Total depth or total length L: less than 110 mm.

1. a) Das Steuergerät 24 des Türantriebs weist eine Kommutierungsschaltung 32 zur elektronischen Kommutierung und/ oder Sinusmodulation des als Synchron- oder Asynchronmotor ausgebildeten Motors 10 auf. Der Kommutierungsschaltung 32 ist das Winkelsignal 22 zugeführt. Hierfür wird die hohe Auflösung des Winkelgebers 20 in vollem Umfang benötigt. Besonders vorteilhaft ist diese Anordnung bei einem elektronisch kommutierten (EC) und bürstenlosen, permanent erregten Synchronmotor 10, vorzugsweise ohne Getriebe, weil sich gegenüber für die Kommutierung eingesetzten Resolver-Drehmeldern ein erheblicher Preisvorteil bei gleicher Funktionalität ergibt. Bei einem EC-Motor kann die Kommutierungsschaltung 32 als BL-Controller bezeichnet werden.
2. b) Das Steuergerät 24 des Türantriebs weist ferner als funktionelle Einheit eine Türpositionssteuereinrichtung 34 auf, der ebenfalls das Winkelsignal 22 zugeführt ist. Die Türpositionssteuereinrichtung 34 regelt den Türzustand und/ oder die Türposition. Mit dem Winkelzahlenwert ist über den Durchmesser des verwendeten Antriebsritzels 12 die Position der Türblätter 2 und 3 bekannt, so dass das Steuergerät 24 bzw. die Türpositionssteuereinrichtung 34 in bekannter Weise Betriebsfahrten in die Öffnungs- oder Schließstellung oder Betriebstestfahrten zur Ermittlung solcher Endstellungen durchführen kann. Hierfür wird in der Regel eine niedrige und nicht die volle Auflösung des Winkelgebers 20 benötigt.

The angle sensor 20 is located on the side facing away from the drive wheel 12 side of the motor 10 and is mounted centrally with respect to the axis A of the motor 10. The angle of rotation φ is indicated in the figure. The controller 24 supplies the motor 10 via a line 28 controlled and / regulated with from a power source 26, for example, the public power grid, derived energy. The angle encoder 20 registers via a line 22 an - analog or coded - angle number value the controller 24. The resolution of the combination of angle encoder 20 and controller 24 is 12 bits, so that there is an angular resolution of 360 ° / 4096 = 0.09 ° for 360 °. FIG. 5 shows in detail in block diagram form how the angle signal 22 of the angle transmitter 20 is used simultaneously for different purposes:

1. a) The control unit 24 of the door drive has a commutation circuit 32 for electronic commutation and / or sinusoidal modulation of the motor 10 designed as a synchronous or asynchronous motor. The commutation circuit 32 is the angle signal 22 is supplied. For this purpose, the high resolution of the angle sensor 20 is required in full. This arrangement is particularly advantageous in the case of an electronically commutated (EC) and brushless, permanently excited synchronous motor 10, preferably without a gear, because compared to resolver resolvers used for the commutation, a considerable price advantage results for the same functionality. For an EC motor, the commutation circuit 32 may be referred to as a BL controller.
2. b) The control unit 24 of the door drive further has as a functional unit a door position control device 34, which is also supplied with the angle signal 22. The door position controller 34 controls the door state and / or the door position. With the angle number value, the position of the door leaves 2 and 3 is known about the diameter of the drive pinion 12 used, so that the control unit 24 or the door position control device 34 can perform operating runs in the open or closed position or operating test runs for determining such end positions in a known manner. For this purpose, a low and not the full resolution of the angle sensor 20 is usually required.

Claims (24)

Door drive for an automatic door (1), in particular for an automatic sliding and / or elevator door, with at least one door leaf (2, 3),
comprising a motor (10) for generating a driving force and a belt or chain (16) guided in the opening and closing direction (7) of the door (1) for transmitting the driving force to the door leaf (2, 3),
wherein the motor (10) is mounted such that its shaft (11) is oriented perpendicular to the opening and closing direction (7) of the door (1) and / or horizontally,
characterized by an angle encoder (20) for generating an angle of rotation (φ) of the motor (10) proportional angle signal (22), wherein the angle sensor (20) is arranged coaxially with the motor shaft (11). Door drive according to claim 1,
characterized in that a drive sprocket or pulley (12) for driving the belt or the chain (16) on the shaft (11) of the motor (10) is mounted. Door drive according to claim 2,
characterized in that the drive sprocket or pulley (12) is attached to a freestanding end of the shaft (11). Door drive according to one of claims 1 to 3,
characterized in that the belt or chain (16) is gearless and / or vorgelegelos driven by the motor (10). Door drive according to one of claims 1 to 4,
characterized in that the motor (10) - preferably completely - within a door fighter or a lintel (5) at the upper end of the door (1), in particular above a car (6) of the elevator, is arranged. Door drive according to one of claims 1 to 5,
characterized in that the motor (10) together with the drive pinion or pulley (12) in the shaft direction has an extension (L ₁ ) of less than 100 mm, preferably less than 80 mm. Door drive according to one of claims 1 to 6,
characterized in that the length of the motor (10) without bearing, drive pinion and any electronic components is less than 60 mm, preferably less than 36 mm. Door drive according to one of claims 1 to 7,
characterized in that the length of the motor (10) - measured at a distance of at least 35 mm from the shaft - without bearing, drive pinion and any electronic components is less than 60 mm, preferably less than 36 mm. Door drive according to one of claims 1 to 8,
characterized in that the motor (10) is electronically commutated and / or brushless executed. Door drive according to one of claims 1 to 9,
characterized in that the diameter (D) and / or the edge length of the motor (10) is in the range between 50 mm and 200 mm, preferably in the range between 80 mm and 160 mm. Door drive according to one of claims 1 to 10,
characterized in that the motor (10) is a, in particular permanently excited, synchronous motor. Door drive according to one of claims 1 to 11,
characterized in that the motor (10) for a drive torque of at least 0.008 Nm / kg or at least 0.01 Nm / kg door mass, in particular for a drive torque in the range of 3.0 Nm to 4.5 Nm, preferably from the Range of 3.5 to 4.0 Nm, is designed. Door drive according to one of claims 1 to 12,
characterized by a control unit (24) with installed control program for moving the door (1) in its open and / or in its closed position. Door drive according to claim 13,
characterized in that the control unit (24) is prepared such that the motor (10) - at least in normal operation - at a speed of less than 600 U / min, preferably at a speed of less than 500 U / min, operated. Door drive according to one of claims 1 to 14,
characterized in that the angle signal (22) of the angle sensor (20) for driving a commutation circuit (32) for electronic commutation of the motor (10) is used. Door drive according to one of claims 1 or 15,
characterized in that the angle signal (22) of the angle sensor (20) is supplied as input to a door position control device (34). Door drive according to one of claims 1 to 16,
characterized in that the angle transmitter (20) has a resolution of at least 10 bits / 360 °, in particular of at least 11 bits / 360 ° or of at least 12 bits / 360 °. Door drive according to one of claims 1 to 17,
characterized in that the angle sensor (20) in the axial direction has an extent (L ₂ ) of not more than 40 mm, preferably of not more than 20 mm. Door drive according to one of claims 1 to 18,
characterized in that the total length (L) of the motor (10), drive pinion or pulley (12) and angle encoder (20) in the shaft direction is less than 110 mm, preferably less than 98 mm. Door drive according to one of claims 1 to 19,
characterized in that the angle sensor (20) is designed as an absolute encoder. Door drive according to one of claims 1 to 20,
characterized in that the angle sensor (20) operates on a magnetic principle and in particular is designed as a magnetic absolute encoder. Door drive according to claim 21,
characterized in that the angle sensor (20) is prepared according to the principle of the GMR effect. Door drive according to claim 21,
characterized in that the angle encoder (20) is formed by interconnecting a plurality of Hall sensors. Door drive according to one of claims 1 to 23,
characterized in that the angle encoder (20) is prepared for the resolution of a complete revolution (360 °) and in particular is designed as a single-turn encoder.

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