1999092 PC Title: Combined support and driving system Description This invention relates to a combined support and driving system according to the generic part of claim 1 for an automatically 5 controlled door. The combined support and driving system comprises a permanently excited magnetic carrying system, which includes at least one stationary and at least one movable series of magnets, whereby opposite pairs of stationary and movable series of magnets are magnetically analogous 10 polarised, and a linear motor which is coupled to the magnetic carrying system, whereby the linear motor and the carrying system are accommodated in a common housing. Such support and driving system is known from DE 40 16 948 Al, whereby interacting magnets at normal load provide a 15 contactless suspended guidance of a door leaf hold in a sliding guide and movable by means of a linear motor. The V-type arrangement of the permanent magnets is inconvenient, as such arrangement does not provide any lateral stable guideway for the rotor of the linear motor. 20 It is known moreover to traditionally guide linear operated devices by means of mechanical bearings and to link them with ropes, belts, toothed belts etc. to the drive, in form of a rotating motor. The motors can be operated in a controlled or regulated manner. The separation of support and drive results in an 25 expensive construction and leads furthermore to wearing que to mechanical contact at the bearings. Therefore it is the object of the invention to further develop a support and driving system according to the generic part of claim 1999092 PC -2 1 with the intention to conceive a space-saving system while increasing functionality and reducing material utilisation and thus the cost. The problem of this invention is solved by the revealed 5 characteristics of patent claim 1. Preferred embodiments of the object of patent claim 1 are described in the sub-claims. The inventive support and driving system according to patent claim 1 presents the advantage that due to the optimisation of the magnetic circuit arrangement of the carrying system, on the 10 one hand the guidance of the support has been functionally enhanced and on the other hand the required carrying capacity is achieved at small magnetic volume and consequently the cost of magnets is low. The integration of the functions "support and drive" through is coupling a permanent magnetic carrying system with a linear motor allows for a compact and common accommodation in a suitable housing. A linear permanently excited suspension system, which is based on repulsive force of analogous polarised magnetic pole structures, is used as carrying system. 20 The attached device, for example doors of a sliding door assembly with one leaf or with several leaves can therefore be easily moved and runs completely quietly. Thanks to the contactless support, there is no wear and no lubricant is required. As in addition, there is not any wear by friction at the 25 bearing, and as the support and driving system is completely accommodated inside a housing, functional failures of the technological process due to external influence are reduced to a minimum. As a constructive unit is conceived, no additional 1999092 PC -3 bearings are required. The result is a compact, mechanical robust and well priced drive. Advantageously the housing is made of a light material, as for example an aluminium profile. In this case, due to its proper 5 stability, a U-shaped profile is preferred to differently shaped profiles, especially when it comes to extreme weight charges. The placing of the linear motor depends on the used housing type and on the specific mounting situation. The linear motor can for example be arranged vertically underneath or above or 10 laterally displaced alongside the suspension system, whereby the linear motor can be oriented horizontally or vertically with regard to the attached device. Occurring transverse forces are compensated by the support and driving system. The device can be fastened directly or 15 indirectly at the rotor of the linear motor or at the suspended part of the carrying system. Thereby, the indirect fastening is realised by means of an appropriate construction, for example in form of a bow or of an arm. Basically the device must run in its proper guidance and the connection of the device to the carrying 20 system should compensate occurring displacements. When used in a door assembly comprising several door leaves, the coupling of the doors is achieved in a way that they are moved in opposite directions. In this case, it is advantageous to connect both suspended carrying systems. 25 The permanent magnetic support operates according to the principle of repulsive force. This principle of action allows for a stable poise without electrical regulation equipment. No 1999092 PC -4 additional energy is required to maintain the poise. Such magnetically supported linear guidance excels in extreme smooth running and in quiet operation due to the suppression of mechanical friction and they are wear- and maintenance-free. 5 Due to the symmetric construction, the permanent magnetic excited carrying system is in an imbalance (instable equilibrium). Series of magnets are respectively provided at the stationary carrier as well as at the movable carrier, which magnets, depending on the execution, are spaced-apart or not. The 10 opposite series of magnets are in any case magnetically analogous polarised in order to achieve the magnetic dynamic effect. As well the stationary carrier as the movable carrier are executed in a flat style, such that the series of magnets to be attached thereto are respectively oriented in the same plane and 15 a stable guidance is realised with the assistance of the lateral guiding elements. If the magnetic system is exactly positioned in the center of the series of magnets, the lateral force equals zero. This position is realised by means of the guiding elements. With little tolerances, there are high lateral forces, which increase 20 over-proportionally with increasing displacement. The suspension system is combined with a frame to the carrying profile for sufficient rigidity. On account of the employment of high-energy magnets, for example made of neodymium iron boron (NdFeB), and due to 25 the higher residual induction, considerably higher magnetic densities can be produced than with hard ferrite magnets. Consequently, for a given carrying force, with high-energy magnets the magnetic system can be geometrically dimensioned 1999092 PC -5 small and compact. The high material cost of high-energy magnets is thereby at least compensated by the comparably small magnet volume. As a principle, the carrying force changes with the air gap, i.e. 5 with the distance between the stationary and the movable part of the carrying system. The smaller the air gap the greater are the carrying forces emerging in the magnetic system. Generally, the relation between the excursion and the force is not linear. The permanent magnetic suspension system can be conceived 10 with one series or with several series. The dispositions of magnetic circuits can be optimised through variation of the magnetisation direction, the distance between the series of magnets and the guidance of the magnetic flux by additional steel sheets. 15 Depending on the magnet's disposition, the distance of adjoining series of magnets exerts a considerable influence on the carrying forces. In case adjoining series of magnets have the same magnetisation direction, as well in the stationary as in the movable part, this distance should be as important as possible. 20 In case analogous polarised series of magnets are arranged at the stationary and at the movable part, however with different polarisation of the adjoining series of magnets, a higher carrying force is realised with a small distance between the magnets. Another increase in the carrying force is possible, if steel sheets 25 surround the permanent magnets, such that the magnetic flux is concentrated in the area of the air gap. In this case, the steel pieces at the sides of the series of magnets as well as at the 1999092 PC -6 magnet base opposite to the air gap serve as magnetic yoke. The increase of the carrying force is achieved through the optimisation in thickness of the steel pieces at the sides and at the base of the magnets. For space saving aspects, the flush 5 mounted embedding of the magnets into the steel pieces is especially advantageous. The rotor of the linear motor is connected to the suspended part of the carrying system, whereby the distance of the magnets is positioned in the range of the force reserves of the high-energy 10 magnets. Due to the enormous dynamic effect of the high energy magnets, the carrier's length can be reduced to a minimum, such that only some magnets are required. A single-phase or polyphase operated alternating-current linear motor synchronously or a-synchronously executed is employed 15 as drive. The linear motor can be operated single-sided or double-sided. The control respectively regulation of the linear motor is realised by means of a control electronics. The moving course is detected by means of sensors, which identify the doors' end positions and can be employed for locking functions. 20 The moving course can also be tracked through a magnetically incremented measuring system. In this case a two-phased synchronous linear motor with double sided action is preferred, which does not produce transverse forces, such that the suspended guidance is not laterally 25 charged with regard to the moving direction. Considering the weight distribution, the direct connection of the carrying system with the centrally guided rotor presents an optimised arrangement. A bearing is provided between both parts for the 1999092 PC -7 guidance of the rotor, as small guiding tolerances in the guide rail must be compensated. In one advantageous embodiment of the invention, a synchronous linear motor with an iron-free rotor is employed. 5 The electromagnetic active part only presents the length conditional on the thrust force, whereas the part/parts, which carry the permanent magnets, have the length of the moving course plus the length of the electromagnetic part. The movement is realised by a short stator, composed of a two 10 phase winding applied to a carrier. It is especially advantageous that the masses to be moved are small, as only a two-phase winding is used. Consequently the supplying current converter is executed two-phased and thus inexpensive. The employment of such motor provides an arrangement of the 15 drive system advantageous for assembly technique purposes. The drive is arranged horizontally alongside the magnetic carrying system. Due to this, it is possible to mount and dismount the drive independently from the carrying system. This is not only of importance for commissioning but also in the event 20 of repair in connection with a motor change, as only the motor must be dismounted. As the air gap of the carrying system can be variably conceived depending on the execution of the permanent magnetic arrangement, the contact-less operation of the carrying system is guaranteed even with an inclination of the 25 door. There is room for decision about door guidance at the underside, and this can be made depending on the application. Besides the employment in door drives and gate drives with support, the combined support and driving system can also be 1999092 PC -8 employed in feed equipment, handling equipment or conveying systems. Hereinafter the invention is explained more in detail on the basis of embodiment examples. It shows: 5 Figure 1: A combined support and driving system with overhead linear motor. Figure 2: A combined support and driving system with a linear motor arranged underneath. Figure 3: Another embodiment example of a combined 10 support and driving system with a linear motor arranged underneath. Figure 4: Another embodiment example of a combined support and driving system with a linear motor arranged underneath. is Figure 5: A drawing of a combined support and driving system with a horizontally arranged linear motor. Figure 6: A disposition of magnetic circuits with adjoining series of magnets with identical magnetisation 20 direction. Figure 7: A disposition of magnetic circuits with adjoining series of magnets with different polarisation. In the following description, identical components or identically working components are identified by the same numerals.
1999092 PC -9 The support and driving systems 1 are diagrammatically represented in the figures 1 to 4. In this case, both a linear motor 2 and a carrying system 7 are engaged in a working connection and are jointly arranged in one housing 4. A 5 movable rotor 5 of the linear motor 2 is connected by means of a connection 6 to a suspended part of the carrying system 7. Depending on the execution type, a device 8, arranged at the support and driving system 1, is either mounted to the linear motor 2 or to the carrying system 7. This device 8 can realise for 10 example the connection to non-illustrated doors or gates of automatic door assemblies. Besides the employment for door and gate drives with support, the combined support and driving system 1 can also be used for feed equipment, handling equipment or transport systems. is The carrying system 7 is composed of a carrier 9 stationary mounted to the housing 4, at which carrier is arranged a magnetic yoke 10 consisting of steel sheets made from ferromagnetic material. The magnetic yoke 10 carries two series of magnets 11 and 12 comprising permanent magnets. A 20 magnetic yoke 14 is fixed at a movable carrier 13, which is likewise equipped with two series of magnets 15 and 16 comprising permanent magnets. The device 8 to be supported and to be driven is mounted at the movable carrier 13. The stationary series of magnets 11, 12 and the series of magnets 25 15, 16 mounted to the opposite movable carrier 13 are polarised such that a repulsive force is achieved between them. Guiding elements 17 in connection with the lateral guiding metal sheets 18, which in the figures 1 and 2 are built by the housing 4, take over the lateral guidance of the movable carrier 13.
1999092 PC -10 The linear motor 2 presents a magnetic circuit 20 stationary mounted to the housing 4 and thereto connected the permanent magnetic excitation 19. The movable vertically arranged rotor 5 with winding 3 is positioned between them. The rotor 5 is 5 mechanically connected to the movable carrier 13 via the connection 6. The configuration of both embodiments of the support and driving system 1 according to figure 1 and 2 differentiates in the placing of the essential components. In figure 1, the carrying 10 system 7 is arranged underneath the linear motor 2, whereby the device 8 connecting the carrying system 7 and the linear motor 2 is positioned between them. According to figure 2, the linear motor 2 is arranged underneath and via the connection 6 connected to the carrying system 7 thereto arranged above. The is device 8 is arranged above the carrying system 7 at the housing 4, which is open to above. Furthermore the attachment possibilities of the device 8 at the support and driving system 1 according to figures 3 and 4 are given. In this case, the form and mounting situation of the 20 employed housing 4 is of importance. The result is the possibility to attach the device 8 at the rotor 5 of the linear motor 2 or to attach the device 8 by means of a construction 22 at the suspended carrier 13. In both cases, for example the door attached to the device 8 must run in its proper guidance, 25 whereby the connection of the door to the suspension system should compensate upcoming displacements. According to figure 3, the housing 4, made from an aluminium profile, is executed open to below. Especially U-shaped profiles 1999092 PC - 11 are very suitable on the account of their proper stability for such applications. The device 8 is mounted to the rotor 5 of the linear motor 2. Separate guiding elements 21 at the connection 6 stabilise the central support of the rotor 5 and the thereto-affixed 5 device 8. For the reason of smooth running, the guiding elements 17 and 21 are ideally realised as ball bearings. The coupling to a second door panel is realised by a non-illustrated mechanical connection, for example via a rope or a belt, such that the door panels move in opposite directions. A rigid 10 connection of both suspended carriers 13 would be favourable. According to figure 4, the housing 4 made from an aluminium profile, is executed open to above however with a distance to the room height. The device 8 is connected by means of a special construction 22 to the movable carrier 13. The connection of the is affixed door panels may be realised by means of a toothed belt, rigidly connecting the suspended carriers 13. A flat linear motor 2 is suitable as drive, which on account of the compact shape is mounted underneath the carrying system 7 in the housing 4. For optimised weight load, the linear motor 2 is 20 mounted in the center below the carrying system 7. The energising of the linear motor 2 is made by means of control electronics. Practically, the supply tension should be less than 60 volts and the nominal current should be approximately 3 ampere. The moving course is examined by sensors, which 25 mark the end positions of doors and can be used for locking functions. The moving course can also be tracked by means of a magnetic incremental or analogous measuring system.
1999092 PC -12 With regard to the carrying system 7, the linear motor 2 can be arranged differently. The above executions deal with vertical arrangements. A lateral offset arrangement, at one side of the carrying system 7, is diagrammatically represented according to 5 figure 5 in one advantageous embodiment. The synchronous linear motor 2 presents an iron-free rotor 5. The electrically magnetic active part only presents the length conditioned by the thrust force, whereas the part/parts carrying the permanent magnets have got the length of the moving course plus the io length of the electromagnetic part. A short stator consisting of a two-phase winding applied to a carrier executes the movement. It is especially advantageous that the masses to be moved are small as only a two-phase winding is employed. Consequently the feeding current converter is only two-phased executed and 15 thus inexpensive. The employment of such motor allows for an advantageous mounting disposition of the support and driving system 1. The linear motor 2 is horizontally arranged on the side of the magnetic carrying system 7. Therefore it is possible to mount 20 and to dismount the linear motor 2 independently from the carrying system 7. This is of major importance not only at commissioning but also in case of repair together with an exchange of the motor, as only the linear motor 2 has to be dismounted. As the air gap L of the carrying system 7 can be 25 conceived variably due to the definition of the permanent magnetic arrangement, the contact-less operation of the carrying system 7 is guaranteed even with a door inclination. Depending on the application, there is room for decision on whether a door will be guided at its underside.
1999092 PC - 13 The permanent magnetic carrying system 7 works on the principle of repulsive force. This principle of action allows for a stable poise without any electrical regulation equipment. No additional energy is needed to maintain the poise. Thanks to the 5 use of high-energy magnets, for example made from neodymium iron boron (NdFeB), because of the higher residual induction, considerably higher magnetic density is achieved than with hard ferrite magnets. For this reason with the high-energy magnets, the magnetic system for a given carrying force can be built 10 geometrically small and therefore space saving. At the stationary carrier 9, as well.as at the movable carrier 13, respectively series of magnets 11, 12 and 15, 16 are arranged, which, depending on the execution type, are spaced apart or not. The opposite series of magnets 11, 15 and 12, 16 are in any is case magnetically analogous polarised, in order to achieve the magnetic dynamic effect. As well the stationary carrier 9 as the movable carrier 13 are executed flat, such that the series of magnets 11, 12, 15, 16 to be mounted thereto are respectively oriented in plane and that a stable guidance is achieved by 20 means of the lateral guiding elements 17. The magnetic circuit is optimised through the variation of the direction of magnets, the distance A of the series of magnets and the guidance of the magnetic flux by means of steel sheets 10, 14. As of the principle, the carrying force changes with the 25 air gap L that means with the distance between the stationary and movable carrier 9 and 13. The smaller the air gap L the greater the carrying forces building up in the carrying system 7.
1999092 PC -14 Generally, the relation between the excursion and the force is not linear. Depending on the placing of magnets, the distance A of adjoining series of magnets 11, 12 and 15, 16 is of decisive 5 influence on the carrying forces. In figure 6, the adjoining series of magnets 11 respectively 15 as well of the stationary carrier 9 as of the movable carrier 13, present the same direction of magnetisation. Furthermore at both carriers 9 and 13, analogous polarised magnet poles are oriented towards the air 10 gap L. The distance A between adjoining series of magnets 11 and 15 should be as important as possible. In figure 7 because of the required repulsive force, analogous polarised series of magnets 11, 15 and 12, 16 at the stationary and at the movable carrier 9 and 13 are opposed, however for is the series of magnets 11 and 15 the south poles and for the other series of magnets 12 and 16, the north poles are oriented towards the air gap L. Such arrangement produces the greatest carrying force with the smallest magnet distance A. Another increase in the carrying force is achieved if the series of 20 magnets 11, 12, 15, 16 are surrounded by steel sheets 10, 14 such that the magnetic flux is concentrated in the area of the air gap L. In this case, the steel sheets 10, 14 are formed as magnetic yoke at the sides S as well at the magnet height H of the series of magnets 11, 12, 15, and 16 opposite to the air gap 25 L. The increase of the carrying force is achieved through optimisation of the magnet heights H and of the sides S. With the intention to use as little iron material for the magnetic yoke as possible, the series of magnets 11, 12, 15, 16 are embedded 1999092 PC -15 flush into the surface of the steel sheets 10, 14. An optimised arrangement of the magnet heights H and of the sides S depending on the carrying force, results at respectively 2 mm. References 5 1 Support and driving system 2 Linear motor 3 Winding 4 Housing 5 Rotor 10 6 Connection 7 Carrying system 8 Device 9 Carrier 10 Magnetic yoke, steel sheet 15 11 Series of magnets 12 Series of magnets 13 Carrier 14 Magnetic yoke, steel sheet 15 Series of magnets 20 16 Series of magnets 17 Guiding elements 18 Guiding metal sheet 19 Excitation 20 Circuit 25 21 Guiding element 22 Construction L Air gap A Magnet distance S Side height 30 H Magnet height