Door actuator and system thereof

Abstract

In an aspect, a door actuator is presented. The door actuator includes a first element attached to a door and a second element attached to a door frame of the door. The door actuator includes an arm rotatably connected between the first element and the second element. The door actuator includes a motor housed within the first element and configured to rotate the arm about a rotation axis. A rotation of the arm about a rotation axis causes a movement of the door with respect to the door frame.

Description

DOOR ACTUATOR AND SYSTEM THEREOFCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 476,325, filed December 20, 2022, the entirety of which is incorporated herein by reference.TECHNICAL FIELD

[0002] The present disclosure relates to the field of door actuators, and in particular the field of door actuators for doors, windows, small gates, cabinets, mobile walls, and the like.BACKGROUND

[0003] Modem door actuators are simple and have several drawbacks. In some actuators, once the user has passed through a door and, therefore, has stopped exerting pressure on the door, the door returns to the closed position by effect of a spring. Additionally, a user must necessarily overcome the resistance of the spring, and must come into contact with the door to open it. This can be inconvenient for the user, and can lead to hygiene problems if the passage through the door is particularly busy.SUMMARY OF THE DISCLOSURE

[0004] In an aspect, a door actuator is presented. The door actuator includes a first element attached to a door and a second element attached to a door frame of the door. The door actuator includes an arm rotatably connected between the first element and the second element. The door actuator includes a motor housed within the first element and configured to rotate the arm about a rotation axis. A rotation of the arm about a rotation axis causes a movement of the door with respect to the door frame.

[0005] In an aspect, a system for door actuation is presented. The system includes a first element attached to a door, wherein the first element has a sensor configured to detect a presence of a user. The system includes a second element attached to a door frame of the door. The system includes an arm rotatably connected between the first element and the second element. The system includes a motor housed within the first element and configured to rotate the arm about a rotation axis. The system includes a controller housed within the first element. The controller is configured to determine an operation of the motor based on the detected presence of the user.

[0006] These and other aspects and features of non-limiting embodiments of the present disclosure will become apparent to those skilled in the art upon review of the following description of specific non-limiting embodiments of the disclosure in conjunction with the accompanying drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] For the purpose of illustrating the disclosure, the drawings show aspects of one or more embodiments of the disclosure. However, it should be understood that the present disclosure is not limited to the precise arrangements and instrumentalities show n in the drawings, wherein:FIG. 1 is a perspective view of a door equipped with a door actuator according to an embodiment of the present disclosure;FIG. 2 is an exploded view of an element of the door actuator of FIG. 1, integral w ith the door and equipped with a reducer;FIG. 3 is an enlarged view of a detail of FIG. 2, showing the reducer;FIGS. 4A-B are perspective views showing the assembly of a door actuator according to an embodiment of the present disclosure on doors with clockwise and anticlockwise opening; FIG. 5 is a schematic view showing the opening of a door w ith a wall arranged substantially orthogonal with respect to the frame of the door near the door itself;FIG. 6 is a perspective view of an alternative embodiment of the present disclosure, in which a door actuator is mounted on the shutter of a window-;FIG. 7 is a perspective view of an embodiment of a door frame having an integrated actuator. FIG. 8 is another perspective view of an embodiment of a door frame having an integrated actuator;FIG. 9 is yet another perspective view of a door frame having an integrated actuator; FIG. 10 is a perspective view of an embodiment of a door frame having an integrated actuator;FIG. 11 is a sectional view of an embodiment of a door frame illustrated in perspective view in FIG. 10; andFIG. 12 is yet another sectional view of an embodiment of a door frame illustrated in perspective view in FIG. 10.The drawings are not necessarily to scale and may be illustrated by phantom lines, diagrammatic representations and fragmentary views. In certain instances, details that are not necessary for an understanding of the embodiments or that render other details difficult toperceive may have been omitted.DETAILED DESCRIPTION

[0008] In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. It will be apparent, however, that the present disclosure may be practiced without these specific details. As used herein, the word "exemplary" or "illustrative" means "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" or "illustrative" is not necessarily to be construed as preferred or advantageous over other implementations. All of the implementations described below are exemplary implementations provided to enable persons skilled in the art to make or use the embodiments of the disclosure and are not intended to limit the scope of the disclosure, which is defined by the claims.

[0009] At a high level, aspects of the present disclosure are directed to door actuators. In some embodiments, embodiments of the present disclosure may be used to automatically open and / or close doors. Aspects of the present disclosure may be used to provide an aesthetically pleasing automatic door. For instance, door actuators described herein may be concealed within a door frame. Embodiments of the present disclosure can provide for a door actuator which may open and close a swing door, is highly reversible, noiseless, and simple to manufacture. Embodiments of the present disclosure can be used to provide a door actuator which generates a large enough torque to actuate most common doors and has small dimensions to be concealed w ithin a door frame. In another embodiment, embodiments of the present disclosure can provide an actuator small enough to fit, invisibly, in the frame of common doors. Apparatuses, systems, and methods of the present disclosure can enable assisted doors that look and feel like normal doors to the users, but may be actuated by a digital control system.

[0010] Note that here and in the following the term "swing door" refers to an element that can be hinged to a wall or other fixture capable of selectively opening and closing at least partially an opening in the wall or other fixture itself. A door actuator according to the present disclosure can be mounted on a sash or shutter of a window-, a cabinet, a refrigerated container, a mobile wall, and / or a small gate, without limitation.

[0011] Referring now to FIG. 1, a perspective view- of door 100 equipped with door actuator 104 is illustrated. Door 100 may be any type of door, such as, but not limited to. glass, wood, metal, and the like. Door 100 may have one or more dimensions such as, butnot limited to, height, width, length, and the like. As a non-limiting example, door 100 may be 96 inches tall. 36 inches wide, and about 2 inches thick. Door 100 may be a residential, office, business, or other door.

[0012] Door actuator 104 may be attached to door 100 and / or frame 120, such as through screws or other coupling elements. Door actuator 104 may be configured to operate a movement of door 100. Door actuator 104 may be configured to move door 100 through opening 124 of frame 120 which may open or close door 100 with respect to frame 120. For instance, door actuator 104 may cause door 100 to rotate in clockwise direction A or opposite to clockwise direction A. Door actuator 104 may be configured to rotate door 100 about a y-axis with respect to door frame 120. Door actuator 104 may be configured to open and / or close door 100 with respect to door frame 120 at various levels, such as. at various angles with respect to door frame 120. Door actuator 104 may be configured to move door 100 anywhere between about 1 to 180 degrees with respect to door frame 120.

[0013] Door actuator 104 may include first element 108, second element 112, and / or arm 116. First element 108 may be connected to second element 112 through arm 116. First element 108 may have a rectangular, square, circular, or other shape. First element 108 may be attached to a surface of door 100. First element 108 may be attached to a surface of door 100 through screws, adhesives, and / or other securing elements. For instance and without limitation, first element 108 may be attached to exterior top surface portion 132 of door 100. Exterior top surface portion 132 may be an area of door 100 that is closest to a height of frame 120. First element 108 may be positioned at or near a center of exterior top surface portion 132 of door 100. First element 112 may include one or more mechanical and / or electrical components and / or sensors as described in greater detail below with reference to FIG. 2.

[0014] With continued reference to FIG. 1, second element 112 may be attached and / or positioned on a surface of frame 120. Frame 120 may include a surrounding structure of door 100. For instance, frame 120 may be a door frame of door 100. Frame 120 may surround opening 124. Opening 124 may be a space inside of frame 120. Door 100 may move through opening 124, in some embodiments. Frame 120 may be larger than door 100, for instance door 100 and / or components of door 100 may fit inside of opening 124 of frame 120. Frame 120 may have a shape corresponding to door 100. For instance and without limitation, frame 120 may have a rectangular shape that may be slightly larger than a rectangular shape of door 100. In some embodiments, second element 112 may be positioned at a top of frame 120. A top of frame 120 may be positioned above a top of door100, such as above exterior top surface portion 132. In some embodiments, second element 112 may be positioned at a center of a top of frame 120. Second element 112 may have dimensions differing than that of first element 108. For instance, second element 1 12 may be longer than first element 108. Second element 112 may run along a length of a top of frame 120, such as along an x-axis with respect to frame 116. Second element 112 may include one or more guiding members, such as rails, tracks, and the like. Guiding members of second element 112 may be located on a bottom side of second element 112, such as a side of second element 1 12 closest to a top of door 100. Guiding members of second element 112 may allow a lateral movement of an end of arm 116. As a non-limiting example, arm 116 may move laterally along a length of second element 112, for instance along an x-axis with respect to frame 120. First element 108 may rotate arm 116 along a length of second element 112, such as by a motor as described below with reference to FIG 2. In other embodiments, second element 112 may rotate or otherwise move arm 116, such as by one or more motors or other mechanical elements.

[0015] Still referring to FIG. 1, door 100 may be connected to frame 120, such as through one or more door hinges 128. In some embodiments, door 100 may be connected to frame 120 through two or more door hinges 128. A first door hinge 128 may be positioned near a top of door 100 and a second door hinge 128 may be positioned near a bottom of door 100. Door hinges 128 may be any type of door hinge, without limitation, such as ballbearing hinges, butt hinges, flush hinges, concealed hinges, and the like. Door hinges 128 may allow door 100 to be rotatable with respect to frame 120. For instance door 100 may be rotatable about ay-axis of frame 120. In some embodiments, door 100 may be rotatable at least betw een a closing position and an opening position with respect to frame 120 and / or opening 124. In a closed position door 100 may be superimposed on opening 124 which may prevent passage of one or more persons through opening 124. In an open position door 100 may be positioned away from opening 124, w hich may allow- a passage of one or more persons through opening 124. For instance and without limitation, door 100 may be positioned adjacent to, perpendicular to, and / or parallel to opening 124 in an open position. In some embodiments, a closed position of door 100 may include a partial closure, such as, but not limited to, quarter-closed, half-closed, three-quarters closed, and the like. Likewise, an open position may include a partial opening, such as quarter-opened, half-open, three- quarters open, and the like. An area of opening 124 may decrease w hile door 100 is in a closed and / or partially closed position. Likewise, an area of opening 124 may increase while door 100 is in an open position. In some embodiments, two or more doors 100 may be used.For example, and without limitation, two doors 100 may be provided to close a same opening 124. in which each of the two doors 100 may be adapted to close half of opening 124. This configuration may be described in further detail below with reference to FIG. 6.

[0016] Still referring to FIG. 1, in some embodiments, first element 108 and second element 112 may be connected by arm 116. First element 108 may connected to an end of arm 116. Arm 116 may include one or more portions, as described in greater detail below with reference to FIG. 2. In some embodiments, arm 116 may be rectangularly shaped. Arm 116 may be configured to transfer force from first element 108 to second element 112 and vice versa. Force transferred between first element 108 and second element 112 may be kinetic force, such as linear, angular (or “rotational'’), and / or other forms of kinetic force. In some embodiments, arm 116 may provide a torque about hinges 128 through applied force of first element 112 and / or second element 116 that may cause door 100 to move through opening 124. As a non-limiting example, first element 108 may move rotate arm 116 about a rotatable axis A which may cause an end of atm 116 to move along second element 112. A movement of an end of arm 116 along second element 112 may provide a positive or negative torque about door hinges 128. A torque applied to door hinges 128 may cause door 100 to enter an open or closed position. In some embodiments, arm 1 16 may be connected to a top portion of first element 108 and / or a bottom portion of second element 112. Arm 116 may be configured to travel along an x-axis of second element 112, which may allow for a rotation of door 100 via a connection of arm 116 to first element 108. First element 108 and / or second element 1 12 may rotate an end of arm 11 which may apply a force to door 100. In some embodiments, first element 108 may include a motor that may rotate arm 116 along a track of second element 112. In other embodiments, second element 112 may include a motor that pushes and / or pulls arm 116 which may apply a force to first element 108. For instance and without limitation, arm 1 16 may travel in a positive direction of an x- axis of second element 112, which may cause door 100 to rotate towards opening 124. Likewise, arm 116 may travel in a negative direction of an x-axis of second element 112, which may cause door 100 to rotate away from opening 124.

[0017] Still referring to FIG. 1. in some embodiments, door actuator 104 may include one or more processors that may be configured to operate first element 108 and / or second element 112. A processor may include, but is not limited to, a controller, microcontroller, and / or other computing device capable of executing instructions. For instance, a controller may be integrated into first element 108 and / or second element 112. In some embodiments, a first controller may be integrated into first element 108 and a second controller may beintegrated into second element 112. A controller of first element 108 and / or second element 112 may be configured to operate a motor of first element 108 and / or second element 112. In some embodiments, first element 108 and / or second element 1 12 may include one or more sensors that a controller may be configured to receive sensor data from. A controller may be configured to operate a motor of first element 108 and / or second element 112 based on received sensor data.

[0018] Referring now to FIG. 2, an exploded view of first element 108 of the door actuator 104 of FIG. 1 is shown. First element 108 may include plate 200 and / or casing 204. Plate 200 may be made of metal, plastic, or other materials. Plate 200 may be shaped rectangularly, ovular, circular, and / or other shapes. Plate 200 may be made of plastic, metal, and / or other materials. Plate 200 may connect first element 108 to door 100, such as through one or more screws, adhesives, and the like. Plate 200 may be constrained or otherwise secured to door 100 by screws or other threaded elements. Plate 200 may be connected to casing 204. Casing 204 may have a hollow' interior which may be suitable to contain one or more components of first element 108, such as electrical, mechanical, or other components. Casing 204 may be made of a same material as that of plate 200. In other embodiments, casing 204 may be made of a differing material than that of plate 200. Plate 200 may have a same length of that of casing 204. For instance and without limitation, ends of plate 200 and casing 204 may be sized to connected with each other. Casing 204 may provide a housing for one or more components of first element 108. Plate 200 and casing 204 may be coupled by screws or other elements.

[0019] With continued reference to FIG. 2, in some embodiments, first element 108 includes motor 208. Motor 208 may be a brushless direct current (DC) motor or other motor. In some embodiments, motor 208 may be configured to rotate. Motor 208 may rotate about axis M, such as in a clockwise or counter clockwise direction. Motor 208 may be configured to rotate at a speed between 0 rotations per minute (RPM) and about 500 RPM. In some embodiments, motor 208 may be configured to control a movement of arm 118, directly or indirectly. For instance and without limitation, motor 208 may apply a torque to reducer 232 such as through worm screw 220. Reducer 232 may translate rotation of motor 208 in a first direction about axis M into a rotation in about axis Z in a second direction, which may rotate third arm portion 212c. In other embodiments, motor 208 may rotate third arm portion 212c directly. First arm potion 212a, second arm portion 212b, and / or third arm portion 212c may be configured to rotate about axis Z, such as in a clockwise or counterclockwise direction relative to axis Z.

[0020] First element 108 may be equipped with electrical terminals 216a, 216b, and / or 216c. Electric terminals 216a-c may supply voltage and / or current to motor 208. For instance, electric terminals 216a-c may be connected to wiring 220. Wiring 220 may connect one or more components of first element 108 to an external power source. An external power source may include an electrical grid, batten', and / or other power source. For the purposes of illustration, motor 208 and electrical terminal 216a are shown twice, a first time in a continuous line in an exploded condition and a second time in a broken line coupled to first element 108.

[0021] Referring back to motor 208, in some embodiments, motor 208 may include a worm screw 220. An actuation of motor 208 may cause a rotation of worm screw 220, such as about axis M. Worm screw 220 may be a screw with at least two principles, in some embodiments. At least two principles of worm screw 220 may allow for a coupling between worm screw 220 and reducer 224. In some embodiments, a coupling between worm screw 220 and reducer 224 may be reversible. Although motor 208 is depicted integral with first element 108, it should be noted that in some embodiments motor 208 may be mounted on second element 112 or frame 120. without limitation. In some embodiments, first element 108 may include a reducer 232, as explained in further detail below with reference to FIG. 3.

[0022] Still referring to FIG. 2, first element 108 may connect to arm 116. such as through screw 236. In some embodiments, arm 116 may have one or more portions. For instance, arm 1 16 may have two or more portions, such as first arm portion 212a, second arm portion 212b, and / or third arm portion 212c. Arm portions 212a-c may be constrained in a movable and / or rotatable way, such as, but not limited to. rotating about axis Z. First arm portion 212a may be connected to a top of first element 108 through connector 240. Connector 240 may be a circular protrusion of a top surface of first element 108. Connector 240 may secure third arm portion 212c to a top of first element 108 through screw 236, in an embodiment. In some embodiments, first arm portion 212a may be configured to attach to second element 112, and second arm portion 212b may connect first arm portion 212a to first element 112 through third arm portion 212c. Second arm potion 212b may connect to third arm portion 212c through arm connector 244. Arm connector 244 may be a circular protrusion on a top surface of third arm portion 212c. First arm portion 212a may be operable to extend away from second arm portion 212b, such as through one or more extending structures of first arm portion 212a. Extending structures may include one or more components that fit inside one or more other components. Components that fit insideother components may be operable to slide within the other components. As a no-limiting example, first arm portion 212a may have an outer component containing a middle component and an inner component. The middle component may contain the inner component. The middle component may be operable to slide along an interior of the outer component and may come into contact with a stopper of the outer component. The inner component may slide along an inside of the middle component and may come into contact with a stopper of the middle component. A full extension of first arm portion 212a may include a ful extension of an outer component, middle component, and / or inner component, in some embodiments. Extending structures first arm portion 212a may be operable to extend about 1 to 2 feet, in an embodiment. An end of first arm portion 212a may connect to second element 112 in some embodiments. Third arm portion 212c may be hinged to one of first arm portion 212a or second arm portion 212b, such as through screws or other coupling elements. In some embodiments, third arm portion 212c may be circular with a rectangular end. A rectangular end of third arm portion 212c may be connected to a circular portion of third arm potion 212c at an angle, such as. but not limited to, about 120 degrees to about 160 degrees. In some embodiments, third arm potion 212c may be connected to a circular portion of third arm portion 212c at an angle above 160 degrees or less than 120 degrees, without limitation. A rectangular end of third arm portion 212c may connect to an end of second arm portion 212b. Third arm portion 212c may be operable to move second arm portion 212b and / or first arm portion 212a such as through a rotation of motor 208 as described below.

[0023] In some embodiments, first element 108 may include sensors 228a, 228b, and / or 228c. In some embodiments, sensors 228a-c may include one or more of a passive infrared motion sensor, infrared camera, depth camera, radar sensor, and / or time-of-flight range sensor. Sensors 228a-c may include two or more of a same sensor. In other embodiments, each sensor of sensors 228a-c may be different. As a non-limiting example, sensor 228a may be a passive infrared sensor, sensor 228b may be an infrared camera, and sensor 228c may be a depth camera. A controller of first element 108 and / or second element 112 may be configured to control an opening of a door based on data received from one or more of sensors 228a, 228b, and / or 228c. For instance, and without limitation, sensors 228a, 228b, and / or 228c may be configured to detect a presence of a user in a proximity' of a door. Motor 208, sensors 228a-c, and in general the various electronic components of door actuator 104 may be controlled by a controller.

[0024] In some embodiments, first element 108 may include ball bearing 250. Ballbearing 250 may connect one or more gears, screws, and the like to cover plate 258. In some embodiments, one or more portions of a reducer, such as reducer 232, may connect to cover plate 258 through ball bearing 250. First element 108 may include bushings 254. Bushings 254 may reduce one or more vibrations produced by reducer 232. In some embodiments, bushings 254 may provide extra friction to one or more parts of reducer 232. Bushings 254 may connect gears, screws, and the like to cover plate 258. Cover plate 258 may connect to a gearbox of first element 108 through one or more screws.

[0025] Referring now to FIG. 3, an enlarged view of reducer 232 is illustrated. Reducer 232 may include a helical wheel 304. Helical wheel 332 may be coupled with worm screw 220 via at least two principles. A coupling between worm screw 220 and helical wheel 332 may be reversible. In some embodiments, a torque applied by motor 208 to worm screw 220 screw may cause helical wheel 332 to rotate. For instance, worm screw 220 may rotate about axis M. A rotation of worm screw 220 about axis M may cause a rotation of helical wheel 332 about axis Al. In some embodiments, in a reverse operation mode, a torque applied to helical wheel 332 may cause motor 208 to rotate.

[0026] In some embodiments, reducer 232 may include planetary gear 308. Planetary gear 308 may provide a high, and also variable, reduction (i.e. gear ratio), occupying a small space. A high variable gear reduction of planetary' gear 308 may allow a door to have smaller dimensions and provide a high torque to a door. A smaller occupying space of a gear ratio of reducer 232 may enable reducer 232 and / or a door actuator to be used on smaller doors. In some embodiments, small dimensions of a door actuator may allow for a high opening angle of a door, even in a case of an orthogonal (or substantially orthogonal) wall near a frame of the door, as schematically illustrated in FIG. 5. Small dimensions of a door actuator may also provide aesthetic advantages to a door. For example, referring back to FIG. 1, in an embodiment, first element 108 may be integrated into door 100 itself, or into frame 120, which may' help to avoid spoiling the appearance of the facade of the door 100.

[0027] With continued reference to FIG. 3, in some embodiments, one or more planetary' gears 308 may be used. Planetary gear 308 may include a sun 312, a ring gear 316 and a plurality of planets 320. Plurality of planets 320 may rotate output shaft 324. Sun 312 may be in a form of a toothed wheel which may be coaxial with ring gear 316 and may mesh with planets 320. Planets 320 may also be in a form of toothed wheels, in an embodiment. Ring gear 316 may mesh with planets 320. Planets 320 may be coupled to shafts 328. Shafts 328 may be integral with each other. In some embodiments, shafts 328 may rotate output shaft 324, such as about axis Al.

[0028] Still referring to FIG. 3, in some embodiments, output shaft 324 may be coupled, directly or indirectly, to arm 118. A coupling of output shaft 324 to arm 118 as described above with reference to FIG. 2, which may enable output shaft 324 to control a rotation of arm 118. In one embodiment, sun 312 may be integral in rotation to helical wheel 332, or to an element coupled to worm screw 220. A coupling between motor 208 and reducer 232 may have two or more reduction stages in some embodiments. A first stage may be provided by a coupling between worm screw 220 and helical wheel 332. A second stage may be provided by planetary gear 308. In some embodiments, helical wheel 332 may be integral in rotation with a first toothed wheel 336. First toothed wheel 336 may mesh with a second toothed wheel 340. Second toothed wheel 340 may be integral in rotation with sun 312. In some embodiments, there may be three reduction stages. A first stage may be provided by a coupling between worm screw 220 and helical wheel 332. A second stage may be provided by a coupling between first and second toothed wheels 336, 340. A third stage may be provided by planetary7gear 308.

[0029] Still referring to FIG. 3, in some embodiments, second toothed wheel 340 mayrotate about axis of rotation A2 which may coincide with an axis of rotation Al of sun 312, of ring gear 316, and / or of an axis of the output shaft 324. Axis of rotation Al of first toothed wheel 336 may coincide with axis of rotation A2 of helical wheel 332. In some embodiments, axes of rotation Al and A2 may be coplanar. A coplanarity of axes of rotation Al and A2 may provide a symmetry of a door actuator 104, which may allow a simple use of door actuator 104 both on a door 100 which has clockwise rotation and on a door 100 which has anticlockwise rotation. This aspect is schematically illustrated in Figures 4A and 4B.

[0030] Still referring to FIG. 3, in some embodiments, output shaft 324 may have a first portion 324a and / or a second portion 324b. First portion 324a and / or second portion 324b of output shaft 324 may be connected, directly or indirectly, to arm 118. Second portion 342b of output shaft 324 may be located opposite first portion 324a of output shaft 324. Second portion 324b of output shaft 324 may pass at least through sun 312. and / or also through second toothed wheel 340. A passing of second portion 324b through sun 312 and / or also second toothed wheel 340 may allow for a greater resistance to a bending moment acting on output shaft 324. It should be noted that second portion 324b of output shaft 324 may not be integral in rotation with sun 312 and with second toothed wheel 340 in some embodiments, which instead may rotate freely around output shaft 324.

[0031] In other embodiments, not shown, reducer 232 may include further reductionstages, for example additional toothed wheels interposed between worm screw 220, first toothed wheel 336. and / or between second toothed wheel 340 and planetary gear 308. In some embodiments, other elements may be interposed between output shaft 342 and arm 116 which may create additional reduction stages. Motor 208 may rotate worm screw 220, which may drive reducer 338. Worm screw 220 may rotate helical wheel 332. In some embodiments, first toothed wheel 336 may be integral with helical wheel 332. A rotation of helical wheel 332 may cause a rotation of first toothed wheel 336. First toothed wheel 336 may mesh with second toothed wheel 340. Sun 312 may be integral with second toothed wheel 340 and may drive planetary gear 308. One of ordinary' skill in the art, upon reading this disclosure, will understand the workings of planetary gears that may be used.

[0032] Referring back to FIG. 1, output shaft 324 may rotate arm 116 with respect to first element 108 and / or second element 112. First and second elements 108 and 122 may be integral with door 100 and frame 200 respectively, or vice versa, which may set door 100 in rotation by the relative rotation between arm 116 and first and second elements 108, 112. In some embodiments, door 100 may be opened or closed according to a direction of rotation of worm screw 220.

[0033] Referring back to FIG. 3, in some embodiments, a door actuator may include a sensor that may be configured to detect an angular position of a door. A sensor may include an encoder, such as, but not limited to, a rotary, linear, position, optical, magnetic, or other type of encoder. An angular position of a door may be detected by monitoring an angular position of output shaft 324. Output shaft 324, and second portion 324b may be equipped with a magnet 344. Magnet 344 may have one or more magnetic fields, such as a radial magnetic field. Magnet 344 may be integral in rotation with output shaft 324. A door actuator may include a sensor 345 which may be configured to detect an angular position of magnet 344, for example by detecting a magnetic field of magnet 344. An angular position of a door may be used by a controller to operate movement of a door and / or interpret various inferences based on an angular position of the door.

[0034] Referring now to FIG. 4A, a perspective view showing an assembly 400a of a door actuator 404a on a door 408a with a clockwise opening is illustrated. Door 408a may rotate clockw ise from door frame 412a. Door 408a may rotate through at least a portion of opening 416a. In some embodiments, door actuator 404a may engage a motor 420a. Door actuator 404a may be secured to a top portion of door 408a by attaching first element 424a to a top portion of door 408a through plate 428a and / or screws 432a. Second element 436a may be attached to frame 412a, such as through one or more screws, adhesives, and the like.In some embodiments, door actuator 404a may be secured to a top portion of door 408a in a reverse order by attaching first element 424a to frame 412a through plate 428a and / or screws 432a and attaching second element 436a to door 408a. An engagement of motor 420a may cause a movement of door 408a through opening 416a. Door actuator 404a, door 408a, first element 424a, second element 436a, and motor 420a may be as described above with reference to FIGs. 1-3.

[0035] Referring now to FIG. 4B, a perspective view show ing assembly 400B of a door actuator 404B on a door 408B with a counter-clockwise opening is illustrated. Door 408B may be configured to rotate counter-clockwise about a right side of door frame 412B. In some embodiments, door actuator 404B may be secured to a top portion of door 408B through plate 428B and / or screws 432B. In some embodiments, door actuator 404B may include motor 420B. Motor 420B may be configured to rotate one or more gears, which may allow- for an opening and / or closing of door 408B through opening 416B. Door actuator 404B and door 408B may be as described above with reference to FIG. 4A.

[0036] Referring now to FIG. 5, a schematic view showing an opening of door 500 with wall 504 arranged almost orthogonal with respect to a frame 508 is illustrated. Door 500 may be connected to wall 504 at a substantially perpendicular angle. In some embodiments, door 500 may be configured to rotate outw ards from wall 504 in direction T, such as a counter-clockwise or clockwise direction with respect to wall 504. Door 500 may be moved by door actuator 508, as described above with reference to FIGs. 1-3. Door actuator 508 may move and / or extend arm 512, which may cause a movement of door 500. Arm 512 may be moved through a motor of door actuator 508 as described above with reference to FIGS. 1-3.

[0037] Referring now to FIG. 6, a perspective view of an alternative embodiment of two door actuators 604a-b mounted on a shutters 600a-b of window 616 is illustrated. Door actuators 604a-b may be the same as described above with reference to door actuator 104 as described in FIG. 1. Door actuator 604a may be configured to move first arm 608a, which may move first shutter 600a. Likewise, door actuator 604b may be configured to move second arm 608b which may move second shutter 600b. Ends of arms 608a-b may be operable to slide along track element 612. First arm 608a and / or second arm 608b may move in direction B. A movement of first arm 608a and / or second arm 608b in direction B may cause a rotation of shutters 600a-b relative to window 616 which may cause shutter 600a and / or 600b to open or close. Shutter 600a and / or 600b may open and close partially, fully, incrementally, and the like. In some embodiments, track 612 may be suitable for botharms 608a-b. In other embodiments, track 612 may include two rails or other guiding members, one for first arm 608a and one for second arm 608b. Ends of arms 608a-b may slide along track 612, in some embodiments. A movement of arms 608a-b along track 612 may enable door actuators 604a-b to open and / or close shutters 600a-b. Door actuators 604a-b may be positioned at a top interior portion of each of shutters 600a-b, which may reduce visibility of door actuators 604a-b. For instance, in a closed position of shutters 600a-b. door actuators 604a-b may not be visible from an outside view. In some embodiments, a single door actuator may control both shutters 600a-b. In other embodiments, two or more door actuators 604a-b may individually control each shutter of shutters 600a-b.

[0038] Referring now to FIG. 7, an embodiment of a door actuator 704 housed within door frame 708 is illustrated. In some embodiments, door actuator 704 may be housed in an upper part of door frame 708. Door actuator 704 may be anchored to an upper or other part of door frame 708 through one or more securing mechanisms, such as screws. Screws maybe inserted from a lower part of a gear reducer. A gear reducer may be positioned so that an axis of an output shaft of door actuator 704. which may be parallel to that of hinges 716 of door 100, has an optimal distance with respect to a parallel axis of hinges 716. An optimal distance of an axis of output shaft of door actuator 704 may allow operating arm 712 to appear practically invisible during an opening and / or closing of door 720.

[0039] Referring now to FIG. 8, a top view of the integrated door actuator depicted in FIG. 7 is illustrated. In some embodiments, while door 800 is closed, arm 804 may' be completely hidden from view both by the presence of edge 836 of door 800, and by a portion of door frame 812 which may form a ledge for door 800. Arm 804 may be integrally connected to output shaft 820 of door actuator 828 by means of screw 816 (illustrated within arm 804). Screw 816 may be easily accessed with door 800 in an open position. Arm 804 may travel along track 824 of door 800 as described in further detail below with reference to FIG. 9. In some embodiments, door actuator 828 may be mounted on door frame 812. In some embodiments, door actuator 828 may be mounted on door frame 812 and cover 832 may be mounted on a crosspiece of door frame 812. In some embodiments, cover 832 may be mounted even before having fixed operating arm 804 to output shaft 820 of door actuator 828, which may hide a gearmotor and other various components door actuator 828. In some embodiments, cover 832 may be anchored to door frame 812 and / or wall 840 by means of magnets, which may allow for easy access to door actuator 828 which may help facilitate any maintenance operations.

[0040] Referring now to FIG. 9, a top view of an opening of door 800 as shown in FIG. 8 is illustrated. Door 800 may move between a closed A and open position B relative to frame 812 and / or wall 840. Door 800 may move in clockwise direction Z or in a counterclockwise direction opposite Z. A movement of arm 804 of door actuator 828 may cause a movement of door 800 relative to frame 812 and / or wall 840. In some embodiments, door 800 may include track 824. Track 824 may include an indented portion of door 800. Track 824 may include one or more rails or other guiding elements. In some embodiments, arm 804 may slide along track 824, such as by, but not limited to, slider 844. In some embodiments, arm 804 may slide on slider 844. Slider 844 may be a ball bearing, low friction element, or other component that may be operable to slide along track 828. Door actuator 828 may cause a rotation of arm 804 which may cause an end of arm 804 opposite door actuator 828 to move along track 824 facilitated by slider 844. While arm 804 moves along track 824, door 800 may rotate about door hinges 848. Arm 804 may move due to a movement of output shaft 820 of door actuator 828, which may be caused by one or more motors of door actuator 852.

[0041] Referring now to FIG. 10. a perspective view of a door frame 1008 having integrated actuator 1004 is shown. Door frame 1008 may include any door frame as described above, without limitation. Door frame 1008 may enclose door 1000. In some embodiments, door 1000 may be at least partially housed within a portion of door frame 1008. For instance, and without limitation, a side of door 1000 may be housed within door frame 1008, which may form a flush door. A ‘'flush door’’ as used in this disclosure is a door that is completely contained within a door frame when in a closed position. Door frame 1008 may additionally house integrated actuator 1004. Integrated actuator 1004 may be housed within a top portion of door frame 1008. Integrated actuator 1004 may be housed within a left, right, and / or other side of door frame 1008. In some embodiments, integrated actuator 1004 may be positioned within a top portion of door frame 1008, such as near a hinge of door 1000. Integrated actuator 1004 may be configured to operate a positioning of door 1000 through arm 1016, as described above. In some embodiments, door 1000 may include a recess which may include a rail element 1000c. Rail element 1000c may be made of plastic, metal, or other materials. Integrated actuator 1004 may be configured to operably move arm 1016 along rail 1000c. Arm 1016 may move along rail 1000c through one or more ball bearings, sliders, and the like as described above. A movement of arm 1016 along rail element 1000c in direction S, which may cause a rotation of door 1000 with respect to a y-axis and / or relative to door frame 1008. Door 1000 may rotate in direction L or oppositedirection L. In an embodiment, a slider used may be a wheel supported by a bearing made of plastic, metal, or other material. In an embodiment, a slider may be a ball bearing. In another embodiment, a slider may comprise a substantially rectangular element sliding along rail 1000c, constructed with a low friction material such as plastic, metal, or other materials, connected rotatably to arm 1016. Integrated actuator 1004 may position door 1000 from a closed position to an open position, and vice versa. In some embodiments, rail 1000c may allow arm 1016 to position door 1000 up to 180 degrees from a closed position. Door 1000 may include door edge 1000b. Door edge 1000b may include one or more sides and / or portions of door 1000, which may conceal arm 1016 and / or a recess and rail 1000c of door 1000. Door edge 1000b may be configured to allow integrated actuator 1004, arm 1016, and / or a recess and rail 1000c of door 1000 to remain hidden from sight.

[0042] Referring now to FIG. 11, a perspective view of integrated actuator 1004 in a closed door 1000 as depicted in FIG. 10 is illustrated. As noted above, integrated actuator 1004 may be housed within a top portion of door frame 1012. Output shaft 1024 of integrated actuator 1004 may include and be connected to arm 1020 and may include a threaded hole for a screw 1028 connecting output shaft 1024 and arm 1020. Door edge 1000b may conceal integrated actuator 1004, rail 1000c and a recess of door frame 1012 within which door actuator 1004 is installed, and / or arm 1020. In some embodiments, door frame 1012 may include edge 1016. Edge 1016 may be designed to conceal integrated actuator 1004, arm 1024, and / or recess 1000c while door 1000 is in a closed position. In some embodiments, a portion of top door frame 1012 including edge 101 is separate from a remaining part of door frame 1012 and may be fastened to door frame 1012 by means of screw s and / or magnets. In some embodiments, a part of door frame 1012 may include a substantially circular hole that may allow output shaft 1024 of door actuator 1004 integrated into door frame 1012 to connect to arm 1020 positioned outside of door frame 1012 and to cause its rotation.

[0043] Referring now to FIG. 12, another perspective view' of integrated door actuator 1004 in a door as in FIG. 10 is illustrated. Door frame 1012 may be anchored to wall 1040 or another support structure and may include door edge 1016. Door 1000 may include rail 1000c and door edge 1000b, as described above. Integrated door actuator 1004 may include output shaft 1024 which may be connected to arm 1020. Arm 1020 may be connected to slider 1028. Slider 1028 may include any slider as described throughout this disclosure, without limitation. In some embodiments, door edge 1000b may include a tapered portion 100b’. A '‘tapered portion” as used in this disclosure is a length of material having a varyingthickness. Tapered portion 1000b’ of door edge 1000b may allow door 1000 to be opened at angles larger than 90 degrees from a closed position through a movement of arm 3.

[0044] Exemplar}’ embodiments have been disclosed above and illustrated in the accompanying drawings. It will be understood by those skilled in the art that various changes, omissions and additions may be made to that which is specifically disclosed herein without departing from the spirit and scope of the present disclosure.

Claims

What is claimed is:

1. A door actuator, comprising: a first element attached to a door; a second element attached to a door frame; an arm rotatably connected between the first element and the second element; and a motor housed within the first element and configured to rotate the arm about a rotation axis, wherein a rotation of the arm about a rotation axis causes a movement of the door with respect to the door frame.

2. The door actuator of claim 1, wherein the arm includes a first portion rotatably connected to the first element, a second portion rotatably connected to the first element, and a third portion rotatably connected to the second portion, wherein the third portion includes a telescopically extending member that contacts the second element.

3. The door actuator of claim 1, wherein the second element includes a track, wherein an end of the arm is operable to move along the track of the second element.

4. The door actuator of claim 1, wherein the first element comprises: a worm screw connected to the motor; and a reducer connected to the worm screw and a first portion of the arm, wherein the reducer transfers a rotation of the motor along a first axis to a rotation of the arm along a second axis.

5. The door actuator of claim 4, wherein the reducer comprises: a helical wheel coupled to the worm screw; a first toothed wheel coupled to the helical wheel; a second toothed wheel coupled to the first toothed wheel; and a sun of a planetary gear coupled to the second toothed wheel.

6. The door actuator of claim 5, wherein the first toothed wheel has an axis of rotation parallel to an axis of rotation of the second toothed wheel.

7. The door actuator of claim 1, wherein the second element has a length running across an x-axis of the door frame.

8. The door actuator of claim 1 , wherein the first element includes a sensor configured to detect an angular position of an output shaft of the motor.

9. The door actuator of claim 8, wherein the sensor is one of a radially magnetized magnet or encoder.

10. The door actuator of claim 1, wherein the first element is integrated into the doorframe.

11. A system for door actuation, comprising: a first element integrated into a door frame, the first element housing a motor; a second element positioned in a track on top of a door, the track indented into the top of the door; and an arm connecting the first element to the second element, the arm configured to rotate the second element, wherein a rotation of the second element causes the second element to move along the track on top of the door.

12. The system of claim 11, wherein the track includes a slider, the slider operable to move the second element along the track.

13. The system of claim 12, wherein the slider is a ball bearing.

14. The system of claim 11, wherein the door has an edge with a tapered portion, the tapered portion concealing the second element and the arm from view.

15. The system of claim 11, wherein the door is a swing door.

16. The system of claim 1, wherein the rotation of the second element causes a rotation of the door.

17. The system of claim 11, wherein the first element includes a cover.

18. The system of claim 11, wherein an output shaft of the motor is connected to an end of the arm.

19. The system of claim 11, wherein the motor includes a reducer, the reducer comprising: a helical wheel coupled to the worm screw; a first tooth wheel coupled to the helical wheel; a second toothed wheel coupled to the first toothed wheel; and a sun of a planetary gear coupled to the second toothed wheel.

20. The system of claim 11, wherein the motor is a direct current (DC) brushless motor.

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