Electric curtain drive device

Abstract

The device for opening and closing a curtain on a rod or rail includes a driven wheel coupled to a motor within a housing. The driven wheel protrudes from the housing and frictionally engages the rod or rail. The device further includes a suspension assembly including a support member and one or more linkages. The support member is in sliding or rolling contact with the rod or rail. The linkages extend along independent suspension axes and connect the support member to the housing, suspending the housing from the support member and enabling the device to traverse steps in the rod or rail. To open or close the curtain, the driven wheel is rotated by the motor, advancing the device along the rod or rail. The curtain-opening system may further include one or more sensor targets disposed on the rod or rail, and an encoder and a sensor operably connected to a controller of the device for automatically calibrating position tracking.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of and priority to U.S. Provisional Application No. 63 / 441,363, filed January 26, 2023, the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to the field of smart homes, and more particularly to an electric device for opening and closing curtains that allows for automatic control. [Background technology]

[0003] There are many devices that allow motorized devices to operate the opening and closing of curtains. One conventional approach involves installing a curtain track with an internal motorized mechanism to open and close the curtain. This approach involves a laborious installation process and the need to obtain compatible curtains. Another conventional approach involves motorizing the movement of a head carriage fixed to the end of the curtain. This approach generally involves a complex installation procedure that may require professional services.

[0004] A further approach incorporates a carriage with a friction wheel that is driven by a motor and contacts the running surface along a rail or rod. The device propels the curtain while suspended from the rail or rod. However, conventional hanging-type motorized curtain opening / closing devices have created several drawbacks and a series of new technical challenges. One drawback of conventional hanging-type curtain opening / closing devices is that they can get in the way while traveling along the rod or rail. Existing hanging-type curtain opening / closing devices can get caught on the rod joint of telescopic curtain rods and can become stuck when used with grommet-type curtains. Existing hanging-type curtain opening / closing devices can have difficulty navigating tight bends or curves on the rail. Conventional hanging-type curtain opening / closing devices can encounter difficulties during installation, such as incompatibility with large or small diameter rods and setup issues when installing double-panel curtains. Another technical challenge is that the installation of the curtain rod or rail can be subject to various physical influences during continuous operation, which can impair the precision of the motorized control provided by the hanging-type curtain opening / closing device. Summary of the Invention

[0005] For the foregoing reasons, there is a need for a hanging motorized device for operating the opening and closing of curtains and for smooth running along a rod or rail. There is a need for a hanging motorized curtain device that is quick and easy to install. There is a need for a hanging curtain device design that can accommodate various rod and rail installations and can apply consistent pressure to the friction wheels. In a hanging curtain drive system, there is a need to maintain the accuracy of automatic control of the opening and closing of curtains while compensating for the physical effects of the curtain rod or rail installation, such as material fatigue and creep of the curtain rod or rail installation.

[0006] Embodiments of a device for opening and closing a curtain, a curtain opening device, a hanging curtain device, or a curtain device are described herein. When one or more such devices are installed on a curtain rod or rail, the installation may be referred to herein as a curtain drive system.

[0007] In a disclosed embodiment, an apparatus for opening and closing a curtain on a rod or rail includes a driven wheel coupled to a motor within a housing. The driven wheel protrudes from the housing and is in frictional engagement with the rod or rail. The apparatus further includes a suspension assembly including a support member and a linkage. The support member is in sliding or rolling contact with the rod or rail. The linkage extends along a suspension axis and connects the support member to the housing, suspending the housing from the support member. To open or close the curtain with the housing suspended from the support member, the driven wheel is rotated by the motor to advance the apparatus along the rod or rail.

[0008] In various embodiments, the support member is a slide member that is in sliding contact with the rod or rail. In one embodiment, the slide member is a V-shaped member having two conical sections. In various embodiments, the support member is a roller member that is in rolling contact with the rod or rail.

[0009] In various embodiments, the linkage includes one or more springs that bias the housing to press the driven wheel against the rod or rail. The linkage may include a spring holder that includes the one or more springs and is connected to the housing, and an arm that is connected to the support member and removably coupled to the spring holder.

[0010] In various embodiments, the linkage includes a locking mechanism having one or more detent positions for preventing movement of the linkage along the suspension axis relative to the housing.

[0011] In various embodiments, the suspension assembly is movable between a first locked position defined by a support member extending a first distance from the housing and a second engaged position defined by a support member extending a second distance from the housing, the second distance being less than the first distance, wherein in the first locked position the locking mechanism extends from the suspension assembly and engages the housing to resist the force of one or more springs, and in the engaged position the locking mechanism is positioned within the suspension assembly to allow the one or more springs to bias the housing to press the driven wheel against the rod or rail.

[0012] In various embodiments, the suspension assembly is movable between a first locked position defined by a support member extending a first distance from the housing and a second engaged position defined by a support member extending a second distance from the housing, the second distance being less than the first distance.

[0013] In various embodiments, the linkage includes a first member on a first side of the driven wheel extending from the support member to the housing along a first suspension axis, and a second member on a second side of the driven wheel extending from the support member to the housing along a second suspension axis. The first member may include a first spring, and the second member may include a second spring, where the first spring and the second spring bias the housing to press the driven wheel against the rod or rail. In one embodiment, the rigid member and the second member are integral with the support member. In one embodiment, the first member and the second member are fixed to the support member.

[0014] In disclosed embodiments, a system for opening and closing curtains on a rod or rail incorporates a modular design that allows a user to select and install a suspension assembly compatible with an existing curtain rod or curtain rail installation. In one embodiment, a user can select and install a suspension assembly for suspending the device from a curtain rod. In other embodiments, a user can select and install a suspension assembly that includes a support member with a termination member, such as a wheel, roller, or bearing, configured to move along the curtain track or rail. The support member may be configured to roll or slide along an outer channel in an I-rail device or an inner channel in a U-rail device. The support member may include a termination member, such as a wheel, roller, or bearing, configured to roll or slide along the surface of the curtain rail channel.

[0015] In a disclosed embodiment, a system for opening and closing a curtain on a rod or rail includes a driven wheel coupled to a motor within a housing and frictionally engaging the rod or rail. To open or close the curtain, the driven wheel is rotated by the motor to advance a device along the rod or rail. The system includes a controller for the motor and an encoder operably connected to the controller. The encoder tracks the rotational movement of the driven wheel. The system further includes one or more sensor targets disposed on the rod or rail and a sensor operably connected to the controller. The sensor is configured to generate a signal indicating the presence of each of the one or more sensor targets when the sensor is positioned in proximity to or in contact with a respective sensor target while the device is advancing along the rod or rail.

[0016] In one embodiment, the system includes a suspension assembly including a support member in sliding or rolling contact with the rod or rail, and a linkage that suspends the housing from the support member.

[0017] In one embodiment, the encoder is a rotary encoder that generates output pulses based on the rotational movement of the driven wheel.

[0018] In one embodiment, the one or more sensor targets include a first marker and a second marker, and the controller is calibrated to store a first position of the first marker and a second position of the second marker. The controller is configured to receive signals indicating the presence of each of the first marker and the second marker and to identify drift from the respective first position or second position during continued operation of the device. In one embodiment, the controller is configured, if it identifies drift from the respective first position or second position during continued operation of the device, to recalibrate the respective first position or second position to compensate for the identified drift.

[0019] In various embodiments, the sensor is a contact sensor connected to an electrical circuit. Each of the one or more sensor targets includes a piece of conductive material configured to create a short in the electrical circuit when the piece of conductive material contacts the contact sensor. In one embodiment, the contact sensor includes a conductive material on a surface of the driven wheel. In one embodiment, the contact sensor comprises a conductive probe that moves with the device and contacts the rod or rail at all times while the device is advancing along the rod or rail.

[0020] In various embodiments, the sensor is an RFID sensor operably connected to the controller, and each of the one or more sensor targets comprises an RFID tag.

[0021] In various embodiments, the controller receives feedback from at least one of the motor or the encoder, and the controller is further configured to use the feedback to determine each end of the maximum range of movement based on at least one of an increase in current consumption of the motor, an increase in torque generated, or a decrease in speed at a given power level to determine a maximum range of movement along the rod or rail.

[0022] In one embodiment, an apparatus for opening and closing a curtain on a rod or rail comprises a driven wheel coupled to a motor within a housing and protruding from the housing for frictional engagement with the rod or rail, a suspension assembly comprising a support member in sliding or rolling contact with the rod or rail and a linkage extending along a suspension axis and connecting the support member to the housing so as to suspend the housing from the support member, wherein the driven wheel is rotated by the motor to advance the apparatus along the rod or rail to open or close the curtain with the housing suspended from the support member.

[0023] In one embodiment, a system for opening and closing a curtain on a rod or rail comprises: a driven wheel coupled to a motor within a housing and in frictional engagement with the rod or rail, the driven wheel being rotated by the motor to advance a device along the rod or rail to open and close the curtain; a controller for the motor; an encoder operably connected to the controller, the encoder tracking rotational movement of the driven wheel; one or more sensor targets disposed on the rod or rail; and a sensor operably connected to the controller and configured to generate a signal indicative of the presence of each of the one or more sensor targets disposed on the rod or rail when the sensor is positioned in proximity to or in contact with a respective sensor target while the device is advancing along the rod or rail.

[0024] Additional features and advantages of the embodiments will be set forth in, and in part will be apparent from, the description which follows. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the illustrative embodiments in the specification and claims hereof as well as the appended drawings.

[0025] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.

[0026] Non-limiting embodiments of the present disclosure are illustratively described with reference to the accompanying figures, which are schematic and are not intended to be drawn to scale, and unless indicated as representing background art, the figures represent aspects of the present disclosure. [Brief explanation of the drawings]

[0027] [Figure 1] 1 is an isometric view of an apparatus for opening and closing curtains, according to one embodiment. FIG. [Figure 2] 1 is an isometric view of an apparatus for opening and closing a curtain mounted on a rod, according to one embodiment. FIG. [Figure 3A] 3C is an elevational view of a V-hoop support member according to the embodiment of FIGS. 3A and 3B. FIG. [Figure 3B] 3C is a schematic diagram of the interface between the V-hoop support member and the rod periphery of section AA of FIG. 3A according to the embodiment of FIGS. 3A and 3B. FIG. [Figure 4A] 4A-4C show perspective views of an apparatus for opening and closing a curtain with a retracted suspension assembly. [Figure 4B] 4A-4C, showing a front perspective view of an apparatus for opening and closing a curtain with a suspension assembly in an intermediate configuration. [Figure 4C] 4A-4C, showing a front perspective view of an apparatus for opening and closing a curtain with a suspension assembly extended. [Figure 5] 1 is an elevational view of a double curtain installation incorporating a pair of devices for opening and closing the curtain, according to one embodiment. [Figure 6] FIG. 8 is a front perspective view of a modular suspension assembly having a two-arm linkage according to the embodiment of FIGS. 6 and 7. [Figure 7]8 is a front perspective cutaway view of an extension spring holder for a modular suspension assembly according to the embodiment of FIGS. 6 and 7. FIG. [Figure 8A] 8C is an elevated perspective view of an apparatus for opening and closing a curtain mounted on a rod according to the embodiment of FIGS. 8A and 8B. FIG. [Figure 8B] FIG. 8C is a side perspective view of a roller support member in rolling contact with a rod according to the embodiment of FIGS. 8A and 8B. [Figure 9A] 9C is an elevated perspective view of an apparatus for opening and closing a curtain mounted on a rod according to the embodiment of FIGS. 9A and 9B. FIG. [Figure 9B] FIG. 9C is a side perspective view of a roller support member in rolling contact with a rod according to the embodiment of FIGS. 9A and 9B. [Figure 10] 1 is an elevated perspective view of an apparatus for opening and closing a curtain mounted on a rod, according to one embodiment. FIG. [Figure 11] 1 is an elevated perspective view of an apparatus for opening and closing a curtain mounted on a rod, according to one embodiment. FIG. [Figure 12] 1 is an isometric view of an apparatus for opening and closing a curtain mounted on a rod, according to one embodiment. FIG. [Figure 13] 1 is a partially exploded elevated perspective view of an apparatus for opening and closing curtains, according to one embodiment. FIG. [Figure 14A] 14A-14D, showing a first configuration during installation; FIG. [Figure 14B] 14A-14D, showing a second configuration during installation; FIG. [Figure 14C] 14A-14D, showing a third configuration during installation; FIG. [Figure 14D] 14A-14D, showing a fourth configuration during installation; FIG. [Figure 15A] An elevation view of a suspension assembly including a ratchet spring mechanism having a low-tension configuration spring according to the embodiments of FIGS. 15A and 15B. [Figure 15B] An elevation view of a suspension assembly including a ratchet spring mechanism with the spring raised to a high-tension configuration according to the embodiments of FIGS. 15A and 15B. [Figure 16] An elevation perspective view of internal components of a device for opening and closing a curtain according to an embodiment. [Figure 17] An enlarged elevation view of region "A" of FIG. 16 showing a ratchet mechanism and a spring mechanism of a device for opening and closing a curtain according to an embodiment. [Figure 18A] An isometric elevation view of a first assembly configuration of a device for opening and closing a curtain mounted on a rod according to the embodiments of FIGS. 18A to 18C. [Figure 18B] An isometric elevation view of a second assembly configuration of a device for opening and closing a curtain mounted on a rod according to the embodiments of FIGS. 18A to 18C. [Figure 18C] A front elevation view of a third assembly configuration of a device for opening and closing a curtain mounted on a rod according to the embodiments of FIGS. 18A to 18C. [Figure 19] A perspective elevation view of a motor gearbox drive assembly and a driven wheel according to an embodiment. [Figure 20] A perspective elevation view of a driven wheel according to an embodiment. [Figure 21] A cross-sectional view of a driven wheel gearbox assembly according to an embodiment. [Figure 22] Shows the architecture of a control system according to an embodiment. [Figure 23A] A top perspective view of a device for opening and closing a curtain carrying two conductive sensor probes on both sides of a driven wheel according to the embodiments of FIGS. 23A to 23C, where the rod is shown in phantom. [Figure 23B]23A-23C are top perspective views of an apparatus for opening and closing a curtain, carrying two conductive sensor probes that contact a rod adjacent a sensor target on the underside of the rod. [Figure 23C] 23A-23C are elevational views of a device for opening and closing a curtain, carrying two conductive sensor probes that are pressed into contact with a rod that runs underneath the rod toward a sensor target. [Figure 24A] 24A-24B illustrate a user attaching the first modular suspension assembly to the device housing in a curtain rod installation. [Figure 24B] 24A-24B illustrate a user attaching the second modular suspension assembly to the device housing in a curtain rod installation. [Figure 25A] 1 illustrates an existing installation for attaching curtains along a rod, according to one embodiment. [Figure 25B] 1 illustrates a modular apparatus for opening and closing curtains that is compatible with existing curtain rod installations, according to one embodiment. [Figure 26A] 1 illustrates an existing installation for mounting curtains along an I-rail, according to one embodiment. [Figure 26B] 1 illustrates a modular device for opening and closing curtains that is compatible with existing I-rail curtain installations, according to one embodiment. [Figure 27A] 1 illustrates an existing installation for attaching curtains along a U-rail, according to one embodiment. [Figure 27B] 1 illustrates a modular device for opening and closing curtains that is compatible with existing U-rail curtain installations, according to one embodiment. [Figure 28] 1 illustrates an attachable suspension assembly for a modular arrangement for opening and closing curtains on an I-rail arrangement, according to one embodiment. [Figure 29] 1 shows a schematic diagram of I-rail cross-sectional dimensions of an existing I-rail arrangement, according to one embodiment. [Figure 30A] 1 shows a diagram of a mountable suspension assembly for a modular device for opening and closing curtains on an I-rail device, according to one embodiment. [Figure 30B] 1 shows a diagram of a mountable suspension assembly for a modular device for opening and closing curtains on an I-rail device, according to one embodiment. [Figure 30C] 1 shows a diagram of a mountable suspension assembly for a modular device for opening and closing curtains on an I-rail device, according to one embodiment. [Figure 30D] 1 shows a diagram of a mountable suspension assembly for a modular device for opening and closing curtains on an I-rail device, according to one embodiment. [Figure 31] 1 illustrates a mountable suspension assembly for a device for opening and closing curtains on a U-rail device, according to one embodiment. [Figure 32] 1 shows a schematic diagram of the cross-sectional dimensions of a U-rail of an existing U-rail device, according to one embodiment. [Figure 33A] 1 shows a diagram of a mountable suspension assembly for a modular device for opening and closing curtains on a U-rail device, according to one embodiment. [Figure 33B] 1 shows a diagram of a mountable suspension assembly for a modular device for opening and closing curtains on a U-rail device, according to one embodiment. [Figure 33C] 1 shows a diagram of a mountable suspension assembly for a modular device for opening and closing curtains on a U-rail device, according to one embodiment. [Figure 33D] 1 shows a diagram of a mountable suspension assembly for a modular device for opening and closing curtains on a U-rail device, according to one embodiment. [Figure 34] FIG. 1 is a front perspective view of an apparatus for opening and closing curtains with the suspension assembly extended, according to one embodiment. [Figure 35]35 is a rear perspective view of the apparatus for opening and closing curtains according to the embodiment of FIG. 34, with the suspension assembly extended. [Figure 36] FIG. 1 is a perspective view of an apparatus for opening and closing curtains with a suspension assembly extended, according to one embodiment. [Figure 37] 37 is a perspective view of an apparatus for opening and closing a curtain according to the embodiment of FIG. 36, with the suspension assembly extended and open. [Figure 38] 37 is a side view of the apparatus for opening and closing curtains according to the embodiment of FIG. 36, with the suspension assembly extended and open. [Figure 39] 1 is a perspective view of the interior of an apparatus for opening and closing curtains with a suspension assembly stored therein, according to one embodiment. FIG. [Figure 40] 40 is a perspective view of the interior of an apparatus for opening and closing curtains with the suspension assembly extended, according to the embodiment of FIG. 39. [Figure 41] FIG. 1 is an elevation view of a suspension assembly including a locking mechanism having a spring in a low tension configuration, according to one embodiment. [Figure 42] 42 is an elevational view of a suspension assembly including a locking mechanism with the spring in a high tension configuration according to the embodiment of FIG. 41. DETAILED DESCRIPTION OF THE INVENTION

[0028] The present disclosure will now be described in detail with reference to the embodiments illustrated in the drawings that form a part hereof. Other embodiments may be used and / or other changes may be made without departing from the spirit or scope of the present disclosure. The illustrative embodiments described in the detailed description are not meant to limit the subject matter presented herein. Furthermore, various components and embodiments described herein may be combined to form additional embodiments not expressly described without departing from the spirit or scope of the invention.

[0029] Reference will now be made to the exemplary embodiments illustrated in the drawings, and specific language will be used in the specification to describe the same. It will nevertheless be understood that no limitations on the scope of the claims are intended thereby. Alterations and further modifications of the features of the invention shown herein, and additional applications of the principles of the subject matter shown herein that would occur to one skilled in the relevant art and in possession of this disclosure, are to be considered within the scope of the subject matter disclosed herein.

[0030] 1 is an isometric view of a curtain opening and closing device 100. The device includes support arms 150, 160 extending from a housing 110. The support arms 150 and 160 may raise and lower together or independently, and each support arm 150, 160 may be coupled to a spring-loaded mechanism within the housing 110. The independent suspension of the support arms 150 and 160 allows the device 100 to more easily traverse rods or rails that have bumps, limps, or protrusions. A first V-shaped wheel 120 and a second V-shaped wheel 130 are rotatably mounted to the support arms 150 and 160. A driven wheel 140 protrudes from the top of the housing 110.

[0031] 2 is an isometric view of a curtain opening and closing device 200 attached to a rod 290. The device includes support arms 250 and 260 extending from a housing 210. Support arms 250 and 260 may be raised and lowered together or independently, for example, using a slide 270 having a limit 280. Each support arm may be coupled to a spring-loaded mechanism within the housing 210. A first V-shaped wheel 220 and a second V-shaped wheel 230 are rotatably mounted to support arms 250 and 260 in rolling contact with rod 290. A driven wheel 240 protrudes from the top of the housing 210 in frictional engagement with rod 290. While V-shaped wheels 220 and 230 maintain rolling contact with the rod, driven wheel 240 may be rotated by a motor (not shown) within the housing 210 to advance the device along rod 290. The device 200 is suspended from a rod 290 that is supported by V-wheels 220,230 and support arms 250,260.

[0032] FIG. 3A shows an elevation view of a V-wheel support member 300. The V-wheel 300 includes two conical sections 310, 320 that provide an inward force as it rolls along a rod. The V-wheel 300 may have radially shaped outer surfaces 330, 340. FIG. 3B shows a schematic diagram of the interface between the V-wheel support member and the rod periphery of section AA in FIG. 3A. To maintain contact on the rod, the V-wheel 300 has a groove between the two sides of the wheel with a radius 345. The radius 345 can be between 120° and 160°. The radius 345 can be 140°. This shape ensures contact with rod sizes ranging from a 15 mm rod diameter 350 to a 40 mm rod diameter 360. In another embodiment, a V-shaped slide support member may incorporate a similar shape to ensure contact with rods of 15 mm rod diameter and up to 40 mm diameter.

[0033] 4A-4C show a curtain opening / closing device 400 with various suspension assembly configurations. In the configuration of FIG. 4A, the suspension assembly, including the V-wheel and left and right support arms, is in a retracted configuration, providing space 430 for accommodating a rod under the minimum-sized support wheels. Slides 470 and limit members 480 for raising and lowering the suspension assembly are in their lowest positions. In the configuration of FIG. 4B, the V-wheel and left and right support arms are in an intermediate configuration, providing intermediate space for accommodating a rod under the medium-sized support wheels. Slides 470 and limit members 480 are in their intermediate positions. In the configuration of FIG. 4C, the V-wheel and left and right support arms are in an extended configuration, providing maximum space 460 for accommodating a rod under the support wheels. Slides 470 and limit members 480 are in their uppermost positions.

[0034] 5 is an elevation view of a double curtain device 500 that integrates devices for opening and closing a pair of curtains. The double curtain device includes a first curtain panel 540 and a second curtain panel 550 suspended from a curtain rod 570. A first curtain-opening device 510 is attached to the curtain rod 570 between two inner pleats of the first curtain panel 540 so that movement of the device 510 toward the left end of the curtain rod 570 opens the curtain panel 540. A second curtain-opening device 520 is attached to the curtain rod 570 between two inner pleats of the second curtain panel 550 so that movement of the device 520 toward the left end of the curtain rod 570 opens the curtain panel 550. The curtain rod 570 carries fixed markers 560 (562, 564, 566, and 568) that serve as sensor targets for automatically calibrating the positional tracking of the devices 510 and 520 as they move along the curtain rod 570.

[0035] The curtain opening device of the present disclosure may be integrated into a variety of curtain devices. Grommet-style curtains: These curtains feature metal open rings, or grommets, punched into the fabric at the top of the panel, allowing them to slide along a rod. · Ring Top Curtains: These curtains feature a metal ring at the top of the curtain instead of the usual header tape. Back Tab Curtains: These curtains feature a loop of fabric on the back of the panel to cover a curtain rod, for example. Tab Top Curtains: These curtains feature exposed loops of fabric along the top, which are able to support the weight of the curtain. Pocket curtains. These curtains feature a pocket sewn into the top of the curtain panel that slides over the curtain rod for concealment. · Single Panel Curtains: Single panel curtains are made from one piece of fabric for use with, for example, sliding glass doors. Double Panel Curtains: Double panel curtains are made up of two hanging curtain panels. They can be symmetrical, with two matching panels, or asymmetrical, with two different panels.

[0036] In the disclosed embodiment, the curtain opening device may be mounted on a rod with, for example, a 1-inch clearance above it. In the disclosed embodiment, the device may be mounted on a rail track that is recessed into the ceiling or suspended from the ceiling. Installation is simple, with few parts involved in the assembly process. The device can be easily removed without leaving any damage.

[0037] Figure 6 is a front perspective view of a modular suspension assembly 600 having a two-arm linkage. Linkage 650 includes a removable two-arm support assembly having left and right arms 660 supporting a rotatable V-wheel 670. The linkage also includes a spring holder 620 containing a spring (not shown). Spring holder 620 includes a slide 610 and limit 630 for raising and lowering the suspension assembly relative to the device housing (Figures 4A-4C).

[0038] The two-arm support assembly 660 is removably coupled to the spring holder 620 with a modular line 640. In one embodiment, the linkage 650 includes a snap-fit ​​joint, such as a buckle, at 640 to removably couple the two-arm support assembly 660 to the spring holder 620. The snap-fit ​​joint may include flexible parts configured to form a joint by squeezing interlocking parts together during insertion of the modular suspension assembly into the device. The device may include a release mechanism, such as by depressing a lever or pin, to release the snap fit. Other types of releasable joints may also be used.

[0039] FIG. 7 shows an embodiment of an extension spring holder 700 that may be the internal mechanism of spring holder 620.

[0040] 8A-8B, 9A-9B, 10, and 11 show various embodiments of a device for opening and closing a curtain having roller support members in rolling contact with a rod. Unlike conventional curtain opening devices that include rollers in contact with a rod or rail, the device of the present disclosure incorporates one or more suspension assemblies to suspend the housing along a suspension axis and allow for spring-loaded attachment of the support arms.

[0041] 8A and 8B show an apparatus 800 having support arms 820 that extend on either side of a rod and support support roller members 830. The replaceable arms 820 are removably attached to a spring mechanism within a housing 810, allowing the housing 810 and driven wheel 840 to bounce up and down 850 relative to the support arm. A release button 860 releases the support arm from the housing. The support members, roller members 830, are bearing wheels, best seen in FIG. 8B. In one example, the roller members are 22 mm bearing wheels, a small wheel with three points of contact.

[0042] 9A and 9B show device 900 having support arms 920 that extend on either side of the rod and support support roller members 930. The replaceable support arms 920 are removably attached to a spring mechanism within housing 910, allowing the device to bounce 950 up and down against the support. Roller members 930 are skateboard wheels, most commonly seen in FIG. 9B. Skateboard wheels are durable wheels that provide excellent traction on the rod.

[0043] FIG. 10 shows an apparatus 1000 having support arms 1020 that extend on either side of a rod and support support roller members 1030. The replaceable support arms 1020 are removably attached to a spring mechanism within a housing 1010, allowing the housing to be bounced up and down 1050 relative to the support arms. A release button 1040 releases the support arms from the housing. The roller members 1030 are V-groove wheels. V-groove wheels have a relatively large profile and exert an inward force. FIG. 11 shows an apparatus 1100 having two sets of V-groove wheel roller members 1110 in rolling contact with a rod 1120.

[0044] 12 is an isometric view showing the industrial design of a device 1200 for opening and closing curtains mounted on a rod. The device includes two V-shaped slides on the front and right side of the device. Each slide is integrated with a support arm attached to the device.

[0045] FIG. 13 is an elevated perspective view of a partially disassembled curtain opening and closing device 1300. First and second sliding arms 1310 include radial surfaces for moving along a rod or rising under a sliding force. The sliding arms 1310 are independent to improve the device's 1300 ability to traverse ridges or lips along a rod or rail. These sliding arms 1310 provide smooth movement along a rod or rail, even in situations where conventional curtain opening devices, such as telescoping rod joints, might be obstructed. A driven wheel 1320 includes a rubber grip for good traction on the rod or rail. A ratchet assembly 1330 defines one or more assembly and live positions. A spring 1340 is located within the ratchet housing. A circuit board 1360 includes a user button / LED interface 1350 and control circuitry, including device position tracking with automatic calibration.

[0046] 14A-14D are partially exploded, elevated perspective views of a device for opening and closing curtains, illustrating various device configurations during installation. In a first configuration, shown in FIG. 14A, a user can access a spring hole in a base structure 1430 (e.g., a spring holder) within the device housing and attach a detachable arm 1410 to the base structure. In a second configuration, shown in FIG. 14B, a user pulls up on the arm 1410 to define an opening 1412 between the device and a support member at the top of the arm 1410. In one embodiment, this second configuration can accommodate a smallest rod size, e.g., a 15 mm diameter rod. In a third configuration, shown in FIG. 14C, a user pulls up on the arm 1410 to define a larger opening 1414 between the device and a support member at the top of the arm 1410. In one embodiment, this third configuration can accommodate a largest rod size, e.g., a 40 mm diameter rod. In the fourth configuration shown in Figure 14D, the user pulls the arm 1410 all the way up, which engages the ratchet spring as shown at 1782 in Figure 17, allowing the device to return to the rest / live configuration as shown at 1788 in Figure 17.

[0047] 15A and 15B are elevation views of a suspension assembly with a ratchet spring mechanism, showing different spring configurations. When the arm 1510 and ratchet housing 1560 are lowered, as shown in FIG. 15A, the spring 1570 is at rest. When the arm 1510 is raised, the ratchet housing 1560 rises, as shown in FIG. 15B, and the spring 1570 expands, increasing spring tension. In one embodiment, the ratchet housing 1560 defines two detent positions where the ratchet clicks to lock the spring in place. This allows users to easily assemble the device into a curtain device. This spring design is effective at providing consistent pressure on any size rod. In various embodiments, the spring 1570 is a tension spring.

[0048] 16 shows an elevated perspective view of the internal components of a curtain opening and closing device 1600. Left and right suspension assemblies 1650 of the device 1600 include left and right arms 1610 secured to ratchet spring holder assemblies 1660. A driven wheel 1620 protrudes from the device housing 1690, and a motor 1630 is located below the center of the driven wheel 1620. A ratchet 1680 cooperates with the ratchet spring holder assemblies 1660 to guide and limit the up and down movement of the device housing 1690 relative to the left and right suspension assemblies 1650.

[0049] FIG. 17 is an elevated perspective view of area "A" in FIG. 16 showing details of the ratchet and spring mechanism 1700 on the left side of the device. A ratchet spring holder assembly 1760 houses a spring (not shown in this view) that extends along the suspension axis. A spring-loaded ratchet finger 1770 extends from the ratchet spring holder assembly 1760. A ratchet 1780 includes a vertically extending slot with ratchet teeth that allows unidirectional movement of the suspension assembly. The ratchet 1780 defines a series of detent positions to stop movement of the housing relative to the support member along the suspension axis. When the ratchet finger is at its upper limit 1782, the ratchet re-engages the spring, allowing upward movement of the housing. When the ratchet finger is at detent position 1784, the device is held in place in an extended configuration, removing the arm 1610 from the device. The ratchet fingers in detent position 1786 hold the device in a position that allows access to the screw holes and attaches the arms to the device during installation (FIG. 14A). The lowest ratchet position 1788 is the rest / live position for device operation.

[0050] 18A-18C show assembly configurations of a device 1810 for opening and closing a curtain. In the first assembly configuration 1820 of FIG. 18A, two suspension assemblies 1825 on the left and right sides of the device 1810, including a left arm 1827 and a right arm 1829, securely fasten the device 1810 to a rod 1821. This is the stationary / running configuration of the device 1810. During installation, the device 1810 is set to a height that provides clearance for the driven wheel 1823 on the rod 1821 appropriate for the diameter of the rod 1821. This is the assembled or installed position of the device 1810. After installation, the arms 1827, 1829 can be pulled down, but when released, they return to the rod 1821, returning to the stationary / running configuration. In one embodiment, the suspension assemblies 1825 provide a constant pressure on the rod 1821, regardless of the size of the rod 1821.

[0051] 18B , the left arm 1827 and right arm 1829 of the two suspension assemblies 1825 snap into components within the body of the device 1810 along the left and right suspension axes. In one embodiment, the left arm 1827 and right arm 1829 snap into spring holders, which allow the arms 1827, 1829 to spring up and down, providing spring pressure to the suspension assemblies 1825.

[0052] 18, the left arm 1827 and the right arm 1829 of the two suspension assemblies 1825 can spring up and down. In one embodiment, each of the left arm 1827 and the right arm 1829 can independently spring up and down, allowing the device 1810 to tilt left or right.

[0053] 19 is a perspective elevation view of a drive component 1900 including a motor 1930, a gearbox 1940 with a multi-stage gearbox drive assembly 1944, and a driven wheel 1920. The motor 1930 and gearbox 1940 are also collectively referred to herein as a gear motor 1960. The drive component generates sufficient force to move a potentially heavy curtain at an adjustable speed. In an exemplary embodiment, the device generates 250 mN.m of torque to move a 6 kg (13.25 lb) curtain at an adjustable speed ranging from 10 cm / s to 11 cm / s.

[0054] The output gear 1946 directly drives the driven wheel 1920 and must be smaller than the driven wheel 1920. In a first exemplary design of the gearbox 1940, the three gearbox drive assembly 1944 had an overall gear ratio of 29.2:1. The gear ratios for each stage were as follows: Stage 1: 32:12, module 0.5; Stage 2: 40:12, module 0.5; Stage 3: 46:14, module 0.5. In a second exemplary design of the gearbox 1940, the four-stage gearbox drive assembly 1944 had an overall gear ratio of 87.6:1. The gear ratios for each stage were as follows: Stage 1: 30:10, module 0.4; Stage 2: 32:12, module 0.5; Stage 3: 40:12, module 0.5; Stage 4: 46:14, module 0.5.

[0055] FIG. 20 is a perspective elevation view of a driven wheel 2000. The structural components of the driven wheel include a rubber outer overmold 2010 and a rigid plastic inner core 2030. The driven wheel transmits most, if not all, of the torque generated by the gear motor 1960 to the rod. The traction force between the driven wheel and the rod is important in determining the torque. Variables that determine this traction force include the strength of the spring that presses the wheel against the rod and the friction force between the driven wheel and the rod. The friction force between the driven wheel and the rod depends on the rod material, the rubber material, the Shore hardness of the rubber, the surface finish of the rubber, and the thickness of the rubber.

[0056] The driven wheel 1920 and motor drive assembly 1940 include a clutch that allows the driven wheel to rotate freely in both directions when not driven by the motor 1930. This is necessary so the user can backdrive the device without experiencing any additional resistance. However, as soon as the motor 1930 starts driving in either direction, it immediately engages the driven wheel 1920 to transmit the motor's torque. Figure 20 shows the internal structure of the driven wheel 2000, which includes a clutch mechanism. The clutch functions by driving a hex nut 2060 to compress the rollers 2050 against the surface of the bearing 2040. This mechanism transfers torque from the gear motor 1960 to the driven wheel. Once the motor stops rotating, a spring (not shown) retracts the rollers 2050, storing them against the flat surface of the hex nut 2060. By disengaging the rollers 2050 from the bearing 2040, the driven wheel 2000 can rotate freely without engaging the motor and motor drive assembly.

[0057] As shown in the cross-sectional view of the driven wheel gearbox assembly 2100 in Figure 21, the rollers 2140, hex nuts 2150, and roller holders 2160 are assembled to the gearbox face 2180 via the roller holders 2170. When the clutch is disengaged, the roller holders 2160 provide sufficient friction with the gearbox face 2180 to allow the hex nuts 2150 to drive the rollers 2140 and compress them into the bearings 2130. When the clutch is engaged, the roller holders 2160 allow the rollers 2140 to rotate on the gearbox face 2180 with low friction and efficiency loss.

[0058] In one embodiment, the curtain opening device is battery powered. The battery life may depend on the number of cycles of operation and distance traveled in opening and closing the curtain(s). In one embodiment, the battery is rechargeable directly from the device (e.g., via USB-C) or via a separate cell battery charger.

[0059] FIG. 22 shows the architecture of a control system 2200 for a curtain-opening device. The system for opening and closing a curtain on a rod or rail includes a driven wheel 2210 coupled to a motor 2220. In one embodiment, the motor and driven wheel are housed in a housing (FIG. 16). The driven wheel frictionally engages the rod or rail and is rotated by the motor to advance the device along the rod or rail to open or close the curtain (FIG. 1). The system includes a controller for the motor, including, for example, a microcontroller 2230 and a motor drive circuit 2240. An encoder 2250 is operably connected to the controller 2230. In one embodiment, the encoder 2250 tracks the rotational movement of the driven wheel 2210. The control system 2200 further includes a target sensor 2260 configured to sense one or more sensor targets disposed on the rod or rail, the sensor operably connected to the controller 2230. Sensor 2260 is configured to generate a signal indicating the presence of each of one or more sensor targets (e.g., targets 562, 564, 566, 568 on rod 570, FIG. 5) when the sensor is positioned in proximity to or in contact with the respective sensor target while the device is advancing along the rod or rail.

[0060] Control circuit 2200 tracks the position of the curtain opening device as it travels along the rod or rail. The first circuit element that tracks the position of the device as it travels along the rod or rail is encoder 2250. In embodiments where the drive trail includes a clutch, conventional designs that place encoder 2250 on the motor shaft will not work. In such embodiments, the clutch disengages the output wheel from the gear motor when the motor is not running, and the motor will not rotate even if the user moves the device by hand. An encoder attached to the motor will not capture such movement.

[0061] To address these issues, the encoder 2250 may incorporate Hall effect sensors. In one embodiment, low-power Hall effect sensors are selected for always-on operation of the encoder. In one embodiment, to track the rotation of the driven wheel 2210, the driven wheel has several magnets embedded in predetermined locations. The Hall sensors detect the magnets and generate secondary signals that are processed by the microcontroller 2230 to track the driven wheel 2210.

[0062] The encoder 2250 tracks the approximate position over many cycles, which is susceptible to drift due to slippage. Slippage between the driven wheel and the rod or rail is inevitable, and the disclosed system corrects for such slippage to maintain position tracking within tolerance. In one example, a curtain-opening device maintains its position within a few millimeters even after cycling through more than 2,000 cycles. This drift is addressed by a second circuit element, the target sensor 2260, for tracking the device's position. The target sensor tracks an external reference that serves as a datum. In this disclosure, this external reference is referred to as a sensor target, target, or marker. The target sensor 2260 may be a proximity or contact sensor that detects the presence of a target as the device advances along the rod or rail. The microcontroller 2230 processes these absolute position signals to correct for drift. The target sensor 2260 may be an RFID sensor that senses one or more RFID tags, an NFC sensor that senses one or more NFC tags, or any type of sensor for sensing passive tags in other protocols.

[0063] In one embodiment, the target is a marker fixed at one or more locations along the rod or rail. The target may be formed of any material suitable for marking the rod or rail for proximity or contact detection by sensor technology. In embodiments where the rod or rail is formed of a non-conductive material, the marker may be formed of a conductive material. The marker may be formed of a metal, metal alloy, other conductive material, or a reflective or retro-reflective material suitable for receiving electromagnetic energy emitted by the sensor and reflecting that energy back to the sensor. The sensor target or marker may be a piece of tape, foil, coating, or printed material pattern on the surface area of ​​the rod or rail. The marker may have various shapes and patterns, such as rectangular, polygonal, or circular. The marker may be a durable material that is firmly adhered or applied to the surface of the rod or rail to remain intact during continued operation, especially in the case of contact detection. In embodiments where the rod or rail is formed of a conductive material, the marker for contact detection may be formed of a non-conductive material. The marker may be a tag, such as an NFC tag or an RFID tag.

[0064] The marker or each of the markers is located on a portion of the rod or rail that faces the sensor when the target is in proximity to or contacting the sensor during movement of the device. In one configuration, the marker is located at a location on the rod or rail that serves as a reference point along the length of the cord. The control system records the initial location of the reference point during calibration of the system.

[0065] In another configuration, multiple markers are located at different positions, for example, four positions. The controller is calibrated to store the positions of each of the multiple markers along the rod or rail and is configured to receive signals indicating the presence of each of the sensor targets and identify drift from their initial positions during continued operation of the device. In a dual-panel curtain device such as that shown in FIG. 5, two devices 510, 512 may be provided, one for each curtain panel 540, 550. The system 500 includes targets 562, 564 at the curtain rod end and inner limit of travel of the first device 510, respectively, and targets 566, 568 at the curtain rod end and inner limit of travel of the second device 520, respectively.

[0066] The controller 2230 may be calibrated to store a first initial position of the first marker corresponding to a fully open position of the curtain and a second initial position of the second marker corresponding to a fully closed position of the curtain. In one embodiment, the fully open and fully closed points correspond to the limits of the range of motion of the curtain-opening device. During subsequent movement of the device along the rod or rail, as the target sensor moves into contact with or proximity to the target, the controller receives a signal from the sensor indicating the presence of the target. In one embodiment, the controller compares the target's current position signal to a target calibration standard based on position readings from the encoder 2250 and generates an indication or other response if the controller identifies drift from the calibrated initial position. In one embodiment, the controller recalibrates the motor drive system to correct for any detected drift. Recalibration may adjust the position command by calculating the drift and applying a corresponding offset to future position readings from the encoder. Through this procedure, the control system 2230 can compensate for creep or drift in the tracker position during movement along the rod or rail.

[0067] In one example, during device setup, a user applies one or more tape markers to a rod or rail at a location(s) where the tape will be detected by a target sensor when the device passes over the tape marker. An device kit may include two sets of tape: one conductive tape and one non-conductive tape. Depending on the electrical properties of the rod or rail surface, the user is instructed to apply tape with the opposite properties. If the rod or rail surface is normally conductive, the user applies non-conductive tape. If the rod or rail surface is normally non-conductive, the user applies conductive tape.

[0068] The controller 2230 may perform auto-calibration to determine the maximum range of motion of the device. The controller 2230 may receive feedback from one or more of the motor drive circuit, encoder, target sensor, or motor. Using the feedback, the controller 2230 may determine one or more motor or device characteristics. The motor characteristics may include the motor's current draw, torque, power level, or speed. The device characteristics may include the device's speed and power level. The controller 2230 may determine that an obstacle is present based on changes to one or more device or motor characteristics. The obstacles represent each end of the maximum range of motion. In one embodiment, the controller 2230 determines the maximum range of motion by detecting an obstacle at each end of the maximum range based on an increase in the motor's current draw, torque generation, or speed at a given power level.

[0069] 20 shows an embodiment of a target sensor in which the sensor is a contact sensor comprising a conductive material 2020, such as silicone rubber, on the surface of a driven wheel 2000. Each target comprises a piece of conductive material affixed to a rod or rail at one or more locations on the running surface contacted by the driven wheel. This arrangement can cause a short in the electrical circuit of the sensor 2260 when the conductive material is in contact with the conductive surface of the driven wheel.

[0070] 23A-23C show an embodiment of a target sensor in a curtain opening / closing device 2300, which carries two conductive sensor probes 2330, 2340 extending from a device housing 2310 on either side of a driven wheel 2320. The conductive probes 2330, 2340 move with the device and include conductive brushes wired to sense the tape. In one embodiment, the probes incorporate electrostatic discharge (ESD) brushes.

[0071] In an exemplary embodiment, the target sensor included an ESD brush conductive probe 2330, 2340 with black, soft carbon nylon fiber bristles. The brush exhibited an RTT resistance of less than 1x103 to 1x105 ohms when tested according to modified ANSI / ESD S4.1, demonstrating a relatively low resistance suitable for a conductive probe. The bristles had a height of 7 to 12 mm and a maximum bristle width of 12 mm. The bristles were pressed together between two metal plates embedded in the device housing 2310.

[0072] During use, the bristles of the conductive probe maintain constant pressure along the rod, forming multiple areas of contact with the rod 2360 (FIG. 23A). FIG. 23B shows a device with conductive probes 2330, 2360 and a tape marker 2350 extending around the underside of the rod 2360. The elevation view of FIG. 23C shows a configuration of conductive brushes 2330, 2340 with bristles pressed against the rod 2360 as the device 2300 moves toward the tape marker 2350.

[0073] In various embodiments, a system for opening and closing curtains on a rod or rail incorporates a modular design that allows a user to select and install a suspension assembly that is compatible with an existing curtain rod or rail installation. For example, as shown in curtain rod embodiment 2400 of Figures 24A and 24B, a user may select and install a suspension assembly 2420 on device housing 2410. The selected suspension assembly 2420 includes a support arm suitable for sliding contact with the curtain rod to suspend the device from the curtain rod 2430.

[0074] In other embodiments, the selected suspension assembly may incorporate support members with end members such as wheels, rollers, or bearings configured to roll or slide along the curtain track or rail. In various embodiments, the support members may be configured to roll or slide along an outer channel in an I-rail device, or may be configured to roll or slide along an inner channel in a U-rail device while the curtain opening device moves along the curtain track.

[0075] In a modular configuration, the attachable suspension assembly includes a removable upper connector member integrated into the main housing and can be uniquely designed for each curtain rod or curtain track system. The suspension assembly may include a support member configured for sliding or rolling contact with the rod or rail and a linkage extending along a suspension axis and connecting the support member to the device housing. The linkage may include a spring holder including a spring and connected to the device housing, and an arm removably coupled to the spring holder. The suspension assembly may include two support members each attached to opposite sides of the device during installation. The suspension assembly may be attached to a removable joint within the device housing, such as a snap-fit ​​attachment.

[0076] Figures 25A-25B, 26A-26B, and 27A-27B show various modular devices for opening and closing curtains that are compatible with existing curtain rod or curtain rail systems. Figures 25A, 26A, and 27A show existing devices 2500, 2600, and 2700 for mounting curtains along a rod or rail. These existing devices include a curtain rod 2510, an I-rail 2610, and a U-rail 2710. The existing I-rail device 2600 includes an I-rail hanger device 2620 for hanging a curtain from the I-rail 2610. The existing U-rail device 2700 includes a U-rail hanger device 2720 for hanging a curtain from the U-rail 2710. Figures 25B, 26B, and 27B show various modular devices 2550, 2650, and 2750 for opening and closing curtains that include attachable suspension assemblies. These suspension assemblies are selected to be compatible with existing devices 2500, 2600, 2700, respectively, for mounting curtains along rods or rails.

[0077] FIG. 28 shows an attachable suspension assembly for a modular device 2800 for opening and closing curtains on an I-rail system. The suspension assembly 2810 includes a support body 2820 carrying a pair of support arms 2840. The support arms 2840 include inward-facing wheels 2850 or other members at their upper ends. An adjustable mounting track 2860 accommodates various track widths of the support arms 2840 for compatibility with various I-rail shapes. The support body 2820 may include a spring (not shown in this view) to tension the support arms 2840 and ensure that the inward-facing wheels 2850 fit snugly within the outer channel of the I-rail. A snap-fit ​​attachment 2830 removably connects the suspension assembly 2810 to the device housing 2870.

[0078] FIG. 29 shows a schematic view of the dimensions 2950 of the cross-section of the I-rail of an existing I-rail device 2900. These dimensions may be adopted when planning a compatible modular suspension assembly such as the I-rail compatibility device 2800 of FIG. 28. The specifications of the dimensions of the I-rail include dimensions A, B, C, and D shown at 2950. Exemplary dimension specifications include A < 4 mm, B > 10 mm, C < 3.5 mm, 8 mm < D < 17 mm.

[0079] FIGS. 30A to 30D show a mountable suspension assembly for a module device 3000 that opens and closes a curtain in an I-rail device. The device 3000 includes two suspension assemblies 3010 located on both sides of the device. Each suspension assembly 3010 includes a support arm 3040 having an inward wheel 3050 at the upper end of the arm. In the normal configuration of the device as shown in FIGS. 30A and 30B, the wheels are separated by a limited track width. In the extended configuration of the device as shown in FIGS. 30C and 30D, the support arms 3040 are separated by an extended track width as shown by arrow B-B in FIG. 30C. FIG. 3D shows an adjustable mounting track 3060 for the support arm 3040 to accommodate various track widths. The support track 3060 includes a tension spring 3070, which applies tension to the wheel 3050 to ensure rolling or sliding engagement of the wheel within the outer channel of the I-rail while the curtain opening device travels along the curtain track.

[0080] Figure 31 shows an embodiment 3100 of a suspension assembly that can be attached to a device for opening and closing the curtain of a U-rail device. Each of the first and second suspension assemblies 3110 includes an arm 3140 having an outward wheel 3150 or other member at its upper end. The 3140 having the outward wheel 3150 is configured such that the wheel rolls or slides engage within the inner channel of the U-rail while the curtain opening device travels along the curtain track. In one embodiment, the arm 3140 is rotatably attached 3160 to the body 3120 of the suspension assembly. This configuration allows the arm to pivot while the curtain opening device travels along the curtain track, for example, to accommodate bends within the curtain track. The first and second suspension assemblies 3110 are configured to be attached to both ends of a device for opening and closing the curtain of a U-rail device using snap-fit attachments 3030.

[0081] Figure 32 shows a schematic view of the dimensions 3250 of a cross-section of the I-rail of an existing U-rail device 3200. These dimensions may be employed when planning a compatible modular suspension assembly such as the U-rail compatibility suspension assembly 3100 of FIG. 31. The specifications for the dimensions of the U-rail include dimensions A, B, C, and H shown at 3250. Exemplary dimension specifications include A < 10.5 mm, B > 3.5 mm, 3 mm < C < 10 mm, and 0.0 mm ≦ H < 3.5 mm.

[0082] FIGS. 33A-33D show various views of a device 3300 for opening and closing curtains on a U-rail device with an attachable modular suspension assembly. The device 3300 includes two suspension assemblies 3310 located on either side of the device. Each suspension assembly 3310 includes a support arm 3340 with an outward-facing wheel 3350 at the upper end of the arm. In the normal configuration of the device as shown in FIGS. 33A and 33B, the wheels 3350 are oriented as shown in FIG. 33A. The support arm 3340 can be rotated by 3360 to pivot the wheels 3350, as shown by the arcuate arrows C-C in FIG. 33B. FIG. 33C shows the modular suspension assembly 3310 lifted and removed from the device housing 3370. FIG. 33D shows that the suspension assembly 3310 can be reinserted and attached to the ratchet assembly (spring holder) 3380 within the device housing 3370.

[0083] FIG. 34 shows a front perspective view of a device 3410 for opening and closing a curtain. The device 3410 includes a pair of independent arms 3420 for attaching the device 3410 to a rod. The arms 3420 form an enclosure or loop around a rod to secure the device 3410 to the rod. The arms 3420 may include a hinged or rotatable portion to open the enclosure or loop so that the arms 3420 can receive the rod. FIG. 34 shows a rear perspective view of the device 3410 for opening and closing a curtain.

[0084] FIG. 36 shows a device 3610 for opening and closing a curtain. The device 3610 includes a pair of independent arms 3620 for mounting the device 3610 to a rod. The arms 3620 are coupled to the device 3610 by a pair of linkages 3630. The arms 3620 and linkages 3630 form a suspension assembly for the device 3610. The arms 3620 are shown extending away from the device 3610 in an assembled or locked position. The linkages 3630 include a locking mechanism, shown as a pop-up button 3650. The button 3650 includes one or more springs such that the button 3650 is biased outward from the device 3610. In the assembled or locked position, extending outward from and engaging the housing 3615 of the device 3610, the button 3650 acts as a lock or stop that prevents the arms 3620 and linkages 3630 from retracting and returning to their resting / operating configuration. To retract the arm 3620 and linkage 3630, the button 3650 is pressed until the housing 3615 passes the button 3650 and the linkage 3630 can retract. In some embodiments, the linkage 3630 is coupled to one or more springs that provide the force to retract the linkage 3630 and arm 3620.

[0085] FIG. 37 shows a device 3710 for opening and closing a curtain. The device 3710 includes a pair of independent arms 3720 for mounting the device 3710 to a rod. The arms 3720 are connected to the device 3710 by a pair of linkages 3730. The arms 3720 and linkages 3730 form a suspension assembly for the device 3710. The arms 3720 are shown extending away from the device 3710 in an assembled or locked position. The linkages 3730 include a locking mechanism, shown as a pop-up button 3750. The button 3750 includes one or more springs such that the button 3750 is biased outward from the device 3710. The arms 3720 include a hinged door or latch, shown as hinge portion 3725. The hinge portion 3725 is rotatably connected to the arm 3720 by a rotatable coupling, such as a living hinge, pivot, or other rotatable fixture. The hinge portion 3725 extends away from the arm 3720 and opens the arm 3720 to receive a rod. The hinge portion 3725 allows the arm 3720 to extend around a rod that may lack enough headroom above the rod for the entire arm 3720 to pass over the rod.

[0086] FIG. 38 shows a device 3810 for opening and closing a curtain. The device 3810 includes a pair of independent arms 3820 for mounting the device 3810 to a rod. The arms 3820 are connected to the device 3810 by a pair of linkages 3830. The arms 3820 and linkages 3830 form a suspension assembly for the device 3810. The arms 3820 are shown extending away from the device 3810 in an assembled or locked position. The linkages 3830 include a locking mechanism, shown as a pop-up button 3850. The button 3850 includes one or more springs such that the button 3850 is biased outward from the device 3810. The arms 3820 include a hinged door or latch, shown as a hinge portion 3825. The hinge portion 3825 is rotatably connected to the arm 3820 by a rotatable coupling, such as a living hinge, pivot, or other rotatable fixture. The hinge portion 3825 extends away from the arm 3820 and opens the arm 3820 to receive the rod 3860. The hinge portion 3825 allows the arm 3820 to extend around a rod that may lack enough headroom above the rod for the entire arm 3820 to pass over the rod.

[0087] Figure 39 is a partially exploded, elevated perspective view of a curtain opening and closing device 3910. The device 3910 includes a pair of independent arms 3920 for mounting the device 3910 to a rod. The arms 3920 are connected to the device 3910 by a pair of linkages 3930. The arms 3920 and linkages 3930 form a suspension assembly for the device 3910. The arms 3920 are shown in a retracted, partially positioned state with the device 3910 in a resting or operational position. The linkages 3930 include a locking mechanism shown as a pop-up button 3950. The button 3950 includes one or more springs such that the button 3950 is biased outward from the device 3910. In the resting or operational position, the button 3950 is depressed and the housing 3915 passes over the button 3950. In some embodiments, the linkage 3930 is coupled to one or more springs that provide a force to retract the linkage 3930 and the arm 3920 .

[0088] Figure 40 is a partially exploded, elevated perspective view of a device 4010 for opening and closing a curtain. The device 4010 includes a pair of independent arms 4020 for mounting the device 4010 to a rod. The arms 4020 are connected to the device 4010 by a pair of linkages 4030. The arms 4020 and linkages 4030 form a suspension assembly for the device 4010. The arms 4020 are shown in a retracted, partially positioned state with the device 4010 in a resting or operational position. The linkages 4030 include a locking mechanism, shown as a pop-up button 4050. The button 4050 includes one or more springs such that the button 4050 is biased outward from the device 4010. In the assembled or locked position, the button 4050 extends outwardly from and engages the housing 4015 of the device 4010, acting as a lock or stop that prevents the arm 4020 and linkage 4030 from retracting and returning to a resting / running configuration in the housing 4015. To retract the arm 4020 and linkage 4030, the button 4050 is depressed until the housing 4015 clears the button 4050, allowing the linkage 4030 to retract. In some embodiments, the linkage 4030 is coupled to one or more springs that provide the force to retract the linkage 4030 and arm 4020.

[0089] FIG. 41 is an elevation view of a suspension assembly 4100 having a locking mechanism shown as a pop-up button 4150. The suspension assembly 4100 includes a pair of independent arms 4120 for attaching a device to a rod. The arms 4120 include a hinged portion 4125 to allow a rod to pass through the arms 4120. The arms 4120 are coupled to a pair of linkages 4130. The linkages 4130 are coupled to spring supports 4117 by a pair of springs 4135. The springs 4135 provide the force to actuate the suspension assembly 4100 from the extended, assembled position to the retracted, working position. The force to actuate the suspension assembly 4100 from the retracted, working position to the extended, assembled position is provided by a user overcoming the force of the springs 4135 and pulling the arms 4120 away from the spring supports 4117, which are fixed relative to the arms 4120. At some point, the pop-up button 4150 is no longer held by the device housing and can extend, locking the suspension assembly 4100 in the extended operating position and resisting the force of the spring 4135. To return to the retracted operating position, the button 4150 is depressed. The suspension assembly 4100 is shown in the retracted operating position.

[0090] FIG. 42 is an elevation view of a suspension assembly 4200 having a locking mechanism shown as a pop-up button 4250. The suspension assembly 4200 includes a pair of independent arms 4220 for attaching a device to a rod. The arms 4220 include a hinged portion 4225 to allow a rod to pass through the arms 4220. The arms 4220 are connected to a pair of linkages 4230. The linkages 4230 are connected to a spring support 4217 by a pair of springs 4235. The springs 4235 provide the force to actuate the suspension assembly 4200 from the extended assembled position to the retracted operational position. The force to actuate the suspension assembly 4200 from the retracted operational position to the extended assembled position is provided by a user overcoming the force of the springs 4235 and pulling the arms 4220 away from the spring support 4217, which is secured to the arms 4220. At some point, the pop-up button 4250 is no longer held by the device housing and can be extended, locking the suspension assembly 4200 in the extended operating position and resisting the force of the spring 4235. To return to the retracted operating position, the button 4250 is depressed. The suspension assembly 4200 is shown in the extended assembled position.

[0091] While various aspects and embodiments have been disclosed, other aspects and embodiments are contemplated. The various aspects and embodiments disclosed are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims.

[0092] The foregoing method descriptions and interface configurations are provided merely as illustrative examples and are not intended to require or imply that the steps of the various embodiments must be performed in the order presented. As will be understood by one of ordinary skill in the art, the steps of the foregoing embodiments may be performed in any order. Terms such as "then," "next," and the like are not intended to limit the order of the steps. These terms are merely used to guide the reader through the method description. Although a process flow diagram may describe operations as a sequential process, many of the operations may be performed in parallel or simultaneously. Additionally, the order of operations may be re-arranged. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. When a process corresponds to a function, its termination may correspond to a return of the function to the calling function or the main function.

[0093] For purposes of this disclosure, the term "coupled" refers to the joining of two members directly or indirectly to one another. Such joining may be fixed or movable in nature. Such joining may be achieved by the two members or the two members and any additional intermediate members being integrally formed with one another as individual, unitary bodies, or by the two members or the two members and any additional intermediate members being attached to one another. Such joining may be detachable or releasable in nature.

[0094] The various illustrative logic blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability of hardware and software, the various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the particular application and design constraints imposed on the overall system. Those skilled in the art may implement the described functionality in different ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

[0095] Computer software-implemented embodiments may be implemented in software, firmware, middleware, microcode, hardware description languages, or any combination thereof. A code segment or machine-executable instruction may represent a procedure, a function, a subprogram, a program, a routine, a subroutine, a module, a software package, a class, or any combination of instructions, data structures, or program statements. A code segment may be coupled to another code segment or a hardware circuit by passing and / or receiving information, data, arguments, parameters, or memory contents. Information, arguments, parameters, data, etc. can be passed, forwarded, or transmitted via any suitable means including memory sharing, message passing, token passing, network transmission, etc.

[0096] The actual software code or specialized control hardware used to implement these systems and methods is not a limitation of the present invention. Thus, although the operation and behavior of the systems and methods have been described without reference to specific software code, it will be understood that software and control hardware can be designed to perform the systems and methods based on the description herein.

[0097] If implemented in software, the functions may be stored as one or more instructions or code on a non-transitory computer-readable or processor-readable storage medium. The steps of a method or algorithm disclosed herein may be embodied in a processor-executable software module, which may reside on a computer-readable or processor-readable storage medium. Non-transitory computer-readable or processor-readable media includes both computer storage media and tangible storage media that facilitate transfer of a computer program from one place to another. Non-transitory processor-readable storage media may be any available medium that can be accessed by a computer. By way of example, and not limitation, such non-transitory processor-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage, or any other tangible storage medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer or processor. Disk and disc, as used herein, include compact discs ("CDs"), laser discs, optical discs, digital versatile discs ("DVDs"), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically while discs reproduce data optically with a laser. Combinations of the above should also be included within the scope of computer-readable media. Furthermore, the operations of a method or algorithm may reside as one or any combination or set of code and / or instructions on a non-transitory processor-readable medium and / or computer-readable medium, which may be incorporated into a computer program product.

Claims

1. 1. A device for opening and closing curtains on a rod or rail, comprising: a driven wheel coupled to a motor within a housing and projecting from said housing for frictional engagement with said rod or rail; a suspension assembly, the suspension assembly comprising: a support member in sliding or rolling contact with the rod or rail; and a linkage extending along a suspension axis, connecting the support member to the housing and suspending the housing from the support member; The driven wheel is rotated by the motor to advance the device along the rod or rail to open or close the curtain while the housing is suspended from the support member.

2. 2. The device of claim 1, wherein the support member is at least one of a slide member in sliding contact with the rod or rail, a roller member in rolling contact with the rod or rail, or a V-shaped member having two conical portions.

3. 10. The apparatus of claim 1, wherein the support member comprises at least one of a support arm having an end member configured to roll or slide along an outer channel of an I-rail or a support arm having an end member configured to roll or slide along an inner channel of a U-rail.

4. The apparatus of claim 1 , wherein the linkage includes one or more springs that bias the housing to press the driven wheel against the rod or rail.

5. 5. The apparatus of claim 4, wherein the linkage comprises a spring holder that houses the one or more springs and is connected to the housing, and an arm that is connected to the support member and removably coupled to the spring holder.

6. The apparatus of claim 4 , wherein the linkage includes a locking mechanism having one or more detent positions for preventing movement of the linkage relative to the housing along the suspension axis.

7. 7. The apparatus of claim 6, wherein the suspension assembly is movable between a first assembly position defined by the support member extending a first distance from the housing and a second operational position defined by the support member extending a second distance from the housing, the second distance being less than the first distance, wherein in the first assembly position the locking mechanism extends from the suspension assembly and engages the housing to resist the force of the one or more springs, and in the operational position the locking mechanism is positioned within the suspension assembly to allow the one or more springs to bias the housing to press the driven wheel against the rod or rail.

8. 2. The apparatus of claim 1, wherein the suspension assembly is movable between a first assembled position defined by the support member extending a first distance from the housing and a second operational position defined by the support member extending a second distance from the housing, the second distance being less than the first distance.

9. 2. The apparatus of claim 1, wherein the linkage comprises a first member extending from the support member to the housing along a first suspension axis on a first side of the driven wheel, and a second member extending from the support member to the housing along a second suspension axis on a second side of the driven wheel.

10. 10. The apparatus of claim 9, wherein the first member includes a first plurality of springs and the second member includes a second plurality of springs, the first plurality of springs and the second plurality of springs biasing the housing to press the driven wheel against the rod or rail.

11. The apparatus of claim 1 , wherein the linkage comprises a hinge portion configured to receive the rod or rail.

12. 1. A system for opening and closing curtains on a rod or rail, comprising: a driven wheel coupled to a motor within a housing and in frictional engagement with the rod or rail, the driven wheel rotated by the motor to advance the system along the rod or rail to open or close the curtain; a controller for the motor; an encoder operably connected to the controller, the encoder tracking rotational movement of the driven wheel; one or more sensor targets disposed on the rod or rail; a sensor operably connected to the controller, the sensor configured to generate a signal indicative of the presence of each of the one or more sensor targets disposed on the rod or rail when the sensor is positioned in proximity to or in contact with the respective sensor target during the advancement of the system along the rod or rail.

13. 13. The system of claim 12, wherein the encoder is a rotary encoder that generates output pulses based on rotational movement of the driven wheel.

14. 13. The system of claim 12, wherein the one or more sensor targets include a first marker and a second marker, the controller is calibrated to store a first position of the first marker and a second position of the second marker, and the controller is configured to receive the signal indicative of the presence of each of the first marker and the second marker and to identify drift from the respective first or second position during continuous operation of the system.

15. 15. The system of claim 14, wherein the controller is configured to, if it identifies the drift from the respective first or second position during continued operation of the system, recalibrate the respective first or second position to compensate for the identified drift.

16. 13. The system of claim 12, wherein the sensor is a contact sensor connected to an electrical circuit, and wherein each of the one or more sensor targets includes a piece of conductive material configured to cause a short in the electrical circuit when the piece of conductive material contacts the contact sensor.

17. The system of claim 16 , wherein the contact sensor includes a conductive material on a surface of the driven wheel.

18. 17. The system of claim 16, wherein the contact sensor comprises a conductive probe that moves with the system and contacts the rod or rail at all times during the advancement of the system along the rod or rail.

19. The system of claim 14 , wherein the sensor is an RFID sensor operably connected to the controller, and wherein each of the one or more sensor targets comprises an RFID tag.

20. 15. The system of claim 14, further comprising a suspension assembly including a support member in sliding or rolling contact with the rod or rail, and a linkage that suspends the housing from the support member.

21. 15. The system of claim 14, wherein the controller receives feedback from at least one of the motor or the encoder, and wherein the controller is further configured to use the feedback to determine each end of a maximum range of movement along the rod or rail based on at least one of an increase in current consumption of the motor, an increase in torque generated, or a decrease in speed at a given power level.

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