Multi-link self-locking mechanism and automatic train door system

Abstract

The present application relates to a kind of multi-link self-locking mechanism and automatic train garage door system.A kind of multi-link self-locking mechanism includes: its application in V-type piece, V-type piece includes A area and B area articulated together, A area is responsible for articulation with rack, including guide rail and guide unit, guide rail is fixed on rack, the first point of B area fixed guide unit, in the process that V-type piece opens and closes, guide unit slides along guide rail.Beneficial effects: relative to prior art, the full-automatic train garage door system of the double four-link linkage mechanism of the present application can be in self-locking state all the time when opening and closing door to position, with the advantages of simple structure, high reliability, strong safety and good maintainability, etc., overturns the solution of traditional reliance on drive unit self-locking or additional locking device, can meet the safe and reliable operation demand of full-automatic train under outdoor strong wind extreme condition, with very good engineering application prospect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical fields of rail transit, plant logistics, folding doors and the like, and in particular to a multi-link self-locking full-automatic train garage door system. BACKGROUND

[0002] In a full-automatic operation depot of a subway, a parking and inspection garage for parking of a full-automatic driving train and a washing garage for washing of the train are full-automatic operation areas. The parking and inspection garage is provided with one set of train garage door at each track, and the washing garage is provided with one set of train garage door at each end. The train garage door currently adopts a structure of a 90° folding door, and the automatic opening, closing and state self-locking of the train garage door are controlled by linkage of a signal system. Since the full-automatic operation depot of the subway is generally built in an outdoor suburb, there are conditions of strong wind in the outdoor suburb. Therefore, when the train enters and exits the depot in full-automatic operation, the train garage door should be able to reliably and safely realize the automatic opening, closing and state self-locking under the condition of strong wind, so as to provide safe and reliable guarantee for the automatic entry and exit of the train in the depot. Meanwhile, when the train garage door detects a person or equipment during the closing process, the train garage door should be able to immediately stop closing and open, so as to ensure the safety of the person or equipment.

[0003] The conventional train garage door adopts three ways of a door lock device, a self-locking of a driving unit mechanism and a self-locking of a driving unit brake to realize the locking at the opening and closing positions. Under the condition of wind load, due to a fault of a motor or a brake device of the driving unit, the door leaf shakes or misacts, which causes the train garage door to collide with the train entering and exiting the depot in automatic driving, and thus a serious safety accident occurs. When a lock pin of the door lock device is stuck, the train garage door cannot be automatically opened and closed in time, which seriously affects the full-automatic operation of the train. SUMMARY

[0004] The present application aims to provide a multi-link self-locking full-automatic train garage door system, which has the advantages of simple structure, high reliability, strong safety and low cost compared with the conventional train garage door system, overturns the conventional solutions of relying on self-locking of a driving unit or additional locking device, and can meet the requirements of safe and reliable full-automatic operation of the train under the condition of outdoor strong wind. Therefore, the present application has very good engineering application prospect.

[0005] The specific scheme is as follows.

[0006] A multi-link self-locking mechanism comprises: a V-shaped piece which comprises an A region and a B region hinged together, the A region is responsible for being hinged to a frame, the frame comprises a guide rail and a guide unit, the guide rail is fixed to the frame, a first point of the B region fixes the guide unit, the guide unit slides along the guide rail during the opening and closing of the V-shaped piece; the mechanism further comprises a driving unit, a rotating output shaft of the driving unit is fixed to a crank, the crank is rotationally connected to one end of a connecting rod, the other end of the connecting rod is rotationally connected to the A region; when the V-shaped piece is located in a plane, the crank and the connecting rod are collinear.

[0007] A multi-link self-locking full-automatic train door system comprises the multi-link self-locking mechanism; wherein the V-shaped piece is a right door and a left door of the train door, the frame is a fixed frame; the system comprises the fixed frame, the fixed frame has four door leaves: a left door leaf I, a left door leaf II, a right door leaf I and a right door leaf II; the left door leaf I and the left door leaf II are hinged together to form a left door, a left end of the left door is hinged to the fixed frame, the right door leaf I and the right door leaf II are hinged together to form a right door, a right end of the right door is hinged to the fixed frame; the fixed frame is fixed with a left guide rail and a right guide rail, the left door leaf II and the right door leaf II are each fixed with a guide unit at the top, the two guide units slide along the left guide rail and the right guide rail respectively during the opening and closing of the doors; the system further comprises a left driving unit and a right driving unit, a rotating output shaft of the left driving unit is fixed to a crank, the crank is rotationally connected to one end of a connecting rod, the other end of the connecting rod is rotationally connected to the left door leaf I; a rotating output shaft of the right driving unit is fixed to a crank, the crank is rotationally connected to one end of a connecting rod, the other end of the connecting rod is rotationally connected to the right door leaf I; in the closed state, the crank and the connecting rod on each side are collinear.

[0008] The left door leaf II and the right door leaf II are each fixed with a guide pin at the bottom, the guide pins on the respective sides coincide with the axes of the guide units, the two guide pins are matched with a left guide block and a right guide block respectively, the inclination angles of guide grooves of the left guide block and the right guide block are consistent with the inclination angles of the left guide rail and the right guide rail respectively.

[0009] The system further comprises a sensing unit, the sensing unit is connected to a PLC, the PLC is connected to the left driving unit and the right driving unit.

[0010] The system further comprises an emergency operating device.

[0011] The left door leaf I and the right door leaf I are hinged to the fixed frame to form a rotating pair through a pin shaft I respectively; the left door leaf I and the right door leaf II are connected to form a rotating pair through a combined hinge respectively.

[0012] The guide units are symmetrically installed on the mounting seats at the top of the left door leaf II and the right door leaf II through thread cooperation and a nut assembly respectively, and are matched with the left guide rail and the right guide rail of the fixed frame to form a moving pair respectively.

[0013] The driving unit fixing support is symmetrically arranged in the middle part of the wall body through a plurality of expansion bolt assemblies I, and the position thereof is matched with the position of the connecting support;

[0014] The left driving unit and the right driving unit are symmetrically arranged and installed on the driving unit fixing support through bolt assemblies, the crank is connected with the left driving unit and the right driving unit as a whole through a key and a screw assembly, and is connected with the connecting rod through a pin shaft II to form a rotary pair, the connecting support is fixed in the middle part of the left door leaf I and the right door leaf I, and the centripetal joint bearing of the connecting rod is connected with the connecting support through a pin shaft III and a check ring to form a rotary pair.

[0015] The mounting seat is fixed at the bottom and the top of the left and right door leaves II through bolt assemblies, and the mounting holes thereof are coaxial, the guide pin is symmetrically installed on the mounting seat at the bottom of the left and right door leaves II through threaded cooperation and a nut assembly, the left guide block and the right guide block are symmetrically installed on the ground through expansion bolt assemblies, the connecting rod comprises a connecting piece I and a connecting piece II, the end portions of the connecting piece I and the connecting piece II are connected through a double-headed screw rod, the threaded directions of the two ends of the double-headed screw rod are opposite, the end portion of the connecting piece I is connected with the outer ring of the centripetal joint bearing, the length of the connecting rod can be adjusted and locked by rotating the double-headed screw rod clockwise or counterclockwise, the centripetal joint bearing has a certain self-aligning ability and can effectively absorb the installation error of the connecting support;

[0016] The fixed frame comprises a support frame, a left guide rail, a left vertical frame, a support, a horizontal frame, a right guide rail, a right vertical frame and the like which are welded to form a whole, and is installed on the wall body through expansion bolt assemblies, the left vertical frame, the right vertical frame, the left guide rail, the right guide rail and the six groups of supports are arranged symmetrically left and right, the pin shaft I, the guide unit, the expansion bolt assembly I, the driving unit fixing support, the crank, the pin shaft II, the connecting support, the pin shaft III, the guide pin, the left guide block, the expansion bolt assembly II, the mounting seat, the right guide block, the right door leaf I, the right door leaf II, the hinge, the sensing unit and the emergency operating device are arranged symmetrically left and right with the center line of the passage as the symmetry line.

[0017] Beneficial effects: Compared with the prior art, the full-automatic train door system of the double four-bar linkage mechanism can be in the self-locking state all the time when opening and closing the door, has the advantages of simple structure, high reliability, strong safety and good maintainability, overturns the traditional solution of relying on the self-locking of the driving unit or additionally increasing a locking device, can meet the safe and reliable operation requirements of the full-automatic train under the outdoor extreme wind conditions, and has a very good engineering application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic view of the present application.

[0019] Figure 2 is a schematic view of the door leaf.

[0020] Figure 3 is a schematic view of the door closed to position for the present invention.

[0021] Figure 4 is Figure 3 is a schematic view of region I in the present invention.

[0022] Figure 5 is Figure 3 is a schematic view of region II in the present invention.

[0023] Figure 6 is Figure 3 is a schematic view of region III in the present invention.

[0024] Figure 7 is Figure 3 is a schematic view of a cross-section along line A-A in the present invention.

[0025] Figure 8 is Figure 3 is a schematic view of a cross-section along line B-B in the present invention.

[0026] Figure 9 is Figure 3 is a schematic view of a cross-section along line C in the present invention.

[0027] Figure 10 is Figure 9 is a schematic view of a cross-section along line D in the present invention.

[0028] Figure 11 is Figure 10 is a schematic view of region IV in the present invention.

[0029] Figure 12 is a schematic view of the door opened to 45° for the present invention.

[0030] Figure 13 is Figure 12 is a schematic view of a cross-section along line E-E in the present invention.

[0031] Figure 14 is a schematic view of the door opened to position for the present invention.

[0032] Figure 15 is a schematic view of a cross-section along line F-F in the present invention.

[0033] Figure 16 is a schematic view of a connecting rod in the present invention.

[0034] Figure 17 is a schematic view of a fixed frame in the present invention.

[0035] Figure 18 is Figure 17 is a schematic view of the present invention from above.

[0036] Figure 19 is Figure 17 An enlarged schematic view of the V region. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the present application.

[0038] As shown in the accompanying Figures 1-15 A multi-link self-locking full-automatic train garage door system, comprising a fixed frame 1, the fixed frame 1 is fixed in the wall, the fixed frame 1 has four door leaves: left door leaf I 4, left door leaf II 5, right door leaf I 20, and right door leaf II 21; the left door leaf I 4 and the left door leaf II 5 are hinged together to form a left door, the left end of the left door is hinged to the fixed frame 1, the right door leaf I 20 and the right door leaf II 21 are hinged together to form a right door, and the right end of the right door is hinged to the fixed frame 1.

[0039] The fixed frame 1 fixes the left guide rail 102 and the right guide rail 108, and the top of the left door leaf II 5 and the right door leaf II 21 is fixed with a guide unit 3, in the process of opening and closing the door, the two guide units 3 slide along the left guide rail 102 and the right guide rail 108 respectively.

[0040] It also includes a left drive unit 8 and a right drive unit 19, the rotating output shaft of the left drive unit 8 is fixed with a crank 9, the crank 9 is rotatably connected to one end of a connecting rod 11, and the other end of the connecting rod 11 is rotatably connected to the left door leaf I 4; the rotating output shaft of the right drive unit 19 is fixed with a crank 9, the crank 9 is rotatably connected to one end of a connecting rod 11, and the other end of the connecting rod 11 is rotatably connected to the right door leaf I 20, so that the crank 9, the connecting rod 11, the left door leaf I 4 (the right door leaf I 20), and the rack form a four-link mechanism (see the blue line in the figure). Figure 13

[0041] In the closed-to-position state, the crank 9 and the connecting rod 11 on each side are collinear, when the left or right door leaf I 4, 20, the left or right door leaf II 5, 21 is subjected to external load such as wind pressure, all the forces are transmitted to the crank rocker mechanism through the door leaf I, at this time, the rocker is the driving part, the crank is the driven part, and the crank rocker mechanism also forms a "dead point", which ensures that the train garage door is always in the open-to-position self-locking state. This ensures that the two doors on the side are firm.

[0042] ​The bottom of the left door leaf II 5 and the bottom of the right door leaf II 21 are fixed with a guide pin 14, the guide pin 14 on each side is coincident with the axis of the guide unit 3, the two guide pins 14 are matched with the left guide block 15 and the right guide block 18 respectively, the inclination angle of the guide groove of the left guide block 15 and the right guide block 18 is consistent with the inclination angle of the left guide rail 102 and the right guide rail 106 respectively, the left guide block 15 and the right guide block 18 are fixed on the ground, and the wind pressure resistance of the door leaf in the closed state of the train garage door system is further enhanced. This ensures that the two doors in the middle are firm.

[0043] It also includes a sensing unit 23 connected to a PLC, which is connected to the left driving unit 8 and the right driving unit 19. The sensing unit 23 is fixed on the inner side of the wall through its mounting support, expansion bolt assembly, etc.

[0044] It also includes an emergency operating device 24, which is installed on the inner side of the wall through expansion bolts, etc. In an emergency, manual unlocking operation can be performed in the closed and open states, realizing the opening and closing of the train garage door in an emergency.

[0045] The left and right door leaves I 4, 20 are respectively hinged to the fixed frame 1 through three pin shafts I 2 to form a rotating pair; the left and right door leaves I 4, 20 are respectively connected to the left and right door leaves II 5, 21 through three combined leaves 22 to form a rotating pair.

[0046] The guide unit 3 is symmetrically installed on the mounting seat 17 at the top of the left door leaf II 5 and the right door leaf II 21 through thread cooperation and nut assembly and is matched with the left and right guide rails 102, 108 of the fixed frame 1 to form a moving pair, and the accurate adjustment and state locking of the up-down position of the guide unit 3 can be realized through the adjustment nut;

[0047] The driving unit fixed support 7 is symmetrically arranged in the middle of the wall through multiple expansion bolt assemblies I 6, and the position thereof matches the position of the connecting support 12;

[0048] The left driving unit 8 and the right driving unit 19 are symmetrically arranged and installed on the driving unit fixed support 7 through bolt assemblies, the crank 9 is connected to the left driving unit 8 and the right driving unit 19 through key and screw assemblies and is connected to the connecting rod 11 through the pin shaft II 10 to form a rotating pair, the connecting support 12 is fixed at the middle position of the left door leaf I 4 and the right door leaf I 20, and the radial joint bearing 1101 of the connecting rod 11 is connected to the connecting support 12 through the pin shaft III 13 and the retainer to form a rotating pair;

[0049] The mounting seat 17 is fixed at the bottom and top of the left and right door leaves II5, 21 respectively by bolt assemblies, and the mounting holes thereof are coaxial. The guide pin 14 is symmetrically mounted on the mounting seat 17 at the bottom of the left door leaf II5 and the right door leaf II21 respectively by screw threads and nut assemblies, and the up and down positions of the guide pin 14 can be accurately adjusted and locked by adjusting the nuts.

[0050] The left guide block 15 and the right guide block 18 are symmetrically mounted on the ground by expansion bolt assemblies 16.

[0051] As Figure 16 , the connecting rod 11 includes a connecting piece I1102 and a connecting piece II1104. The ends of the connecting piece I1102 and the connecting piece II1104 are connected by a double-headed screw rod 1103. The screw threads at the two ends of the double-headed screw rod 1103 are opposite in direction. The end of the connecting piece I1102 is connected to the outer ring of a centripetal joint bearing 1101. The length of the connecting rod 11 can be adjusted and locked by rotating the double-headed screw rod 1103 clockwise or counterclockwise. The centripetal joint bearing has a certain self-centering ability and can effectively absorb installation errors on site.

[0052] As Figures 17-19 , the fixed frame 1 includes a support frame 101, a left guide rail 102, a left vertical frame 103, a support 104, a horizontal frame 105, a right guide rail 106, a right vertical frame 107, and the like, which are welded to form a whole. The fixed frame 1 is mounted on the wall by expansion bolt assemblies. The left vertical frame 103, the right vertical frame 107, the left guide rail 102, the right guide rail 106, and the six groups of supports 104 are arranged symmetrically left and right.

[0053] The pin shaft I2, the guide unit 3, the expansion bolt assembly I6, the drive unit fixed support 7, the crank 9, the pin shaft II10, the connecting support 12, the pin shaft III13, the guide pin 14, the left guide block 15, the expansion bolt assembly II16, the mounting seat 17, the right guide block 18, the right door leaf I20, the right door leaf II21, the hinge 22, the sensing unit 23, and the emergency operating device 24 are arranged symmetrically left and right with the center line of the passage as the line of symmetry.

[0054] In fact, the multi-link self-locking mechanism in the above-mentioned multi-link self-locking full-automatic train garage door system can not only be used for train garage doors, but also can be used in other fields as long as the self-locked piece is a V-shaped piece:

[0055] The V-shaped piece (similar to the left door) includes an A area (similar to the left door leaf I4) and a B area (similar to the left door leaf II5) hinged together.

[0056] This multi-link self-locking mechanism includes: it is applied to a V-shaped component, which includes an A section and a B section hinged together. The A section is responsible for hinged to the frame (the part used to support the operation of the V-shaped component, similar to the fixed frame 1 mentioned above), and includes a guide rail and a guide unit 3. The guide rail is fixed to the frame, and the guide unit 3 is fixed at the first point of the B section. During the opening and closing of the V-shaped component, the guide unit 3 slides along the guide rail.

[0057] It also includes a drive unit, the rotary output shaft of the drive unit is fixed to the crank, the crank is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to area A; when the V-shaped part is entirely in a plane, the crank and the connecting rod are collinear.

[0058] Its working principle is as follows:

[0059] As attached Figures 1-19 As shown, the fully automated train depot door system mainly involves two sets of symmetrically arranged double four-bar linkages.

[0060] The double four-bar linkage mainly consists of a crank-rocker mechanism and a crank-slider mechanism. The crank-rocker mechanism is composed of crank 9, connecting rod 11, left door leaf I4 or right door leaf I20, etc., with left and right door leaves I4 and 20 forming its rocker arm. The crank-slider mechanism is composed of left or right door leaves I4 and 20, left or right door leaves II5 and 21, guide unit 3, and left or right guide rails 102 and 106, etc., with left or right door leaves I4 and 20 forming its crank, left or right door leaves II5 and 21 forming its connecting rod, and guide unit 3 cooperating with left or right guide rails 102 and 106 to form its slider. The driving torque of the left and right drive units 8 and 19 is transmitted to the crank-slider mechanism through the crank-rocker mechanism. The left door I4 or the right door I20 drives the left or right door II5 and II1 to fold or unfold synchronously to complete the automatic opening or closing of the train depot door. The two extreme positions of the left door I4 or the right door I20 in the crank-rocker mechanism correspond to the opening and closing positions of the train depot door, respectively.

[0061] 1. When the train enters or exits the depot, the signal system sends a closing command to the train depot door control system. The train control system controls the left and right drive units 8 and 19 to move synchronously. Through the crank-rocker mechanism, the crank-slider mechanism drives the left and right door panels I4 and 20, and the left and right door panels II5 and 21 to move synchronously, thus realizing the closing function of the train depot door. When the train depot door is closed, the position detection sensors of the left and right drive units 8 and 19 are triggered, and the crank-rocker mechanism stops moving. Its crank and connecting rod are collinear. When the left or right door panel I4 and 20, and the left or right door panel II5 and 21 are subjected to external loads such as wind pressure, all forces are transmitted to the crank-rocker mechanism through door panel I. At this time, its rocker acts as the driving component and the crank acts as the driven component. The crank-rocker mechanism forms a "dead point", ensuring that the train depot door is always in the closed and self-locking state.

[0062] 2、When the train needs to enter or exit the depot, the signal system sends an open door command to the train depot door control system, the train control system controls the left and right drive units 8, 19 to move synchronously, through the crank rocker mechanism to drive the crank slider mechanism to realize the synchronous folding action of the left and right door leaves I 4, 20, left and right door leaves II 5, 21, and realize the opening function of the train depot door; when the train depot door is closed to the position, the left and right drive units 8, 19 will be triggered, the crank rocker mechanism stops moving, and the crank and connecting rod are collinear, when the left or right door leaves I 4, 20, left or right door leaves II 5, 21 are subjected to external load such as wind pressure, all the forces are transmitted to the crank rocker mechanism through the door leaves I, at this time, the rocker is the driving part, and the crank is the driven part, and the crank rocker mechanism also forms a "dead point", which ensures that the train depot door is always in the open door to the position and self-locking state.

[0063] 3、When the train depot door system has a power failure or other sudden situation, the emergency operation device is rotated clockwise or counterclockwise, the motor of the drive unit is rotated clockwise or counterclockwise by the steel wire rope, and then the crank rocker mechanism is rotated clockwise or counterclockwise, breaking the "dead point" position, realizing the unlocking function of the train depot door in the emergency situation.

[0064] 4、When the train depot door is in the process of closing, the sensing unit installed on the inside of the wall detects that the passage has foreign matter, the train depot door system stops moving and opens to ensure the safety of the passing personnel, vehicles or equipment.

[0065] Pin shaft I 2, guide unit 3, expansion bolt assembly I 6, drive unit fixed support 7, crank 9, pin shaft II 10, connecting support 12, pin shaft III 13, guide pin 14, left guide block 15, expansion bolt assembly II 16, mounting seat 17, right guide block 18, right door leaf I 20, right door leaf II 21, hinge 22, sensing unit 23, emergency operation device 24 and related standard parts, etc. The whole is symmetrically arranged with the passage center line as the symmetry line.

[0066] Other references are made to the prior art, which will not be repeated here.

[0067] The technical means disclosed in the scheme of the present application is not limited to the technical means disclosed in the above-mentioned embodiments, but also includes the technical solutions composed of any combination of the above technical features. It should be noted that for ordinary skilled in the art, without departing from the principle of the present application, some improvements and refinements can be made, which are also considered as the protection scope of the present application.

Claims

1. A multi-link self-locking full-automatic train door system, characterized in that: The application relates to a multi-link self-locking mechanism applied to a V-shaped piece. The V-shaped piece is a right door and a left door of a train garage door, and the rack is a fixed frame (1). The fixed frame (1) is internally provided with four door leaves, i.e. a left door leaf I (4), a left door leaf II (5), a right door leaf I (20) and a right door leaf II (21); the left door leaf I (4) and the left door leaf II (5) are hinged together to form a left door, and the left end of the left door is hinged to the fixed frame (1); the right door leaf I (20) and the right door leaf II (21) are hinged together to form a right door, and the right end of the right door is hinged to the fixed frame (1); The fixed frame (1) is fixed with a left guide rail (102) and a right guide rail (106), and the top of each of the left door leaf II (5) and the right door leaf II (21) is fixed with a guide unit (3); during door opening and closing, the two guide units (3) slide along the left guide rail (102) and the right guide rail (106) respectively. The left driving unit (8) and the right driving unit (19) are further arranged; the rotating output shaft of the left driving unit (8) is fixed with a crank (9), the crank (9) is rotationally connected with one end of a connecting rod (11), and the other end of the connecting rod (11) is rotationally connected with the left door leaf I (4); the rotating output shaft of the right driving unit (19) is fixed with a crank (9), the crank (9) is rotationally connected with one end of a connecting rod (11), and the other end of the connecting rod (11) is rotationally connected with the right door leaf I (20). In the door closing position, the crank (9) and the connecting rod (11) on each side are collinear. The bottom of each of the left door leaf II (5) and the right door leaf II (21) is fixed with a guide pin (14), the guide pin (14) on one side of each of the left door leaf II (5) and the right door leaf II (21) is coincident with the axis of the guide unit (3), and the two guide pins (14) are matched with a left guide block (15) and a right guide block (18) respectively, and the inclination angles of guide grooves of the left guide block (15) and the right guide block (18) are consistent with the inclination angles of the left guide rail (102) and the right guide rail (106) respectively. The connecting rod (11) comprises a connecting piece I (1102) and a connecting piece II (1104), the ends of the connecting piece I (1102) and the connecting piece II (1104) are connected through a double-headed screw rod (1103), the thread directions of the two ends of the double-headed screw rod (1103) are opposite, the end of the connecting piece I (1102) is connected with the outer ring of a centripetal joint bearing (1101), and the length of the connecting rod (11) can be adjusted and locked by rotating the double-headed screw rod (1103) clockwise or counterclockwise.

2. The multi-link self-locking full-automatic train door system according to claim 1, characterized in that: The sensing unit (23) is further arranged, the sensing unit (23) is connected with a PLC, and the PLC is connected with the left driving unit (8) and the right driving unit (19).

3. The multi-link self-locking full-automatic train door system according to claim 2, characterized in that: The emergency operating device (24) is further arranged.

4. The multi-link self-locking full-automatic train door system according to claim 3, characterized in that: The left door leaf I (4) and the right door leaf I (20) are hinged to the fixed frame (1) through three pin shafts I (2) respectively to form rotating pairs; the left door leaf I (4) and the right door leaf I (20) are connected with the left door leaf II (5) and the right door leaf II (21) through three groups of combined leaves (22) respectively to form rotating pairs.

5. The multi-link self-locking full-automatic train door system according to claim 4, characterized in that: The guide unit (3) is symmetrically installed on the mounting seat (17) at the top of the left door leaf II (5) and the right door leaf II (21) respectively through screw thread cooperation and nut assembly and cooperates with the left guide rail (102) and the right guide rail (106) of the fixed frame (1) to form a moving pair.

6. The multi-link self-locking full-automatic train door system according to claim 2, characterized in that: The driving unit fixed support (7) is symmetrically arranged in the middle of the wall body through a plurality of groups of expansion bolt assemblies I (6), and the position thereof is matched with the position of the connecting support (12).

7. The multi-link self-locking full-automatic train door system according to claim 2, characterized in that: The left driving unit (8) and the right driving unit (19) are symmetrically arranged and installed on the driving unit fixed support (7) through bolt assemblies, the crank (9) is connected with the left driving unit (8) and the right driving unit (19) integrally through key and screw assemblies and is connected with the connecting rod (11) through the pin shaft II (10) to form a rotating pair, the connecting support (12) is fixed at the middle position of the left door leaf I (4) and the right door leaf I (20), and the centripetal joint bearing (1101) of the connecting rod (11) is connected with the connecting support (12) through the pin shaft III (13) and a retainer to form a rotating pair.

8. The multi-link self-locking full-automatic train door system according to claim 2, characterized in that: The mounting seat (17) is fixed at the bottom and the top of the left door leaf II (5) and the right door leaf II (21) through bolt assemblies respectively and coaxially, and the guide pin (14) is symmetrically installed on the mounting seat (17) at the bottom of the left door leaf II (5) and the right door leaf II (21) through screw thread cooperation and nut assembly; The left guide block (15) and the right guide block (18) are symmetrically installed on the ground through expansion bolt assemblies II (16); The fixed frame (1) comprises a support frame (101), a left guide rail (102), a left vertical frame (103), a support (104), a horizontal frame (105), a right guide rail (106), a right vertical frame (107) and is welded to form a whole, is installed on the wall body through expansion bolt assemblies, and the left vertical frame (103), the right vertical frame (107), the left guide rail (102), the right guide rail (106) and six groups of supports (104) are arranged symmetrically left and right. The pin shaft I (2), the guide unit (3), the expansion bolt assembly I (6), the driving unit fixed support (7), the crank (9), the pin shaft II (10), the connecting support (12), the pin shaft III (13), the guide pin (14), the left guide block (15), the expansion bolt assembly II (16), the mounting seat (17), the right guide block (18), the right door leaf I (20), the right door leaf II (21), the hinge (22), the sensing unit (23) and the emergency operating device (24) are arranged symmetrically left and right with the center line of the passage as the line of symmetry.

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