Compact roller shutter dual-motor driving and force balance control device

Abstract

The invention belongs to the field of mechanical engineering automation, and discloses a compact roller shutter dual-motor driving and force balance control device which comprises a roller shutter reel, a left aluminum alloy support is fixedly arranged at one end of the roller shutter reel, a left driving motor is fixedly arranged on one side of the left aluminum alloy support, and a left driving output planetary reducer is arranged at the output end of the left driving motor in a matched mode. A left planetary reducer torque output shaft is fixedly arranged at one end of the left driving output planetary reducer, and a left deceleration rear torque output shaft connecting plate is fixedly arranged at one end of the left planetary reducer torque output shaft; the problems that in the prior art, the speed reduction efficiency is low, due to the fact that a motor and a speed reducer are externally arranged, attractiveness of an electric curtain is lacked, meanwhile, a traditional device generally adopts a single-motor and speed reducer driving mode, the size of the motor and the size of the speed reducer are large, and installation and maintenance are not facilitated are solved, and the electric curtain is simple in structure, high in integration degree, reliable in operation and convenient to use. The device can be used in a household curtain electric reel system, and has a good application prospect.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical engineering automation, and in particular to a compact roller blind dual-motor drive and force balance control device. Background Art

[0002] The existing window roller blind electric actuator and reducer adopt an external method, and generally adopt a gear screw reduction method, but the traditional device not only has low reduction efficiency, but also lacks the aesthetics of the electric curtain due to the external motor and reduction device. At the same time, the traditional device generally adopts a single motor and reducer driving method, and the motor and reducer are large in size, which is not conducive to installation and maintenance. The traditional device is not conducive to the simple and beautiful effect requirements of the electric roller blind system;

[0003] Therefore, based on the above traditional problems, a compact roller shutter dual-motor drive and force balance control device is proposed. The motor and reducer are installed inside the roller shutter shaft to maximize the integration of the electric roller shutter and power system, so that the electric roller shutter and power system have the best compact effect, achieving a simple and beautiful appearance of the system. Summary of the invention

[0004] The present invention is intended to provide a compact roller blind dual-motor drive and force balance control device to solve the problem that the existing window roller blind electric actuator and reducer in the prior art adopt an external method and generally adopt a gear screw reduction method, but the traditional device not only has a low reduction efficiency, but also lacks the aesthetics of the electric curtain due to the external motor and reduction device. At the same time, the traditional device generally adopts a single motor and reducer driving method, and the motor and reducer are relatively large in size, which is not conducive to installation and maintenance. The traditional device is not conducive to the simple and beautiful effect requirements of the electric roller blind system.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] The technical solution provided by the present invention is: a compact roller blind dual-motor drive and force balance control device, comprising a roller blind reel, a left aluminum alloy bracket is fixedly provided at one end of the roller blind reel, a left drive motor is fixedly provided at one side of the left aluminum alloy bracket, a left drive output planetary reducer is adapted to be provided at the output end of the left drive motor, a left planetary reducer torque output shaft is fixedly provided at one end of the left drive output planetary reducer, and a left reduction rear torque output shaft connecting plate is fixedly provided at one end of the left planetary reducer torque output shaft;

[0007] A right aluminum alloy bracket is fixed to the other end of the rolling shutter shaft, a right drive motor is fixed to one end of the right aluminum alloy bracket, a right drive output planetary reducer is adapted to the output end of the right drive motor, a right planetary reducer torque output shaft is fixed to one end of the right drive output planetary reducer, and a right post-deceleration torque output shaft connecting plate is fixed to one end of the right planetary reducer torque output shaft.

[0008] Furthermore, the left drive motor and the right drive motor are electrically connected to integrate a two-in-one dual-motor controller.

[0009] Furthermore, motor housing support bearings are fixedly provided on the sides of the left drive motor and the right drive motor.

[0010] Furthermore, the left drive motor, the right drive motor, the left drive output planetary reducer and the right drive output planetary reducer are movably connected to the inner wall of the rolling shutter shaft through the motor housing support bearing, and the left deceleration rear torque output shaft connecting plate and the right deceleration rear torque output shaft connecting plate are fixedly connected to the inner wall of the rolling shutter shaft.

[0011] Furthermore, two drive motors and a three-stage planetary reducer are used, and the motor and reducer are integrated into the roller shutter shaft to achieve a highly integrated and compact electric roller shutter system.

[0012] Furthermore, the two drive motors are controlled by an integrated two-in-one controller to achieve dual-motor drive synchronization.

[0013] Furthermore, the rotor positions of the dual motors are collected, and the deformation of the roller blind shaft is determined by using the rotor position difference, and the torque balance of the roller blind shaft under the drive of the dual motors is calculated.

[0014] Furthermore, the motor rotor position difference is used to calculate the force balance at both ends of the roller shaft, and a motor speed outer loop control, inner loop current real-time following, and torque dynamic distribution adjustment technology are proposed to achieve dual motor torque balance and stable and reliable operation on the roller shutter shaft.

[0015] The beneficial effects of this technical solution are:

[0016] The power source of the compact roller shutter dual-motor drive and force balance control device is provided by two left drive motors and right drive motors of the same model, and the output shafts of the left drive motor and the right drive motor are respectively connected to the left drive output planetary reducer and the right drive output planetary reducer of the same model and the same reduction ratio. The left drive output planetary reducer and the right drive output planetary reducer adopt three-stage planetary reduction. The output shafts of the left drive motor and the right drive motor are connected to the first-stage sun gear in the left drive output planetary reducer and the right drive output planetary reducer, and are connected by a D-type shaft hole. The output torque of the left drive motor and the right drive motor amplifies the driving torque through the left drive output planetary reducer and the right drive output planetary reducer, and the left deceleration torque output shaft connecting plate of the output shafts of the left drive output planetary reducer and the right drive output planetary reducer and the right deceleration torque output shaft connecting plate are directly connected to the internal baffle of the roller shutter shaft, so that the torque is transmitted to the roller shutter shaft, so as to realize the rolling and contracting action of the roller shutter shaft on the roller shutter.

[0017] The left drive motor and the right drive motor of the compact roller shutter dual motor drive and force balance control device are installed symmetrically, so that the motors have opposite control motor rotor directions and opposite torque outputs when working. The left drive motor, the right drive motor and the left drive output planetary reducer and the right drive output planetary reducer are movably installed inside the roller shutter reel through the motor housing support bearing, which maximizes the integration of the electric roller shutter and the power system, making the electric roller shutter and the power system have the best compact effect, achieving the simplicity and beauty of the system appearance.

[0018] The output ends of the left drive motor and the right drive motor of the compact roller shutter dual-motor drive and force balance control device are fixed by a left aluminum alloy bracket and a right aluminum alloy bracket. The use of an aluminum alloy fixing frame to connect the motors allows the motors to fully contact through the aluminum alloy fixing frame, thereby having a good heat dissipation effect.

[0019] The compact roller shutter dual-motor drive and force balance control device is driven by two left drive motors and right drive motors of the same model. The motor driver adopts an integrated two-in-one dual-motor controller, which has two independent drive channels and drive modules. The integrated two-in-one dual-motor controller uses a MUC to uniformly control the motor drive system and output PWM to control the motor current. This structural controller solution can achieve synchronization of the control of the two motors. Due to the use of independent drive channels, the winding current of each motor can be independently controlled and adjusted.

[0020] The compact roller blind dual motor drive and force balance control device uses two motors to drive the roller blind shaft at the same time. Due to the consistency and synchronization of the output torque of the two motors, a speed outer loop control, inner loop current real-time following, and torque dynamic distribution adjustment technology are adopted to achieve dual motor torque balance and stable and reliable operation on the roller blind shaft. Motor rotor position sensors are integrated inside the two motors to accurately detect the motor rotor position. Since the roller blind shaft has a certain toughness, when different rotational torques are applied to the two ends of the roller blind shaft, the roller blind shaft will undergo a certain deformation, and the magnitude of the deformation is a function of the output difference of the two motors. Therefore, by detecting the two motor rotor position values ​​and calculating the roller blind shaft deformation, the force balance difference of the roller blind shaft can be calculated. The difference is converted into the real-time torque difference of the motor through the MCU algorithm.

[0021] The outer loop speed control, inner loop current real-time following, and torque dynamic distribution adjustment technology modules are used to receive the external roller shutter action speed command. At the same time, the MCU collects the speed of the drive motor A and the drive motor B, where the drive motor A is the left drive motor and the drive motor B is the right drive motor, and the roller shutter shaft speed is closed-loop. The roller shutter shaft speed closed-loop module adopts the PI control algorithm to output the current given value required by the system. The current given value is the input value of the current dynamic adjustment algorithm module. The current dynamic adjustment algorithm module combines the motor electromagnetic parameters and the real-time torque difference of the motor calculated by MUC to output the power torque required by the entire roller shutter system. Through the torque distribution adjustment algorithm module, the torque of the drive motor A and the drive motor B is distributed in real time. The PWM signal of the PWM generator is used to drive the power drive channels of A and B. In this way, the winding currents of the drive motors A and B can be independently and in real time controlled until the roller shaft force balance difference calculated by the motor rotor position signal is zero, thereby achieving the driving torque balance of the two drive motors on the roller shutter shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a compact roller shutter dual-motor drive and force balance control device proposed by the present invention;

[0023] Figure 2 This is a block diagram of a dual-motor output torque balancing algorithm in a compact roller shutter dual-motor drive and force balancing control device proposed by the present invention.

[0024] The names of the corresponding marks in the accompanying drawings are: 1. Left aluminum alloy bracket; 2. Left drive motor; 3. Left drive output planetary reducer; 4. Left planetary reducer torque output shaft; 5. Left reduction torque output shaft connecting plate; 6. Rolling shutter shaft; 7. Right reduction torque output shaft connecting plate; 8. Right planetary reducer torque output shaft; 9. Right drive output planetary reducer; 10. Right drive motor; 11. Motor housing support bearing; 12. Right aluminum alloy bracket; 13. Integrated two-in-one dual motor controller. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Embodiment 1:

[0027] See also Figure 1The present invention provides a technical solution: a compact rolling curtain dual-motor drive and force balance control device, including a rolling curtain reel 6, a left aluminum alloy bracket 1 is fixedly installed at one end of the rolling curtain reel 6, a left drive motor 2 is fixedly installed on one side of the left aluminum alloy bracket 1, a left drive output planetary reducer 3 is adapted to be installed at the output end of the left drive motor 2, a left planetary reducer torque output shaft 4 is fixedly installed at one end of the left drive output planetary reducer 3, a left planetary reducer torque output shaft 4 is fixedly installed at one end of the left planetary reducer torque output shaft 4, a left reduction rear torque output shaft connecting plate 5 is fixedly installed, a right aluminum alloy bracket 12 is fixedly installed at the other end of the rolling curtain reel 6, a right drive motor 10 is fixedly installed at one end of the right aluminum alloy bracket 12, and a right drive motor 10 is adapted to be installed at the output end of the right drive motor 10 Planetary reducer 9, one end of the right drive output planetary reducer 9 is fixedly installed with the right planetary reducer torque output shaft 8, one end of the right planetary reducer torque output shaft 8 is fixedly installed with the right deceleration rear torque output shaft connecting plate 7, the left drive motor 2 and the right drive motor 10 are electrically connected to the integrated two-in-one dual motor controller 13, the motor housing support bearing 11 is fixedly installed on the side of the left drive motor 2 and the right drive motor 10, the left drive motor 2, the right drive motor 10, the left drive output planetary reducer 3 and the right drive output planetary reducer 9 are movably connected to the inner wall of the rolling shutter shaft 6 through the motor housing support bearing 11, and the left deceleration rear torque output shaft connecting plate 5 and the right deceleration rear torque output shaft connecting plate 7 are fixedly connected to the inner wall of the rolling shutter shaft 6.

[0028] The specific implementation process is as follows:

[0029] The power source of the compact roller blind dual-motor drive and force balance control device is provided by two left drive motors 2 and right drive motors 10 of the same model, and the output shafts of the left drive motor 2 and the right drive motor 10 are respectively connected to the left drive output planetary reducer 3 and the right drive output planetary reducer 9 of the same model and the same reduction ratio. The left drive output planetary reducer 3 and the right drive output planetary reducer 9 adopt three-stage planetary reduction. The output shafts of the left drive motor 2 and the right drive motor 10 are connected to the first-stage sun gear in the left drive output planetary reducer 3 and the right drive output planetary reducer 9, and are connected by a D-type shaft hole. The output torque of the left drive motor 2 and the right drive motor 10 amplifies the driving torque through the left drive output planetary reducer 3 and the right drive output planetary reducer 9, and the left deceleration torque output shaft connecting plate 5 and the right deceleration torque output shaft connecting plate 7 of the output shafts of the left drive output planetary reducer 3 and the right drive output planetary reducer 9 are directly connected to the internal baffle of the roller blind reel 6, so that the torque is transmitted to the roller blind reel 6, so as to realize the rolling and contracting action of the roller blind reel 6 on the roller blind;

[0030] The left drive motor 2 and the right drive motor 10 of the compact roller blind dual motor drive and force balance control device are installed symmetrically, so that the motors have opposite control motor rotor directions and opposite torque outputs when working. The left drive motor 2, the right drive motor 10 and the left drive output planetary reducer 3 and the right drive output planetary reducer 9 are movably installed inside the roller blind reel 6 through the motor housing support bearing 11, so that the electric roller blind and the power system are integrated to the maximum extent, so that the electric roller blind and the power system have the best compact effect, and the system appearance is simple and beautiful;

[0031] The output ends of the left drive motor 2 and the right drive motor 10 of the compact roller blind dual motor drive and force balance control device are fixed by the left aluminum alloy bracket 1 and the right aluminum alloy bracket 12. The use of an aluminum alloy bracket to connect the motors allows the motors to be fully in contact with the aluminum alloy bracket, which has a good heat dissipation effect.

[0032] The compact roller shutter dual-motor drive and force balance control device is driven by two left drive motors 2 and right drive motors 10 of the same model. The motor driver adopts an integrated two-in-one dual-motor controller 13, which has two independent drive channels and drive modules. The integrated two-in-one dual-motor controller 13 uses a MUC to uniformly control the motor drive system and output PWM to control the motor current. This structural controller solution can achieve synchronization of the control of the two motors. Due to the use of independent drive channels, the winding current of each motor can be independently controlled and adjusted.

[0033] Embodiment 2:

[0034] See also Figure 1-2 The present invention provides a technical solution: a compact roller shutter dual-motor drive and force balance control device, involving a dual-motor drive torque balance function and a control algorithm. The algorithm function is composed of a roller shutter speed closed-loop module, a current dynamic adjustment algorithm module, a torque distribution adjustment algorithm module, an A and B power drive channel PWM control module, a drive motor A and a drive motor B, a roller force balance difference and acquisition module, and a real-time torque difference calculation algorithm module. Figure 2 As shown;

[0035] Two motors are used to drive the roller blind shaft at the same time. Since the output torque of the two motors is consistent and synchronous, a speed outer loop control, inner loop current real-time following, and torque dynamic distribution adjustment technology are used to achieve dual motor torque balance and stable and reliable operation on the roller blind shaft. Motor rotor position sensors are integrated inside the two motors to accurately detect the motor rotor positions. Since the roller blind shaft has a certain toughness, when different rotational torques are applied to both ends of the roller blind shaft, the roller blind shaft will undergo a certain deformation, and the magnitude of the deformation is a function of the output difference of the two motors. Therefore, by detecting the two motor rotor position values ​​and calculating the roller blind shaft deformation, the force balance difference of the roller blind shaft 6 can be calculated. The difference is converted into the real-time torque difference of the motor through the MCU algorithm.

[0036] The outer loop speed control, inner loop current real-time following, and torque dynamic distribution adjustment technology modules are used to receive the external roller shutter movement speed command. At the same time, the MCU collects the speed of the drive motor A and the drive motor B, where the drive motor A is the left drive motor 2 and the drive motor B is the right drive motor 10, and the roller shutter shaft speed is closed-loop. The roller shutter shaft speed closed-loop module adopts the PI control algorithm to output the current given value required by the system. The current given value is the input value of the current dynamic adjustment algorithm module. The current dynamic adjustment algorithm module combines the motor electromagnetic parameters and the real-time torque difference of the motor calculated by MUC to output the power torque required by the entire roller shutter system. Through the torque distribution adjustment algorithm module, the torque of the drive motor A and the drive motor B is distributed in real time. The PWM signal of the PWM generator is used to drive the power drive channels of A and B. In this way, the winding currents of the drive motors A and B can be independently and in real time controlled until the roller shaft force balance difference calculated by the motor rotor position signal is zero, thereby achieving the driving torque balance of the two drive motors on the roller shutter shaft 6.

[0037] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the technical solution of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A compact roller blind dual motor drive and force balance control device, characterized in that: The invention comprises a roller blind reel (6), a left aluminum alloy bracket (1) being fixedly provided at one end of the roller blind reel (6), a left drive motor (2) being fixedly provided at one side of the left aluminum alloy bracket (1), a left drive output planetary reducer (3) being adapted to be provided at the output end of the left drive output planetary reducer (3), a left planetary reducer torque output shaft (4) being fixedly provided at one end of the left planetary reducer torque output shaft (4), and a left reduction rear torque output shaft connecting plate (5) being fixedly provided at one end of the left planetary reducer torque output shaft (4); A right aluminum alloy bracket (12) is fixedly provided at the other end of the roller shutter reel (6), a right driving motor (10) is fixedly provided at one end of the right aluminum alloy bracket (12), a right driving output planetary reducer (9) is adapted to be provided at the output end of the right driving output planetary reducer (9), a right planetary reducer torque output shaft (8) is fixedly provided at one end of the right planetary reducer torque output shaft (8), and a right post-deceleration torque output shaft connecting plate (7) is fixedly provided at one end of the right planetary reducer torque output shaft (8).

2. A compact roller shutter dual-motor drive and force balance control device according to claim 1, characterized in that: The left drive motor (2) and the right drive motor (10) are electrically connected to an integrated two-in-one dual-motor controller (13).

3. A compact roller shutter dual-motor drive and force balance control device according to claim 1, characterized in that: Motor housing support bearings (11) are fixedly provided on the sides of the left drive motor (2) and the right drive motor (10).

4. A compact roller shutter dual-motor drive and force balance control device according to claim 1, characterized in that: The left drive motor (2), the right drive motor (10), the left drive output planetary reducer (3) and the right drive output planetary reducer (9) are movably connected to the inner wall of the rolling shutter shaft (6) via a motor housing support bearing (11), and the left deceleration rear torque output shaft connecting plate (5) and the right deceleration rear torque output shaft connecting plate (7) are fixedly connected to the inner wall of the rolling shutter shaft (6).

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