Automatic door opening and closing mechanism, door box equipment and automatic door opening and closing method

Abstract

The invention relates to an automatic door opening and closing mechanism, door box equipment and an automatic door opening and closing method, which can realize full-angle automatic door opening and closing, improve user experience and improve safety performance. The automatic door opening and closing mechanism comprises a hinge assembly and a door closing assembly, wherein the hinge assembly comprises a hinge base, a hinge bracket, a rotating shaft for rotatably connecting the hinge bracket to the hinge base and a hinge pulley arranged on the hinge bracket; the elastic driving assembly comprises a pull rope bypassing the hinge pulley, a driving motor connected with one end of the pull rope, and an elastic piece connected with the other end of the pull rope, so that tension torque opposite to the gravity torque of the door body assembly in direction is applied to the door body assembly through the pull rope; when the pull rope is driven by the driving motor to be tightened, the tension moment applied by the pull rope is increased to be larger than the gravity moment, and the door is automatically closed; and when the pull rope is loosened under the driving of the driving motor, the tension moment applied by the pull rope is reduced to be smaller than the gravity moment, and the door is automatically opened.

Description

Technical Field

[0001] This invention relates to the field of home appliance technology, and in particular to an automatic door opening and closing mechanism, door box device, and automatic door opening and closing method. Background Technology

[0002] Door-mounted appliances such as built-in dishwashers are common household appliances. Typically, these appliances automatically open and close their doors using a push-rod mechanism on top of the appliance. However, existing push-rod mechanisms have several drawbacks. First, the push-rod extends too far after pushing the door open, affecting aesthetics. Second, the existing mechanism is limited to a small angle range for automatic opening and closing; the remaining angles still require manual operation, which often involves overcoming significant lock force, resulting in a poor user experience. Furthermore, during automatic closing, the push-rod mechanism in existing systems is usually rigidly connected to the lock to pull the door shut. If the user's hand is positioned between the door and the appliance at this point, it could easily pinch their hand, posing a significant safety hazard. Summary of the Invention

[0003] Therefore, it is necessary to address the problems of existing push rod mechanisms that can only achieve automatic door opening and closing within a small angle range, resulting in poor user experience and safety hazards. This invention provides an automatic door opening and closing mechanism, door box device, and automatic door opening and closing method that can achieve automatic door opening and closing at all angles, improve user experience, and enhance safety performance.

[0004] In one embodiment of this application, the present invention provides an automatic door opening and closing mechanism for being disposed between a housing frame and a door assembly, comprising:

[0005] A hinge assembly includes a hinge base for fixed connection to the housing frame, a hinge bracket for fixed connection to the door assembly, a pivot for rotatably connecting the hinge bracket to the hinge base, and a hinge pulley disposed on the hinge bracket; and

[0006] The elastic drive assembly includes a pull rope that passes around the hinge pulley, a drive motor connected to one end of the pull rope, and an elastic element connected to the other end of the pull rope. The drive motor and the elastic element are configured to be mounted on the housing frame to apply a pulling torque to the door assembly via the pull rope in the opposite direction to the gravitational torque of the door assembly.

[0007] When the pull cord is tightened under the drive of the drive motor, the tension torque applied by the pull cord increases to be greater than the gravitational torque of the door assembly, thus automatically closing the door; when the pull cord is released under the drive of the drive motor, the tension torque applied by the pull cord decreases to be less than the gravitational torque of the door assembly, thus automatically opening the door.

[0008] According to one embodiment of this application, the pull rope portion is wound around the output shaft of the drive motor to loosen or tighten the pull rope by the forward and reverse rotation of the drive motor.

[0009] According to one embodiment of this application, the elastic element is a tension spring, one end of which is used for limiting connection to the box frame, and the other end of which is used for limiting connection to the pull rope.

[0010] According to one embodiment of this application, the elastic drive assembly further includes a guide roller for mounting on the housing frame, the guide roller being arranged adjacent to the drive motor, and the pull rope extending from the tension spring, passing successively around the guide roller and the hinge pulley, to the drive motor.

[0011] According to one embodiment of this application, the automatic door opening and closing mechanism further includes an auxiliary door opening assembly. The auxiliary door opening assembly includes a pusher slidably disposed on the housing frame and a transmission mechanism disposed between the drive motor and the pusher. When the drive motor rotates forward to release the pull rope, the pusher slides toward the hinge bracket under the transmission action of the transmission mechanism to push the hinge bracket, thereby applying a pushing torque to the door assembly in the same direction as the gravitational torque.

[0012] According to one embodiment of this application, the transmission mechanism includes a drive gear connected to the output shaft of the drive motor and a transmission gear meshing with the drive gear; the pushing member includes a pushing rod and a rack disposed on the pushing rod and meshing with the transmission gear.

[0013] According to one embodiment of this application, the transmission gear includes a gear shaft for rotatably connecting to the housing frame, a continuous toothed ring surrounding the gear shaft and cooperating with the drive gear, and a discontinuous toothed ring surrounding the gear shaft and cooperating with the rack.

[0014] According to one embodiment of this application, the intermittent toothed ring has a section of teeth and a section of smooth surface arranged circumferentially along the gear shaft; the pusher further includes a return spring connected to the pusher rod, and when the smooth surface of the intermittent toothed ring faces the rack, the pusher rod slides away from the hinge bracket under the action of the return spring.

[0015] According to one embodiment of this application, the drive motor has a built-in Hall sensor; the automatic door opening and closing mechanism further includes a door lock assembly disposed between the door assembly and the housing frame, a hovering micro switch touched by the hinge bracket in a hovering position, and an opening micro switch touched by the hinge bracket in an open position; the door lock assembly has a lock state and an unlock state that can be automatically switched between each other, and issues a closing completion signal when switching from the unlock state to the lock state.

[0016] According to another aspect of this application, one embodiment of this application further provides a door box device, including:

[0017] Box frame;

[0018] Door components; and

[0019] The automatic door opening and closing mechanism described above is disposed between the housing frame and the door assembly.

[0020] According to another aspect of this application, one embodiment of this application further provides an automatic door opening and closing method, including the steps of:

[0021] In response to an opening signal, the drive motor of the elastic drive component in the automatic door opening and closing mechanism is controlled to rotate forward, thereby relaxing the pull cord of the elastic drive component and reducing the tension torque exerted by the pull cord on the door assembly under the action of the elastic element of the elastic drive component. This makes the gravitational torque of the door assembly greater than the applied tension torque, thus achieving automatic door opening; and

[0022] In response to a closing signal, the drive motor is controlled to reverse, thereby tightening the pull cord and increasing the pulling torque applied to the door assembly by the elastic element. This makes the gravitational torque of the door assembly less than the applied pulling torque, thus achieving automatic closing.

[0023] According to one embodiment of this application, the automatic door opening and closing method further includes the step of:

[0024] When the drive motor rotates forward to release the pull rope, the transmission mechanism of the auxiliary door opening component in the automatic door opening mechanism drives the pusher of the auxiliary door opening component to slide towards the hinge bracket of the hinge component in the automatic door opening mechanism, so as to push the hinge bracket and apply a pushing torque to the door body component in the same direction as the gravitational torque.

[0025] According to one embodiment of this application, the step of driving the auxiliary door opening component to slide towards the hinge bracket of the hinge component in the automatic door opening mechanism via the transmission mechanism of the auxiliary door opening component when the drive motor rotates forward to release the pull rope, thereby applying a pushing torque to the door body component in the same direction as the gravitational torque, includes the following steps:

[0026] When the drive motor rotates forward to release the rope, it drives the drive gear of the transmission mechanism to rotate forward, thereby causing the transmission gear of the transmission mechanism to rotate in reverse.

[0027] When the teeth of the transmission gear face the rack of the pusher, the transmission gear drives the rack to slide closer to the hinge bracket, thereby causing the pusher rod of the pusher to push the hinge bracket and apply a pushing torque to the door assembly; and

[0028] When the smooth section of the transmission gear faces the rack, the push rod is driven to slide away from the hinge bracket by the return spring of the push member.

[0029] According to one embodiment of this application, the automatic door opening and closing method further includes the step of:

[0030] In response to the hovering signal, the drive motor is controlled to stop rotating, so that the tension torque exerted by the pull rope on the door assembly under the action of the elastic element is balanced with the gravitational torque of the door assembly, thereby achieving the hovering of the door assembly.

[0031] According to one embodiment of this application, the automatic door opening and closing method further includes the step of:

[0032] Based on the closed position, hovering position, and open position, the automatic door opening and closing process is divided into a first opening stage from the closed position to the hovering position, a second opening stage from the hovering position to the open position, a first closing stage from the open position to the hovering position, and a second closing stage from the hovering position to the closed position.

[0033] Based on the changes in the state of the door lock signal, the hovering micro switch, and the opening micro switch, the stage of the automatic door opening and closing mechanism during manual intervention is determined.

[0034] The Hall sensor built into the drive motor senses the trend of speed change during manual intervention, so as to determine that the manual intervention is in the same direction when the speed increases and in the opposite direction when the speed decreases.

[0035] In response to a unidirectional intervention occurring during the second door opening phase, the drive motor is controlled to accelerate forward rotation to expedite the release of the pull rope; otherwise, the action logic of the current phase continues to execute; and

[0036] In response to a reverse intervention occurring in the first closing stage, the execution of the action logic in the first closing stage is stopped, and the action logic in the second opening stage is executed; otherwise, the execution of the action logic in the current stage continues.

[0037] In summary, when the door needs to be closed, the elastic drive component of this application only needs to tighten the pull rope via the drive motor, making the pulling torque M2 applied by the elastic drive component greater than the gravitational torque M1 of the door assembly, thereby breaking the torque balance and achieving automatic closing. When the door needs to be opened, the elastic drive component of this application also only needs to loosen the pull rope via the drive motor, making the pulling torque M2 applied by the elastic component less than the gravitational torque M1 of the door assembly, thereby breaking the torque balance and achieving automatic opening. Simultaneously, when automatic opening begins, the pusher in the auxiliary opening component of this application can slide towards the hinge bracket to push the hinge bracket when the drive motor rotates forward to loosen the pull rope, applying a pusher torque to the door assembly in the same direction as the gravitational torque, thereby overcoming the door lock torque and gravitational torque and assisting in automatic opening.

[0038] Furthermore, since the pull cord in the automatic door opening and closing mechanism of this application applies tension to the hinge bracket via a hinge pulley, the force exerted by the pull cord on the hinge bracket is essentially twice the tension of the tension spring. Therefore, the automatic door opening and closing mechanism of this application can significantly reduce the requirements for the tension spring and improve feasibility. At the same time, the force exerted by the pull cord on the hinge pulley is also much greater than the force exerted on the output shaft of the drive motor, and the lever arm of the pull cord relative to the output shaft is much smaller than the lever arm of the pull cord relative to the rotating shaft. Therefore, the drive motor only needs to output a small torque to apply a large pulling torque to the door assembly via the pull cord, which also helps to reduce the power requirements of the drive motor and improve feasibility. Attached Figure Description

[0039] Figure 1A A schematic diagram showing the curves of the tension torque applied to the hinge spring system and the gravitational torque of the door assembly as a function of the door opening angle;

[0040] Figure 1B A schematic diagram showing the ratio of the tension torque applied to the hinge spring system to the gravitational torque of the door assembly as a function of the door opening angle;

[0041] Figure 2 This is a perspective view of a door box device according to an embodiment of this application;

[0042] Figure 3 An enlarged schematic diagram of the automatic door opening and closing mechanism in the door box device according to the above embodiments of this application is shown;

[0043] Figure 4 An enlarged schematic diagram of the automatic door opening and closing mechanism according to the above embodiments of this application is shown from another perspective;

[0044] Figure 5 A schematic diagram showing the door assembly in a closed state in the door box device according to the above embodiments of this application is shown.

[0045] Figure 6 A schematic diagram showing the auxiliary door opening assembly in the door box device according to the above embodiments of this application is provided, illustrating the auxiliary door opening state.

[0046] Figure 7 A schematic diagram showing the door assembly in the open state in the door box device according to the above embodiments of this application is shown;

[0047] Figure 8 A schematic diagram showing the door assembly in a suspended state in the door box device according to the above embodiments of this application is shown;

[0048] Figure 9A and Figure 9B This is a flowchart illustrating an automatic door opening and closing method according to an embodiment of this application;

[0049] Figure 10 A flowchart illustrating the automatic door opening step in the automatic door opening and closing method according to the above embodiments of this application is shown.

[0050] Figure 11 A flowchart illustrating the automatic door closing step in the automatic door opening and closing method according to the above embodiments of this application is shown.

[0051] Figure 12 A flowchart illustrating the auxiliary door opening step in the automatic door opening and closing method according to the above embodiments of this application is shown.

[0052] Key component symbols: 1. Automatic door opening and closing mechanism; 10. Hinge assembly; 11. Hinge base; 12. Hinge bracket; 13. Rotating shaft; 14. Hinge pulley; 20. Elastic drive assembly; 21. Pull cord; 22. Drive motor; 23. Elastic element; 230. Tension spring; 24. Guide roller; 30. Auxiliary door opening assembly; 31. Pushing component; 311. Pushing rod; 312. Rack; 313. Return spring; 32. Transmission mechanism; 321. Drive gear; 322. Transmission gear; 3221. Gear shaft; 3222. Continuous toothed ring; 3223. Intermittent toothed ring; 32231. Tooth segment; 32232. Smooth segment; 40. Door lock assembly; 50. Door opening micro switch; 60. Hovering micro switch; 2. Box frame; 3. Door assembly.

[0053] The above description of the main component symbols, together with the accompanying drawings and specific embodiments, provides a more detailed explanation of the present invention. Detailed Implementation

[0054] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0055] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0057] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0058] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0059] In some door frame devices, the suspension and non-suspended position of the door assembly are achieved by balancing or differentiating the torque generated by a hinge spring system with the door's weight torque. This hinge spring system mainly consists of a spring, a cord, and a hinge. The hinge is positioned between the frame and the door assembly, allowing the door assembly to pivot relative to the frame to change the door angle. The spring connects to the hinge via the cord to apply torque to the hinge. As the door angle changes, the weight G of the door assembly remains constant, but the lever arm Lg changes, causing the gravitational torque M1 = G * Lg to change with the door angle. Simultaneously, the tension in the cord changes with the door angle, causing the tension F exerted by the spring on the hinge through the cord and the lever arm Lf of the cord to both change. Therefore, the tension torque M2 = F * Lf also changes with the door angle.

[0060] Thus, by designing the hinge spring system parameters, it is generally possible to achieve M2≈M1 except for small angles, with its curve roughly varying with the door opening angle as shown in the figure. Figure 1A and 1B As shown: In areas outside the small angle, the existing hinge spring system can already achieve M2≈M1. The small difference can be compensated by friction to achieve torque balance hovering outside the small angle; while torque balance hovering within the small angle can be achieved by the action of door seal and door lock.

[0061] However, while this hinge spring system can allow the door to hover at all angles, it cannot automatically open or close the door. Therefore, the applicant has designed an automatic door opening and closing mechanism, door housing device, and automatic door opening and closing method, which can achieve automatic door opening and closing at all angles, improving user experience and enhancing safety performance.

[0062] Specifically, see the attached document. Figures 2 to 8As shown, one embodiment of this application provides a door cabinet device, which may include a cabinet frame 2 with an opening, a door assembly 3 for covering the opening of the cabinet frame 2, and an automatic door opening and closing mechanism 1 disposed between the cabinet frame 2 and the door assembly 3, so as to realize automatic door opening and closing at all angles. It is understood that the door cabinet device of this application may be implemented as a sink dishwasher or refrigerator, etc.; in addition, the door cabinet device of this application may also include, but is not limited to, a functional body capable of realizing functions such as washing dishes or refrigeration, which will not be elaborated here.

[0063] More specifically, such as Figures 2 to 8 As shown, the automatic door opening and closing mechanism 1 may include a hinge assembly 10 and an elastic drive assembly 20. The hinge assembly 10 includes a hinge base 11 for fixed connection to the housing frame 2, a hinge bracket 12 for fixed connection to the door assembly 3, a pivot 13 rotatably connecting the hinge bracket 12 to the hinge base 11, and a hinge pulley 14 disposed on the hinge bracket 12. The elastic drive assembly 20 includes a pull rope 21 passing over the hinge pulley 14, a drive motor 22 connected to one end of the pull rope 21, and an elastic element 23 connected to the other end of the pull rope 21; the drive motor 22 and the elastic element 23 are disposed on the housing frame 2 to apply a pulling torque M2 to the door assembly 3 through the pull rope 21, which is opposite to the direction of the gravitational torque M1 of the door assembly 3.

[0064] When the pull rope 21 is tightened under the drive of the drive motor 22, the pulling torque M2 applied by the pull rope 21 increases to be greater than the gravitational torque M1 of the door assembly 3, and the door closes automatically; when the pull rope 21 is relaxed under the drive of the drive motor 22, the pulling torque M2 applied by the pull rope 21 decreases to be less than the gravitational torque M1 of the door assembly 3, and the door opens automatically.

[0065] It is worth noting that, such as Figure 8 As shown, when the drive motor 22 stops driving, the pulling torque M2 exerted by the pull rope 21 on the door assembly 3 under the action of the elastic element 23 is basically equal to the gravitational torque M1 of the door assembly 3, so as to achieve a torque balance state by means of friction, allowing the door assembly 3 to be suspended relative to the box frame 2. In this way, as Figure 5 As shown, when the door needs to be closed, the elastic drive component 20 only needs to tighten the pull rope 21 through the drive motor 22, so that the pulling torque M2 applied by the elastic drive component 20 is greater than the gravitational torque M1 of the door assembly 3, thereby breaking the torque balance state and realizing automatic closing; as Figure 6 and Figure 7As shown, when the door needs to be opened, the elastic drive component 20 only needs to loosen the pull rope 21 through the drive motor 22, so that the pulling torque M2 applied by the elastic drive component 20 is less than the gravitational torque M1 of the door assembly 3, thereby breaking the torque balance state and realizing automatic door opening. In other words, the elastic drive component 20 of this application only needs to tighten or loosen the pull rope 21 through the drive motor 22 to change the magnitude of the pulling force applied by the elastic drive component 20 to the door assembly 3, thereby changing the magnitude of the pulling torque M2, disrupting the original torque balance state, and realizing the automatic opening and closing of the door box device.

[0066] For example, such as Figure 3 and Figure 4 As shown, the pull rope 21 is partially wound around the output shaft of the drive motor 22, so as to loosen or tighten the pull rope 21 by the forward and reverse rotation of the drive motor 22. It is understood that the forward rotation of the drive motor 22 can be defined as the rotation direction that loosens the pull rope 21, and the reverse rotation of the drive motor 22 can be defined as the rotation direction that tightens the pull rope 21.

[0067] For example, such as Figures 5 to 8 As shown, the pull cord 21 is wound counterclockwise around the output shaft of the drive motor 22. When the drive motor 22 rotates counterclockwise, the pull cord 21 wound around the output shaft is released to loosen the cord, increasing the length of the cord between the drive motor 22 and the elastic element 23. Therefore, at a fixed door opening angle, the spring force tends to decrease, thus reducing the pulling torque M2. When the drive motor 22 rotates clockwise, the pull cord 21 wound around the output shaft is wound to tighten the cord, decreasing the length of the cord between the drive motor 22 and the elastic element 23. Therefore, at a fixed door opening angle, the spring force tends to increase, thus increasing the pulling torque M2. In this case, the forward rotation of the drive motor 22 corresponds to counterclockwise rotation, and the reverse rotation of the drive motor 22 corresponds to clockwise rotation. It is understood that in other examples of this application, the pull rope 21 can also be wound around the output shaft in a clockwise direction. In this case, the forward and reverse rotation of the drive motor 22 corresponds to clockwise rotation and counterclockwise rotation, respectively. This application will not elaborate further on this.

[0068] Optionally, such as Figure 3 and Figure 4As shown, the elastic element 23 can be, but is not limited to, a tension spring 230, with its two ends respectively connected to the housing frame 2 and the pull rope 21. Thus, the pull rope 21 applies a tensile torque to the door assembly 3 under the tension of the tension spring 230. When the drive motor 22 operates to wind up or release the pull rope 21, the end of the tension spring 230 connected to the pull rope 21 will change position, causing the tension spring 230 to lengthen or shorten, thus changing the tensile force applied to the pull rope 21. Consequently, the tensile force applied by the pull rope 21 to the hinge pulley 14 will also change, thereby altering the magnitude of the tensile torque applied to the door assembly 3, disrupting the original torque balance, and achieving automatic door opening and closing. It is understood that in other examples of this application, the elastic element 23 can also be implemented as a compression spring, as long as it can provide elastic force to achieve torque balance; this application will not elaborate further on this.

[0069] It is worth noting that the limiting connection mentioned in this application may include, but is not limited to, fixed connection, sleeve connection and hook connection, as long as the tension spring 230 can apply a tension torque to the door assembly 3 through the pull rope 21. This application will not elaborate on this further.

[0070] Furthermore, during the opening and closing of the door, the hinge bracket 12 rotates around the pivot 13 along with the door assembly 3, causing the hinge pulley 14 around the pull rope 21 to change with the opening and closing of the door. This results in the tension spring 230 easily swinging significantly with the opening and closing of the door, requiring a sufficiently large installation space. To solve this problem, such as... Figures 2 to 8 As shown, the elastic drive assembly 20 of this application may further include a guide roller 24 for the pull rope 21 to pass around. The guide roller 24 is installed on the housing frame 2 to change the direction of the pull rope 21, so that the direction of the tension force applied by the pull rope 21 to the tension spring 230 remains fixed and is always consistent with the axial direction of the tension spring 230, thereby preventing the tension spring 230 from swaying.

[0071] Optionally, such as Figures 5 to 8 As shown, the guide roller 24 is arranged adjacent to the drive motor 22, and the pull rope 21 extends from the tension spring 230, passing successively around the guide roller 24 and the hinge pulley 14 to the drive motor 22, such that the tension force exerted by the pull rope 21 on the hinge pulley 14 is approximately twice the tension force exerted by the tension spring 230 on the pull rope 21. That is, the force exerted by the pull rope 21 on the hinge pulley 14 is much greater than the tension spring force, which helps to reduce the requirements on the tension spring 230, thereby reducing costs.

[0072] At the same time, the force exerted by the pull rope 21 on the hinge pulley 14 is much greater than the force exerted on the output shaft of the drive motor 22, and the lever arm of the pull rope 21 relative to the output shaft is much smaller than the lever arm of the pull rope 21 relative to the rotating shaft 13. Therefore, the drive motor 22 only needs to output a small torque to apply a large pulling torque M2 to the door assembly 3 through the pull rope 21, which helps to reduce the power requirements of the drive motor 22 and improve feasibility.

[0073] It is worth noting that the automatic door opening and closing mechanism 1 of this application can also drive the tension spring 230 to extend or shorten by winding or releasing the pull rope 21 through the drive motor 22, so that the pre-tension of the tension spring 230 can be changed to adapt to the weight change of the door assembly 3, thereby meeting the requirements of different weight doors for suspension.

[0074] According to the above embodiments of this application, as Figure 2 and Figure 5 As shown, the automatic door opening and closing mechanism 1 may further include a door lock assembly 40 disposed between the door assembly 3 and the housing frame 2. The door lock assembly 40 has a lock state and an unlock state that can be automatically switched between each other, so as to releasably lock the door assembly 3 to the housing frame 2. In this way, when it is necessary to open the door, the door opening signal will trigger the door lock assembly 40 to automatically switch from the locked state to the unlocked state to issue an unlock signal; at this time, the drive motor 22 in the elastic drive assembly 20 is triggered to rotate forward and relax the pull rope 21, thereby shortening the tension spring 230, so that the tension torque M2 on the door assembly 3 tends to decrease, disrupting the torque balance, thereby realizing automatic door opening.

[0075] Similarly, when the door needs to be closed, the closing signal will trigger the drive motor 22 to reverse and tighten the pull rope 21, thereby lengthening the tension spring 230, which will cause the tension torque M2 on the door assembly 3 to tend to increase, disrupting the torque balance, thereby realizing automatic closing.

[0076] It is worth noting that since the door lock assembly 40 is usually located at the top of the housing frame 2, while the hinge assembly 10 is usually located at the bottom of the housing frame 2, the door lock lever arm of the door lock assembly 40 is usually much larger than the tension lever arm of the elastic drive assembly 20. Therefore, the existing hinge tension spring system requires a relatively large tension spring force, which places high demands on the tension spring. However, the automatic door opening and closing mechanism 1 of this application reduces the required tension spring force by half by means of the hinge pulley 14, which places lower demands on the tension spring and is easier to implement.

[0077] Furthermore, when the door assembly 3 is in the closed state, although the drive motor 22 rotates forward to loosen the pull rope 21, causing the pulling torque M2 on the door assembly 3 to tend to decrease, the distance between the gravity line of the door assembly 3 and the pivot 13 is very small, that is, the gravitational torque M1 of the door assembly 3 is very small. In addition, when the door lock assembly 40 is in the unlocked state, it will also apply a resistance torque to the door assembly 3 in the opposite direction to the gravitational torque M1. Therefore, it may be difficult to open the door by relying solely on the gravitational torque M1.

[0078] To solve this problem, such as Figures 2 to 8 As shown, the automatic door opening and closing mechanism 1 of this application may further include an auxiliary door opening assembly 30. The auxiliary door opening assembly 30 may include a pusher 31 slidably disposed on the housing frame 2 and a transmission mechanism 32 disposed between the drive motor 22 and the pusher 31. When the drive motor 22 rotates forward to release the pull rope 21, the pusher 31 slides toward the hinge bracket 12 under the transmission action of the transmission mechanism 32 to push the hinge bracket 12, thereby applying a pushing torque to the door assembly 3 in the same direction as the gravitational torque M1 to overcome the resistance torque of the door lock assembly 40 and assist in completing the door opening action.

[0079] Optionally, such as Figures 3 to 6 As shown, the transmission mechanism 32 includes a drive gear 321 connected to the output shaft of the drive motor 22 and a transmission gear 322 meshing with the drive gear 321; the pusher 31 includes a push rod 311 and a rack 312 disposed on the push rod 311 and meshing with the transmission gear 322. Thus, when the drive motor 22 drives the drive gear 321 to rotate forward to loosen the pull rope 21, the transmission gear 322 rotates in reverse under the drive of the drive gear 321. This is achieved by converting the rotational motion of the transmission gear 322 into the linear motion of the push rod 311 via the rack 312, thereby driving the push rod 311 closer to the hinge bracket 12 to push against the hinge bracket 12, facilitating smooth door opening. Conversely, when the drive motor 22 drives the drive gear 321 to rotate in reverse to tighten the pull rope 21, the transmission gear 322 rotates forward under the drive of the drive gear 321. This is achieved by converting the rotational motion of the transmission gear 322 into the linear motion of the push rod 311 via the rack 312, thereby driving the push rod 311 away from the hinge bracket 12 to avoid contact with the hinge bracket 12 and affecting automatic door closing. It is understood that in other examples of this application, the drive motor 22 may also be driven by a belt or chain connected to the transmission gear 322, which will not be described in detail here.

[0080] Optionally, such as Figure 3 and Figure 4As shown, the transmission gear 322 includes a gear shaft 3221 rotatably connected to the housing frame 2, a continuous toothed ring 3222 surrounding the gear shaft 3221 and cooperating with the drive gear 321, and an intermittent toothed ring 3223 surrounding the gear shaft 3221 and cooperating with the rack 312. In this way, the drive gear 321 can continuously mesh with the continuous toothed ring 3222 when rotating, so as to drive the transmission gear 322 to rotate continuously; at the same time, the intermittent toothed ring 3223 of the transmission gear 322 can intermittently mesh with the rack 312, so as to drive the rack 312 to make linear motion when the intermittent toothed ring 3223 meshes with the rack 312, and remove the driving force on the rack 312 when the intermittent toothed ring 3223 does not mesh with the rack 312. This ensures that the push rod 311 can be driven to push the hinge bracket 12, while also preventing the rack 312 from being continuously driven by the transmission gear 322 and disengaging from the transmission gear 322 or sliding too far, causing structural interference.

[0081] For example, such as Figure 4 As shown, the intermittent toothed ring 3223 of the transmission gear 322 may have toothed segments 32231 and smooth segments 32232 arranged circumferentially along the gear shaft 3221; when the toothed segments 32231 of the intermittent toothed ring 3223 face the rack 312, the transmission gear 322 meshes with the rack 312 to drive the push rod 311 to slide; when the smooth segments 32232 of the intermittent toothed ring 3223 face the rack 312, the transmission gear 322 disengages from the rack 312 to remove the driving force on the push rod 311. It is understood that the toothed section 32231 mentioned in this application refers to a region on the gear shaft 3221 where teeth are protruding; the smooth section 32232 mentioned in this application refers to a region on the gear shaft 3221 where no teeth are provided, which can be an arc surface, a curved surface or a plane, and this application will not elaborate further on this.

[0082] Optionally, such as Figures 3 to 6As shown, the pusher 31 further includes a return spring 313 connected to the pusher rod 311; when the smooth section 32232 of the intermittent toothed ring 3223 faces the rack 312, the pusher rod 311 slides away from the hinge bracket 12 under the action of the return spring 313. Thus, during the forward rotation of the drive motor 22 to release the pull rope 21, the transmission gear 322 continues to rotate forward under the meshing action of the continuous toothed ring 3222 and the drive gear 321; when the toothed section 32231 on the transmission gear 322 faces the rack 312, the transmission gear 322 meshes with the rack 312 to drive the push rod 311 to slide towards the hinge bracket 12 until the smooth section 32232 on the transmission gear 322 faces the rack 312, causing the push rod 311 to slide to the first limit position; at this time, under the action of the return spring 313, the push rod 311 slides away from the hinge bracket 12 to the second limit position; thereafter, when the transmission gear 322 continues to rotate forward, the push rod 311 will slide back and forth between the first limit position and the second limit position.

[0083] Furthermore, during the process of the drive motor 22 reversing to tighten the pull rope 21, the transmission gear 322 continues to reverse under the meshing action of the continuous toothed ring 3222 and the drive gear 321; when the tooth segment 32231 on the transmission gear 322 faces the rack 312, the transmission gear 322 meshes with the rack 312 to drive the push rod 311 to slide away from the hinge bracket 12 until the smooth segment 32232 on the transmission gear 322 faces the tooth Up to rack 312, the push rod 311 slides to the second limit position; at this time, the push rod 311 is held in the second limit position by the action of the return spring 313, and will not affect the closing position of the hinge bracket 12; that is, the transmission gear 322 will not mesh with the rack 312 even if it continues to reverse; unless the transmission gear 322 rotates forward, the tooth segment 32231 on the transmission gear 322 will mesh with the rack 312 again when it faces the rack 312.

[0084] It is worth noting that although the opening and closing speed of the door assembly 3 needs to be controlled to ensure safety during the opening and closing process (i.e., opening or closing the door), the automatic door opening and closing mechanism 1 of this application only needs to control the rotation speed of the drive motor 22 to control the opening and closing speed of the door assembly 3.

[0085] For example, during the opening process of door assembly 3: Figure 5 and Figure 6As shown, when the drive motor 22 stops rotating or reverses, the length of the pull rope 21 between the drive motor 22 and the tension spring 230 remains unchanged or decreases. Then, as the door assembly 3 opens, the length of the pull rope 21 between the drive motor 22 and the hinge pulley 14 increases, and the length of the pull rope 21 between the hinge pulley 14 and the tension spring 230 decreases, causing the tension spring 230 to extend and tend to increase the tension force until the pulling torque M2 is approximately equal to the gravitational torque M1, at which point the door assembly 3 stops opening and remains in the suspended position. Figure 7 and Figure 8 As shown, when the drive motor 22 continues to rotate forward, the length of the pull rope 21 between the drive motor 22 and the tension spring 230 increases. As the door assembly 3 opens, the length of the pull rope 21 between the drive motor 22 and the hinge pulley 14 increases, and the length of the pull rope 21 between the hinge pulley 14 and the tension spring 230 also increases, causing the tension spring 230 to shorten so that the tension spring force tends to decrease, and the pulling torque M2 is kept less than the gravitational torque M1, so that the door assembly 3 opens slowly; thereby controlling the forward rotation speed of the drive motor 22 can control the opening speed of the door assembly 3.

[0086] Similarly, during the closing process, the automatic door opening and closing mechanism 1 of this application only needs to control the reverse rotation speed of the drive motor 22 to control the closing speed of the door assembly 3.

[0087] According to the above embodiments of this application, the number of automatic door opening and closing mechanisms 1 in each door box device can be one or two, to automatically open or close a single door assembly. For example, in one example of this application, two automatic door opening and closing mechanisms 1 can be located on the left and right sides of the door assembly 3 respectively, to cooperate in realizing automatic door opening and closing; or, in another example of this application, an automatic door opening and closing mechanism 1 and a hinge spring system can be arranged on the left and right sides of the door assembly 3 respectively, so that automatic door opening and closing can also be realized through the cooperation of the two, which will not be described in detail in this application.

[0088] It is worth noting that when the door assembly 3 is closed, the door lock assembly 40 is triggered to switch from the unlocked state to the locked state and issue a locking signal to securely lock the door assembly 3. At this time, the elastic drive assembly 20 can control the drive motor 22 to stop rotating based on the locking signal so that the door assembly 3 remains in the closed state.

[0089] Furthermore, during the automatic door opening process, in order to accurately detect whether the door assembly 3 has rotated to the open state, such as... Figure 7As shown, the automatic door opening and closing mechanism 1 of this application may further include a door opening micro switch 50 that can be touched by the hinge bracket 12 in the open position, for sensing the open position of the hinge bracket 12; that is, when the door assembly 3 rotates to the open position, the hinge bracket 12 rotates to the open position and touches the door opening micro switch 50 to send an open position signal, thereby controlling the drive motor 22 to stop rotating so that the hinge bracket 12 stays in the open position, thereby realizing that the door assembly 3 is kept in the open position.

[0090] Specifically, during the automatic opening and closing process, for safety and intermediate operation considerations, such as... Figure 8 As shown, the automatic door opening and closing mechanism 1 of this application may include one or more hovering microswitches 60 that can be activated by the hinge bracket 12 in the hovering position, for sensing the hovering position of the hinge bracket 12; that is, when the hinge bracket 12 rotates to the hovering position, the hovering microswitch 60 is activated by the hinge bracket 12 to send a hovering signal, thereby controlling the drive motor 22 to stop rotating so that the tension torque M2 applied by the elastic drive component 20 and the gravitational torque M1 of the door component 3 automatically achieve torque balance, thereby realizing the hovering of the door component 3. It is understood that the door opening microswitch 50 and the hovering microswitch 60 of this application can be correspondingly installed on the housing frame 2, as long as they can be activated by the hinge bracket 12 rotated to the door opening position and the hovering position respectively, which will not be described in detail in this application.

[0091] It is worth noting that the drive motor 22 in the elastic drive assembly 20 of this application can be controlled by a control board (not shown in the figure) to rotate forward and backward to loosen or tighten the pull rope 21, and the drive motor 22 can be equipped with a Hall sensor (not shown in the figure) to detect the rotational speed of the output shaft, thereby sensing the change in the magnitude of the motor load in order to implement safety precautions.

[0092] Furthermore, due to safety considerations, the automatic door opening and closing speed is relatively slow. However, some users may want to quickly retrieve or place tableware, leading to situations where manual intervention is often necessary during the automatic door opening and closing process. For example, if a user manually intervenes during the automatic door opening and closing process, such as by pushing or pulling the door assembly 3, the load force on the drive motor 22 via the pull cord 21 changes. The Hall sensor detects this change in motor speed and determines the user's intention: when the user's intervention is in the same direction as the motor's drive direction (positive intervention), it increases the speed of the drive motor 22, allowing it to speed up the opening and closing process; conversely, when the user's intervention is in the opposite direction (reverse intervention), it decreases the speed of the drive motor 22, slowing it down the opening and closing process.

[0093] In other words, when the user intervenes in the same direction, the Hall sensor will detect an increase in rotation speed; when the user intervenes in the opposite direction, the Hall sensor will detect a decrease in rotation speed. Based on this, this application can quickly identify the user's intervention intention while ensuring safety, and react accordingly: if the intervention is in the same direction, the original action logic continues; if the intervention is in the opposite direction, the original action stops, and then the reverse action logic is implemented. The action logic is relatively simple, so as to improve the intelligent experience and enhance the user experience.

[0094] It is worth mentioning that, according to another aspect of this application, such as Figure 9A As shown, one embodiment of this application further provides an automatic door opening and closing method, which may include the steps of:

[0095] S100: In response to the door opening signal, the drive motor of the elastic drive component in the automatic door opening and closing mechanism is controlled to rotate forward, so as to relax the pull rope of the elastic drive component and reduce the tension torque applied by the pull rope to the door assembly under the action of the elastic element of the elastic drive component, so that the gravitational torque of the door assembly is greater than the applied tension torque, thereby realizing automatic door opening;

[0096] S200: In response to the door closing signal, the drive motor is controlled to reverse to tighten the pull rope and increase the pulling torque applied by the pull rope to the door assembly under the action of the elastic element, so that the gravitational torque of the door assembly is less than the applied pulling torque, thereby realizing automatic door closing.

[0097] Preferably, such as Figure 9A As shown, the automatic door opening and closing method of this application further includes the following steps:

[0098] S300: When the drive motor rotates forward to release the pull rope, the transmission mechanism of the auxiliary door opening component in the automatic door opening mechanism drives the pusher of the auxiliary door opening component to slide toward the hinge bracket of the hinge component in the automatic door opening mechanism, so as to push the hinge bracket and apply a pushing torque to the door body component in the same direction as the gravitational torque.

[0099] It is worth noting that in step S100, the door opening signal can be a directly input door opening signal, or it can be an automatically generated door opening signal caused by the change of the door lock signal after the user manually opens the door to a certain angle (such as the unlocking signal issued by the door lock component); similarly, in step S200, the door closing signal can be a directly input door closing signal, or it can be an automatically generated door closing signal caused by the change of the signal of the door opening micro switch after the user manually closes the door to a certain angle.

[0100] Optionally, such as Figure 9A As shown, the automatic door opening and closing method of this application may further include the following steps:

[0101] S400: In response to the hovering signal, control the drive motor to stop rotating so that the tension torque applied by the pull rope to the door assembly under the action of the elastic element is balanced with the gravitational torque of the door assembly, thereby achieving the hovering of the door assembly.

[0102] It is understood that the hover signal mentioned in this application can be a directly input hover signal or a signal emitted when the hover microswitch is touched by the hinge bracket.

[0103] Exemplarily, in one example of this application, such as Figure 10 As shown, step S100 in the automatic door opening and closing method of this application may include the following steps:

[0104] S110: In response to an opening signal, control the door lock assembly in the automatic door opening / closing mechanism to switch from a locked state to an unlocked state, thereby issuing an unlock signal; and

[0105] S120: In response to the unlock signal, control the drive motor to start rotating forward to release the pull rope, so that the tension torque applied by the elastic drive component to the door assembly is less than the gravitational torque of the door assembly, and start to open the door automatically.

[0106] Optionally, in one example of this application, such as Figure 10 As shown, step S100 may further include the following steps:

[0107] S130: When the automatic door opening and closing mechanism triggers the hovering micro switch of the automatic door opening mechanism during the automatic door opening process, the drive motor is controlled to stop rotating so that the tension torque applied by the elastic drive component and the gravitational torque of the door component are balanced, so that the door component is in a hovering state.

[0108] S140: During the first preset time when the door assembly is in a hovering state, determine whether a door closing signal is input;

[0109] S150: In response to the absence of a door closing signal, control the drive motor to continue rotating forward to continue releasing the pull cord, so that the pulling torque exerted by the elastic drive assembly on the door assembly is less than the gravitational torque of the door assembly, and continue to automatically open the door; and

[0110] S160: In response to the input of a door closing signal, the drive motor is controlled to reverse to wind up the pull rope, so that the tension torque applied by the elastic drive component to the door assembly is greater than the gravitational torque of the door assembly, and the door begins to close automatically.

[0111] It is worth noting that, in one example of this application, such as Figure 10 As shown, step S100 in this automatic door opening and closing method may further include the following steps:

[0112] S170: When the automatic door opening mechanism triggers the door opening micro switch during the automatic door opening process, the drive motor is controlled to stop rotating so that the door assembly remains in the open state.

[0113] It is understood that in step S140 of this application, the first preset time may be implemented as a few seconds or other hovering time, as long as it can provide the user with sufficient reaction time. This application will not elaborate further on this.

[0114] Similarly, in one example of this application, such as Figure 11 As shown, step S200 in the automatic door opening and closing method of this application may include the following steps:

[0115] S210: In response to the door closing signal, control the drive motor to start reversing to wind up the pull rope, so that the tension torque applied by the elastic drive component to the door assembly is greater than the gravitational torque of the door assembly, and start to automatically close the door;

[0116] S220: When the automatic door opening and closing mechanism triggers the hovering micro switch during the automatic closing process, it controls the drive motor to stop rotating so that the tension torque applied by the elastic drive component and the gravitational torque of the door component are balanced, so that the door component is in a hovering state.

[0117] S230: During the second preset time when the door assembly is in a hovering state, determine whether an opening signal is input;

[0118] S240: In response to the absence of an input door opening signal, control the drive motor to continue reversing to continue winding the pull cord, so that the tension torque exerted by the elastic drive assembly on the door assembly is greater than the gravitational torque of the door assembly, and the door continues to close automatically; and

[0119] S250: In response to the input of the door opening signal, the drive motor is controlled to rotate forward to release the pull rope, so that the pulling torque applied by the elastic drive component to the door assembly is less than the gravitational torque of the door assembly, and the door starts to open automatically.

[0120] It is worth noting that, in one example of this application, such as Figure 11 As shown, step S100 in this automatic door opening and closing method may further include the following steps:

[0121] S260: When the automatic door opening and closing mechanism triggers the door lock assembly to switch from the unlocked state to the locked state during the automatic closing process, the drive motor is controlled to stop rotating so that the door assembly remains in the closed state.

[0122] Optionally, in one example of this application, such as Figure 12 As shown, step S300 in this automatic door opening and closing method may further include the following steps:

[0123] S310: When the drive motor rotates forward to release the rope, it drives the drive gear of the transmission mechanism to rotate forward, thereby causing the transmission gear of the transmission mechanism to rotate in reverse.

[0124] S320: When the teeth of the transmission gear face the rack of the pusher, the transmission gear drives the rack to slide closer to the hinge bracket, thereby causing the pusher rod of the pusher to push the hinge bracket and apply a pushing torque to the door assembly; and

[0125] S330: When the smooth section of the transmission gear faces the rack, the push rod is driven to slide away from the hinge bracket by the return spring of the push member.

[0126] It is worth noting that when the drive motor reverses to tighten the pull rope, it drives the drive gear to reverse, thereby causing the transmission gear to rotate forward. At this time, if the tooth section of the transmission gear is facing the rack, the transmission gear drives the rack to slide away from the hinge bracket, thereby causing the push rod to move away from the hinge bracket. If the smooth section of the transmission gear is facing the rack, the return spring drives the push rod to slide away from the hinge bracket, so that the push rod stops at a position away from the hinge bracket.

[0127] Furthermore, since manual intervention often occurs during the full-angle automatic door opening and closing process, in order to respond to user intervention intentions while ensuring safety, such as... Figure 9B As shown, the automatic door opening and closing method of this application may further include the following steps:

[0128] S500: Based on the closed position, hovering position, and open position, the automatic door opening and closing process is divided into a first opening stage from the closed position to the hovering position, a second opening stage from the hovering position to the open position, a first closing stage from the open position to the hovering position, and a second closing stage from the hovering position to the closed position.

[0129] S600: Based on the changes in the state of the door lock signal, the hovering micro switch, and the door opening micro switch, determine the stage of the automatic door opening and closing mechanism when manual intervention is required;

[0130] S700: The Hall sensor built into the drive motor senses the trend of speed change during manual intervention, so as to determine that the manual intervention is in the same direction when the speed increases and in the opposite direction when the speed decreases.

[0131] S800: In response to a unidirectional intervention occurring during the second door opening stage, control the drive motor to accelerate forward rotation to expedite the release of the pull rope; otherwise, continue executing the action logic of the current stage; and

[0132] S900: In response to a reverse intervention occurring in the first closing stage, stop executing the action logic of the first closing stage and execute the action logic of the second opening stage; otherwise, continue executing the action logic of the current stage.

[0133] Optionally, the automatic door opening and closing process may further include a first hovering phase during the opening process and a second hovering phase during the closing process.

[0134] For example, in step S600 of this application: after the door lock signal changes and before the hover micro switch is triggered, the automatic door opening and closing mechanism is in a first opening stage; after the hover micro switch is triggered and before it is deactivated, the automatic door opening and closing mechanism is in a first hovering stage; after the hover micro switch is deactivated and before the opening micro switch is triggered, the automatic door opening and closing mechanism is in a second opening stage; after the opening micro switch is deactivated and before the hover micro switch is triggered, the automatic door opening and closing mechanism is in a first closing stage; after the hover micro switch is triggered again and before it is deactivated, the automatic door opening and closing mechanism is in a second hovering stage; before the hover micro switch is deactivated and the door lock signal changes, the automatic door opening and closing mechanism is in a second closing stage.

[0135] It is worth noting that during the door opening process, the drive motor rotates in the forward direction: if the manual intervention is implemented to open the door manually, the direction of the manual intervention is the same as the direction of the door opening process. At this time, the door assembly will increase its opening speed under manual action to increase the tension of the pull rope on the output shaft, so that the Hall sensor can sense the increase in the forward rotation speed of the drive motor and determine that the manual intervention is in the same direction; if the manual intervention is implemented to close the door manually, the direction of the manual intervention is opposite to the direction of the door opening process. At this time, the door assembly will close the door manually to reduce the tension of the pull rope on the output shaft, so that the Hall sensor can sense the decrease in the forward rotation speed of the drive motor and determine that the manual intervention is in the opposite direction.

[0136] Similarly, during the closing process, the drive motor reverses direction: if the manual intervention is implemented as manual opening, the direction of the manual intervention is opposite to the direction of the closing process. At this time, the door assembly opens under manual action to increase the tension of the pull rope on the output shaft, so that the Hall sensor can sense the slowing down of the reverse rotation speed of the drive motor, thus determining that the manual intervention is a reverse intervention; if the manual intervention is implemented as manual closing, the direction of the manual intervention is the same as the direction of the closing process. At this time, the closing speed of the door assembly increases under manual action to reduce the tension of the pull rope on the output shaft, so that the Hall sensor can sense the accelerating reverse rotation speed of the drive motor, thus determining that the manual intervention is a same-direction intervention.

[0137] In particular, even if human intervention occurs during the automatic door opening and closing process, the automatic door opening and closing method of this application will continue to execute the hovering logic when the door component passes through the first hovering stage or the second hovering stage. It will still stop for a preset time before continuing the corresponding automatic door opening and closing logic to prevent hand pinching and collision, so as to give the user reaction time.

[0138] Optionally, when manual intervention occurs in the first hovering phase or the second hovering phase, the action logic of the hovering phase is stopped, and the action logic of the next phase is executed. It is understood that if the manual intervention in the first or second hovering phase is manual door opening, the next phase refers to the second door opening phase; if the manual intervention in the first or second hovering phase is manual door closing, the next phase refers to the second door closing phase.

[0139] It is worth noting that in the automatic door opening and closing method of this application: when the same-direction intervention during the door opening process occurs between the hovering position and the open position (i.e., during the second door opening stage and the first hovering stage), the drive motor is controlled to accelerate forward rotation to speed up the door opening; when the reverse intervention during the door closing process occurs between the hovering position and the open position (i.e., during the first door closing stage and the second hovering stage), the drive motor is controlled to reverse to change from closing to opening; when manual intervention occurs in other stages, the original automatic door opening and closing action remains unchanged. This design can meet the needs of users who want to reopen or quickly open the door to retrieve or place tableware in most scenarios while ensuring safety.

[0140] For example, consider manual intervention during automatic door opening:

[0141] 1) Intervention in the same direction during the first door opening stage (such as manual door opening): If the manual door opening does not reach the hovering position, the action logic of the first door opening stage will continue to continue the automatic door opening process until the hovering position is reached, at which point the hovering micro switch will be triggered, controlling the drive motor to stop for n seconds before entering the normal automatic door opening logic; if the manual door opening reaches the hovering position, the action logic of the first hovering stage will continue to be executed, that is, the hovering micro switch will be triggered, controlling the drive motor to stop for n seconds before entering the normal automatic door opening logic.

[0142] 2) Reverse intervention occurs during the first opening stage (such as manual closing): If the manual closing does not reach the closing position, the action logic of the first opening stage continues to continue the automatic opening process until the hovering position is triggered, which controls the drive motor to stop for n seconds before entering the normal automatic opening logic; if the manual closing reaches the closing position, the door lock signal is triggered, the manual closing is completed, and the automatic opening process is terminated.

[0143] 3) Intervention in the same direction during the first hovering phase (such as manual door opening): If the manual door opening does not reach the opening position, the system determines that the user intends to accelerate the door opening and controls the drive motor to rotate faster to speed up the automatic door opening process. When the door reaches the opening position, the system triggers the door opening micro switch to control the drive motor to stop rotating, thus completing the accelerated door opening. If the manual door opening reaches the opening position, the system triggers the door opening micro switch to control the drive motor to stop rotating, thus completing the manual door opening and ending the automatic door opening process.

[0144] 4) Reverse intervention occurs during the first hovering phase (such as manual closing): If the manual closing does not reach the closed position, the action logic of the first opening phase continues to continue the automatic opening process until the hovering position is reached, triggering the hovering micro switch to control the drive motor to stop for n seconds before re-entering the normal automatic opening logic; if the manual closing reaches the closed position, the door lock signal is triggered, completing the manual closing and terminating the automatic opening process.

[0145] 5) Intervention in the same direction during the second door opening stage (such as manual door opening): If the manual door opening does not reach the opening position, the user's intention to speed up the door opening is determined, and the drive motor is controlled to rotate faster to accelerate the automatic door opening process until the door opening position is reached. At this point, the door opening micro switch is triggered, and the drive motor is controlled to stop rotating, thus completing the accelerated door opening. If the manual door opening reaches the opening position, the door opening micro switch is triggered, and the drive motor is controlled to stop rotating, thus completing the manual door opening and ending the automatic door opening process.

[0146] 6) Reverse intervention occurs during the second door opening stage (e.g., manual door closing): If the manual door closing does not reach the hovering position, the action logic of the second door closing stage will continue to be executed to continue the automatic door opening process until the door opening position is reached, triggering the door opening micro switch to control the drive motor to stop rotating and complete the automatic door opening; if the manual door closing reaches the hovering position, the action logic of the first hovering stage will be executed to trigger the hovering micro switch to control the drive motor to stop for n seconds before entering the normal automatic door opening logic.

[0147] Similarly, let's take manual intervention during the automatic door closing process as an example:

[0148] 1) In the first closing stage, if there is a unidirectional intervention (such as manual closing): If the manual closing does not reach the hovering position, the action logic of the first closing stage will continue to be executed to continue the automatic closing process until the hovering position is reached, at which point the hovering micro switch is triggered, controlling the drive motor to stop for n seconds before entering the normal automatic closing logic; if the manual closing reaches the hovering position, the action logic of the second hovering stage will continue to be executed to trigger the hovering micro switch, controlling the drive motor to stop for n seconds before entering the normal automatic closing logic.

[0149] 2) Reverse intervention occurs during the first closing stage (such as manual opening): If the manual opening does not reach the opening position, the user's intention to open the door is determined, the automatic closing process is terminated, the action logic of the second opening stage is executed, the drive motor is controlled to rotate forward until the opening micro switch is triggered to complete the automatic opening; if the manual opening reaches the opening position, the opening micro switch is triggered, the manual opening is completed, and the automatic closing process is terminated.

[0150] 3) Intervention in the same direction during the second hovering phase (such as manual closing): If the manual closing does not reach the closing position, the action logic of the second closing phase continues to continue the automatic closing process until the closing position is reached, triggering the door lock signal to control the drive motor to stop rotating and complete the automatic closing; if the manual closing reaches the closing position, triggering the door lock signal to control the drive motor to stop rotating and complete the manual closing, ending the automatic closing process.

[0151] 4) Reverse intervention occurs during the second hovering phase (such as manual door opening): If the manual door opening does not reach the opening position, the user's intention to open the door is determined, the automatic door closing process is terminated, the action logic of the second door opening phase is executed, the drive motor is controlled to rotate forward until the door opening micro switch is triggered to complete the automatic door opening; if the manual door opening reaches the opening position, the door opening micro switch is triggered, the manual door opening is completed, and the automatic door closing process is terminated.

[0152] 5) Intervention in the same direction during the second closing stage (such as manual closing): If the manual closing does not reach the closing position, the action logic of the second closing stage continues to continue the automatic closing process until the closing position is reached, triggering the door lock signal to control the drive motor to stop rotating and complete the automatic closing; if the manual closing reaches the closing position, triggering the door lock signal to control the drive motor to stop rotating and complete the manual closing, ending the automatic closing process.

[0153] 6) Reverse intervention occurs during the second closing stage (e.g., manual opening): If the manual closing does not reach the hovering position, the action logic of the second closing stage will continue to be executed to continue the automatic closing process until the door lock signal is triggered at the closed position, controlling the drive motor to stop rotating and completing the automatic closing; If the manual opening reaches the hovering position, the action logic of the second hovering stage will be executed to trigger the hovering micro switch, controlling the drive motor to stop for n seconds before entering the normal automatic closing logic.

[0154] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0155] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. An automatic door opening and closing mechanism, used to be installed between the box frame and the door assembly, characterized in that, include: A hinge assembly includes a hinge base for fixed connection to the housing frame, a hinge bracket for fixed connection to the door assembly, a pivot for rotatably connecting the hinge bracket to the hinge base, and a hinge pulley disposed on the hinge bracket; and The elastic drive assembly includes a pull rope that passes around the hinge pulley, a drive motor connected to one end of the pull rope, and an elastic element connected to the other end of the pull rope. The drive motor and the elastic element are configured to be mounted on the housing frame to apply a pulling torque to the door assembly via the pull rope in the opposite direction to the gravitational torque of the door assembly. When the pull rope is tightened under the drive of the drive motor, the tension torque applied by the pull rope increases to be greater than the gravitational torque of the door assembly, thus automatically closing the door; When the pull rope is released under the drive of the drive motor, the tension torque applied by the pull rope is reduced to be less than the gravitational torque of the door assembly, thus enabling automatic door opening.

2. The automatic door opening and closing mechanism according to claim 1, characterized in that, The pull rope portion is wound around the output shaft of the drive motor to release or retract the pull rope by the forward and reverse rotation of the drive motor.

3. The automatic door opening and closing mechanism according to claim 2, characterized in that, The elastic element is a tension spring, one end of which is used to limit the connection to the box frame, and the other end of which is used to limit the connection to the pull rope.

4. The automatic door opening and closing mechanism according to claim 3, characterized in that, The elastic drive assembly further includes a guide roller for mounting on the housing frame, the guide roller being arranged adjacent to the drive motor, and the pull rope extending from the tension spring, passing successively around the guide roller and the hinge pulley, to the drive motor.

5. The automatic door opening and closing mechanism according to any one of claims 2 to 4, characterized in that, It also includes an auxiliary door opening assembly, which includes a pusher slidably disposed on the housing frame and a transmission mechanism disposed between the drive motor and the pusher. When the drive motor rotates forward to release the pull rope, the pusher slides toward the hinge bracket under the transmission action of the transmission mechanism to push the hinge bracket, thereby applying a pushing torque to the door assembly in the same direction as the gravitational torque.

6. The automatic door opening and closing mechanism according to claim 5, characterized in that, The transmission mechanism includes a drive gear connected to the output shaft of the drive motor and a transmission gear meshing with the drive gear; the pushing member includes a pushing rod and a rack disposed on the pushing rod and meshing with the transmission gear.

7. The automatic door opening and closing mechanism according to claim 6, characterized in that, The transmission gear includes a gear shaft for rotatably connecting to the housing frame, a continuous toothed ring surrounding the gear shaft and engaging with the drive gear, and a discontinuous toothed ring surrounding the gear shaft and engaging with the rack.

8. The automatic door opening and closing mechanism according to claim 7, characterized in that, The intermittent toothed ring has tooth segments and smooth segments arranged circumferentially along the gear shaft; the pusher further includes a return spring connected to the pusher rod, and when the smooth segment of the intermittent toothed ring faces the rack, the pusher rod slides away from the hinge bracket under the action of the return spring.

9. The automatic door opening and closing mechanism according to any one of claims 1 to 4, characterized in that, The drive motor has a built-in Hall sensor; the automatic door opening and closing mechanism further includes a door lock assembly disposed between the door assembly and the housing frame, a hovering micro switch triggered by the hinge bracket in the hovering position, and an opening micro switch triggered by the hinge bracket in the open position; the door lock assembly has a lock state and an unlock state that can be automatically switched between each other, and issues a closing completion signal when switching from the unlock state to the lock state.

10. A door-mounted equipment, characterized in that, include: Box frame; Door components; as well as The automatic door opening and closing mechanism as described in any one of claims 1 to 9, wherein the automatic door opening and closing mechanism is disposed between the housing frame and the door assembly.

11. An automatic door opening and closing method, characterized in that, Including the following steps: In response to the door opening signal, the drive motor of the elastic drive component in the automatic door opening and closing mechanism is controlled to rotate forward, so as to relax the pull rope of the elastic drive component and reduce the tension torque applied by the pull rope to the door assembly under the action of the elastic element of the elastic drive component, so that the gravitational torque of the door assembly is greater than the applied tension torque, thereby realizing automatic door opening; and In response to a closing signal, the drive motor is controlled to reverse, thereby tightening the pull rope and increasing the pulling torque applied to the door assembly by the elastic element. This makes the gravitational torque of the door assembly less than the applied pulling torque, thus achieving automatic closing.

12. The automatic door opening and closing method according to claim 11, characterized in that, It also includes the following steps: When the drive motor rotates forward to release the pull rope, the transmission mechanism of the auxiliary door opening component in the automatic door opening mechanism drives the pusher of the auxiliary door opening component to slide towards the hinge bracket of the hinge component in the automatic door opening mechanism, so as to push the hinge bracket and apply a pushing torque to the door body component in the same direction as the gravitational torque.

13. The automatic door opening and closing method according to claim 12, characterized in that, The step of, when the drive motor rotates forward to release the pull rope, causing the pusher of the auxiliary door opening assembly in the automatic door opening mechanism to slide towards the hinge bracket of the hinge assembly in the automatic door opening mechanism via the transmission mechanism, thereby pushing the hinge bracket and applying a pushing torque to the door assembly in the same direction as the gravitational torque, includes the following steps: When the drive motor rotates forward to release the rope, it drives the drive gear of the transmission mechanism to rotate forward, thereby causing the transmission gear of the transmission mechanism to rotate in reverse. When the tooth section of the transmission gear faces the rack of the pusher, the transmission gear drives the rack to slide towards the hinge bracket, thereby driving the pusher rod of the pusher to push the hinge bracket and apply a pushing torque to the door assembly. as well as When the smooth section of the transmission gear faces the rack, the push rod is driven to slide away from the hinge bracket by the return spring of the push member.

14. The automatic door opening and closing method according to claim 11, characterized in that, It also includes the following steps: In response to the hovering signal, the drive motor is controlled to stop rotating, so that the tension torque exerted by the pull rope on the door assembly under the action of the elastic element is balanced with the gravitational torque of the door assembly, thereby achieving the hovering of the door assembly.

15. The automatic door opening and closing method according to any one of claims 11 to 14, characterized in that, It also includes the following steps: Based on the closed position, hovering position, and open position, the automatic door opening and closing process is divided into a first opening stage from the closed position to the hovering position, a second opening stage from the hovering position to the open position, a first closing stage from the open position to the hovering position, and a second closing stage from the hovering position to the closed position. Based on the changes in the state of the door lock signal, the hovering micro switch, and the opening micro switch, the stage of the automatic door opening and closing mechanism during manual intervention is determined. The Hall sensor built into the drive motor senses the trend of speed change during manual intervention, so as to determine that the manual intervention is in the same direction when the speed increases and in the opposite direction when the speed decreases. In response to a unidirectional intervention occurring during the second door opening phase, the drive motor is controlled to accelerate forward rotation to expedite the release of the pull rope; otherwise, the action logic of the current phase continues to execute; and In response to a reverse intervention occurring in the first closing stage, the execution of the action logic in the first closing stage is stopped, and the action logic in the second opening stage is executed; otherwise, the execution of the action logic in the current stage continues.

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