Rail transit master control motor integrated driving device, electrically operated gate and control method of electrically operated gate

Abstract

The invention relates to the technical field of rail transit equipment, in particular to a rail transit master control motor integrated driving device, an electrically operated gate and a control method of the electrically operated gate. The rail transit master control motor integrated driving device comprises a motor, a controller and a driving wheel, the controller and the driving wheel are integrated on the motor, the controller is transversely assembled to the top of an electrically operated gate through a shell, and a control line of the motor is led out from the tail of the motor and enters a master controller from a line inlet of a mounting plate. The electric door comprises a door leaf assembly and a slide way assembly allowing the door leaf assembly to slide left and right. The control modes of the door body comprise an automatic door opening and closing control mode, an obstacle detection and extrusion prevention control mode, a manual operation control mode and an exception handling control mode. The controller and the motor are integrally designed, the size is reduced by more than 30%, the installation space is saved, obstacles can be detected in time to avoid clamping injury, the requirements of different scenes are met, manual operation is reduced, the passing efficiency and use safety are improved, and the maintenance time and cost are reduced.

Description

Technical Field

[0001] This invention relates to the field of rail transit equipment technology, specifically to an integrated drive device for the main control motor of rail transit, an electric door, and a control method thereof. Background Technology

[0002] In the rail transit sector, door systems are crucial equipment for ensuring passenger safety and convenient travel. Traditional mechanical doors rely on purely mechanical structures to open and close, requiring manual operation, which is inconvenient and lacks intelligent authentication functions, making security difficult to guarantee. Their locking reliability depends on the degree of mechanical wear, and after long-term use, problems such as loose locking and jamming are prone to occur, resulting in high maintenance costs.

[0003] To address the aforementioned issues, those skilled in the art have undertaken numerous explorations. For example, the inner end door of rail transit equipment and its control method disclosed in Chinese Patent Publication No. CN113073918A, while showing some improvements, still suffers from many core defects in ordinary electric doors. Their safety protection is insufficient, lacking a comprehensive obstacle detection and anti-pinch mechanism; closing the door can easily result in collisions that injure people or belongings; and some products lack a locking design during power outages, posing a safety hazard. Their level of intelligence is low, with a single unlocking method that fails to meet personnel access management needs and lacks linkage control logic. Adaptability is lacking; it is not optimized for the complex environment of rail transit, the transmission system is prone to failure, and there is no fault detection and prompting function. Manual emergency response is inadequate; when automatic operation fails, manual opening and closing faces significant resistance, and there is no emergency linkage mechanism, making it difficult to open the door quickly and safely. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an integrated drive device for the main control motor of rail transit, an electric door and its control method.

[0005] The technical solution adopted in this invention is as follows: An integrated drive device for a main control motor in rail transit includes a motor, a controller integrated on the motor, and a drive wheel, wherein: The controller includes a main controller, a housing for fixing the main controller, and mounting plates and baffles located at both ends of the housing; the main controller is integrally fixed to the tail of the motor via the mounting plates; The drive wheel is mounted on the output shaft of the motor and is set perpendicular to the long axis of the housing; a conveyor belt that drives the electric door to open and close is mounted on the drive wheel; The controller is horizontally mounted to the top of the electric door through the housing, and the motor's control wires exit from the rear of the motor and enter the main controller through the inlet of the mounting plate.

[0006] This technical solution reduces system complexity through integrated design, achieves precise door control through a transmission mechanism, and improves space utilization and operational stability through optimized assembly, ultimately achieving the goal of a highly efficient, reliable, and compact electric door drive. Specifically, the integrated design of the controller and motor reduces volume by more than 30%, saving installation space; the drive wheel is directly connected to the motor output shaft, working with the conveyor belt to achieve smooth door opening and closing with an error of ≤2mm; the motor tail wire is directly connected to the main controller, reducing signal interference and improving system stability; the modular structure facilitates quick assembly and disassembly, reducing troubleshooting time by 50%.

[0007] In addition, the integrated drive device for the main control motor of rail transit proposed in the present invention may also have the following additional technical features: According to one embodiment of the present invention, the driving wheel is fixed to one side of the upper slide rail at the top of the electric door, and a driven wheel is provided on the other side of the upper slide rail, and the distance between the driving wheel and the driven wheel remains relatively constant.

[0008] This technical solution uses a drive wheel fixed to one side of the upper slide rail at the top of the electric gate, and a driven wheel set on the other side of the upper slide rail, with the distance between the two remaining relatively constant, thus constructing a stable transmission system. The drive wheel is driven to rotate by power, and the driven wheel, due to its fixed distance from the drive wheel, rotates along with it under the action of friction and other forces. The two work together to enable the electric gate to move stably on the upper slide rail, ensuring accurate running trajectory and avoiding problems such as jamming and deviation caused by changes in wheel spacing.

[0009] In addition, the integrated drive device for the main control motor of rail transit, the electric door and the control method thereof proposed above according to the present invention may also have the following additional technical features: According to one embodiment of the present invention, a wing-shaped heat sink is provided on the top of the housing, and the heat sink is disposed in close contact with the main controller.

[0010] In this technical solution, the heat generated by the main controller is quickly conducted to the heat sink, the wing-shaped structure increases the heat dissipation area, and the heat is carried away by air convection to achieve the purpose of heat dissipation.

[0011] To achieve the above objectives, the present invention also provides an electric door.

[0012] An electric gate includes a door leaf assembly and a slide rail assembly for the door leaf assembly to slide left and right, wherein: The door assembly includes a left door assembly, a right door assembly, and a door carrier mounted on top of the left / right door assembly. The side of the door carrier is movably connected to the slide rail assembly via pulleys, and the top of the door carrier is fixed to the drive belt via a connector. The drive belt drives the left and right door assemblies below the door carrier to open and close relative to each other. The right door assembly integrates a door lock rod. The slide assembly includes an upper slide and a lower slide located on the upper and lower sides of the door assembly, with tracks that cooperate with pulleys; an electric lock hook that cooperates with the door lock rod is provided in the middle of the upper slide.

[0013] This technical solution achieves stable opening and closing and secure locking of the electric door by setting up a slide rail assembly, a door carrier frame and a drive belt structure, and a locking device that engages the door lock rod and the electric lock hook, thereby more reliably meeting the requirements for automated and safe use of the door. Specifically, the slide rail assembly provides a track, and the side pulleys of the door carrier frame cooperate with the track to enable the door panel assembly to slide left and right. The drive belt drives the top of the door carrier frame, which in turn drives the door panels to open and close relative to each other on the left and right. The door lock rod cooperates with the electric lock hook in the middle of the upper slide rail to lock and unlock the door. The electric lock hook is controlled by an electrical signal to automatically open and close the electric door, reducing manual operation and improving passage efficiency.

[0014] According to one embodiment of the present invention, the left assembly of the door leaf is connected to the upper transmission belt via a connector, and the right assembly of the door leaf is connected to the lower transmission belt via a connector; when the drive wheel rotates clockwise, the upper and lower transmission belts drive the door leaf assemblies to move closer to each other, thereby achieving the closing action; when the drive wheel rotates counterclockwise, the upper and lower transmission belts drive the door leaf assemblies to move further apart, thereby achieving the opening action.

[0015] This technical solution utilizes the rotation of a drive wheel to move upper and lower transmission belts. The upper transmission belt pulls the left door assembly, and the lower transmission belt pulls the right door assembly. Depending on the direction of rotation of the drive wheel, the two door panels move closer or further apart in a linear motion, thus achieving the opening or closing action. The upper and lower transmission belts connect the left and right door assemblies respectively, forming a transmission layout similar to a double-door design. When the drive wheel rotates clockwise or counterclockwise, the transmission belts convert the rotational motion into linear motion based on forces such as friction, thereby driving the door assemblies closer or further apart to achieve the opening and closing action.

[0016] According to one embodiment of the present invention, the door lock rod includes a lock cylinder, a spring and a lock rod. After the door lock rod collides with the electric lock hook, the lock rod compresses the spring and slides into the electric lock hook. The lock rod and the electric lock hook engage to achieve locking, thus forming the electric lock opening.

[0017] In this technical solution, when the door lock rod collides with the electric lock hook, the lock rod is subjected to external force, which compresses the spring and causes it to undergo elastic deformation, allowing the lock rod to slide into the electric lock hook. The elastic restoring force of the spring will cause the lock rod to remain in a specific position within the electric lock hook, so that the two are tightly engaged and locked. Conversely, by rotating the key to rotate the lock cylinder, the state of the lock rod being restricted is released, allowing the lock rod to disengage from the electric lock hook under the action of the spring, thus unlocking.

[0018] According to one embodiment of the present invention, an inner door switch and a combination lock are respectively provided on the inner and outer sides of the electric door. Both the inner door switch and the combination lock are connected to the main controller through the inlet port. The door consists of a combination lock control panel on the outside and an inner door switch unlocking electric lock port on the inside. The combination lock integrates an AI binocular camera, a fill light, a fingerprint recognition module, an IC card swiping area, a touch screen, a combination keypad, and a speaker outlet.

[0019] In this technical solution, the main controller receives signals from the door switch and the combination lock inside. The combination lock integrates multiple modules, such as a fingerprint recognition module that uses the uniqueness of human fingerprints for identity verification; an AI binocular camera that confirms the identity of the person through image recognition technology; an IC card reader that reads card information; a supplementary light to assist imaging in low light conditions; a touch screen and keypad to provide operation input; and a speaker for prompts. Based on the received correct signal, the main controller controls the electric lock to unlock, thus opening the door.

[0020] According to one embodiment of the present invention, the electric door further includes a position detection unit, which is located on the door panel assembly or the slide rail assembly and is used to detect the moving position of the electric door; the position detection unit is connected to the main controller through the inlet; the position detection unit works with the motor to realize automatic door opening and closing control, obstacle detection and anti-pinch control, manual operation control, and abnormal handling control.

[0021] To achieve the above objectives, the present invention also provides a control method for an electric door.

[0022] A method for controlling an electric door includes the following steps: S1. Installation of the drive unit: Fix the drive unit and driven wheel to the upper slide rail with brackets. One end of the conveyor belt is installed on the motor output shaft through the drive wheel, and the other end is wrapped around the driven wheel to form a double-layer structure. The upper conveyor belt is connected to the left assembly of the door leaf through the door frame, and the lower conveyor belt is connected to the right assembly of the door leaf. Set the electric lock hook installation position in the middle of the upper slide rail and adjust the vertical alignment of the electric lock hook and the door lock rod. S2. Initialization of the drive unit: Upon initial power-on, the motor drives the door assembly to perform a low-speed closing operation, and the position detection unit records the travel reference as a standard. S3, the triggering of unlocking and unlocking is divided into two types: Triggered from outside the door: Enter the password / swipe card / fingerprint / facial recognition through the control panel of the combination lock. After successful verification, the combination lock sends an unlock signal to the main controller. Inside door button: Pressing the inside door switch directly generates an unlock signal; the inside door button has higher priority than the outside door trigger. After receiving a valid unlocking signal, the main controller first cuts off the power to the electric lock port, allowing the electric lock hook to enter a free state; then it synchronously starts the motor to drive the drive wheel to rotate, which in turn drives the door leaf to move in the opening direction via the conveyor belt; after the door lock rod disengages from the electric lock hook, the position sensor sends a feedback signal to the main controller.

[0023] This technical solution secures the drive unit and driven wheel to the upper slide rail with the aid of a bracket. A conveyor belt bypasses the drive and driven wheels to form a double-layer structure, connecting the left and right sides of the door leaf respectively. Simultaneously, an electric lock hook mounting position is pre-set in the slide rail and its alignment is adjusted to provide support for door leaf movement and locking. For electrical control initialization, upon initial power-on, the motor drives the door leaf to perform a low-speed closing operation, and the position detection unit records the travel reference as the standard for subsequent actions. In the unlocking process, two methods are set: multiple authentication triggers outside the door and button triggers inside the door, with the button inside the door having higher priority. After receiving a valid signal, the main controller first cuts off the power to the electric lock port to free the electric lock hook, then starts the motor to drive the conveyor belt to move the door leaf. Finally, the position sensor feeds back a signal indicating that the door lock lever has disengaged, completing the entire door opening process.

[0024] According to one embodiment of the present invention, in the S3 unlocking and unlocking triggering, the door control mode is divided into several types: Automatic door opening and closing control mode: After unlocking, the door opens to the fully open position at a preset speed and then closes automatically after a set delay. Obstacle detection and anti-pinch control mode: During the closing process, if the position detection unit detects an obstacle, it immediately triggers the anti-pinch protection: the motor reverses, the door assembly reopens to the fully open position, and the number of obstacle events is recorded; if the obstacle protection is triggered 3 times in a row, the main controller locks and alarms. Manual operation control mode: In the event of a power outage or system failure, the door assembly can be pushed open by manually pulling the lever to overcome electromagnetic resistance ≤110N. After the door assembly is opened by 60mm, it will automatically remain fully open. After power is restored, the door needs to be closed again. Abnormal handling control mode: The main controller immediately stops the current action, the digital tube displays the corresponding fault code, and the normal operation is automatically restored after the fault is cleared.

[0025] This technical solution can detect obstacles in a timely manner and reverse the door to open it through obstacle detection and anti-pinch mode. Multiple consecutive triggers will also lock and alarm, effectively avoiding pinching accidents. Multiple control modes meet the needs of different scenarios. The automatic mode is convenient for daily use, and the manual mode allows manual opening of the door in case of power failure or malfunction. The fault handling mode can quickly display fault codes and automatically restore normal operation after the fault is resolved, reducing maintenance time and costs.

[0026] Compared with the prior art, the present invention has the following advantages: (1) The integrated drive device for the main control motor of rail transit is designed with the controller and motor integrated, reducing the volume by more than 30% and saving installation space; the drive wheel is directly connected to the motor output shaft, and with the conveyor belt, the door opening and closing error is ≤2mm, achieving precise control; the motor tail wire is directly connected to the main controller, reducing signal interference and improving system stability; the top of the housing is equipped with wing-shaped heat sinks that are close to the main controller, increasing the heat dissipation area and effectively dissipating heat by utilizing air convection; the distance between the drive wheel and the driven wheel is constant, constructing a stable transmission system to ensure the accurate running trajectory of the electric door and avoid jamming and deviation; (2) The electric door achieves stable opening and closing and safe locking through the slide assembly, door frame and transmission belt drive structure, and the locking device that cooperates with the door lock rod and electric lock hook. The position detection unit, in conjunction with the motor, has multiple control modes such as automatic door opening and closing, obstacle detection and anti-pinch, manual operation, and abnormal handling. It can detect obstacles in time to avoid pinching, meet the needs of different scenarios, reduce manual operation, and improve passage efficiency and safety. (3) The control method is to securely install the drive device and driven wheel, and use the conveyor belt to form a double-layer structure to connect the door leaf, providing support for movement and locking; the initial power-on records the travel reference; the unlocking and unlocking settings have multiple triggering methods, with the button inside the door having high priority; multiple control modes can quickly display fault codes, and automatically recover after fault elimination, reducing maintenance time and cost, and improving ease of use and reliability. Attached Figure Description

[0027] Figure 1 This is a flowchart illustrating the principle of the method of the present invention.

[0028] Figure 2 This is one of the usage state diagrams of the electric door of the present invention.

[0029] Figure 3 This is the second diagram showing the usage state of the electric door of the present invention.

[0030] Figure 4 This is a schematic diagram of the integrated drive device for the main control motor.

[0031] Figure 5 This is a schematic diagram of the structure of the electric lock.

[0032] Figure 6 This is the electrical connection diagram of the electric door of the present invention.

[0033] In the diagram: 1. Left door panel; 2. Right door panel; 3. Upper slide rail; 4. Lower slide rail; 5. Conveyor belt; 6. Drive unit; 61. Drive wheel; 62. Main controller; 63. Baffle; 64. Housing; 65. Mounting plate; 66. Heat sink; 7. Driven wheel; 8. Electric lock hook; 9. Connector; 10. Door frame; 11. Pulley; 12. Door lock rod; 121. Lock cylinder; 122. Spring; 123. Lock rod; 13. Inner door switch; 14. Combination lock. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example 1 like Figure 4 As shown, this embodiment provides an integrated drive device for a main control motor in rail transit, including a motor, a controller integrated on the motor, and a drive wheel 61, wherein: The controller includes a main controller 62, a housing 64 for fixing the main controller 62, and mounting plates 65 and baffles 63 located at both ends of the housing 64; the main controller 62 is integrally fixed to the tail of the motor via the mounting plates 65. The drive wheel 61 is mounted on the output shaft of the motor and is arranged perpendicular to the long axis of the housing 64; a conveyor belt 5 that drives the electric door to open and close is mounted on the drive wheel 61. The controller is horizontally mounted to the top of the electric door through the housing 64, and the motor control line comes out from the tail of the motor and enters the main controller 62 through the inlet of the mounting plate 65.

[0036] This technical solution reduces system complexity through integrated design, achieves precise door control through a transmission mechanism, and improves space utilization and operational stability through optimized assembly, ultimately achieving the goal of a highly efficient, reliable, and compact electric door drive. Specifically, the integrated design of the controller and motor reduces volume by more than 30%, saving installation space; the drive wheel 61 is directly connected to the motor output shaft, working with the conveyor belt 5 to achieve smooth door opening and closing with an error ≤2mm; the motor tail wire is directly connected to the main controller 62, reducing signal interference and improving system stability; the modular structure facilitates quick assembly and disassembly, reducing troubleshooting time by 50%.

[0037] In addition, the integrated drive device for the main control motor of rail transit proposed in the present invention may also have the following additional technical features: According to one embodiment of the present invention, the driving wheel 61 is fixed to one side of the upper slide rail 3 at the top of the electric door, and the driven wheel 7 is provided on the other side of the upper slide rail 3, and the distance between the driving wheel 61 and the driven wheel 7 remains relatively constant.

[0038] This technical solution uses a drive wheel 61 fixed to one side of the upper slide rail 3 at the top of the electric door, and a driven wheel 7 set on the other side of the upper slide rail 3, with the distance between the two remaining relatively constant, thus constructing a stable transmission system. The drive wheel 61 is driven to rotate by power, and the driven wheel 7, due to its fixed distance from the drive wheel 61, rotates along with it under the action of friction and other forces. The two work together to enable the electric door to move stably on the upper slide rail 3, ensuring accurate running trajectory and avoiding problems such as jamming and deviation caused by changes in wheel spacing.

[0039] In addition, the integrated drive device for the main control motor of rail transit, the electric door and the control method thereof proposed above according to the present invention may also have the following additional technical features: According to one embodiment of the present invention, a wing-shaped heat sink 66 is provided on the top of the housing 64, and the heat sink 66 is disposed in close contact with the main controller 62.

[0040] In this technical solution, the heat generated by the main controller 62 is quickly conducted to the heat sink 66. The wing-shaped structure increases the heat dissipation area and uses air convection to remove heat, thereby achieving the purpose of heat dissipation.

[0041] Example 2 like Figures 2 to 5 As shown, based on Embodiment 1, this embodiment provides an electric door, including a door leaf assembly and a slide rail assembly for the door leaf assembly to slide left and right, wherein: The door assembly includes a left door assembly 1, a right door assembly 2, and a door carrier 10 disposed on the top of the left door assembly 1 / right door assembly 2. The side of the door carrier 10 is movably connected to the slide rail assembly via pulleys 11, and the top of the door carrier 10 is fixed to the transmission belt via a connector 9. The transmission belt drives the left door assembly 1 and the right door assembly 2 below the door carrier 10 to open and close relative to each other. The right door assembly 2 integrates a door lock rod 12. The slide assembly includes an upper slide 3 and a lower slide 4 located on the upper and lower sides of the door assembly, with tracks that cooperate with pulleys 11; an electric lock hook 8 that cooperates with door lock rod 12 is provided in the middle of the upper slide 3.

[0042] This technical solution integrates the functions of an electric door and an electronic combination lock 14. The electronic combination lock 14 has multiple unlocking methods, including facial recognition, fingerprint recognition, and password unlocking. The mechanical structure adopts an electric bolt lock to ensure high security. The electric door part is designed with reference to the electric door design of the inside of the EMU, realizing automatic opening and closing of the door and improving convenience. It will significantly improve the security, management efficiency, and operation convenience of the multi-functional room, and provide strong support for high-speed rail operation.

[0043] The door lock is powered on and locked when power is off, and unlocked when power is on. The electric lock mechanism consists of "+" and "-" interfaces. When power is applied, the electric lock hook 8 becomes free, allowing the door lock rod 12 to disengage from the electric lock hook 8. Pulling the door unlocks the door. When power is off, the electric lock hook 8 immediately locks, becoming locked. A combination lock 14 is used as the control panel on the outside, and an opening button is used on the inside to unlock the electric lock. Locking process: No power is required for locking. Pulling the door to the closed position causes the door lock rod 12 to collide with the electric lock hook 8. The rod 123 compresses the spring 122, which slides into the electric lock hook 8, and the rod 123 engages with the hook 8 to lock the door.

[0044] Automatic door opening and closing: Under normal use conditions, the toilet door should be normally closed. Through cyclic detection by the position detection unit, the door is kept in a closed state. The combination door system of combination lock 14 + button switch performs the following functions: The door is opened from the outside using combination lock 14, and from the inside using the button; when the door is in the closing process, swiping a card or pressing the button will open the door; when the door is in the fully open position, during the closing delay timer, swiping a card or pressing the button will not interrupt the timer, will not restart the timer, and will not affect the original closing delay time (4±1)s; if the door is fully open and swiping a card or pressing the button continuously triggers the closing delay time, the door should remain in the fully open position until the trigger signal disappears, and the door will immediately enter the closing process; if the last closing was triggered by the internal button switch, external triggering of combination lock 14 is invalid; if the last closing was triggered by external combination lock 14 or the door automatically closed after a timeout, the door will open.

[0045] Automatic / Manual Switching Function: The multi-functional room door is equipped with a manual opening / closing function. When the multi-functional room door cannot operate automatically due to power failure, controller failure, motor burnout, or other reasons, the door can be opened and closed manually.

[0046] Obstacle detection function: If the door panel encounters an obstacle during closing, the door will automatically reopen to the fully open position and then continue closing at the set speed after 1 (+1, -0.5) seconds. If the obstacle still exists, this process will repeat. After 3 closing attempts, the door will open and remain in the fully open position, and then re-execute the closing action after (30±5) seconds. The obstacle detection function is available when the door panel is within 25mm of the leading edge of the door frame.

[0047] Anti-pinch function when opening and closing: When the door is in electric closing mode and is prevented from closing by external force, the door will reverse and open to the fully open position. When the door is in electric opening mode and is prevented from opening by external force, the door will stop at this position.

[0048] Forced opening / closing force: The forced opening force of the multi-functional room door should not exceed 110N. When forced to open, after being pulled 60mm away by the forced opening force, the door can automatically open and close normally after a delay.

[0049] Initial power-on self-test function: Upon initial power-on, regardless of the door's position, a low-speed closing operation will be performed to determine the door's travel distance. The travel distance determined by the initial travel distance and the position encoder will be recorded by the door control unit and used as the travel standard for subsequent automatic operation.

[0050] Obstacle trigger time: If an obstacle is triggered within 200ms during obstacle detection, the door will open immediately.

[0051] Operational requirements: The door should have a noticeable buffering function 100mm before it is fully open and 150mm before it is fully closed.

[0052] The left assembly of the door leaf 1 is connected to the upper part of the conveyor belt 5 via the door carrier 10, and the right assembly of the door leaf 2 is connected to the lower part of the conveyor belt 5 via the door carrier 10. When the motor drives the drive wheel 61 to rotate clockwise, the door is closed. When the motor drives the drive wheel 61 to rotate counterclockwise, the door is opened.

[0053] Example 3 like Figure 1 As shown in Example 2, this example provides a control method for an electric door, covering various aspects such as installation, initialization, unlocking and unlocking triggering, and multiple control modes. All aspects work closely together to ensure the stable, safe, and efficient operation of the electric door.

[0054] S1. Installation and Initialization: During installation, the drive unit 6 and driven wheel 7 are fixed above the upper slide rail 3 via brackets. One end of the conveyor belt 5 is mounted to the motor output shaft via the drive wheel 61, and the other end wraps around the driven wheel 7 to form a double-layer structure. The upper layer is connected to the left assembly 1 of the door leaf, and the lower layer is connected to the right assembly 2 of the door leaf. At the same time, an electric lock hook 8 is pre-set in the middle of the upper slide rail 3 and its vertical alignment with the door lock rod 12 is adjusted to provide support for the movement and locking of the door leaf.

[0055] Upon initial power-on, the motor drives the door assembly to perform a low-speed closing operation. The position detection unit records the travel reference as a standard for subsequent actions, thus completing the initialization of the drive unit 6.

[0056] S2, Locking and Unlocking Triggers: There are various methods for triggering the unlocking and unlocking processes, including external triggering and internal button triggering. External triggering involves entering a password, swiping a card, using a fingerprint, or facial recognition on the control panel of the combination lock 14. Once verified, an unlocking signal is sent to the main controller 62. Internal button triggering generates an unlocking signal directly by pressing the internal switch 13, and the internal button has a higher priority than external triggering.

[0057] After receiving a valid unlocking signal, the main controller 62 first cuts off the power to the electric lock port, allowing the electric lock hook 8 to enter a free state. Simultaneously, it starts the motor to drive the drive wheel 61 to rotate, which in turn drives the door leaf to move in the opening direction via the conveyor belt 5. After the door lock rod 12 disengages from the electric lock hook 8, the position sensor sends a signal back to the main controller 62, completing the door opening process.

[0058] S3, Multiple control modes: Automatic door opening and closing control mode: After unlocking, the door opens to the fully open position at a preset speed and automatically closes after a set delay. The door is normally closed by default and maintains a closing trend through the position detection unit. After the unlock signal is triggered, the motor drives the drive wheel 61 to rotate counterclockwise, driving the left and right sides of the door to open synchronously; if a card swipe or button signal is triggered during the closing process, the door will immediately switch to the opening action. After opening, a (4±1)s delay timer is entered, after which the motor drives the drive wheel 61 to rotate clockwise to close the door. If the unlock signal is triggered during the closing process, the original delay timer will not be interrupted; if the unlock signal is continuously triggered after the door is fully opened and exceeds the delay time, the door will remain fully open until the signal disappears and then immediately close. A buffer action is performed in the area 100mm before the door is fully open and 150mm before it is fully closed to reduce impact.

[0059] Obstacle detection and anti-pinch control mode: Obstacle detection is available within a range of >25mm from the front edge of the door frame. If an obstacle is encountered during closing and the trigger duration is ≥200ms, the door will immediately open fully and then close again after a delay of 1 (+1, -0.5)s. If the door encounters an obstacle after three attempts to close, it will remain fully open for (30±5)s before attempting to close again. If the door is obstructed by external force during electric closing, it will open in the opposite direction to the fully open position; if the door is obstructed by external force during electric opening, it will stop operating at the current position.

[0060] Manual operation control mode: When the system fails to operate automatically due to power failure, controller failure, motor burnout, or other reasons, it will automatically switch to manual mode. Manual opening and closing of the door requires force. The force required to force the door open should not exceed 110N. After the door is pulled open by 60mm, it will automatically open fully and perform a normal delayed closing.

[0061] Anomaly Handling Control Mode: The integrated motor control device displays fault codes via a single-digit digital tube. When a fault occurs, the system immediately stops its current operation and continuously displays the fault code on the digital tube. The correspondence between various faults is clear; for example, if there is a door opening obstacle, the obstacle in the door's running path must be cleared. Maintenance personnel troubleshoot the problem based on the fault code. After the fault is resolved, the system automatically returns to normal operation. If the fault cannot be resolved immediately, manual mode can be switched to. Regarding special anomaly handling, the system automatically locks after a power outage. After power is restored, there is no need to reconfigure parameters; the operating settings before the power outage are directly retained, and the door can be triggered to run through a valid unlocking method.

[0062] S4. Other control logic: Transmission system control: The left assembly 1 of the door leaf is connected to the upper part of the conveyor belt 5 via the door carrier 10, and the right assembly 2 of the door leaf is connected to the lower part of the conveyor belt 5 via the door carrier 10. The motor drives the drive wheel 61 to rotate, which drives the conveyor belt 5 to run synchronously, realizing the opening and closing of the door leaf. The sliding track 4 ensures the stability of the door leaf running trajectory, reduces friction loss, and extends the service life of the transmission system.

[0063] Electrical wiring control: The electric door controller is connected to a DC 110V power supply. The push-button switches, electric lock slots, and control panel of the combination lock 14 inside the door are connected to the corresponding interfaces of the electric door controller to achieve bidirectional signal transmission. Wiring must strictly follow the part drawing numbers and standardization requirements to avoid reverse polarity and short circuits. The motor control wires exit from the tail of the motor and enter the main controller 62 through the inlet of the mounting plate 65.

[0064] Integrated control of the main motor: The controller consists of a mounting plate 65, a housing 64, a main control board, a baffle 63, and a heat sink 66, integrated into the rear of the motor and fixed to the rear of the motor with four M8 screws, forming an integrated design. It is responsible for receiving unlocking signals and position detection signals, controlling the motor speed and direction, realizing functions such as automatic door opening and closing, buffering, and obstacle detection, and at the same time, it provides fault status feedback through a digital tube.

[0065] This technical solution prioritizes safety, employing a power-off locking design with anti-pinch and obstacle detection features. It is primarily automatic, operating in automatic mode by default, but supports manual backup. It features coordinated operation, with the smart lock and electric door working together. It is highly adaptable to the special application scenarios of high-speed trains. The operating voltage is DC110V, compatible with conventional high-speed train power supply standards. The power-on initialization process includes self-checking and fault feedback logic, clearly defining the priority of buttons inside the door and various operating procedures to ensure the safety of the multi-functional compartment.

[0066] Although the present invention has been described in detail with reference to the accompanying drawings and preferred embodiments, the invention is not limited thereto. Various equivalent modifications or substitutions can be made to the embodiments of the invention by those skilled in the art without departing from the spirit and essence of the invention, and such modifications or substitutions should all be within the scope of the invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the invention should also be covered within the protection scope of the invention. Therefore, the protection scope of the invention should be determined by the scope of the claims.

Claims

1. An integrated drive device for the main control motor of rail transit, characterized in that, Includes a motor, and a controller and drive wheel (61) integrated on the motor, wherein: The controller includes a main controller (62), a housing (64) for fixing the main controller (62), and mounting plates (65) and baffles (63) located at both ends of the housing (64); the main controller (62) is integrally fixed to the tail of the motor through the mounting plates (65); The drive wheel (61) is installed on the output shaft of the motor and is set perpendicular to the long axis of the housing (64); a conveyor belt (5) for driving the electric door to open and close is installed on the drive wheel (61); The controller is horizontally mounted to the top of the electric door through the housing (64), and the control line of the motor comes out from the tail of the motor and enters the main controller (62) through the inlet of the mounting plate (65).

2. The integrated drive device for main control motors in rail transit as described in claim 1, characterized in that, The drive wheel (61) is fixed on one side of the upper slide rail (3) at the top of the electric door, and a driven wheel (7) is provided on the other side of the upper slide rail (3), and the distance between the drive wheel (61) and the driven wheel (7) remains relatively constant.

3. The integrated drive device for main control motors in rail transit as described in claim 1, characterized in that, The top of the housing (64) is provided with a wing-shaped heat sink (66), which is closely attached to the main controller (62).

4. An electric door, employing the integrated drive device for the main control motor of rail transit as described in any one of claims 1-3, characterized in that, This includes a door panel assembly and a slide rail assembly for the left and right sliding of the door panel assembly, wherein: The door assembly includes a left door assembly (1), a right door assembly (2), and a door carrier (10) mounted on the top of the left door assembly (1) and the right door assembly (2). The side of the door carrier (10) is movably connected to the slide assembly via pulleys (11), and the top of the door carrier (10) is fixed to the transmission belt via a connector (9). The transmission belt drives the left door assembly (1) and the right door assembly (2) below the door carrier (10) to open and close relative to each other. The right door assembly (2) is equipped with a door lock rod (12). The slide assembly includes an upper slide (3) and a lower slide (4) located on the upper and lower sides of the door assembly, and is provided with a track that cooperates with the pulley (11); the middle of the upper slide (3) is provided with an electric lock hook (8) that cooperates with the door lock rod (12).

5. The electric door as described in claim 4, characterized in that, The left component (1) of the door leaf is connected to the upper transmission belt through the connector (9), and the right component (2) of the door leaf is connected to the lower transmission belt through the connector (9). When the drive wheel (61) rotates clockwise, the upper and lower transmission belts drive the door leaf assemblies to move closer to each other, thereby achieving the closing action. When the drive wheel (61) rotates counterclockwise, the upper and lower transmission belts drive the door leaf assemblies to move further apart, thereby achieving the opening action.

6. The electric door as described in claim 4, characterized in that, The door lock rod (12) includes a lock cylinder (121), a spring (122) and a lock rod (123). After the door lock rod (12) collides with the electric lock hook (8), the lock rod (123) compresses the spring (122) and slides into the electric lock hook (8). The lock rod (123) and the electric lock hook (8) engage to achieve locking, forming the electric lock opening.

7. The electric door as described in claim 6, characterized in that, The electric door is equipped with an inner switch (13) and a combination lock (14) on its inner and outer sides respectively. Both the inner switch (13) and the combination lock (14) are connected to the main controller (62) through the inlet port. The door is composed of a combination lock (14) control panel on the outside and an inner switch (13) unlocking electric lock port on the inside. The combination lock (14) integrates an AI binocular camera, a fill light, a fingerprint recognition module, an IC card swiping area, a touch screen, a password keypad, and a speaker outlet.

8. The electric door as described in claim 4, characterized in that, The electric door also includes a position detection unit, which is located on the door panel assembly or the slide rail assembly and is used to detect the moving position of the electric door. The position detection unit is connected to the main controller (62) through the inlet port. The position detection unit works with the motor to realize automatic door opening and closing control, obstacle detection and anti-pinch control, manual operation control, and abnormal handling control.

9. A control method for an electric door, employing the electric door as described in any one of claims 4-8, characterized in that, Includes the following steps: S1. Installation of drive device (6): The drive device (6) and driven wheel (7) are fixed above the upper slide rail (3) by brackets. One end of the conveyor belt (5) is installed on the motor output shaft through the drive wheel (61), and the other end is wrapped around the driven wheel (7) to form a double-layer structure. The upper conveyor belt (5) is connected to the left assembly (1) of the door leaf through the door frame (10), and the lower conveyor belt (5) is connected to the right assembly (2) of the door leaf. The electric lock hook (8) is installed in the middle of the upper slide rail (3), and the vertical alignment of the electric lock hook (8) and the door lock rod (12) is adjusted. S2. Initialization of the drive unit (6): When powered on for the first time, the motor drives the door assembly to perform a low-speed closing operation. The position detection unit records the travel reference as a standard. S3, the triggering of unlocking and unlocking is divided into two types: Triggered from outside the door: After the password / card swipe / fingerprint / face recognition is entered through the control panel of the combination lock (14), the combination lock (14) sends an unlocking signal to the main controller (62); Inside door button: Pressing the inside door switch (13) directly generates an unlocking signal; the inside door button has a higher priority than the outside door trigger. After receiving a valid unlocking signal, the main controller (62) first cuts off the power supply to the electric lock port, so that the electric lock hook (8) enters a free state; the motor is started synchronously to drive the drive wheel (61) to rotate, and the door leaf moves in the opening direction through the conveyor belt (5); after the door lock rod (12) disengages from the electric lock hook (8), the position sensor sends a feedback signal to the main controller (62).

10. The control method for an electric door as described in claim 9, characterized in that, In the S3 unlocking and unlocking triggering, the door control mode is divided into several types: Automatic door opening and closing control mode: After unlocking, the door opens to the fully open position at a preset speed and then closes automatically after a set delay. Obstacle detection and anti-pinch control mode: During the closing process, if the position detection unit detects an obstacle, it immediately triggers the anti-pinch protection: the motor reverses, the door assembly reopens to the fully open position, and the number of obstacle events is recorded; If the obstacle protection is triggered three times in a row, the main controller (62) will lock and sound an alarm; Manual operation control mode: In the event of a power outage or system failure, the door assembly can be pushed open by manually pulling the lever to overcome electromagnetic resistance ≤110N. After the door assembly is opened by 60mm, it will automatically remain fully open. After power is restored, the door needs to be closed again. Abnormal handling control mode: The main controller (62) immediately stops the current action, the digital tube displays the corresponding fault code, and the normal operation is automatically restored after the fault is cleared.

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