Door assembly and vehicle

Abstract

This invention relates to the field of vehicles, providing a door assembly and a vehicle. The door assembly includes a door; a guide rail assembly; a bidirectional slider slidably connected to the guide rail assembly, capable of sliding longitudinally and laterally; a door frame connected between the door and the bidirectional slider; and a composite linear motor for driving the bidirectional slider, the composite linear motor including a stator and a mover, the mover being connected to the bidirectional slider; the mover including a longitudinal permanent magnet and a transverse permanent magnet, the stator including a longitudinal winding coil and a transverse winding coil; the longitudinal permanent magnet and the longitudinal winding coil are correspondingly arranged to couple with each other to generate a longitudinal thrust driving the bidirectional slider to slide longitudinally; the transverse permanent magnet and the transverse winding coil are correspondingly arranged to couple with each other to generate a transverse thrust driving the bidirectional slider to slide laterally. The overall mechanical structure of this door assembly is simple, the direct transmission of force makes the door movement smooth, and the composite linear motors are decoupled from each other, enabling independent opening and closing of either door.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and provides a door assembly and a vehicle. Background Technology

[0002] In rail vehicles, doors are classified into three categories: external doors, internal doors, and sliding doors. Among them, sliding doors are widely used in vehicles due to their high reliability, low opening and closing noise, and excellent sealing performance. Sliding doors employ a unique locking mechanism that allows the door panel to be pressed close to the side wall of the vehicle body when closed, improving safety and comfort. However, due to the complex structure of sliding doors, their door systems are prone to malfunction during operation, which can affect the safe operation of the vehicle.

[0003] Among the various malfunctions of sliding doors, mechanical system failures are the most common. This is mainly because during the operation of rail trains, the doors need to be opened and closed frequently, especially during passenger boarding and alighting, which causes frequent wear and tear on the mechanical components of the doors. When these mechanical components wear down to a certain extent, it may cause jamming in the door transmission system, increased noise during the opening and closing process, and noticeable vibration. These malfunctions not only affect the normal opening and closing function of the doors but may also threaten the safe operation of the rail vehicles. Summary of the Invention

[0004] This invention provides a door assembly to address the shortcomings of poor operational stability and reliability, and high failure rate of vehicle doors in related technologies.

[0005] This invention provides a vehicle.

[0006] A first aspect of the present invention provides a door assembly, including: a vehicle door; Guide rail assembly; A bidirectional slider is slidably connected to the guide rail assembly, and the bidirectional slider can slide in both the longitudinal and transverse directions; A door frame is provided, connecting the door to the bidirectional slider; A composite linear motor is used to drive the bidirectional slider to move. The composite linear motor includes a stator and a mover, and the mover is connected to the bidirectional slider. The mover includes a longitudinal permanent magnet and a transverse permanent magnet, and the stator includes a longitudinal winding coil and a transverse winding coil; The longitudinal permanent magnet is correspondingly arranged with the longitudinal winding coil to generate a longitudinal thrust that drives the bidirectional slider to slide along the longitudinal direction; the transverse permanent magnet is correspondingly arranged with the transverse winding coil to generate a transverse thrust that drives the bidirectional slider to slide along the transverse direction.

[0007] According to one embodiment of the present invention, the stator winding coil is racetrack shaped, and the racetrack shaped winding coil is divided into the longitudinal winding coil and the transverse winding coil.

[0008] According to one embodiment of the present invention, the bidirectional slider is composed of two unidirectional sliders, and the sliding guide directions of the two unidirectional sliders are arranged perpendicular to each other to realize the longitudinal sliding and the lateral sliding respectively.

[0009] According to one embodiment of the present invention, the guide rail assembly includes a load-bearing rail and an upper guide rail; The bidirectional slider slides in conjunction with the load-bearing rail, which is used to bear the weight transmitted by the door; the bidirectional slider also slides in conjunction with the upper guide rail.

[0010] According to one embodiment of the present invention, the upper guide rail is an arc-shaped guide groove having a straight section and a curved section, and the extension trajectory of the arc-shaped guide groove matches the trajectory of the door's sliding motion, thereby providing guidance and assistance for the door's movement.

[0011] According to one embodiment of the present invention, the door assembly further includes a lower swing arm mechanism and a bottom guide groove; The bottom guide groove is located on the corresponding side below the car door. One end of the lower swing arm mechanism is connected to the car door, and the other end is limited and slidably engaged in the bottom guide groove to assist the car door in its sliding motion.

[0012] According to one embodiment of the present invention, a locking mechanism is further included, which is disposed on the side of the guide rail assembly for mechanically locking the door or the door frame when the door is in the closed position.

[0013] According to one embodiment of the present invention, the locking mechanism is an electromagnetic locking structure, and the door frame is provided with a corresponding locking slot; When the door is in the closed position, the latch of the electromagnetic locking structure extends and engages in the locking slot to achieve mechanical locking; upon receiving an opening command, the door controller first controls the latch to retract for electromagnetic unlocking, and then controls the stator to be energized to drive the door to perform the opening movement.

[0014] According to one embodiment of the present invention, a gate controller is further included, the gate controller being electrically connected to the stator; The door controller is configured to perform time-sharing control: during the push-out phase of the door's opening movement, the door controller controls the lateral winding coil to disconnect and energizes the longitudinal winding coil, causing the longitudinal permanent magnet to couple with the longitudinal winding coil to generate longitudinal thrust; during the translation phase of the door's opening movement, the door controller controls the longitudinal winding coil to disconnect and energizes the lateral winding coil, causing the lateral permanent magnet to couple with the lateral winding coil to generate lateral thrust.

[0015] According to one embodiment of the present invention, the longitudinal permanent magnet is arranged symmetrically along the center line of the transverse winding coil; When the mover moves with the bidirectional slider to the translational position of the translational phase, the longitudinal permanent magnet moves to the position corresponding to the transverse winding coil. At this time, the forces generated by the interaction between the longitudinal permanent magnet and the transverse winding coil cancel each other out, so as to avoid interfering with the transverse translation of the door.

[0016] According to one embodiment of the present invention, the gate controller is further configured to perform obstacle detection anti-pinch control: During the process of controlling the door to perform the closing action, when the resistance on the door leaf is detected to be greater than a first preset threshold and the mechanical resistance is greater than a second preset threshold, the door controller controls the door to be fully opened and automatically re-controls the closing action after a preset time. If the door fails to close successfully after multiple attempts to close it, the door controller keeps the door fully open and stops the closing action until an obstacle clearance signal is received.

[0017] According to one embodiment of the present invention, the door assembly includes two opposing doors, each door being independently connected to a door carrier, a bidirectional slider, and a composite linear motor; The composite linear motors on both sides are decoupled from each other and are used to independently drive the corresponding doors on their respective sides to open and close. According to one embodiment of the present invention, the composite linear motor is a coreless permanent magnet synchronous linear motor, and there is no mechanical contact between the stator and the mover, forming an air gap for generating transmission force. The longitudinal and lateral thrusts that drive the bidirectional slider are both generated in the air gap and rigidly transmitted to the door through the mast frame.

[0018] A second aspect of the present invention provides a vehicle, including: a vehicle body and a door assembly as described above, wherein a guide rail assembly and a stator of the door assembly are fixedly mounted on the vehicle body, and the door is suspended on the vehicle body and used to open or close the door opening of the vehicle body.

[0019] According to one embodiment of the present invention, the vehicle body has an outer wall, and when the door assembly drives the door into a fully closed and locked state, the outer surface of the door is flush with the outer surface of the outer wall to achieve a tight seal. When the door of the vehicle body is opened, the door is driven by a composite linear motor to sequentially perform the longitudinal sliding that pushes outward toward the outer side of the outer wall and the lateral sliding that translates along the outer side of the outer wall.

[0020] According to the first aspect of the present invention, the door assembly adopts a longitudinal and lateral split electromagnetic coupling drive, replacing the complex mechanical transmission structure of traditional rotary motors, lead screws, connecting rods, and gearboxes. This eliminates the intermediate link between rotary and linear motion, reduces the number of mechanical parts, and significantly lowers the mechanical failure rate and maintenance costs of the door. The bidirectional slider can slide in both longitudinal and lateral directions, perfectly matching the composite motion trajectory of the sliding door, which first pushes out and then translates. There is no motion interference or jamming, resulting in smooth door operation with low vibration and low noise, improving the passenger experience. The longitudinal and lateral thrust are generated separately by independent permanent magnet-winding coil pairs, enabling time-sharing, graded, and independent control. This precisely matches the motion requirements of the sliding door at different stages, resulting in high door opening and closing position accuracy, good centering effect, and superior sealing performance. The stator and mover of the composite linear motor have no mechanical contact friction, only rolling friction of the auxiliary rollers. Compared with traditional mechanical transmission, the core drive components experience almost no wear, extending the door's service life and making it suitable for the high-frequency door opening and closing operation scenarios of rail vehicles. The driving force acts directly on the bidirectional slider through the mover, and is rigidly transmitted to the door via the gantry. There is no power loss or transmission lag, the door response speed is fast, and the driving efficiency is significantly higher than that of traditional indirect transmission schemes. The overall drive and transmission structure is integrated above the door frame, reducing the size and saving installation space on the upper part of the vehicle body, which is suitable for the lightweight and compact design requirements of rail vehicles.

[0021] According to the second aspect of the present invention, the vehicle has its guide rail assembly and stator directly fixed to the vehicle body frame, and the doors are suspended, eliminating the need for additional large spaces inside and outside the vehicle, resulting in higher overall space utilization and adapting to the tight installation layout requirements of rail vehicles. The door assembly eliminates the complex transmission structures of traditional rotary motors, linkages, and gears, and is directly driven by a composite linear motor, significantly reducing mechanical wear and potential failure points, effectively lowering the overall vehicle door system failure rate, and improving vehicle operational reliability and uptime. The doors can achieve standard sliding actions of longitudinal extension and lateral translation, and when closed, they fit tightly against the side wall of the vehicle body, significantly improving the overall airtightness, watertightness, and sound insulation, reducing vehicle noise, and enhancing passenger comfort. The two side doors are decoupled and independently driven, enabling multiple control modes such as single-side opening, simultaneous opening and closing on both sides, and independent speed adjustment, adapting to different passenger flows and boarding / alighting needs at different stations, and improving vehicle throughput efficiency. The composite linear motor's electromagnetic direct drive provides a rapid response, ensuring smooth and shock-free door movement without jamming. It also offers more timely obstacle detection and anti-pinch response, effectively avoiding the risk of people or objects being trapped and improving the safety of getting passengers on and off the vehicle. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic perspective view of the door assembly provided by the present invention from one angle.

[0024] Figure 2 This is a schematic perspective view of the door assembly provided by the present invention from another angle.

[0025] Figure 3 This is a schematic perspective view of the composite linear motor drive provided by the present invention.

[0026] Figure 4 This is a schematic perspective view of the stator provided by the present invention.

[0027] Figure 5 This is a schematic perspective view of the door assembly provided by the present invention in its initial position.

[0028] Figure 6 This is a schematic perspective view of the door assembly provided by the present invention in the extended position.

[0029] Figure 7 This is a schematic perspective view of the door assembly provided by the present invention in lateral translation.

[0030] Figure 8 This is a schematic perspective view of the composite linear motor provided by the present invention in its initial position.

[0031] Figure 9 This is a schematic perspective view of the composite linear motor provided by the present invention in a turning position.

[0032] Figure 10 This is a schematic perspective view of the composite linear motor provided by the present invention in a translational position.

[0033] Figure label: 100. Guide rail assembly; 102. Bidirectional slider; 104. Carrying frame; 106. Composite linear motor; 108. Longitudinal permanent magnet; 110. Transverse permanent magnet; 112. Longitudinal winding coil; 114. Transverse winding coil; 116. Load-bearing rail; 118. Upper guide rail; 120. Lower swing arm mechanism; 122. Bottom guide groove; 124. Locking mechanism; 126. Door. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0035] The specific terms used in this specification are for illustrative purposes only and are not intended to limit the illustrated embodiments. For example, expressions such as "same" and "identical" not only indicate a strictly identical state, but also indicate a state with tolerances or differences in the degree of functionality. For example, expressions indicating relative or absolute arrangement such as "in a certain direction," "along a certain direction," "side by side," "perpendicular," "centered on," "concentric," or "coaxial" not only strictly indicate such an arrangement, but also indicate a state of relative displacement by tolerances or angles or distances with the same degree of functionality.

[0036] 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 are not intended to 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.

[0037] Furthermore, features specified as "first" or "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "multiple" means two or more. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified. In the description of the embodiments of this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, B1 and / or B2 can represent: B1 existing alone, B1 and B2 existing simultaneously, and B2 existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0038] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] like Figures 1 to 10 As shown, a first aspect of the present invention provides a door assembly, including: a door 126; Guide rail assembly 100; The bidirectional slider 102 is slidably connected to the guide rail assembly 100, and the bidirectional slider 102 can slide in both longitudinal and transverse directions; The door frame 104 is connected between the door 126 and the bidirectional slider 102; A composite linear motor 106 is used to drive the bidirectional slider 102 to move. The composite linear motor 106 includes a stator and a mover, and the mover is connected to the bidirectional slider 102. The mover includes a longitudinal permanent magnet 108 and a transverse permanent magnet 110, and the stator includes a longitudinal winding coil 112 and a transverse winding coil 114. The longitudinal permanent magnet 108 is correspondingly arranged with the longitudinal winding coil 112 so as to generate a longitudinal thrust that drives the bidirectional slider 102 to slide in the longitudinal direction; the transverse permanent magnet 110 is correspondingly arranged with the transverse winding coil 114 so as to generate a transverse thrust that drives the bidirectional slider 102 to slide in the transverse direction.

[0040] According to the first aspect of the present invention, the door assembly adopts a longitudinal and lateral split electromagnetic coupling drive, replacing the complex mechanical transmission structure of the traditional rotary motor, lead screw, connecting rod, and gearbox. This eliminates the intermediate link between rotary motion and linear motion, reduces the number of mechanical parts, and significantly lowers the mechanical failure rate and maintenance cost of the door 126. The bidirectional slider 102 can slide bidirectionally in both the longitudinal and lateral directions, perfectly matching the composite motion trajectory of the sliding door, which first pushes out and then translates. There is no motion interference or jamming, and the door 126 runs smoothly with low vibration and low noise, improving the passenger experience. The longitudinal and lateral thrusts are generated separately by independent permanent magnet-winding coil pairs, enabling time-sharing, graded, and independent control. This precisely matches the motion requirements of the sliding door at different stages, resulting in high opening and closing position accuracy, good centering effect, and superior sealing performance of the door 126. The stator and mover of the composite linear motor 106 have no mechanical contact friction; only the rolling friction of the auxiliary rollers exists. Compared to traditional mechanical transmission, the core drive components experience almost no wear, extending the service life of the door 126 and making it suitable for the high-frequency opening and closing operation scenarios of rail vehicles. The driving force acts directly on the bidirectional slider 102 through the mover, and is rigidly transmitted to the door 126 via the gantry 104. There is no power loss or transmission lag, resulting in a fast response speed for the door 126 and significantly higher driving efficiency than traditional indirect transmission schemes. The overall drive and transmission structure is integrated above the door frame, reducing its size and saving installation space on the upper part of the vehicle body, thus meeting the lightweight and compact design requirements of rail vehicles.

[0041] Please continue reading Figures 1 to 10 The door assembly provided in the first aspect of the present invention is a double-opening sliding door assembly driven by a composite linear motor 106 for rail vehicles.

[0042] Door 126 is a sliding door panel for rail vehicles, featuring a double-door structure for opening or closing the car body doorway. It is the actuator of the door assembly.

[0043] The guide rail assembly 100 is a rigid rail structure, fixedly installed above the door frame of the vehicle body, used to provide guidance and support for the sliding parts, and is the guiding basis for the movement of the door 126.

[0044] The bidirectional slider 102 is a two-dimensional composite sliding component. It is assembled on the guide rail assembly 100 and forms a sliding fit with the guide rail assembly 100. It can slide freely in two vertical directions: longitudinal (door 126 sliding out direction) and lateral (door 126 sliding switch direction), adapting to the composite motion trajectory of the sliding door.

[0045] The gantry 104 is a rigid transmission connector. One end of it is fixedly connected to the top of the door 126, and the other end is fixedly connected to the bidirectional slider 102. It is used to directly transmit the power of the bidirectional slider 102 to the door 126, so that the door 126 can complete the sliding motion synchronously.

[0046] The composite linear motor 106 is the direct drive component of the door 126, consisting of a stator and a mover. The stator is fixedly mounted on the vehicle body, and the mover is fixedly mounted on the bidirectional slider 102. The stator and mover are arranged opposite each other and have no mechanical contact. The driving force is generated directly through electromagnetic coupling.

[0047] The mover is equipped with a longitudinal permanent magnet 108 and a transverse permanent magnet 110, which are arranged independently and in a staggered manner. The stator is equipped with a longitudinal winding coil 112 and a transverse winding coil 114, which are insulated from each other and powered independently.

[0048] The longitudinal permanent magnet 108 and the longitudinal winding coil 112 are arranged opposite each other along the longitudinal direction. When they are energized, they are electromagnetically coupled and directly generate a linear driving force along the longitudinal direction, which pushes the bidirectional slider 102 and the door 126 to complete the longitudinal sliding action. The transverse permanent magnet 110 and the transverse winding coil 114 are arranged opposite each other along the transverse direction. When they are energized, they are electromagnetically coupled and directly generate a linear driving force along the transverse direction, which pushes the bidirectional slider 102 and the door 126 to complete the transverse sliding switch action.

[0049] According to one embodiment of the present invention, the stator winding coil is racetrack shaped, and the racetrack shaped winding coil is divided into longitudinal winding coil 112 and transverse winding coil 114.

[0050] In one embodiment of the present invention, the stator of the composite linear motor 106 adopts an integrated racetrack-shaped winding coil structure. The racetrack-shaped winding coil is divided into an independent longitudinal winding coil 112 and a transverse winding coil 114 according to the magnetic field driving direction. The longitudinal winding coil 112 extends along the longitudinal sliding direction of the door 126, and the transverse winding coil 114 extends along the transverse translation direction of the door 126. The longitudinal winding coil 112 and the transverse winding coil 114 are mutually insulated and separated, and are electrically connected to the door controller through independent lines. The door controller independently controls the power-on, power-off and excitation drive.

[0051] The integrated racetrack-shaped winding coil simplifies the stator processing and assembly process, resulting in a stronger overall structure and higher magnetic field coupling efficiency. The stator coil is divided into two independent groups of coils, one longitudinal and one transverse, which can drive the longitudinal and transverse movements respectively, achieving precise staged driving of the linear motion and avoiding interference between movements in different directions. The independent insulation separation design ensures that the two groups of coils do not interfere with each other, improving the operational stability and service life of the composite linear motor 106.

[0052] According to one embodiment of the present invention, the bidirectional slider 102 is composed of two unidirectional sliders, and the sliding guide directions of the two unidirectional sliders are arranged perpendicular to each other to realize longitudinal sliding and lateral sliding respectively.

[0053] In one embodiment of the present invention, the bidirectional slider 102 adopts a split-combination structure, which is formed by splicing and assembling a first unidirectional slider and a second unidirectional slider; the sliding guide direction of the first unidirectional slider is set along the longitudinal direction of the door 126 to realize the longitudinal sliding of the door 126, and the sliding guide direction of the second unidirectional slider is set along the transverse direction of the door 126 to realize the transverse translational sliding of the door 126; the sliding guide directions of the first unidirectional slider and the second unidirectional slider are perpendicular to each other, and the two are rigidly connected, synchronously driving the door frame 104 and the door 126 to complete a two-dimensional composite motion.

[0054] The bidirectional slider 102 is composed of two vertical unidirectional sliders. It has a simple and reliable structure and can stably achieve bidirectional sliding in both longitudinal and lateral directions, perfectly adapting to the complex motion trajectory of the sliding door. The split assembly type has low processing difficulty and high assembly precision. Compared with the one-piece bidirectional slider 102, it is more convenient to maintain and replace. The vertical guide configuration avoids interference in longitudinal and lateral movements, ensuring that the door 126 moves smoothly and without jamming or offset.

[0055] According to one embodiment of the present invention, the guide rail assembly 100 includes a load-bearing rail 116 and an upper guide rail 118; The bidirectional slider 102 is slidably engaged with the load-bearing rail 116, which is used to bear the weight transmitted by the door 126; the bidirectional slider 102 is also slidably engaged with the upper guide rail 118.

[0056] In one embodiment of the present invention, the guide rail assembly 100 includes two sets of track structures: a load-bearing rail 116 and an upper guide rail 118. The load-bearing rail 116 is fixedly installed on the vehicle body, and the bottom of the bidirectional slider 102 is slidably engaged with the load-bearing rail 116. The entire weight of the door 126 is transmitted to the load-bearing rail 116 through the door frame 104 and the bidirectional slider 102, and is fully borne by the load-bearing rail 116. The upper guide rail 118 is fixedly installed above the load-bearing rail 116, and the top of the bidirectional slider 102 is simultaneously slidably engaged with the upper guide rail 118. The upper guide rail 118 constrains and guides the movement direction of the bidirectional slider 102, and together with the load-bearing rail 116, forms an upper and lower double guide rail support structure.

[0057] The load-bearing rail 116 is specifically designed to bear the weight of the door 126, with clear force distribution and strong load-bearing capacity, preventing deformation and damage to moving parts due to uneven force distribution. The upper guide rail 118 works in conjunction with the load-bearing rail 116 to form a double constraint on the bidirectional slider 102, greatly improving sliding stability and preventing the door 126 from shaking or shifting. The upper and lower double guide rail layout distributes the force, extends the service life of the guide rail assembly 100, and is suitable for the long-term operation needs of frequent opening and closing of the door 126.

[0058] According to one embodiment of the present invention, the upper guide rail 118 is an arc-shaped guide groove having a straight section and a curved section. The extension trajectory of the arc-shaped guide groove matches the trajectory of the door 126 in the sliding motion, and is used to guide and assist the movement of the door 126.

[0059] In one embodiment of the present invention, the upper guide rail 118 is an arc-shaped guide groove structure, which is divided into a curved section and a straight section. The curved section corresponds to the longitudinal push-out stage of the door 126, and the arc curvature is completely matched with the outward push-out motion trajectory of the door 126. The straight section corresponds to the lateral translation and opening stage of the door 126, and the straight extension direction is consistent with the lateral translation trajectory of the door 126. The upper roller of the bidirectional slider 102 is embedded in the arc-shaped guide groove and slides along the guide groove trajectory, forcibly constraining the door 126 to move according to the push-out trajectory.

[0060] The trajectory of the arc-shaped guide groove perfectly matches the movement of the sliding door, achieving passive and precise guidance of the door 126's movement without the need for complex electronic trajectory planning, thus reducing control difficulty. The curved section assists in completing the door 126's push-out action, while the straight section assists in completing the door 126's translational movement. The phased guidance better matches the sliding door's movement characteristics. The forced constraint trajectory prevents the door 126 from deviating from its movement, ensuring that the door 126 is sealed and fits the vehicle body when closed, improving airtightness and operational safety.

[0061] According to one embodiment of the present invention, the door assembly further includes a lower swing arm mechanism 120 and a bottom guide groove 122; The bottom guide groove 122 is located on the corresponding side below the door 126. One end of the lower control arm mechanism 120 is connected to the door 126, and the other end is limited and slidably fitted in the bottom guide groove 122 to assist the door 126 in sliding motion.

[0062] In one embodiment of the present invention, the door assembly is provided with a lower swing arm mechanism 120 and a bottom guide groove 122 at the bottom of the door 126; the bottom guide groove 122 is fixedly installed at the bottom of the vehicle body, and its trajectory is consistent with the arc-shaped guide groove of the upper guide rail 118; the upper end of the lower swing arm mechanism 120 is fixedly connected to the bottom of the door 126, and the lower end is equipped with a limiting roller, which is embedded in the bottom guide groove 122 and slides along the guide groove; the lower swing arm mechanism 120 moves synchronously with the door 126, and forms an upper and lower synchronous guiding structure with the upper guide rail 118 and the bidirectional slider 102.

[0063] The lower control arm mechanism 120 cooperates with the bottom guide groove 122 to form an auxiliary guide at the bottom of the door 126, forming a vertically symmetrical guide with the upper guide rail assembly 100, completely eliminating the shaking and tilting of the door 126 during movement; the bottom auxiliary guide is synchronized with the upper drive guide trajectory, ensuring that the door 126 moves smoothly and steadily, improving the consistency of movement; the lower control arm mechanism 120 has a compact structure, does not occupy extra space in the vehicle body, and is suitable for the narrow installation space requirements of rail vehicles.

[0064] According to one embodiment of the present invention, a locking mechanism 124 is further included. The locking mechanism 124 is disposed on the side of the guide rail assembly 100 and is used to mechanically lock the door 126 or the door frame 104 when the door 126 is in the closed position.

[0065] In one embodiment of the present invention, the locking mechanism 124 is an electromagnetic mechanical locking structure, which is fixedly installed on the side of the end of the load-bearing rail 116. When the door 126 moves to the closed position, the gantry 104 moves synchronously to the corresponding position of the locking mechanism 124, the electromagnetic latch of the locking mechanism 124 extends and engages in the locking slot of the gantry 104 to achieve mechanical rigid locking. After the train receives the door closing confirmation signal, the locking mechanism 124 remains locked and will not loosen during train operation. When the door is opened, the door controller controls the locking mechanism 124 to electromagnetically unlock, the latch retracts, and the constraint is released.

[0066] The locking mechanism 124 achieves rigid mechanical locking after the door 126 is closed, ensuring that the door 126 will not be accidentally opened during train operation, thus improving driving safety. The electromagnetic locking has a fast response speed and is linked with the door controller for precise and synchronized unlocking and locking actions. The locking mechanism 124 is arranged on the side of the guide rail assembly 100, with a compact structure that does not interfere with the normal movement of the door 126. At the same time, the locking position is precise and reliable, avoiding poor sealing of the door 126 due to locking deviation.

[0067] According to one embodiment of the present invention, the locking mechanism 124 is an electromagnetic locking structure, and a corresponding locking slot is provided on the gantry 104; When the door 126 is in the closed position, the latch of the electromagnetic locking structure extends and engages in the locking slot to achieve mechanical locking; when the door opening command is received, the door controller first controls the latch to retract for electromagnetic unlocking, and then controls the stator to be energized to drive the door 126 to perform the opening movement.

[0068] In one embodiment of the present invention, the locking mechanism 124 adopts an electromagnetically driven locking structure, and a corresponding locking slot is provided on the door frame 104. When the door 126 moves to the closed position, the electromagnetic locking structure is energized, the bolt extends and engages in the locking slot, realizing a rigid mechanical locking between the door 126 and the vehicle body. When the door controller receives the door opening command, it first controls the electromagnetic locking structure to de-energize, the bolt retracts to complete the unlocking, and after a preset delay, it controls the stator winding coil to be energized to drive the door 126 to perform the opening action.

[0069] The control logic of unlocking first and then driving ensures that the mechanical constraints are completely released before the door 126 is opened, avoiding damage to the mechanism caused by starting the drive motor under load; the electromagnetic locking and slot cooperation structure is simple and reliable, with no risk of mechanical jamming; the control logic and drive action are linked and connected, improving the safety and continuity of the door component operation, and meeting the safety control standards for rail vehicle doors 126.

[0070] According to one embodiment of the present invention, it further includes a gate controller, which is electrically connected to the stator; The door controller is configured to perform time-sharing control: during the push-out phase of the door 126 opening movement, the door controller controls the lateral winding coil 114 to be disconnected and energizes the longitudinal winding coil 112, so that the longitudinal permanent magnet 108 couples with the longitudinal winding coil 112 to generate longitudinal thrust; during the translation phase of the door 126 opening movement, the door controller controls the longitudinal winding coil 112 to be disconnected and energizes the lateral winding coil 114, so that the lateral permanent magnet 110 couples with the lateral winding coil 114 to generate lateral thrust.

[0071] In one embodiment of the present invention, the door controller is a dedicated controller for the car door 126, which is electrically connected to the longitudinal winding coil 112 and the transverse winding coil 114 of the composite linear motor 106, respectively, to perform time-sharing independent drive control. The opening of the car door 126 is divided into two stages: pushing out and translating. In the pushing out stage, the door controller cuts off the power supply to the transverse winding coil 114 and only supplies three-phase AC power to the longitudinal winding coil 112. The longitudinal winding coil 112 is electromagnetically coupled to the longitudinal permanent magnet 108, generating a longitudinal thrust to drive the bidirectional slider 102 to move longitudinally, thus completing the pushing out of the car door 126. In the translating stage, the door controller cuts off the power supply to the longitudinal winding coil 112 and only supplies three-phase AC power to the transverse winding coil 114. The transverse winding coil 114 is electromagnetically coupled to the transverse permanent magnet 110, generating a transverse thrust to drive the bidirectional slider 102 to move laterally, thus completing the translating opening of the car door 126.

[0072] The door controller's time-sharing control enables phased independent drive of longitudinal and lateral movements, precisely matching the sliding door's movement logic and avoiding bidirectional drive interference. Phased power-on drive reduces motor power consumption and improves energy efficiency. Independent control of thrust and movement speed allows for flexible adjustment of the door's movement speed (126), resulting in smoother movement without impact or vibration. The electronically controlled time-sharing drive replaces the traditional mechanical transmission structure, significantly simplifying the mechanical structure and reducing the failure rate.

[0073] According to one embodiment of the present invention, the longitudinal permanent magnet 108 is arranged longitudinally symmetrically along the center line of the transverse winding coil 114; When the mover moves with the bidirectional slider 102 to the translational position during the translational phase, the longitudinal permanent magnet 108 moves to the position corresponding to the transverse winding coil 114. At this time, the forces generated by the interaction between the longitudinal permanent magnet 108 and the transverse winding coil 114 cancel each other out, so as to avoid interfering with the transverse translation of the door 126.

[0074] In one embodiment of the invention, the longitudinal permanent magnet 108 is arranged longitudinally symmetrically with respect to the central axis of the transverse winding coil 114. When the mover moves with the bidirectional slider 102 to the translational position during the translational phase, the longitudinal permanent magnet 108 moves to the corresponding position that is vertically symmetrical with respect to the transverse winding coil 114. The electromagnetic forces generated between the longitudinal permanent magnet 108 and the transverse winding coil 114 are equal in magnitude and opposite in direction, canceling each other out and preventing the generation of additional longitudinal force.

[0075] The symmetrical arrangement of the longitudinal permanent magnets 108 can eliminate useless electromagnetic interference during the translation phase, ensuring that the lateral translation of the door 126 is not affected by additional forces, resulting in smoother movement and more uniform speed; it avoids jamming, displacement, or poor sealing of the door 126 due to unexpected forces, improving the accuracy and stability of the door's movement; and it can achieve automatic force cancellation without the need for additional magnetic shielding structures, simplifying the structure and reducing costs.

[0076] According to one embodiment of the present invention, the door controller is further configured to perform obstacle detection anti-pinch control: During the process of controlling the door 126 to perform the closing action, when the resistance on the door leaf is detected to be greater than the first preset threshold and the mechanical resistance is greater than the second preset threshold, the door controller controls the door 126 to be fully opened, and automatically re-controls the door to perform the closing action after a preset time. If the door 126 fails to close successfully after multiple attempts to close it, the door controller will keep the door 126 fully open and stop the closing action until an obstacle removal signal is received.

[0077] In one embodiment of the invention, the door controller has built-in obstacle detection and anti-pinch control logic. The first preset threshold is the maximum compressive force of the door leaf of 130N, and the second preset threshold is the mechanical resistance of the door 126 of 70N. During the closing process, when the resistance on the door leaf is detected to be greater than 130N and the mechanical resistance is greater than 70N, the door controller immediately controls the door 126 to open fully, pauses for 2 seconds, and then automatically closes the door again. If the door fails to close successfully for 3 consecutive times, the door controller controls the door 126 to remain fully open and stops closing, and resumes normal control after waiting for the obstacle removal signal.

[0078] Dual threshold obstacle detection can accurately identify the risk of people or objects being pinched, with high anti-pinch sensitivity and strong safety; the automatic retry closing mechanism can eliminate temporary minor obstacles and improve the automated operation capability of the door assembly; after consecutive failures, the door remains open and the machine stops to avoid repeated actions that could cause personal injury or equipment damage, meeting the safety standards for rail vehicle doors 126 and protecting passenger safety when boarding and alighting. According to one embodiment of the present invention, the door assembly includes two opposing doors 126, each door 126 being independently connected to a door frame 104, a bidirectional slider 102, and a composite linear motor 106; The composite linear motors 106 on both sides are decoupled from each other and are used to independently drive the corresponding door 126 to open and close.

[0079] In one embodiment of the present invention, the door assembly is a double-opening sliding door structure, comprising two opposing door bodies, a left door 126 and a right door 126; the left door 126 is independently equipped with a left door carrier 104, a left bidirectional slider 102, and a left composite linear motor 106, and the right door 126 is independently equipped with a right door carrier 104, a right bidirectional slider 102, and a right composite linear motor 106; the stators and movers of the two composite linear motors 106 are independent of each other, and the electronic control systems control them independently, without mechanical transmission connection or electromagnetic coupling association, forming a natural decoupling structure, which can independently drive the corresponding door 126 to complete opening, closing, pausing, and speed adjustment actions.

[0080] With independent drive and decoupling between the two doors, each door 126 can be opened and closed independently, adapting to the flexible control needs of different passenger flow scenarios; a failure of one side motor does not affect the normal use of the other side door 126, improving the redundancy and reliability of the door components; without a mechanical linkage structure, the wear, jamming, and synchronization deviation problems of traditional double-door linkage mechanisms are completely eliminated, and the movement of the two doors 126 does not interfere with each other; the independent drive control has higher precision, enabling the two doors to close synchronously and precisely, improving the sealing effect and the aesthetics of operation.

[0081] According to one embodiment of the present invention, the composite linear motor 106 is a coreless permanent magnet synchronous linear motor, in which there is no mechanical contact between the stator and the mover and an air gap is formed for generating transmission force; The longitudinal and lateral thrusts that drive the bidirectional slider 102 are generated in the air gap and rigidly transmitted to the door 126 through the mast 104.

[0082] In one embodiment of the present invention, the composite linear motor 106 adopts a coreless permanent magnet synchronous linear motor structure, with no iron core and no mechanical contact between the stator and the mover, maintaining a uniform air gap; the longitudinal thrust and the lateral thrust are directly generated in the air gap through electromagnetic coupling, and the driving force is rigidly transmitted to the door 126 through the mover, the bidirectional slider 102, and the gantry frame 104, without intermediate transmission links.

[0083] The coreless structure eliminates the cogging effect, resulting in smoother, vibration-free, and quieter door movement. The stator and mover have no mechanical contact friction, and the core drive components experience almost no wear, significantly extending their service life and making them suitable for high-frequency door opening and closing operations. The drive force is directly and rigidly transmitted, with no power loss or transmission lag, resulting in fast response and high drive efficiency for door 126. The overall mechanical structure is simplified, with a volume only 1 / 3 of that of traditional structures, saving installation space.

[0084] A second aspect of the present invention provides a vehicle, including: a vehicle body and a door assembly as described above, wherein a guide rail assembly 100 and a stator of the door assembly are fixedly mounted on the vehicle body, and a door 126 is suspended on the vehicle body and used to open or close the door opening of the vehicle body.

[0085] According to the vehicle provided in the second aspect of the present invention, the guide rail assembly 100 and the stator are directly fixed to the vehicle body frame, and the door 126 is suspended, eliminating the need for additional large spaces inside and outside the vehicle, resulting in higher overall space utilization and adapting to the narrow installation layout requirements of rail vehicles. The door assembly eliminates the complex transmission structures of traditional rotary motors, linkages, and gears, and is directly driven by a composite linear motor 106, significantly reducing mechanical wear and failure points, effectively lowering the failure rate of the entire vehicle door 126 system, and improving vehicle operational reliability and uptime. The door 126 can achieve standard sliding actions of longitudinal extension and lateral translation, and when closed, it fits tightly against the side wall of the vehicle body, significantly improving the overall airtightness, watertightness, and sound insulation of the vehicle, reducing vehicle noise and improving passenger comfort. The two side doors 126 are decoupled and driven independently, enabling multiple control modes such as single-side opening, dual-side synchronous opening and closing, and independent speed adjustment, adapting to different passenger flows and boarding / alighting needs at different stations, and improving vehicle throughput efficiency. The composite linear motor 106 electromagnetic direct drive has a rapid response, and the door 126 moves smoothly without impact or jamming. Obstacle detection and anti-pinch response are more timely, effectively avoiding the risk of people or objects being pinched and improving the safety of getting on and off the vehicle.

[0086] The vehicle provided in the second aspect of the present invention is a rail vehicle with a double-opening sliding door driven by a composite linear motor 106, including a car body and a door assembly of any of the embodiments of the first aspect. The car body is the main load-bearing structure of the vehicle, and a door opening is provided on the car body for passengers to get on and off. The guide rail assembly 100 of the door assembly and the stator of the composite linear motor 106 are rigidly fixed to the car body frame above the door opening by bolts and mounting brackets. The mover of the composite linear motor 106 is sequentially connected to the bidirectional slider 102, the door frame 104, and the door 126. The door 126 is suspended at the door opening position of the car body in a suspended assembly manner. Driven by the composite linear motor 106, it completes the longitudinal pushing and lateral translation sliding motion along the guide rail assembly 100 to realize the opening, closing and sealing of the car body door opening.

[0087] According to one embodiment of the present invention, the vehicle body has an outer wall, and when the door assembly drives the door 126 to be in a fully closed and locked state, the outer surface of the door 126 is flush with the outer surface of the outer wall to achieve a tight fit and seal. When the doorway of the vehicle body is opened, the door 126 is driven by the composite linear motor 106 to sequentially perform longitudinal sliding outward of the outer wall and lateral sliding along the outer wall.

[0088] In one embodiment of the present invention, the outer wall of the vehicle body is a flat vertical structure; when the door assembly drives the door 126 to move to be fully closed and locked, the outer surface of the door 126 is flush with the outer surface of the outer wall of the vehicle body, forming a seamless seal; when the door is opened, the composite linear motor 106 first drives the door 126 to slide longitudinally and push it outward of the outer wall, and then drives the door 126 to slide laterally and move parallel to the outer side of the outer wall to complete the opening of the door.

[0089] When the door 126 is closed, it is flush with the outer wall and sealed, which significantly improves the airtightness, watertightness and sound insulation of the whole vehicle, reduces driving noise and improves passenger comfort; the sliding motion trajectory of the door does not interfere with the vehicle body, and the door opens and closes smoothly without scratches; the flush sealing structure has an aesthetically pleasing appearance and low wind resistance, which improves the overall aerodynamic performance and appearance quality of the vehicle.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A door assembly, characterized in that, include: Car door; Guide rail assembly; A bidirectional slider is slidably connected to the guide rail assembly, and the bidirectional slider can slide in both the longitudinal and transverse directions; A door frame is provided, connecting the door to the bidirectional slider; A composite linear motor is used to drive the bidirectional slider to move. The composite linear motor includes a stator and a mover, and the mover is connected to the bidirectional slider. The mover includes a longitudinal permanent magnet and a transverse permanent magnet, and the stator includes a longitudinal winding coil and a transverse winding coil; The longitudinal permanent magnet is correspondingly arranged with the longitudinal winding coil to generate a longitudinal thrust that drives the bidirectional slider to slide along the longitudinal direction; the transverse permanent magnet is correspondingly arranged with the transverse winding coil to generate a transverse thrust that drives the bidirectional slider to slide along the transverse direction.

2. The door assembly according to claim 1, characterized in that, The stator winding coils are racetrack shaped, and the racetrack shaped winding coils are divided into the longitudinal winding coils and the transverse winding coils.

3. The door assembly according to claim 1, characterized in that, The bidirectional slider is composed of two unidirectional sliders, and the sliding guide directions of the two unidirectional sliders are configured perpendicular to each other to realize the longitudinal sliding and the lateral sliding respectively.

4. The door assembly according to claim 1, characterized in that, The guide rail assembly includes a load-bearing rail and an upper guide rail; The bidirectional slider slides in conjunction with the load-bearing rail, which is used to bear the weight transmitted by the door; the bidirectional slider also slides in conjunction with the upper guide rail.

5. The door assembly according to claim 4, characterized in that, The upper guide rail is an arc-shaped guide groove with a straight section and a curved section. The extension trajectory of the arc-shaped guide groove matches the trajectory of the door's sliding motion, and is used to guide and assist the movement of the door.

6. The door assembly according to claim 1, characterized in that, The door assembly also includes a lower swing arm mechanism and a bottom guide groove; The bottom guide groove is located on the corresponding side below the car door. One end of the lower swing arm mechanism is connected to the car door, and the other end is limited and slidably engaged in the bottom guide groove to assist the car door in its sliding motion.

7. The door assembly according to claim 1, characterized in that, It also includes a locking mechanism, which is disposed on the side of the guide rail assembly and is used to mechanically lock the door or the door frame when the door is in the closed position.

8. The door assembly according to claim 7, characterized in that, The locking mechanism is an electromagnetic locking structure, and the door frame is provided with a corresponding locking slot; When the door is in the closed position, the latch of the electromagnetic locking structure extends and engages in the locking slot to achieve mechanical locking; upon receiving an opening command, the door controller first controls the latch to retract for electromagnetic unlocking, and then controls the stator to be energized to drive the door to perform the opening movement.

9. The door assembly according to claim 1, characterized in that, It also includes a gate controller, which is electrically connected to the stator; The door controller is configured to perform time-sharing control: during the push-out phase of the door's opening movement, the door controller controls the lateral winding coil to disconnect and energizes the longitudinal winding coil, causing the longitudinal permanent magnet to couple with the longitudinal winding coil to generate longitudinal thrust; during the translation phase of the door's opening movement, the door controller controls the longitudinal winding coil to disconnect and energizes the lateral winding coil, causing the lateral permanent magnet to couple with the lateral winding coil to generate lateral thrust.

10. The door assembly according to claim 8, characterized in that, The longitudinal permanent magnets are arranged symmetrically along the center line of the transverse winding coil; When the mover moves with the bidirectional slider to the translational position of the translational phase, the longitudinal permanent magnet moves to the position corresponding to the transverse winding coil. At this time, the forces generated by the interaction between the longitudinal permanent magnet and the transverse winding coil cancel each other out, so as to avoid interfering with the transverse translation of the door.

11. The door assembly according to claim 8, characterized in that, The gate controller is also configured to perform obstacle detection and anti-pinch control: During the process of controlling the door to perform the closing action, when the resistance on the door leaf is detected to be greater than a first preset threshold and the mechanical resistance is greater than a second preset threshold, the door controller controls the door to be fully opened and automatically re-controls the closing action after a preset time. If the door fails to close successfully after multiple attempts to close it, the door controller keeps the door fully open and stops the closing action until an obstacle clearance signal is received.

12. The door assembly according to any one of claims 1 to 11, characterized in that, The door assembly includes two opposing doors, each of which is independently connected to a door frame, a bidirectional slider, and a composite linear motor. The composite linear motors on both sides are decoupled from each other and are used to independently drive the doors on the corresponding sides to open and close.

13. The door assembly according to any one of claims 1 to 11, characterized in that, The composite linear motor is a coreless permanent magnet synchronous linear motor, and there is no mechanical contact between the stator and the mover, forming an air gap for generating transmission force. The longitudinal and lateral thrusts that drive the bidirectional slider are both generated in the air gap and rigidly transmitted to the door through the mast frame.

14. A vehicle, characterized in that, include: The vehicle body and the door assembly as described in any one of claims 1 to 13, wherein the guide rail assembly and the stator of the door assembly are fixedly mounted on the vehicle body, and the door is suspended on the vehicle body and used to open or close the door opening of the vehicle body.

15. The vehicle according to claim 14, characterized in that, The vehicle body has an outer wall, and when the door assembly drives the door into a fully closed and locked state, the outer surface of the door is flush with the outer surface of the outer wall to achieve a tight seal. When the door of the vehicle body is opened, the door is driven by a composite linear motor to sequentially perform the longitudinal sliding that pushes outward toward the outer side of the outer wall and the lateral sliding that translates along the outer side of the outer wall.

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