An automatic opening and closing control system for a protective cover door

Abstract

The application relates to an automatic opening and closing control system of a protective cover door. The system comprises a protective cover assembly, multiple groups of servo driving units, a scene coordinate storage module, a linkage controller and a control terminal. The protective cover assembly comprises an inner shed and an outer shed arranged in a nested mode along the same guide rail and a liftable lifting door. The scene coordinate storage module stores multiple groups of scene coordinate sets, and each group of scene coordinate sets corresponds to a production working condition. The linkage controller acquires a target scene coordinate set in response to a scene switching instruction, determines whether there is space interference between the moving paths according to the current position coordinates and the target position coordinates of each moving piece, arranges a moving execution sequence according to the interference determination result, and drives each moving piece to move to the target position in the sequence. According to the application, the interference judgment and sequence arrangement are integrated in the scene linkage control process, and one-key type safe transposition is realized under the constraint condition that multiple moving pieces are nested on the same guide rail.

Description

Technical Field

[0001] This application relates to the field of dust removal equipment, and in particular to an automatic opening and closing control system and method for a protective cover door. Background Technology

[0002] Paper machines generate dust particles such as paper dust and fiber debris during operation. Protective covers are typically installed above critical sections of the paper machine, working in conjunction with a negative pressure exhaust system to draw dust-laden air away from the production area and introduce it into a dust removal device for purification. The sealing degree of the protective cover directly affects the dust removal efficiency; if the seal is not tight, dust will escape from the gaps in the cover into the workshop environment, increasing the cleaning burden and affecting the quality of the paper products.

[0003] However, there are various operating conditions in papermaking that require opening or adjusting the protective covers. For example, during normal production, the covers need to be completely sealed to maintain optimal dust removal efficiency. When paper is being fed out or the paper tape is being threaded, part of the cover needs to be moved to allow for operation space. When changing pressure rollers or cleaning the roller surface, the cover needs to be further opened to a larger maintenance area. When cleaning the dust collection tower, both the inner and outer covers need to be retracted to the center position simultaneously. The combination of cover positions differs for each operating condition, and the frequency of switching between operating conditions varies with the production line rhythm.

[0004] Existing protective cover operation methods mostly involve operators manually controlling each moving component individually, moving it forward, backward, or raising / lowering it piece by piece. To complete a single operation change, the inner canopy, outer canopy, and lifting door must be operated sequentially to their respective target positions. This piece-by-piece operation method presents the following interconnected problems. First, operators need to memorize the target positions of each moving component under each operating condition and repeatedly confirm that each component has reached the correct position during operation. This is time-consuming and prone to errors due to memory inaccuracies, potentially leading to incomplete sealing or interference / collision between the covers. Second, because the inner and outer canopies are nested along the same guide rail, their paths overlap during movement. Furthermore, the lifting door, when not raised, obstructs horizontal passage within the canopy. Therefore, there are specific sequential movement constraints between the moving components. In the piece-by-piece manual operation mode, operators need to rely on experience to determine the movement sequence. Incorrect sequence can lead to collisions between the inner and outer canopies or interference between the canopy and the raised lifting door, damaging the cover structure and transmission mechanism. The more frequent the operating condition changes, the higher the risk of these collisions, and the more significant the impact of operation time on production line downtime.

[0005] The root of the problem lies in the fact that in a nested, shared-track multi-moving-component structure, the movement of each component is not independent but is coupled and restricted by two spatial constraints: nested topology and gating dependency. The manual operation mode, which operates one component at a time, leaves the judgment of this coupling constraint entirely to the operator based on experience. It cannot automatically identify path interference before operation, nor can it dynamically arrange a safe movement sequence based on the real-time position of each component. Summary of the Invention

[0006] In order to automatically complete interference judgment and sequence arrangement after receiving the working condition switching command, and enable multiple nested moving parts to achieve one-click linkage and repositioning under the premise of satisfying spatial constraints, this application provides an automatic opening and closing control system and method for a protective door.

[0007] Firstly, the automatic opening and closing control system for a protective door provided in this application adopts the following technical solution: An automatic opening and closing control system for a protective door includes: The protective cover assembly includes an inner canopy movable along a first direction, an outer canopy movable along a first direction, and a lifting door movable along a second direction, wherein the inner canopy and the outer canopy are nested along the same guide rail; Multiple servo drive units are connected to the inner canopy, outer canopy and lifting door respectively, and are configured to drive the corresponding moving parts to move along a preset guide path; The scene coordinate storage module stores multiple sets of scene coordinates. Each set of scene coordinates corresponds to a production condition and includes the target position coordinates of the inner canopy, the target position coordinates of the outer canopy, and the target position coordinates of the lifting door. The linkage controller is configured as follows: In response to a scene switching command, the set of target scene coordinates corresponding to the scene switching command is obtained from the scene coordinate storage module; Obtain the current position coordinates of the inner canopy, outer canopy, and lifting door. Determine whether there is spatial interference between the movement paths of each moving component based on the current position coordinates and the corresponding target position coordinates in the target scene coordinate set. Arrange the movement execution order of each moving component based on the determination result of spatial interference. According to the movement execution sequence, the corresponding target position coordinates are sent to each group of servo drive units so that the inner canopy, outer canopy and lifting door move in conjunction to the positions specified by their respective target position coordinates according to the movement execution sequence; and the control terminal is connected to the linkage controller and configured to send the scene switching command or single-piece movement command to the linkage controller.

[0008] By adopting the above technical solution, various production conditions are abstracted into a set of scene coordinates and pre-stored in the scene coordinate storage module. This eliminates the need for operators to memorize the target positions of each moving part under different conditions. A single scene switching command can trigger the linkage controller to automatically retrieve the corresponding coordinate combination. Before executing the linkage movement, the linkage controller first performs spatial interference judgment based on the current position coordinates and target position coordinates of each moving part, and arranges the movement execution order accordingly. This ensures that overlapping sections of the inner and outer canopies under nested shared track conditions, as well as the passage height constraints between the lifting door and the canopy body, are automatically identified and handled by the controller. This avoids collisions or interferences caused by operator errors in judging the movement sequence based on experience. Compared to the manual operation mode, scene-linked movement simplifies a single condition switch from sequentially operating three moving parts and confirming their positions one by one to a one-click trigger, reducing the operation time of condition switching and the probability of human error in position selection.

[0009] Optionally, the linkage controller is further configured to: In response to an overlap between the movement path of the inner canopy and the movement path of the outer canopy along the first direction, the retraction movement of the moving member located inside the overlap section is arranged before the movement of the other moving member. In response to the current position coordinates of the lifting door being lower than the minimum passage height required for the movement path of the inner canopy or the outer canopy, the movement of raising the lifting door above the minimum passage height is arranged before the horizontal movement of the inner canopy and / or the outer canopy.

[0010] By adopting the above technical solutions, for nested inner and outer canopies sharing a common track, when their movement paths overlap along the first direction, the linkage controller prioritizes the movement of the component located inside the overlapping section to move outside the overlapping section before initiating the movement of the other component. This eliminates the risk of head-on or chasing collisions between the inner and outer canopies on the same guide rail at the physical path level. Regarding the vertical and horizontal intersection constraints between the lifting door and the canopy, when the current height of the lifting door is insufficient for the canopy to pass horizontally, the linkage controller schedules the upward movement of the lifting door before the horizontal movement of the canopy, avoiding structural interference between the canopy and the not-raised lifting door during horizontal movement. These two types of arrangement rules correspond to nested retreat constraints and gate control dependency constraints, respectively, refining the interference judgment of this system from general spatial collision detection to deterministic rules specific to nested common track topologies. This reduces the computational load on the controller and adapts to the real-time computing capabilities of the PLC.

[0011] Optionally, each of the servo drive units includes a servo motor and a servo driver communicatively connected to the servo motor; the linkage controller is further configured to: During the movement of the moving component, the torque value fed back by the corresponding servo driver is acquired in real time; In response to the torque value exceeding a preset load threshold, the speed and acceleration parameters of the current movement process are reduced to a safe level, and an abnormal load warning message is output on the control terminal.

[0012] By adopting the above technical solution, the linkage controller monitors the torque value fed back by the servo drive in real time during movement. When the torque value exceeds the preset load threshold, it actively reduces the speed and acceleration parameters to safe levels, rather than directly triggering an emergency stop. Compared to the servo drive's built-in overload protection mechanism, which immediately cuts off power when the torque exceeds the limit, this solution's dynamic deceleration strategy allows the moving part to continue running at low speed and low acceleration or smoothly decelerate and stop when encountering abnormal resistance, reducing the damage to the transmission mechanism caused by the inertial impact load of an emergency stop. At the same time, abnormal load prompts are output on the control terminal, allowing the operator to be aware of abnormal conditions in real time during movement and decide whether to intervene manually.

[0013] Optionally, the linkage controller is further configured to: The torque-displacement curve of the moving part during each movement process is collected, showing the change in torque value with displacement. The torque-displacement curve is compared with a pre-stored standard torque-displacement curve template, and the anomaly type is determined based on the deviation characteristics. The abnormality type and corresponding handling suggestions are output on the control terminal. The abnormality types include at least one of the following: poor lubrication type when the torque displacement curve is offset as a whole relative to the standard torque displacement curve template, foreign object jamming type when a torque peak appears at a local position, and overload type when the torque increases along the direction of movement.

[0014] By adopting the above technical solution, the linkage controller collects the torque-displacement curve for each movement and compares it with a standard template. Based on the deviation characteristics, the anomalies are classified into three types: poor lubrication, foreign object jamming, and overload. An overall deviation in the torque-displacement curve indicates a uniform increase in friction throughout the guide rail or transmission mechanism, indicating grease failure or drying. Torque spikes at local locations indicate concentrated resistance sources within a specific displacement range, indicating foreign objects embedded in the guide rail or localized mechanical jamming. A gradual increase in torque along the direction of movement indicates a continuous increase in the load on the moving parts, indicating progressive overload such as dust or ice accumulation in the cover. By subdividing the general term "torque anomaly" into categories with clear physical causes, maintenance personnel can determine the fault location and priority of handling based on the anomaly type and handling suggestions displayed on the control terminal without needing to go to the site.

[0015] Optionally, the linkage controller is further configured to: After the moving part reaches the target position coordinates each time, the actual position coordinates fed back by the servo drive unit are obtained, and the position deviation value between the actual position coordinates and the target position coordinates is recorded. Perform cumulative trend analysis on the positioning deviation value of the same moving part during multiple movements to obtain the drift trend amount; In response to the drift trend exceeding a first drift threshold but not exceeding a second drift threshold, a software compensation amount is determined based on the drift trend, and the software compensation amount is superimposed on the target position coordinates of subsequent movement; In response to the drift trend exceeding the second drift threshold, the scene mode is locked and a recalibration reminder is generated on the control terminal.

[0016] By adopting the above technical solution, the linkage controller records the positioning deviation between the actual positioning coordinates and the target position coordinates after each positioning. Through cumulative trend analysis, it distinguishes between sporadic positioning fluctuations and systematic drift caused by gradual transmission degradation such as chain elongation and timing belt wear. A first drift threshold and a second drift threshold constitute a two-level response mechanism: when the drift trend is between the two thresholds, the system applies software compensation to correct the target position coordinates of subsequent movements without stopping, maintaining positioning accuracy while avoiding unplanned shutdowns due to slight degradation; when the drift trend exceeds the second drift threshold, it indicates that the transmission degradation has exceeded the correction capability of the software compensation. The system locks the scene mode and prompts for recalibration to prevent continued linkage movement under conditions of compensation failure, which could lead to an unacceptable accumulation of positioning deviation.

[0017] Optional, also includes: A sealing detection sensor group includes multiple sensors respectively disposed at the sealing docking positions of the inner canopy, the outer canopy, and the lifting door; The linkage controller is communicatively connected to the sealing detection sensor group and is further configured to: After the inner canopy, the outer canopy, and the lifting door all reach the corresponding target position coordinates, the detection signals of each sensor in the sealing detection sensor group are read. In response to the failure of any sensor's detection signal to reach the sealed contact state, a micro-compensation feed command is sent to the corresponding servo drive unit to drive the corresponding moving part to move a preset compensation step length in the direction approaching the sealed mating surface. After each movement, the detection signal is reread and the process is repeated until the detection signals of all sensors reach the sealed contact state. In response to the cumulative stroke of the compensation feed exceeding the preset maximum compensation stroke and the detection signal still not reaching the sealing contact state, the compensation feed is stopped and a sealing abnormality alarm message is generated.

[0018] By adopting the above technical solution, a sealing detection sensor group is added as an independent physical verification layer above the positioning confirmation at the servo encoder level. The servo encoder reflects the rotation angle of the motor shaft, which is converted by the transmission mechanism to obtain the estimated position of the moving part. However, factors such as chain slack, synchronous belt slippage, or changes in the compression of the sealing strip can cause a deviation between the estimated position and the actual physical position reached by the moving part. The sealing detection sensor group directly detects whether the moving part has reached the sealing mating surface, without relying on the conversion accuracy of the transmission chain. When the sensor detection signal does not reach the sealing contact state, the linkage controller gradually approaches the sealing surface through micro-compensation feed, and re-verifies after each feed, forming a closed-loop convergence process of feed, verification, and re-feed. When the cumulative stroke of the compensation feed exceeds the preset maximum compensation stroke and the sealing is still not completed, the system classifies the abnormality as a mechanical fault rather than a compensable positional deviation, stops the feed, and generates a sealing abnormality alarm message to avoid continuing to execute invalid feed under uncompensable faults such as sealing strip detachment or guide rail deformation.

[0019] Optional, also includes: A negative pressure detection unit is installed in a dust removal pipeline connected to the protective cover assembly and is configured to detect the negative pressure value in the dust removal pipeline. The linkage controller is communicatively connected to the negative pressure detection unit and is further configured to: After all the detection signals of the sensors in the sealing detection sensor group have reached the sealing contact state, the real-time negative pressure value fed back by the negative pressure detection unit is obtained. The real-time negative pressure value is compared with the pre-stored sealing reference negative pressure value; When the difference between the sealing reference negative pressure value and the real-time negative pressure value exceeds the leakage threshold, a sealing leakage alarm is generated.

[0020] By adopting the above technical solution, after the sealing detection sensor group completes the contact layer verification, the existing negative pressure detection unit in the dust removal pipeline performs a secondary functional verification of the sealing effect. The sealing detection sensor group confirms the physical contact state between the moving part and the sealing mating surface, but proper contact does not equate to effective sealing. For example, local aging of the sealing strip, the presence of foreign objects on the mating surface, or tiny gaps caused by deformation of the cover may not be enough to disengage the contact sensor from the trigger state, but may be sufficient to cause dust removal negative pressure leakage. The negative pressure detection unit determines whether leakage exists by comparing the difference between the real-time negative pressure value and the sealing reference negative pressure value, verifying the airtightness of the enclosure after the dust removal system is closed from the perspective of the working effect. The two-level verification covers the contact layer and the airtightness layer respectively, forming a redundant sealing quality judgment mechanism.

[0021] Optional, also includes: The dust removal system includes an exhaust fan, a circulating water pump, and spray valves; A scene condition mapping table is stored in the linkage controller, which records the correspondence between each scene coordinate set and the combination of operating parameters of the dust removal system. The combination of operating parameters includes the target operating frequency of the exhaust fan, the switching cycle parameters of the spray valve, and the operating status of the circulating water pump. A seal confirmation sensor is installed at the sealing mating position of the protective cover assembly; The linkage controller is communicatively connected to the dust removal system and the sealing confirmation sensor, and is further configured to: in response to the inner shed, the outer shed and the lifting door all reaching the corresponding target position coordinates and the sealing confirmation sensor outputting a confirmation signal that a sealing contact state has been reached, obtain the combination of operating parameters corresponding to the current target scene coordinate set from the scene condition mapping table, and send the combination of operating parameters to the dust removal system.

[0022] By adopting the above technical solution, each set of scene coordinates is bound to the combination of operating parameters of the dust removal system through a scene condition mapping table, so that the position of the protective cover and the operating mode of the dust removal system are automatically correlated. The confirmation signal output by the sealing confirmation sensor serves as the final enabling condition for linkage triggering, ensuring that the mode switching of the dust removal system is based on the actual sealing of the cover rather than just the servo being in position. This avoids the waste of exhaust energy or insufficient dust purification caused by the dust removal system switching to normal production mode when the cover is in position but not actually sealed. Different scenarios correspond to different combinations of operating parameters. For example, in a sealed scenario, the exhaust fan operates at the rated frequency and the spray valve opens periodically; in a paper output or roll changing scenario, the exhaust fan reduces its frequency or stops operating and the spray valve closes. This allows the energy consumption and operating status of the dust removal system to adaptively adjust with the production conditions, eliminating the need for operators to manually adjust the dust removal system parameters after switching the cover position.

[0023] Optionally, the control terminal is further configured to provide a hierarchical authorization calibration function, including: The full calibration mode is configured to allow the reset of the working zero-position coordinates and maximum position coordinates of each of the moving parts; The fast calibration mode is configured to allow a calibration offset to be applied to the target position coordinates of each of the moving parts based on the calibrated working zero coordinates and the maximum position coordinates, wherein the absolute value of the calibration offset in a single instance does not exceed a preset safety adjustment threshold.

[0024] By adopting the above technical solution, the calibration operation is divided into two levels: a complete calibration mode and a rapid calibration mode. The complete calibration mode is accessible to administrators, allowing the reset of the working zero-position coordinates and maximum position coordinates, covering scenarios requiring fundamental reconstruction of the coordinate reference, such as transmission mechanism replacement or equipment reinstallation. The rapid calibration mode is accessible to trained operators, allowing only calibration offsets not exceeding a preset safety adjustment threshold to be applied to the existing calibration, covering minor positional offsets caused by slight wear of the transmission mechanism or changes in ambient temperature during daily operation. The absolute value limit of a single calibration offset ensures that even if an operator makes a mistake, the offset will not exceed the safe range. This two-level access control allows minor daily calibrations to be completed without waiting for administrator access, reducing production line downtime caused by waiting for authorization, while restricting high-risk operations involving coordinate reference reconstruction to administrator privileges.

[0025] Secondly, the automatic opening and closing control method for a protective door provided in this application adopts the following technical solution: An automatic opening and closing control method for a protective door includes the following steps: S1. In response to a scene switching command, obtain a target scene coordinate set corresponding to the scene switching command from a pre-stored set of multiple scene coordinate sets. Each set of scene coordinates corresponds to a production condition and includes the target position coordinates of the inner canopy, the target position coordinates of the outer canopy, and the target position coordinates of the lifting door. The inner canopy and the outer canopy are nested along the same guide rail. S2. Obtain the current position coordinates of the inner canopy, the outer canopy, and the lifting door respectively; determine whether there is spatial interference between the movement paths of each moving component based on the current position coordinates and the target position coordinates corresponding to the target scene coordinate set; and arrange the movement execution order of each moving component based on the determination result of the spatial interference. S3. According to the movement execution sequence, send the corresponding target position coordinates to each group of servo drive units that are connected to the inner shed, the outer shed, and the lifting door respectively, and drive the inner shed, the outer shed, and the lifting door to move in conjunction along their respective preset guide paths to the positions specified by the target position coordinates in the target scene coordinate set according to the movement execution sequence.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. By abstracting various production conditions into a set of scene coordinates and automatically performing spatial interference judgment and movement sequence arrangement before executing linkage movement, the inner and outer canopies and lifting doors arranged in a nested and shared track can achieve one-click linkage repositioning under the premise of satisfying nested retreat constraints and gate control dependency constraints. This eliminates the risk of collision or interference of moving parts caused by improper movement sequence when the operator manually operates each part, and reduces the operation time of switching conditions.

[0027] 2. By implementing a dynamic deceleration strategy driven by real-time torque monitoring, anomaly classification and diagnosis based on the morphological characteristics of torque-displacement curves, and a two-level drift response mechanism based on the cumulative trend of positioning deviation, the operating status of the servo drive system is continuously tracked from two dimensions: motion process monitoring and positioning accuracy maintenance. This enables abnormal loads, lubrication degradation, and progressive wear drift of the transmission mechanism to be identified and graded before causing downtime.

[0028] 3. By verifying the contact of the sealing detection sensor group, verifying the airtightness of the dust removal pipeline negative pressure detection, and triggering the dual-condition linkage of the scene working condition mapping table, a step-by-step verification link is established from the physical positioning of the moving parts, the confirmation of the cover sealing, to the automatic switching of the dust removal system operation mode. This makes the position status of the protective cover correspond to the operating parameters of the dust removal system in a closed loop, avoiding the problems of accidental switching of the dust removal system under poor sealing conditions and the need for manual synchronous adjustment of dust removal parameters after the working condition is switched. Attached Figure Description

[0029] Figure 1 This is a block diagram of an automatic opening and closing control system for a protective door according to an embodiment of the present invention.

[0030] Figure 2 This is a schematic diagram of the structural layout of the protective cover assembly in one embodiment of the present invention.

[0031] Figure 3 This is a flowchart of the automatic opening and closing control method for a protective door in one embodiment of the present invention.

[0032] Figure 4 This is a sub-flowchart of spatial interference judgment and movement sequence arrangement in one embodiment of the present invention.

[0033] Figure 5 This is a flowchart of the linkage control between sealing verification and dust removal in one embodiment of the present invention.

[0034] Explanation of reference numerals in the attached figures: 100. Protective cover assembly; 110. Inner canopy; 120. Outer canopy; 130. Lifting door; 140. Guide rail; 150. Lifting position; 160. Frame; 200. Servo drive unit; 210. Servo motor; 220. Servo driver; 230. Transmission mechanism; 300. Scene coordinate storage module; 400. Linkage controller; 500. Control terminal; 510. Touch screen human-machine interface; 520. Mechanical button control panel; 600. Sealing detection sensor group; 700. Negative pressure detection unit; 800. Dust removal system; 810. Exhaust fan; 820. Circulating water pump; 830. Spray valve; 900. Dust removal pipeline. Detailed Implementation

[0035] The present application will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the application and are not intended to limit the scope of the application.

[0036] This application provides an automatic opening and closing control system and method for a protective cover door. The system addresses the protective cover structure of a paper machine where the inner cover 110 and outer cover 120 are nested and share a common track, and the lifting door 130 has a height constraint with the cover body. Various production conditions are abstracted into a set of scene coordinates and pre-stored in the control system. Upon receiving a scene switching command, the system automatically acquires the current position of each moving component and performs spatial interference judgment with the target position. Based on this, it arranges the movement execution sequence and drives each moving component to move to the target position in a safe sequence.

[0037] The following explanations are provided for the core terms appearing in this application. The inner canopy 110 and outer canopy 120 form a nested roof structure. The span of the outer canopy 120 is greater than that of the inner canopy 110. The inner canopy 110 can slide along the guide rail 140 inside the frame of the outer canopy 120. Both share the same horizontal guide rail 140 and move along the longitudinal direction of the paper machine; this direction is defined as the first direction in this application. The lifting door 130 is a vertical sealing plate door located on one side of the protective cover assembly 100, moving vertically up and down; this direction is defined as the second direction in this application. The moving parts are a collective term for the inner canopy 110, outer canopy 120, and lifting door 130. The scene coordinate set is an ordered triplet consisting of the target position coordinates of the inner canopy 110, the target position coordinates of the outer canopy 120, and the target position coordinates of the lifting door 130. Each scene coordinate set corresponds to a production condition of the paper machine. The linkage controller 400 is implemented by a programmable logic controller.

[0038] The following explanation uses a 3500mm wide wire paper machine as an example. The total travel of the protective cover of this paper machine along the first direction is: outer cover 1204000mm, inner cover 1103000mm, and the lifting door 130 has a lifting travel of 1200mm along the second direction. The system pre-stores four typical scene coordinate sets: The sealed scene corresponds to an inner canopy of 1100mm, an outer canopy of 1200mm, and a lifting door of 1300mm, meaning all three are in the closed position; the paper output scene corresponds to the inner canopy 110 retracting to 1500mm, the outer canopy 120 remaining stationary at 0mm, and the lifting door 130 rising to 800mm; the roller changing scene corresponds to the inner canopy 110 retracting to 3000mm, the outer canopy 120 retracting to 2000mm, and the lifting door 130 rising to 1200mm; and the double-cover centering scene corresponds to the inner canopy 110 moving forward to 1500mm, the outer canopy 120 retracting to 2000mm, and the lifting door 130 rising to 600mm. The numerical examples below are all based on the above scene parameters.

[0039] The following is a detailed description of each component of the system and its functions.

[0040] like Figure 1 As shown, the automatic opening and closing control system of the protective cover door includes a protective cover assembly 100, multiple servo drive units 200, a scene coordinate storage module 300, a linkage controller 400, and a control terminal 500.

[0041] like Figure 2 As shown, the protective cover assembly 100 includes an inner canopy 110 movable in a first direction, an outer canopy 120, and a lifting door 130 movable in a second direction. Figure 2The outer canopy 120 is represented by a solid-line rectangle, and the inner canopy 110 nested inside the outer canopy 120 is represented by a dashed-line rectangle. The bottom horizontal bar represents the guide rail 140 shared by the inner canopy 110 and the outer canopy 120, and the left vertical bar represents the frame 160. The lifting door 130 is represented by a solid-line rectangle in its closed position, and a dashed-line rectangle represents the raised position 150 of the lifting door 130. The inner canopy 110 and the outer canopy 120 are nested along the guide rail 140, that is, the left and right side frames of the outer canopy 120 form a channel space extending in the first direction, and the inner canopy 110 is completely embedded in this channel space and can slide along the guide rail 140 inside the outer canopy 120.

[0042] Since both share the same guide rail 140, the movable range of the inner canopy 110 is limited by the passage boundary formed by the current position of the outer canopy 120. The lifting door 130 is located at one end of the protective cover assembly 100 in the first direction. (As...) Figure 2 As shown, the lifting door 130, when closed (represented by a solid line), occupies the vertical cross-sectional space of the shed's horizontal movement path, forming a physical obstacle to the shed's passage along the first direction. After the lifting door 130 rises to the raised position 150 (represented by a dashed line), the door panel disengages from the shed's horizontal movement path, allowing the shed to move freely along the guide rail 140 in the first direction. The guide rail 140 extends along the first direction, with one end fixed to the frame 160.

[0043] Multiple servo drive units 200 are respectively connected to the inner canopy 110, the outer canopy 120, and the lifting door 130. Each servo drive unit 200 includes a servo motor 210, a servo driver 220, and a transmission mechanism 230. The servo motor 210 converts the rotational motion into the linear displacement motion of the corresponding moving part through the transmission mechanism 230. The transmission mechanism 230 can adopt a chain drive or a synchronous belt drive. The built-in encoder of the servo motor 210 feeds back the rotation of the motor shaft to the servo driver 220. The servo driver 220 converts the rotation into the linear displacement coordinates of the moving part along the guide path according to the transmission ratio.

[0044] As another implementation method of the drive, the moving part can also be driven by a variable frequency motor in conjunction with limit switches. The variable frequency motor adjusts its speed through a frequency converter, and the limit switches are set at multiple preset positions on the guide rail 140 to indicate whether the moving part has reached the target position. Alternatively, the moving part can also be driven linearly by a hydraulic cylinder. The hydraulic cylinder directly outputs linear displacement, and the displacement speed and stroke are controlled by a hydraulic proportional valve. Both the variable frequency motor method and the hydraulic cylinder method described above are implementation methods of the servo drive unit 200.

[0045] The scene coordinate storage module 300 stores multiple sets of scene coordinates. In this embodiment, the scene coordinate storage module 300 is implemented by a non-volatile storage area inside the linkage controller 400, such as the data register area of ​​the programmable logic controller. Each set of scene coordinates corresponds to a production condition, including the target position coordinates of the inner shelf 110, the target position coordinates of the outer shelf 120, and the target position coordinates of the lifting door 130. Taking the aforementioned four scenarios as examples, the coordinate set of the sealing scenario is (0,0,0), the coordinate set of the paper output scenario is (1500,0,800), the coordinate set of the roller changing scenario is (3000,2000,1200), and the coordinate set of the double-cover centering scenario is (1500,2000,600). The values ​​in the triplet correspond to the target position coordinates of the inner shelf 110, the outer shelf 120, and the lifting door 130, respectively, in millimeters.

[0046] The linkage controller 400 is communicatively connected to multiple servo drive units 200 and a scene coordinate storage module 300. When the operator issues a scene switching command through the control terminal 500, the linkage controller 400 retrieves the target scene coordinate set corresponding to the scene switching command from the scene coordinate storage module 300. Taking the switch from the sealing scene to the roller changing scene as an example, the target scene coordinate set retrieved by the linkage controller 400 is (3000, 2000, 1200). Subsequently, the linkage controller 400 retrieves the current position coordinates of the inner canopy 110, the outer canopy 120, and the lifting door 130, which in this example are (0, 0, 0). The linkage controller 400 compares the current position coordinates of each moving part with the target position coordinates to determine whether there is spatial interference between the movement paths of each moving part, and arranges the movement execution order of each moving part according to the determination result of spatial interference. After the arrangement is completed, the linkage controller 400 sends the corresponding target position coordinates to each group of servo drive units 200 according to the movement execution sequence, so that the inner canopy 110, outer canopy 120 and lifting door 130 move in conjunction to the positions specified by their respective target position coordinates according to the movement execution sequence. The specific judgment rules for spatial interference and the arrangement method of the movement execution sequence will be explained in detail later.

[0047] The control terminal 500 is communicatively connected to the linkage controller 400 and is configured to send scene switching commands or single-piece movement commands to the linkage controller 400. In this embodiment, the control terminal 500 includes two operation channels: a touch screen human-machine interface 510 and a mechanical button control console 520, both of which are arranged in parallel in the paper machine control room. The touch screen human-machine interface 510 provides functions such as scene selection buttons, parameter display, and alarm information pop-ups. The mechanical button control console 520 is equipped with one-button switching for each scene and individual forward, backward, up, down buttons and an emergency stop button for each moving component. The operator can send scene switching commands or single-piece movement commands to the linkage controller 400 through either operation channel. Single-piece movement commands are used by the operator to manually control the independent movement of a single moving component without using the scene linkage function.

[0048] In some embodiments, the control terminal 500 also provides a scene teaching and recording function. When the operator needs to add a new set of custom scene coordinates, the operator manually moves each moving part to the desired position using a single-part movement command. After the movement is completed, the linkage controller 400 reads the current encoder coordinates of each moving part and stores the recorded coordinate set as a new set of custom scene coordinates in the scene coordinate storage module 300. The operator assigns a name to the custom scene via the touchscreen, and can then call up the custom scene using a scene switching command.

[0049] like Figure 4 As shown below, the specific interference judgment rules used by the linkage controller 400 when arranging the movement execution sequence are explained.

[0050] Since the inner canopy 110 and the outer canopy 120 are nested along the same guide rail 140, when they need to move in the same direction and the movement paths of the inner canopy 110 and the outer canopy 120 overlap in the first direction, if the movement sequence is not considered, the outer moving part may push the inner moving part that has not yet moved during the movement, resulting in a collision. Continuing with the example of switching from a sealing scenario to a roller changing scenario, the current position coordinates of each moving part before the switch are: inner canopy 1100mm, outer canopy 1200mm, lifting door 1300mm. The target position coordinates are: inner canopy 110 3000mm, outer canopy 120 2000mm, lifting door 130 1200mm. The inner canopy 110 needs to move backward from 0mm to 3000mm, and its movement path covers the range from 0mm to 3000mm; the outer canopy 120 needs to move backward from 0mm to 2000mm, and its movement path covers the range from 0mm to 2000mm. The intersection of the two intervals is from 0mm to 2000mm. This intersection is not empty, indicating that the movement paths of the inner canopy 110 and the outer canopy 120 overlap along the first direction. In the nested structure, the inner canopy 110 is located inside the outer canopy 120. If the outer canopy 120 moves backward before the inner canopy 110 has moved, the rear end face of the frame of the outer canopy 120 will collide with the rear end face of the stationary inner canopy 110. Therefore, the linkage controller 400 schedules the retreat movement of the moving part located inside the overlapping section before the movement of the other moving part. That is, it first drives the inner canopy 110 to retreat to 3000mm, and after the inner canopy 110 is in place, it drives the outer canopy 120 to retreat to 2000mm.

[0051] Meanwhile, the current position coordinate of the lifting door 130 is 0mm, indicating it is fully lowered. The inner canopy 110 and outer canopy 120 need to pass through the vertical cross-sectional space where the lifting door 130 is located during their retraction, and the door panel of the lifting door 130 occupies this cross-sectional space when it is not raised. Assuming the highest point of the inner canopy 110 and outer canopy 120 moving along the guide rail 140 is 900mm above the surface of the guide rail 140, plus a 100mm safety clearance, the minimum passage height is 1000mm. The current position coordinate of the lifting door 130 (0mm) is below the minimum passage height of 1000mm. Therefore, the linkage controller 400 schedules the movement of the lifting door 130 to rise above the minimum passage height before the horizontal movement of the inner canopy 110 and outer canopy 120. In this example, the target position of the lifting door 130 is 1200mm, which is higher than 1000mm; the linkage controller 400 can directly move the lifting door 130 to the target position of 1200mm to meet the passage requirements.

[0052] Based on the above two rules, the movement execution sequence arranged by the linkage controller 400 is as follows: First, the lifting door 130 rises from 0mm to 1200mm; second, after the lifting door 130 reaches its position, the inner canopy 110 retracts from 0mm to 3000mm; third, after the inner canopy 110 reaches its position, the outer canopy 120 retracts from 0mm to 2000mm. The movement components are connected via a position completion signal. Only after the servo drive unit 200 of the preceding movement component sends a position confirmation to the linkage controller 400 will the linkage controller 400 send a movement command to the servo drive unit 200 of the following movement component.

[0053] In contrast, not all scene transitions require a specific sequence. For example, when switching from a roller changing scene to a paper output scene, the current coordinates of each moving component before the switch are: inner canopy 110 3000mm, outer canopy 120 2000mm, and lifting door 130 1200mm. The target coordinates are: inner canopy 110 1500mm, outer canopy 1200mm, and lifting door 130 800mm. The inner canopy 110 needs to move forward from 3000mm to 1500mm, and the outer canopy 120 needs to move forward from 2000mm to 0mm. Both move forward, and the target position (0mm) of the outer canopy 120 is located in front of the target position (1500mm) of the inner canopy 110. The outer canopy 120 will not collide with the inner canopy 110 during its forward movement. The lifting door 130 needs to descend from 1200mm to 800mm, and the target position is below the minimum passage height of 1000mm. However, in this switching process, the inner canopy 110 moves forward from 3000mm to 1500mm, and the outer canopy 120 moves forward from 2000mm to 0mm. The direction of movement of the canopy is forward along the first direction, away from the end where the lifting door 130 is located. It does not need to pass through the vertical cross-sectional space where the lifting door 130 is located. Therefore, the height of the lifting door 130 does not constitute a passage constraint for the horizontal movement of the canopy. The linkage controller 400 determines that there is no spatial interference between the movement paths of the three, and the three sets of servo drive units 200 can be started simultaneously, shortening the total time of scene switching.

[0054] In some embodiments, when an emergency stop is triggered or a servo alarm is detected during movement, each moving component may stop at the middle position of its movement path. At this time, the inner canopy 110 and the outer canopy 120, or the canopy body and the lifting door 130, may be within the interference area. The linkage controller 400 calculates a safe retreat path based on the current position coordinates of each moving component and drives each moving component to move at a low speed away from the collision area to a preset safe coordinate position. The safe retreat movement speed is lower than the normal scene switching speed to avoid secondary collisions caused by high-speed movement in abnormal conditions.

[0055] In some embodiments, the linkage controller 400 monitors the operating status of the servo drive unit 200 in real time during the movement of the moving part, and dynamically adjusts the motion parameters according to the monitoring results.

[0056] Each servo drive unit 200 includes a servo motor 210 and a servo driver 220 communicatively connected to the servo motor 210. The servo driver 220 calculates the output torque of the servo motor 210 in real time through a current loop and feeds the torque value back to the linkage controller 400 via a communication bus. During the movement of the moving part, the linkage controller 400 reads the torque value fed back by the corresponding servo driver 220 at a fixed scan cycle.

[0057] Under normal operating conditions, the driving torque required for the moving part to move along the guide rail 140 is mainly determined by the frictional force generated by the weight of the moving part and the internal resistance of the transmission mechanism 230. Taking the outer canopy 120 as an example, when the guide rail 140 is well lubricated, the torque value during the movement of the outer canopy 120 is approximately 38% of the rated torque of the servo motor 210. The linkage controller 400 has a preset load threshold, which is set at a level that leaves a margin above the normal operating torque, for example, 70% of the rated torque.

[0058] When the outer canopy 120 operates in low-temperature winter conditions, the grease in the guide rail 140 thickens due to the temperature drop, increasing friction and causing the torque value to gradually rise from 38% of the normal rated torque. When the torque value continuously exceeds 70% of the preset load threshold for more than one complete scan cycle, the linkage controller 400 reduces the speed and acceleration parameters of the current movement process to safe levels. In this embodiment, the speed parameter of the outer canopy 120 during normal operation is 150 mm / s, and the acceleration parameter is 100 mm / s. 2 The safe gear setting corresponds to a speed of 50 mm / s and an acceleration of 30 mm / s². 2 After the linkage controller 400 switches the speed and acceleration to the safe gear parameters, the outer canopy 120 continues to move towards the target position at a speed of 50mm / s. At the same time, the linkage controller 400 outputs an abnormal load prompt message on the control terminal 500, such as "Abnormal load on outer canopy 120: torque exceeds limit, current torque 75%, switched to safe gear".

[0059] Setting debouncing conditions at the scan cycle level is to avoid frequent speed parameter switching caused by instantaneous torque fluctuations. For example, when a moving part starts or passes through the 140° joint of the guide rail, the torque value may briefly increase and then immediately drop. Without debouncing conditions, unnecessary speed reduction would be triggered. Speed ​​reduction is only triggered when the torque value continuously exceeds the preset load threshold for more than one full scan cycle, which can filter out such transient spikes.

[0060] The dynamic deceleration strategy of this solution operates within the range below the hardware overload protection threshold of the servo drive 220. The servo drive 220 typically has built-in overload protection; when the torque value reaches 150% of the rated torque, the drive will independently trigger emergency stop protection and cut off the motor power supply. The preset load threshold (70%) of the linkage controller 400 is much lower than the hardware overload protection threshold (150%), enabling the system to perform smooth deceleration in the early stages of torque abnormality. After the moving parts reduce speed, they continue to run or decelerate and stop with a small inertial force, reducing the damage to the chain, timing belt, and guide rail 140 caused by the inertial impact load of the emergency stop.

[0061] Based on real-time torque monitoring, the linkage controller 400 also records and analyzes the torque changes during each movement process to identify different types of mechanical anomalies.

[0062] The linkage controller 400 collects the torque-displacement curve, which shows the change in torque value of the moving part as a function of displacement during each movement. The torque-displacement curve records the entire torque change trajectory of the moving part from the starting point to the ending point, with the displacement value of the moving part along the guide path on the horizontal axis and the percentage of the output torque of the servo motor 210 to the rated torque on the vertical axis.

[0063] The linkage controller 400 has a pre-stored standard torque-displacement curve template. This template is established when the transmission mechanism 230 is in good condition and sufficiently lubricated: the linkage controller 400 controls the moving part to perform a full-stroke calibration movement, moving at a fixed speed and recording the full-stroke torque-displacement curve, which is then stored as the standard torque-displacement curve template. Taking the 3000mm movement of the inner canopy 110 from the sealing scene to the roller changing scene as an example, the standard torque-displacement curve presents a stable band-shaped area with a torque value of approximately 38% ± 3% of the rated torque throughout the entire range.

[0064] The linkage controller 400 compares the collected torque-displacement curve with the standard torque-displacement curve template and determines the anomaly type based on the deviation characteristics. The rules for determining the anomaly type are as follows.

[0065] When the torque-displacement curve shifts upwards across the entire range relative to the standard torque-displacement curve template, it corresponds to a poor lubrication type. For example, if the measured curve is in the 55%±3% range of the rated torque, it shifts upwards by approximately 17 percentage points relative to the 38%±3% range of the standard template, but the curve shape remains stable without abrupt changes. A uniform increase in friction throughout the entire range usually indicates that the grease on the guide rail 140 has dried out or deteriorated. The linkage controller 400 outputs the abnormality type "poor lubrication" and the suggested handling information "It is recommended to check the lubrication status of the guide rail 140 and replenish the grease" on the control terminal 500.

[0066] When the torque-displacement curve shows a torque spike at a certain local location, it corresponds to a foreign object jamming type. For example, near a displacement of 1800mm, the torque value suddenly jumps from 38% to 90% and then drops back to 40% within a few millimeters, forming a sharp, pulse-like spike, while the rest of the curve remains normal. Concentrated resistance within a specific displacement range usually indicates a foreign object embedded in the guide rail 140 groove or localized corrosion and jamming of the chain. The linkage controller 400 outputs the abnormality type "foreign object jamming" and the handling suggestion information "It is recommended to check the guide rail 140 area near the displacement of 1800mm" on the control terminal 500.

[0067] When the torque-displacement curve shows an increasing trend along the direction of movement, it corresponds to an overload type. For example, the torque value gradually increases linearly from 38% at the starting point to 65% at the ending point, and the entire curve shows an upward slope from left to right. The gradual increase in load with displacement usually indicates increased weight due to dust accumulation on the enclosure or continuous increase in the mass of the moving parts due to ice and snow accumulation in winter. The linkage controller 400 outputs the abnormality type "overload" and the handling suggestion information "It is recommended to check the dust or ice accumulation on the surface of the enclosure" on the control terminal 500.

[0068] The linkage controller 400 can simultaneously identify one or more of the above-mentioned abnormality types during a single movement. For example, if the torque-displacement curve is generally high and has a peak at a certain position during a single movement, it will report both poor lubrication and foreign object jamming as abnormalities.

[0069] In some embodiments, the linkage controller 400 also stores encoder trajectory data of the deceleration segment for multiple movements of the same moving component in the same scenario. The deceleration segment is the displacement range during which the moving component decelerates from cruising speed to a stop. The deceleration segment overshoot is defined as the distance the actual stopping position of the moving component exceeds the target position coordinates. The linkage controller 400 calculates the deceleration segment overshoot for each movement and records it as a time series. When the transmission mechanism 230 is normal, the deceleration segment overshoot remains stable. When the chain elongates or the timing belt wears, causing an increase in transmission clearance, the braking response delay of the moving component during deceleration increases, and the deceleration segment overshoot increases successively. The linkage controller 400 performs linear regression analysis on the time series of the overshoot, using the regression slope as the overshoot growth rate. When the overshoot growth rate exceeds a degradation threshold, for example, if the regression slope of the overshoot exceeds 0.5 mm for each of 10 consecutive movements, the linkage controller 400 generates a maintenance reminder message for the transmission mechanism 230 on the control terminal 500, such as "Inner Shelf 110 Transmission Mechanism 230 Degradation: Deceleration segment overshoot continues to increase; maintenance is recommended." This reminder allows maintenance personnel to obtain a maintenance window before the transmission mechanism 230 develops into a location fault, enabling them to schedule repairs in advance.

[0070] In some embodiments, the linkage controller 400 continuously monitors the long-term positioning accuracy of the moving part to identify systematic position drift caused by the progressive degradation of the transmission mechanism 230, and performs graded responses according to the degree of drift.

[0071] After the moving part reaches the target position coordinates each time, the linkage controller 400 obtains the actual positioning coordinates fed back by the corresponding servo drive unit 200. The actual positioning coordinates are calculated from the encoder rotation of the servo motor 210 through the transmission ratio. Under ideal transmission conditions, the actual positioning coordinates are completely consistent with the target position coordinates. However, in actual operation, the elongation of the chain or the wear of the timing belt will cause the transmission ratio to drift slowly, resulting in a deviation between the calculated displacement corresponding to the rotation measured by the encoder and the actual displacement of the moving part. This deviation gradually increases with the increase of the service time of the transmission mechanism 230, showing a systematic increasing trend in the positioning deviation value.

[0072] The linkage controller 400 records the position deviation value for each movement, i.e., the difference between the actual position coordinate and the target position coordinate. Taking the outer canopy 120 as an example, the target position coordinate of the outer canopy 120 in a sealed environment is 0mm. In the initial stage of operation, the actual position coordinate of the outer canopy 120 basically matches the target position coordinate, and the position deviation value fluctuates within ±0.1mm. As the chain gradually lengthens during use, the actual position coordinate of the outer canopy 120 begins to systematically deviate in the positive direction (i.e., the actual stopping position of the moving part is farther than the target position), and the position deviation values ​​are recorded sequentially as +0.2mm, +0.3mm, +0.5mm, +0.7mm, +0.9mm, +1.0mm, +1.1mm, +1.2mm, +1.3mm, and +1.4mm.

[0073] The linkage controller 400 performs cumulative trend analysis on the positioning deviation values ​​of the same moving part during multiple movements. In this embodiment, the cumulative trend analysis uses a moving average of the most recent 10 positioning deviation values ​​to obtain the drift trend amount. The average of the 10 positioning deviation values ​​for the aforementioned outer canopy 120 is +0.86 mm. Using a moving average instead of a single deviation value as the drift trend amount is to filter out sporadic positioning fluctuations (such as instantaneous deviations caused by a single vibration) from the systematic drift trend.

[0074] The linkage controller 400 has a preset first drift threshold and a second drift threshold, which correspond to two levels of response strategies. In this embodiment, the first drift threshold is set to 1.0 mm and the second drift threshold is set to 3.0 mm.

[0075] When the drift trend exceeds the first drift threshold but not the second drift threshold, the linkage controller 400 performs online software compensation. The linkage controller 400 determines the software compensation amount based on the drift trend, and the value of the software compensation amount is equal to the negative of the drift trend. Continuing the example above, when the drift trend of the outer canopy 120 increases to +1.2mm after several more movements, exceeding the first drift threshold of 1.0mm, the linkage controller 400 determines the software compensation amount to be -1.2mm and adds this compensation amount to the target position coordinates of subsequent movements. That is, the target position coordinates of the outer canopy 120 in a sealed scenario are corrected from the original 0mm to 0mm + (-1.2mm) = -1.2mm, causing the servo motor 210 to travel an additional 1.2mm during positioning control to compensate for the undertravel caused by chain elongation. Online software compensation maintains positioning accuracy without system shutdown, avoiding triggering shutdown calibration due to slight transmission degradation.

[0076] When the drift trend continues to increase and exceeds the second drift threshold of 3.0mm, it indicates that the degradation of the transmission mechanism 230 has exceeded the reliable correction range of software compensation. When the compensation amount is too large, the nonlinear characteristics of the transmission mechanism 230 (such as the difference in elastic rebound of the chain under different elongations) may cause the positioning accuracy after compensation to be worse than before compensation. Therefore, the linkage controller 400 locks the scene mode operation, that is, it prohibits the triggering of linkage movement through scene switching commands, and only allows the operator to operate each moving part in low-speed manual mode through single-part movement commands. At the same time, the linkage controller 400 generates a recalibration reminder message on the control terminal 500, such as "Outer canopy 120 drift exceeds limit: drift trend amount 3.2mm, scene mode locked, please perform recalibration by the administrator".

[0077] like Figure 5 As shown, in some embodiments, the automatic opening and closing control system of the protective cover door also includes a seal detection sensor group 600, which adds an independent physical verification layer on top of the position confirmation at the servo encoder level.

[0078] The servo encoder reflects the rotation angle of the servo motor 210 shaft, and the estimated position of the moving part is obtained after conversion through the transmission ratio of the transmission mechanism 230. However, factors such as chain slack, synchronous belt slippage, or changes in the compression of the sealing strip can cause a deviation between the estimated position and the actual physical position reached by the moving part. Although the drift self-diagnosis mechanism can identify systematic drift trends at the statistical level, this mechanism is based on the cumulative data of multiple movements and cannot respond in time to occasional insufficient positioning in a single movement. Therefore, a physical verification method that does not rely on the conversion accuracy of the transmission chain and can directly detect whether the moving part has reached the sealing mating surface is needed.

[0079] The sealing detection sensor group 600 includes multiple sensors respectively disposed at the sealing mating positions of the inner canopy 110, the outer canopy 120, and the lifting door 130. The sealing mating position refers to the joint position where the moving parts of the protective cover assembly 100 mate with each other or with the fixed surface of the frame 160 in a sealed environment. This includes the mating joint between the front end face of the inner canopy 110 and the rear end face of the outer canopy 120, the mating joint between the front end face of the outer canopy 120 and the fixed surface of the frame 160, and the mating joint between the lower edge of the lifting door 130 and the bottom frame of the cover. At least one sensor is deployed at each sealing mating position. The sensors can be proximity sensors, which determine the sealing contact state by detecting whether the distance between the metal mating surfaces is less than the trigger distance; or they can be microswitches, which determine the sealing contact state by triggering a switching signal through the mechanical contact pressure of the mating surfaces.

[0080] The linkage controller 400 is communicatively connected to the sealing detection sensor group 600. After the inner canopy 110, outer canopy 120, and lifting door 130 all reach their corresponding target position coordinates, the linkage controller 400 reads the detection signals from each sensor in the sealing detection sensor group 600. Taking a sealing scenario as an example, the target position coordinates of each moving part are 0mm, and the three servo drive units 200 report that they have completed their positioning. The linkage controller 400 then reads the detection signals from each sensor. Assuming that the front face sensor of the inner canopy 110 and the lower edge sensor of the lifting door 130 have both reached the sealing contact state, but the detection signal of the front face sensor of the outer canopy 120 has not reached the sealing contact state, this means that although the outer canopy 120 has reported reaching the target position of 0mm at the servo encoder level, the actual physical distance between its front face and the fixed surface of the frame 160 is still greater than the sensor's trigger distance, and the sealing is not complete.

[0081] In response to the failure of the detection signal from the front-end sensor of the outer canopy 120 to reach a sealed contact state, the linkage controller 400 sends a micro-compensation feed command to the servo drive unit 200 corresponding to the outer canopy 120, driving the outer canopy 120 to move a preset compensation step length along the direction approaching the fixed surface of the frame 160. In this embodiment, the preset compensation step length is 0.2mm. After the outer canopy 120 moves 0.2mm, the linkage controller 400 rereads the detection signal from the front-end sensor of the outer canopy 120. If a sealed contact state is still not reached, the linkage controller 400 sends another compensation feed command to drive the outer canopy 120 to move forward another 0.2mm. Assuming that the outer canopy 120 is under-traveled by 0.8mm due to a slight elongation of the chain, after four compensation feeds (cumulative compensation travel of 0.8mm), the detection signal from the front-end sensor of the outer canopy 120 reaches a sealed contact state. At this time, the linkage controller 400 confirms that the detection signals from all sensors have reached a sealed contact state, and the sealing verification is passed.

[0082] The above-mentioned compensation feed process constitutes a closed-loop convergence process of "feed, verify, and refeed". Each cycle moves only a small distance of the preset compensation step and is immediately verified, avoiding the risk of excessive compression of the sealing strip or impact on the mating surface that may be caused by a large feed at one time.

[0083] If the deviation in the position of the moving part is not caused by transmission chain error, but by mechanical faults that cannot be repaired by position compensation, such as sealing strip detachment, mating surface deformation, or severe misalignment of guide rail 140, then the sensor will not be able to achieve a sealed contact state regardless of the compensation feed distance. To prevent the system from infinitely performing compensation feed in this situation, the linkage controller 400 has a preset maximum compensation stroke. In this embodiment, the preset maximum compensation stroke is set to 5.0 mm. When the cumulative compensation feed stroke reaches 5.0 mm and the sensor's detection signal still has not reached the sealed contact state, the linkage controller 400 stops the compensation feed and generates a sealing abnormality alarm message, such as "Outer canopy 120 sealing abnormality: compensation exceeds limit by 5.0 mm, please check the sealing strip and mating surface condition". The value setting of the preset maximum compensation stroke takes into account the maximum under-stroke amount that the transmission mechanism 230 may produce within the normal wear range. Exceeding this range is determined to be a mechanical fault that cannot be repaired by position compensation.

[0084] As another implementation of the sensor, the seal detection sensor can also employ a photoelectric sensor, which determines the sealing state by detecting the gap width between the mating surfaces. The photoelectric sensor projects a light beam onto the mating seam and receives the reflected signal. The gap width is calculated based on the intensity of the reflected signal, and a sealed contact state is determined when the gap width is less than a preset sealing gap threshold. Compared to proximity sensors and microswitches, photoelectric sensors do not require the mating surfaces to be made of metal and do not require mechanical contact, making them suitable for cover structures using non-metallic sealing strips. The proximity sensor method, microswitch method, and photoelectric sensor method described above are all implementation methods of seal detection sensors.

[0085] Based on the contact layer sealing verification, in some embodiments, the automatic opening and closing control system of the protective cover door also includes a negative pressure detection unit 700, which is used to perform secondary verification of the airtightness of the cover after it is enclosed from the perspective of the working effect of the dust removal system 800.

[0086] The sealing detection sensor group 600 confirms whether each moving part has reached the physical contact position of the sealing mating surface, but proper contact does not equate to effective sealing. For example, if the sealing strip becomes thinner due to local aging after long-term pressure, or if paper dust clumps adhere to the mating surface, the moving part may still reach the position to trigger the sensor, and the sensor's detection signal will reach the sealing contact state. However, there is actually a tiny gap at the mating seam of the cover, causing the dust removal negative pressure to leak and the dust-laden airflow to escape from the gap.

[0087] The negative pressure detection unit 700 is installed in the dust removal pipeline 900, which is connected to the protective cover assembly 100. The dust removal pipeline 900 connects the exhaust port of the protective cover assembly 100 to the inlet of the dust removal tower. When the exhaust fan 810 is running, it establishes a negative pressure environment in the dust removal pipeline 900, and the dust-laden airflow is drawn from inside the protective cover through the dust removal pipeline 900 to the dust removal tower for purification. The negative pressure detection unit 700 can be a differential pressure sensor or a micro-pressure transmitter, installed on the dust removal pipeline 900 near the exhaust port of the protective cover assembly 100, to detect the negative pressure value in the pipeline in real time.

[0088] The linkage controller 400 has a pre-stored sealing reference negative pressure value. This reference value is calibrated under the condition that the enclosure is well sealed and the exhaust fan 810 is running stably at its rated frequency. In this embodiment, when the exhaust fan 810 is running stably at a frequency of 45Hz, the sealing reference negative pressure value is -250Pa. The linkage controller 400 also has a preset leakage threshold, which is set to 20Pa in this embodiment.

[0089] After all the sensors in the sealing detection sensor group 600 have reached the sealing contact state, the linkage controller 400 acquires the real-time negative pressure value fed back by the negative pressure detection unit 700 and compares the real-time negative pressure value with the sealing reference negative pressure value. Assuming that after the exhaust fan 810 starts and runs stably, the real-time negative pressure value fed back by the negative pressure detection unit 700 is -245Pa, and the difference between the sealing reference negative pressure value and the real-time negative pressure value is |-250Pa - (-245Pa)| = 5Pa, which does not exceed the leakage threshold of 20Pa, the linkage controller 400 determines that the airtightness of the enclosure is good, and the sealing verification is passed.

[0090] In another scenario, localized aging of the sealing strip at the hood's joint resulted in a gap approximately 3mm wide and 200mm long. Because the gap was outside the sensor's trigger area, the seal detection sensor still maintained a sealed contact state, and no abnormalities were found during contact layer verification. However, after the exhaust fan 810 started, dust-laden air leaked outwards through this gap, and the negative pressure in the dust removal duct 900 could only be maintained at -210Pa. The difference between the sealing reference negative pressure value and the real-time negative pressure value was |-250Pa - (-210Pa)| = 40Pa, exceeding the leakage threshold of 20Pa. The linkage controller 400 generated a seal leakage alarm message, such as "Seal leakage: Negative pressure difference of 40Pa exceeds the threshold of 20Pa. Please check the sealing status of the hood's joint."

[0091] The contact layer sealing detection sensor group 600 and the functional layer negative pressure detection unit 700 respectively cover two levels: "whether the moving part has reached the physical position of the sealing surface" and "whether the enclosed cover forms an effective airtight cavity," constituting a redundant sealing quality judgment mechanism. The contact verification is performed immediately after the part is in place, with a fast response speed; the negative pressure verification is performed after the exhaust fan 810 has been started and stabilized, and can capture minute gap leaks that the contact verification cannot identify.

[0092] In some embodiments, the automatic opening and closing control system of the protective cover door also includes a dust removal system 800 and a scene condition mapping table, which are used to automatically and synchronously adjust the operating mode of the dust removal system 800 after the position status of the protective cover changes, without the need for manual switching by the operator.

[0093] The dust removal system 800 includes an exhaust fan 810, a circulating water pump 820, and a spray valve 830. The exhaust fan 810 is installed in the dust removal pipeline 900, providing negative pressure for the extraction of dust-laden airflow; its operating frequency is controlled by a frequency converter. The circulating water pump 820 drives the spray liquid to circulate within the dust removal tower, working in conjunction with the spray valve 830 to perform wet purification of the dust-laden airflow. The spray valve 830 controls the intermittent operation cycle of the baffle spray system.

[0094] The scene operation condition mapping table is stored in the linkage controller 400, recording the correspondence between the coordinate sets of each scene and the combination of operating parameters of the dust removal system 800. The combination of operating parameters includes the target operating frequency of the exhaust fan 810, the on / off cycle parameters of the spray valve 830, and the operating status of the circulating water pump 820. In this embodiment, the contents of the scene operation condition mapping table are as follows: The sealed scene corresponds to the exhaust fan 810 operating at 45Hz, the spray valve 830 operating in an intermittent cycle of opening for 0.5 minutes and closing for 240 minutes, and the circulating water pump 820 operating. The paper output scene corresponds to the exhaust fan 810 operating at a reduced frequency of 30Hz, the spray valve 830 being closed, and the circulating water pump 820 being stopped. The roller changing scene corresponds to the exhaust fan 810 being stopped, the spray valve 830 being closed, and the circulating water pump 820 being stopped. The double-hood centered scene corresponds to the exhaust fan 810 being stopped, the spray valve 830 being closed, and the circulating water pump 820 operating in cleaning mode.

[0095] The different combinations of operating parameters corresponding to different scenarios are determined by the process requirements of each scenario. In a sealed scenario, the hood is completely closed, and the dust removal system 800 needs to operate at its rated power to maintain the negative pressure dust removal effect inside the hood. In a paper output scenario, the inner canopy 110 is partially retracted and the lifting door 130 is raised, so the hood is not completely sealed. At this time, the exhaust fan 810 operates at a reduced frequency to reduce the amount of air drawn back into the workshop from the opening, and the spray system is turned off to avoid splashing of spray liquid at the opening of the hood. In a roll changing scenario, the hood is opened significantly, and the operation of the exhaust fan 810 is no longer meaningful for dust removal. Therefore, both the exhaust fan 810 and the circulating water pump 820 are stopped. In a double-hood centered scenario, the inner and outer canopies 120 are retracted to the middle position to make room for the cleaning operation of the dust removal tower. At this time, the circulating water pump 820 switches to cleaning mode to flush the internal packing of the dust removal tower with a large flow rate.

[0096] The seal confirmation sensor is located at the sealing mating position of the protective cover assembly 100. The seal confirmation sensor can share the same set of sensors as the seal detection sensor group 600, that is, reuse existing proximity sensors or microswitches to simultaneously perform the functions of seal verification and linkage triggering.

[0097] The linkage controller 400 is communicatively connected to the dust removal system 800 and the sealing confirmation sensor. After the scene switch is completed, the linkage triggering logic of the linkage controller 400 distinguishes between two cases based on the current scene type.

[0098] When the target scenario is a sealed scenario, after the inner canopy 110, outer canopy 120, and lifting door 130 have all reached their corresponding target position coordinates, the linkage controller 400 still needs to wait for the sealing confirmation sensor to output a confirmation signal that the sealing contact state has been reached before obtaining the corresponding combination of operating parameters for the sealed scenario from the scenario condition mapping table and sending it to the dust removal system 800. Taking the reverse switching of "roller change → sealing" as an example, after the three parts move to the sealing position (0, 0, 0) and all sealing confirmation sensors are triggered, the linkage controller 400 sends a target operating frequency of 45Hz to the exhaust fan 810, a cycle parameter of 30 seconds on and 240 minutes off to the spray valve 830, and an operating command to the circulating water pump 820. If the sealing confirmation sensor is not triggered after the three parts are in place, the linkage controller 400 does not send the combination of operating parameters, the dust removal system 800 maintains the current state without switching, and at the same time triggers the compensation feed process.

[0099] When the target scenario is a non-sealed scenario (paper output, roller change, double cover centering), the cover is in a non-closed state, and there is no prerequisite for seal verification. After all three parts have reached the target position coordinates, the linkage controller 400 directly obtains the corresponding scenario's operating parameter combination from the scenario condition mapping table and sends it to the dust removal system 800, without waiting for the seal confirmation sensor signal. Taking the switch from a sealed scenario to a roller change scenario as an example, after the three parts move to the roller change position (3000, 2000, 1200) and are in place, the linkage controller 400 directly sends a stop command to the exhaust fan 810, a close command to the spray valve 830, and a stop command to the circulating water pump 820.

[0100] When an operator adds a custom scene using the scene teaching and input function, the control terminal 500 stores the set of coordinates for the custom scene and guides the operator to configure the corresponding combination of operating parameters for the dust removal system 800, including the frequency of the exhaust fan 810, the cycle parameters of the spray valve 830, and the status of the circulating water pump 820. This combination of operating parameters is synchronously written into the scene operating condition mapping table. If the operator does not configure the combination of operating parameters, the linkage controller 400 does not send any parameter change instructions to the dust removal system 800 when switching to the custom scene, and the dust removal system 800 maintains its operating state before the switch.

[0101] In some embodiments, the control terminal 500 also provides a hierarchical authorization calibration function, which divides the calibration operation into two levels according to risk level and operation scope, and opens them to personnel with different permissions respectively.

[0102] The full calibration mode is accessible to administrators, allowing them to reset the zero-position and maximum position coordinates of each moving component. Full calibration must be performed after the following events: a positional change occurs between the transmission mechanism 230 and the motor shaft, such as after replacing the chain, replacing the timing belt, or loosening the motor coupling; after the servo motor 210 issues an alarm requiring a reset; after new equipment is installed or the controller program is re-downloaded; or after the motor signal cable is reconnected / unconnected. Administrators can access the full calibration interface by entering their administrator password on the touchscreen of the control terminal 500 and passing authentication.

[0103] The complete calibration process is divided into two stages: zero-position calibration and maximum position calibration. Taking the outer canopy 120 as an example, during zero-position calibration, the administrator first clicks the "Zero Position Confirm" button to initially set a temporary zero position as the coordinate reference starting point. Then, the administrator enters a negative distance value in the distance input box, such as -100mm, and clicks the move button. The outer canopy 120 moves backward 100mm. The administrator repeats this operation, gradually moving the outer canopy 120 backward until it reaches the minimum position of its physical travel, i.e., the position where the rear end face of the outer canopy 120 frame contacts the limit stop of the frame 160. After reaching this position, the administrator clicks the "Zero Position Confirm" button again to set the current position as the working zero-position coordinate of the outer canopy 120. During maximum position calibration, the administrator enters a positive distance value in the distance input box, such as +200mm, and clicks the move button. The outer canopy 120 moves forward. The administrator repeatedly performs this operation, causing the outer canopy 120 to move forward gradually until it reaches the appropriate maximum travel position. Once the value is confirmed to no longer change, the maximum position calibration is completed. In this embodiment, the working zero coordinate of the outer canopy 120 is calibrated to 0mm, and the maximum position coordinate is calibrated to 4000mm.

[0104] To facilitate fine-tuning of the position during calibration, the control terminal 500 provides an incremental adjustment function. The administrator sets an increment value, such as 50mm, in the "Add / Subtract Increment" input box. Then, each time the "+ Increment" or "- Increment" button is clicked, the value in the distance input box increases or decreases by 50mm accordingly. This method can replace directly entering data into the distance input box.

[0105] Complete calibration involves a fundamental reconstruction of the working zero-position and maximum position coordinates. Improper operation may cause moving parts to exceed their physical travel limits and collide with the 160° limit structure of the frame. Therefore, access is only granted to personnel with the administrator password. Parameter modifications during calibration must be performed cautiously. Large changes should not be made at once; instead, modifications should be made gradually through fine-tuning and verification to prevent equipment damage or safety accidents. After all calibrations are completed, the administrator should turn off the access control and return to the main operating interface to prevent accidental operation by other personnel.

[0106] The quick calibration mode is available to trained operators. During daily operation, slight wear of the transmission mechanism 230 or changes in ambient temperature may cause minor shifts in the position of individual moving parts under specific conditions. These shifts are typically no more than a few millimeters and do not warrant a full calibration by the administrator, but they are sufficient to affect the sealing performance or the operator's perception of positional accuracy. The quick calibration mode allows the operator to apply a calibration offset to the target position coordinates of a specific moving part under a specific condition, while keeping the calibrated zero-position and maximum position coordinates unchanged.

[0107] After logging into the control terminal 500 with operator privileges, the operator selects the moving part and scene to be calibrated in the quick calibration interface and inputs the calibration offset. Taking the target position coordinates of the canopy 120 in a sealed scene as an example, the operator finds that there is a gap of about 1mm between the canopy 120 and the mating surface of the frame 160 after the canopy 120 is in place in the sealed scene. Therefore, a calibration offset of -1.0mm is input, that is, moving it 1mm further in the direction of the mating surface. The linkage controller 400 checks whether the absolute value of the calibration offset exceeds the preset safety adjustment threshold. In this embodiment, the preset safety adjustment threshold is set to 5.0mm. The absolute value of the calibration offset of 1.0mm does not exceed 5.0mm, the linkage controller 400 accepts the calibration and stores the offset in the calibration parameter area associated with the sealed scene of the canopy 120 in the scene coordinate storage module 300. The next time the sealed scene is executed, the target position coordinates of the canopy 120 are corrected from the original 0mm to 0mm + (-1.0mm) = -1.0mm.

[0108] If the absolute value of the calibration offset entered by the operator exceeds the preset safety adjustment threshold, such as -6.0mm, the linkage controller 400 will reject the calibration and display a message on the control terminal 500 stating "Calibration offset exceeds the safety range. Please contact the administrator to perform a complete calibration." The absolute value limit of the single calibration offset ensures that even if the operator mistakenly enters an abnormal value, the offset will not exceed the safety range, preventing the moving parts from exceeding their expected travel due to excessive offset.

[0109] Drift self-diagnosis automatic compensation and rapid calibration manual offset are two independent compensation mechanisms. Drift self-diagnosis automatically applies a global software compensation amount based on the statistical trend of multiple positioning deviations, acting on the target position coordinates of the moving part in all scenarios. Rapid calibration is performed by the operator manually applying a directional offset amount for a specific scenario, acting only on the target position coordinates of the specified moving part in the specified scenario. The compensation amounts of both are independently superimposed when finally sent to the servo drive unit 200. The micro-compensation feed triggered by the seal detection sensor is different in nature from the above two compensation mechanisms. The seal compensation feed is a real-time closed-loop physical correction after the moving part is servo-positioned. It is performed based on the servo positioning coordinates having already taken into account the drift compensation amount and calibration offset amount, and terminates when the sensor signal reaches the sealing contact state. The micro-displacement generated by the compensation feed is not included in the statistical sample of the drift trend because the nature of the compensation feed is an immediate correction for a single seal verification rather than a systematic drift of the transmission mechanism 230.

[0110] In some embodiments, for a lifting door 130 that operates in a vertical direction, the automatic opening and closing control system of the protective cover door is provided with a specific safety mechanism for the vertical axis.

[0111] The inner canopy 110 and outer canopy 120 move horizontally. After the servo motor 210 is powered off, the moving parts naturally remain in their current positions under the friction of the guide rail 140, eliminating the risk of them sliding due to gravity. The lifting door 130, however, moves vertically, and its own weight generates a constant downward force in the vertical direction. When the servo motor 210 holds the lifting door 130 at a certain height, the motor needs to continuously output a holding torque that is equal in magnitude and opposite in direction to the torque generated by the weight of the lifting door 130 to maintain its position.

[0112] In this embodiment, the mass of the lifting door 130 is approximately 200 kg. The linkage controller 400 injects a gravity feedforward compensation amount corresponding to the weight of the lifting door 130 into the servo control loop. The principle of feedforward compensation is to pre-calculate the constant torque value generated by the weight of the lifting door 130 and inject it as a feedforward amount into the torque command channel of the servo control loop. This allows the servo motor 210 to directly obtain an initial torque output that is balanced with gravity, without relying entirely on the integral stage of the position error to gradually accumulate holding torque when it receives a position holding command. This method improves the response speed of position holding and reduces the slight sinking of the lifting door 130 due to a brief lack of torque during the position error integration process. During normal operation, the lifting door 130 remains at the target height position, and the servo motor 210 continuously outputs a holding torque of approximately 25% of the rated torque, of which the gravity feedforward compensation contributes approximately 22% and the closed-loop correction of the position loop contributes approximately 3%.

[0113] In the event of a power outage or a malfunction of the servo drive 220, the servo motor 210 loses power and cannot continue to output holding torque, causing the lifting door 130 to fall freely under its own weight. Considering the large mass of the lifting door 130 and its operation at a height, a free fall would damage the structure of the enclosure and threaten the safety of personnel on site. To prevent this, a mechanical brake is installed on the drive shaft of the servo motor 210 of the lifting door 130. This mechanical brake is a normally closed spring brake. When the servo drive 220 is powered on, the electromagnetic force generated by the energized brake coil overcomes the spring force, releasing the brake and allowing the motor shaft to rotate freely. When the servo drive 220 loses power, the brake coil loses power, and the spring force immediately drives the friction plate to press against the motor shaft, locking the motor shaft at the current angle position. This, in turn, locks the lifting door 130 at the current height via the transmission mechanism 230. The response time of the spring brake is in the millisecond range, and the amount of downward movement of the lifting door 130 due to inertia during the process from power failure to the completion of the clamping is no more than 2mm.

[0114] like Figure 3 As shown, the automatic opening and closing control method of the above-mentioned protective door includes steps S1 to S3, and each step in the method is implemented by each component of the automatic opening and closing control system of the above-mentioned protective door.

[0115] The linkage controller 400 serves as the system's control center, executing all control logic including scene coordinate acquisition, spatial interference judgment, movement sequence arrangement, load adaptive parameter adjustment, torque curve anomaly classification and diagnosis, position drift self-diagnosis and two-level response, closed-loop control for seal verification, and linkage triggering of the dust removal system under 800 operating conditions. The linkage controller 400 can be implemented using a medium-sized programmable logic controller that supports a multi-axis servo communication bus.

[0116] Each servo drive unit 200 receives instructions from the linkage controller 400 and drives the corresponding moving part to perform positioning movement, while simultaneously feeding back torque value, positioning coordinates, and encoder trajectory data to the linkage controller 400. The servo motor 210 is connected to the servo driver 220 via power lines and encoder signal lines, and the servo driver 220 is connected to the linkage controller 400 via a communication bus.

[0117] The scene coordinate storage module 300 stores and provides the scene coordinate set and scene condition mapping table corresponding to each production condition, which is implemented by the non-volatile data register area inside the linkage controller 400.

[0118] The control terminal 500 provides input channels for scene switching commands and single-piece movement commands, as well as display and interactive functions for system operating status, abnormality types, alarm information, and calibration interfaces. The control terminal 500 can be implemented by combining a touchscreen human-machine interface 510 and a mechanical button control console 520. The touchscreen human-machine interface 510 uses a 10-inch color touchscreen. Its main interface features one-button controls for scenes such as sealing, paper output, roller change, and double cover positioning, as well as single-piece movement buttons for moving the inner shelf 110 forward, moving the inner shelf 110 backward, moving the outer shelf 120 forward, moving the outer shelf 120 backward, raising the lifting door 130, and lowering the lifting door 130. It also includes an emergency stop button, a stop button, an entry point to the parameter setting interface, and an entry point to the start and end position calibration interface. The button layout of the mechanical button control console 520 corresponds one-to-one with the scene buttons and single-piece movement buttons on the touchscreen main interface, serving as a physical backup channel for touchscreen operation.

[0119] The sealing detection sensor group 600 and the negative pressure detection unit 700 serve as sensing components for sealing verification, providing detection signals for the contact layer and airtight layer to the linkage controller 400, respectively. The exhaust fan 810, circulating water pump 820, and spray valve 830 of the dust removal system 800 serve as execution components, receiving the combination of operating parameters sent by the linkage controller 400 according to the scenario working condition mapping table and operating according to the parameters.

[0120] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0121] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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. Such 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 this application, and should all be included within the protection scope of this application.

Claims

1. An automatic opening and closing control system for a protective door, characterized in that, include: The protective cover assembly (100) includes an inner canopy (110) movable in a first direction, an outer canopy (120) and a lifting door (130) movable in a second direction, wherein the inner canopy (110) and the outer canopy (120) are nested along the same guide rail (140); Multiple servo drive units (200) are respectively connected to the inner canopy (110), the outer canopy (120) and the lifting door (130), and are configured to drive the corresponding moving parts to move along a preset guide path; The scene coordinate storage module (300) stores multiple sets of scene coordinates. Each set of scene coordinates corresponds to a production condition and includes the target position coordinates of the inner shed (110), the target position coordinates of the outer shed (120), and the target position coordinates of the lifting door (130). The linkage controller (400) is configured as follows: In response to a scene switching command, the set of target scene coordinates corresponding to the scene switching command is obtained from the scene coordinate storage module (300); Obtain the current position coordinates of the inner canopy (110), outer canopy (120) and lifting door (130), determine whether there is spatial interference between the movement paths of each moving part based on the current position coordinates and the corresponding target position coordinates in the target scene coordinate set, and arrange the movement execution order of each moving part according to the determination result of spatial interference. According to the movement execution sequence, the corresponding target position coordinates are sent to each group of servo drive units (200) so that the inner canopy (110), outer canopy (120) and lifting door (130) move in conjunction to the positions specified by their respective target position coordinates according to the movement execution sequence; as well as The control terminal (500) is communicatively connected to the linkage controller (400) and is configured to send the scene switching command or single-piece movement command to the linkage controller (400).

2. The automatic opening and closing control system for the protective cover door according to claim 1, characterized in that, The linkage controller (400) is further configured to: In response to an overlap between the movement path of the inner canopy (110) and the movement path of the outer canopy (120) along the first direction, the retraction movement of the moving member located inside the overlap section is arranged before the movement of the other moving member. In response to the current position coordinates of the lifting door (130) being lower than the minimum passage height required for the movement path of the inner canopy (110) or the outer canopy (120), the movement of raising the lifting door (130) above the minimum passage height is arranged before the horizontal movement of the inner canopy (110) and / or the outer canopy (120).

3. The automatic opening and closing control system for the protective cover door according to claim 1, characterized in that, Each of the servo drive units (200) includes a servo motor (210) and a servo driver (220) communicatively connected to the servo motor (210); the linkage controller (400) is further configured to: During the movement of the moving part, the torque value fed back by the corresponding servo driver (220) is acquired in real time; In response to the torque value exceeding the preset load threshold, the speed and acceleration parameters of the current movement process are reduced to the safe level parameters, and an abnormal load prompt message is output on the control terminal (500).

4. The automatic opening and closing control system for the protective cover door according to claim 3, characterized in that, The linkage controller (400) is also configured to: The torque-displacement curve of the moving part during each movement process is collected, showing the change in torque value with displacement. The torque-displacement curve is compared with a pre-stored standard torque-displacement curve template, and the anomaly type is determined based on the deviation characteristics. The abnormality type and corresponding handling suggestions are output on the control terminal (500); The abnormality types include at least one of the following: poor lubrication type when the torque displacement curve is offset as a whole relative to the standard torque displacement curve template, foreign object jamming type when a torque peak appears at a local position, and overload type when the torque increases along the direction of movement.

5. The automatic opening and closing control system for the protective cover door according to claim 1, characterized in that, The linkage controller (400) is also configured to: After the moving part reaches the target position coordinates each time, the actual position coordinates fed back by the corresponding servo drive unit (200) are obtained, and the position deviation value between the actual position coordinates and the target position coordinates is recorded; Perform cumulative trend analysis on the positioning deviation value of the same moving part during multiple movements to obtain the drift trend amount; In response to the drift trend exceeding a first drift threshold but not exceeding a second drift threshold, a software compensation amount is determined based on the drift trend, and the software compensation amount is superimposed on the target position coordinates of subsequent movement; In response to the drift trend exceeding the second drift threshold, the scene mode is locked and a recalibration reminder is generated on the control terminal (500).

6. The automatic opening and closing control system for the protective cover door according to claim 5, characterized in that, Also includes: The sealing detection sensor group (600) includes multiple sensors respectively disposed at the sealing docking positions of the inner canopy (110), the outer canopy (120) and the lifting door (130); The linkage controller (400) is communicatively connected to the sealing detection sensor group (600) and is further configured to: After the inner canopy (110), the outer canopy (120) and the lifting door (130) all reach the corresponding target position coordinates, the detection signals of each sensor in the sealing detection sensor group (600) are read. In response to the failure of any sensor's detection signal to reach the sealed contact state, a micro-compensation feed command is sent to the corresponding servo drive unit (200) to drive the corresponding moving part to move a preset compensation step length in the direction approaching the sealed mating surface, and the detection signal is reread after each movement, and the process is repeated until the detection signals of all sensors reach the sealed contact state. In response to the cumulative stroke of the compensation feed exceeding the preset maximum compensation stroke and the detection signal still not reaching the sealing contact state, the compensation feed is stopped and a sealing abnormality alarm message is generated.

7. The automatic opening and closing control system for the protective cover door according to claim 6, characterized in that, Also includes: A negative pressure detection unit (700) is disposed in a dust removal pipe (900) connected to the protective cover assembly (100) and is configured to detect the negative pressure value in the dust removal pipe (900); The linkage controller (400) is communicatively connected to the negative pressure detection unit (700) and is further configured to: After all the detection signals of the sensors in the sealing detection sensor group (600) reach the sealing contact state, the real-time negative pressure value fed back by the negative pressure detection unit (700) is obtained. The real-time negative pressure value is compared with the pre-stored sealing reference negative pressure value; When the difference between the sealing reference negative pressure value and the real-time negative pressure value exceeds the leakage threshold, a sealing leakage alarm is generated.

8. The automatic opening and closing control system for the protective cover door according to claim 1, characterized in that, Also includes: The dust removal system (800) includes an exhaust fan (810), a circulating water pump (820), and a spray valve (830). The scene condition mapping table is stored in the linkage controller (400) and records the correspondence between each scene coordinate set and the combination of operating parameters of the dust removal system (800). The combination of operating parameters includes the target operating frequency of the exhaust fan (810), the switching cycle parameters of the spray valve (830) and the operating status of the circulating water pump (820). A seal confirmation sensor is disposed at the sealing mating position of the protective cover assembly (100); The linkage controller (400) is communicatively connected to the dust removal system (800) and the sealing confirmation sensor, and is further configured to: in response to the inner canopy (110), the outer canopy (120) and the lifting door (130) all reaching the corresponding target position coordinates and the sealing confirmation sensor outputting a confirmation signal indicating that a sealing contact state has been reached, obtain the combination of operating parameters corresponding to the current target scene coordinate set from the scene condition mapping table, and send the combination of operating parameters to the dust removal system (800).

9. The automatic opening and closing control system for the protective cover door according to claim 1, characterized in that, The control terminal (500) is also configured to provide hierarchical authorization calibration functions, including: The full calibration mode is configured to allow the reset of the working zero-position coordinates and maximum position coordinates of each of the moving parts; The fast calibration mode is configured to allow a calibration offset to be applied to the target position coordinates of each of the moving parts based on the calibrated working zero coordinates and the maximum position coordinates, wherein the absolute value of the calibration offset in a single instance does not exceed a preset safety adjustment threshold.

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