A top and bottom split type opening and closing door structure

Abstract

This invention relates to the field of track-type intelligent inspection equipment technology, specifically to a top-and-bottom opening and closing door structure, comprising: a gantry; a first channel for a walking robot to pass through; an upper door body, which is slidably installed on the gantry in the vertical direction, and a second channel for the robot track to pass through the upper door body; a lower door body, which is linked with the upper door body to realize the top-and-bottom opening and closing; and a second channel sealing device, which is installed inside the second channel to seal the second channel when the upper and lower doors are closed. In this invention, left and right sealing plates are provided in the second channel of the upper door body, and semi-grooves matching the shape of the robot track are formed on them. After the door is closed, the left and right sealing plates slide towards each other through a sealing plate driving mechanism, so that the two semi-grooves are joined together and tightly wrapped around the outer wall of the track, thereby completely sealing the track passage.

Description

Technical Field

[0001] This invention relates to the field of track-mounted intelligent inspection equipment technology, and more specifically, to a top-and-bottom opening and closing door structure. Background Technology

[0002] Track-mounted intelligent inspection robot systems are increasingly widely used in wastewater treatment plants, biological treatment ponds, and urban integrated pipe corridors. These systems typically include a running track, a walking robot, and a charging chamber for automatic charging. The charging chamber has a double-opening door structure at its entrance and exit. One existing double-opening door structure includes an electric push rod, a gantry, an upper door, a lower door, a robot track, and limit sensors. The upper and lower doors are linked by steel cables and pulleys for coordinated opening and closing. This solution opens the door when the walking robot needs to enter or exit and closes it after the robot enters the charging chamber, effectively preventing unauthorized personnel or animals from accidentally entering the charging chamber and ensuring safety during the charging process.

[0003] However, the aforementioned existing technologies primarily focus on the physical isolation of large organisms such as humans and animals. Their structural design does not consider the sealing and protection against fine particulate matter, dust, moisture, and corrosive gases in the environment. Specifically, the upper door has a track passage for the robot, but this passage is not effectively sealed. In typical application scenarios such as sewage treatment plants, high-humidity air and flying dust can easily seep into the charging room through the gap between the second channel and the door, causing corrosion of the circuit boards and metal contacts of internal electrical equipment such as charging piles and electrical control cabinets. This accelerates the rusting and aging of moving parts such as wire ropes and pulleys, and may even cause safety accidents when corrosive gases come into contact with electrical sparks. It is evident that while the existing top-and-bottom opening and closing door structure solves the problem of accidental entry of personnel and animals, it neglects the equipment corrosion and safety hazards caused by the intrusion of dust, moisture, and corrosive gases.

[0004] Therefore, there is an urgent need to develop a top-and-bottom split-type door structure that can effectively seal the second channel while maintaining the original opening and closing function, in order to solve the problem of dust and moisture intrusion caused by the lack of sealing in the existing technology. Summary of the Invention

[0005] In view of this, the present invention addresses the shortcomings of the prior art by proposing a top-and-bottom opening and closing door structure, aiming to provide a top-and-bottom opening and closing door structure that can effectively seal the track through hole while maintaining the original opening and closing function.

[0006] This invention provides a top-and-bottom hinged door structure, comprising: The gantry has a first passageway for the walking robot to pass through. The upper door body is slidably mounted on the gantry along the vertical direction, and the upper door body has a second channel for the robot track to pass through; The lower door body is slidably mounted on the gantry along the vertical direction and is linked with the upper door body to achieve double-opening and closing; A second channel sealing device is installed inside the second channel to seal the second channel when the upper and lower doors are closed. The control unit is used to control the operation of the entire top-and-bottom opening and closing door structure.

[0007] Furthermore, the second channel sealing device includes: a left sealing plate, a right sealing plate, and a sealing plate driving mechanism; the left sealing plate and the right sealing plate are symmetrically arranged on the left and right sides of the robot track, and are slidably installed on the upper body in a direction perpendicular to the robot track; The sealing plate driving mechanism is mounted on the upper body and is connected to the left sealing plate and the right sealing plate in a transmission connection. It is used to drive the left sealing plate and the right sealing plate to slide towards each other or backwards in a direction perpendicular to the robot track. The left and right sealing plates are respectively provided with semi-grooves that match the shape of the robot track. When the left and right sealing plates slide to the closed position, the two semi-grooves are joined together and wrapped around the outer wall of the robot track, thereby sealing the second channel.

[0008] Furthermore, the sealing plate driving mechanism includes a left electric push rod and a right electric push rod; the left electric push rod and the right electric push rod are electrically connected to the control unit; the housing of the left electric push rod is fixed to the upper door body, and its push rod end is fixedly connected to the left sealing plate; the housing of the right electric push rod is fixed to the upper door body, and its push rod end is fixedly connected to the right sealing plate.

[0009] Furthermore, the sealing plate driving mechanism includes a drive motor and a bidirectional lead screw; the drive motor is electrically connected to the control unit; the drive motor is fixedly installed on the upper body; the output end of the drive motor is fixedly connected to the bidirectional lead screw; the two ends of the bidirectional lead screw are respectively threaded to the left sealing plate and the right sealing plate.

[0010] Furthermore, an elastic sealing gasket is provided on the side of the semi-groove corresponding to the robot track.

[0011] Furthermore, a visual recognition sensor is provided; the visual recognition sensor is electrically connected to the control unit; two visual recognition sensors are respectively installed at the front and rear ends of the gantry for detecting the position of the walking robot.

[0012] Furthermore, a sealing groove is provided on the upper door body at the position corresponding to the left sealing plate and the right sealing plate; a sealing ring is provided between the left sealing plate and the upper door body, and between the right sealing plate and the upper door body; the sealing ring is installed in the sealing groove on the upper door body.

[0013] Furthermore, the left sealing plate and the right sealing plate are provided with mutually cooperating positioning protrusions and positioning grooves on their opposing end faces to achieve precise alignment when closed.

[0014] Furthermore, the lower ends of the left sealing plate and the right sealing plate extend downward beyond the lower end face of the upper door body; a guide groove extending in the vertical direction is provided at the corresponding position on the upper end of the lower door body; the lower ends of the left sealing plate and the right sealing plate slide along the guide groove.

[0015] Furthermore, it also includes at least one position detection element; the position detection element is installed on the upper or lower door body and electrically connected to the control unit, for detecting whether the left sealing plate and the right sealing plate have slid to the closed position.

[0016] Compared with existing technologies, the advantages of this invention are as follows: This invention provides left and right sealing plates within the second channel of the upper door body. These plates have semi-grooves that match the shape of the robot track. After the door closes, a sealing plate driving mechanism causes the left and right sealing plates to slide towards each other, allowing the two semi-grooves to merge and tightly wrap around the outer wall of the track, thus completely sealing the second channel. Simultaneously, the lower end of the sealing plate extends into the guide groove of the lower door body, sealing the gap between the upper and lower door bodies while simultaneously sealing the second channel. Compared with existing technologies that rely solely on physical door isolation while neglecting gap sealing, this invention achieves reliable sealing of the second channel while maintaining the original opening and closing function, effectively blocking the path of external contaminants into the charging room and ensuring the long-term stable operation of internal electrical equipment and transmission components. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall assembly structure in a closed state provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall assembly structure from another angle in a closed state, provided by an embodiment of the present invention. Figure 3 This is a schematic diagram of the overall assembly structure in the open state provided in an embodiment of the present invention; Figure 4 A schematic diagram of the structure of the left sealing plate, the right sealing plate, and the sealing plate driving mechanism provided in an embodiment of the present invention; Figure 5This is a cross-sectional schematic diagram of the left sealing plate, right sealing plate, and robot track in a closed state, as provided in an embodiment of the present invention.

[0018] The components are: 1. gantry; 2. upper gate body; 3. lower gate body; 4. walking robot; 5. second channel; 6. robot track; 7. first channel; 8. second channel sealing device; 801. left sealing plate; 802. right sealing plate; 9. sealing plate drive mechanism. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0021] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0022] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] The purpose of this invention is to provide a top-and-bottom split-type door structure that can effectively seal the track through hole while maintaining the original opening and closing function.

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] This embodiment provides a top-and-bottom split-opening door structure, such as... Figure 1-5 As shown, this structure is mainly used at the entrance and exit of the charging room for walking robots in the biochemical pool area of ​​a sewage treatment plant.

[0026] The top-and-bottom opening and closing door structure of this embodiment includes: door frame 1, upper door body 2, lower door body 3, second channel 5, sealing device 8, and control unit.

[0027] The gantry 1 is constructed from welded or bolted metal profiles, forming the support frame for the entire opening and closing gate. The gantry 1 has a first passageway 7 for the walking robot 4 to pass through. The dimensions of the first passageway 7 are determined based on the maximum external dimensions of the walking robot 4.

[0028] The upper gate body 2 is slidably mounted on the gantry 1 in a vertical direction. Specifically, vertical roller guide rails are provided on the left and right sides of the gantry 1, and guide rail rollers are installed on the left and right sides of the upper gate body 2. The guide rail rollers and roller guide rails roll in cooperation, allowing the upper gate body 2 to move up and down along the gantry 1. A second channel 5 is provided on the upper gate body 2 for the robot track 6 to pass through. The second channel 5 runs through the upper gate body 2 along its thickness direction, and its cross-sectional shape matches the shape of the robot track 6, ensuring that the upper gate body 2 does not interfere with the track when it rises and falls. The robot track 6 is fixedly installed in a horizontal direction, with one end located outside the charging room and the other end extending through the second channel 5 into the charging room.

[0029] The lower door body 3 is slidably mounted on the gantry 1 in the vertical direction and is linked with the upper door body 2 to achieve a double-opening and closing mechanism. The linkage method adopts existing technology, such as steel wire rope, pulleys and electric push rod: when the electric push rod pushes the upper door body 2 to move upward, the lower door body 3 moves downward under its own weight and the traction of the steel wire rope, and the door opens; when the electric push rod retracts, the upper door body 2 descends and the lower door body 3 rises, and the door closes. This is existing technology and will not be described in detail here.

[0030] The second channel 5 sealing device 8 is installed inside the second channel 5 to seal the second channel 5 when the upper door body 2 and the lower door body 3 are closed.

[0031] The control unit, using a programmable logic controller (PLC) or a microcontroller, is installed in the electrical control cabinet within the charging room. The control unit controls the operation of the entire double-leaf door structure, including controlling the opening and closing of the door and the operation of the sealing device 8 in the second channel 5.

[0032] The basic working process of this embodiment is as follows: When the walking robot 4 needs to enter or exit the charging room, the control unit issues an opening command, the electric push rod moves, causing the upper door 2 to rise and the lower door 3 to fall, opening the door. The walking robot 4 enters or exits along the robot track 6 through the first channel 7. After the walking robot 4 has completely passed through, the control unit issues a closing command, the electric push rod moves in the opposite direction, the upper door 2 falls and the lower door 3 rises, closing the door. After the door closes, the sealing device 8 of the second channel 5 activates, sealing the second channel 5 to prevent external dust, moisture, and corrosive gases from entering the charging room through the gaps in the second channel 5.

[0033] Specifically, the second channel 5 sealing device 8 includes: a left sealing plate 801, a right sealing plate 802, and a sealing plate driving mechanism 9.

[0034] Both the left sealing plate 801 and the right sealing plate 802 are rectangular plate structures made of aluminum alloy or stainless steel. The left sealing plate 801 and the right sealing plate 802 are symmetrically arranged on the left and right sides of the robot track 6, and are slidably mounted on the upper door body 2 in a horizontal direction perpendicular to the robot track 6. Specifically, horizontal guide grooves are respectively formed on the upper and lower inner walls of the second channel 5 of the upper door body 2, and protrusions that slide in conjunction with the guide grooves are provided at the upper and lower ends of the left sealing plate 801 and the right sealing plate 802, thereby enabling the left sealing plate 801 and the right sealing plate 802 to slide horizontally relative to the upper door body 2.

[0035] The sealing plate drive mechanism 9 is mounted on the upper body 2 and is connected to the left sealing plate 801 and the right sealing plate 802 in a transmission manner. The sealing plate drive mechanism 9 is used to drive the left sealing plate 801 and the right sealing plate 802 to slide towards each other or away from each other in a direction perpendicular to the robot track 6.

[0036] The left sealing plate 801 has a semi-groove that matches the shape of the robot track 6, and the right sealing plate 802 has a semi-groove that matches the shape of the robot track 6. When the left sealing plate 801 and the right sealing plate 802 slide to the closed position, that is, when they approach and contact each other, the two semi-grooves fit together to form a complete cavity that fits the outer wall of the robot track 6. This cavity wraps around the outer wall of the robot track 6, thereby sealing the gap between the inner wall of the second channel 5 and the outer wall of the robot track 6.

[0037] The working process of this embodiment is as follows: When the upper door 2 and the lower door 3 are closed, the control unit issues a sealing command, and the sealing plate drive mechanism 9 drives the left sealing plate 801 and the right sealing plate 802 to slide towards each other, so that the two half-grooves join together and wrap around the robot track 6, thereby sealing the second channel 5. When it is necessary to open the door, the control unit first issues a release command, and the sealing plate drive mechanism 9 drives the left sealing plate 801 and the right sealing plate 802 to slide away from each other, so that the half-grooves disengage from the robot track 6, and then the door can be opened.

[0038] Specifically, the sealing plate drive mechanism 9 includes a left electric push rod and a right electric push rod. The left and right electric push rods are electrically connected to the control unit and are independently controlled by the control unit.

[0039] The housing of the left electric actuator is fixedly installed on the left outer wall of the upper door body 2 via a bracket. Its actuator end passes through the side wall of the upper door body 2 and is fixedly connected to the end face of the left sealing plate 801 away from the robot guide rail, which can be a threaded connection or a flange connection. The housing of the right electric actuator is fixedly installed on the right outer wall of the upper door body 2, and its actuator end is fixedly connected to the end face of the right sealing plate 802 away from the robot guide rail.

[0040] Both the left and right electric actuators are miniature DC electric actuators with an internal self-locking function. When the control unit issues a closing command, the left and right electric actuators extend synchronously, pushing the left sealing plate 801 and the right sealing plate 802 to slide towards each other; when the control unit issues an opening command, the left and right electric actuators retract synchronously, causing the left sealing plate 801 and the right sealing plate 802 to slide away from each other.

[0041] The advantages of this embodiment are direct drive, simple control, and rapid response. Since the left and right electric push rods are controlled independently, the left sealing plate 801 and the right sealing plate 802 can be perfectly aligned by adjusting their strokes, avoiding misalignment caused by machining errors.

[0042] As another improved driving method in this embodiment, the electric push rods are directly installed inside the upper body 2, and the push rod axes of the two electric push rods are respectively aligned with the sliding axes of the left sealing plate 801 and the right sealing plate 802, thereby achieving a more direct and compact driving.

[0043] Specifically, the upper door body 2 has a horizontally extending mounting cavity inside. One end of this cavity communicates with the second channel 5, and the other end extends to the vicinity of the side wall of the upper door body 2. The housing of the left electric push rod is fixedly installed in this mounting cavity by bolts or clamps, and the push rod axis of the left electric push rod is collinear with the sliding direction of the left sealing plate 801. The push rod end of the left electric push rod is directly fixedly connected to the left side of the left sealing plate 801 away from the robot track 6, which can be achieved by threaded connection, flange connection, or ball joint connection. Similarly, a right mounting cavity is also provided symmetrically on the right side of the upper door body 2 for installing the right electric push rod, and its push rod end is fixedly connected to the right side of the right sealing plate 802.

[0044] In this embodiment, the left and right electric push rods are completely embedded inside the upper door body 2 and are not exposed, resulting in a simpler overall appearance and avoiding potential leakage problems caused by gaps when the push rods pass through the side walls of the upper door body 2. Simultaneously, since the push rods are coaxially arranged with the sealing plate, the driving force acts directly on the sliding direction of the sealing plate, without any lateral component force, resulting in smoother movement of the sealing plate and less wear on the guide structure. Furthermore, a removable cover plate can be installed at the opening of the mounting cavity for easy maintenance and replacement of the electric push rods.

[0045] It should be noted that a shock-absorbing pad or elastic bushing can be added between the inner wall of the mounting cavity and the electric actuator housing to absorb the minor vibrations generated during the extension and retraction of the actuator and reduce operating noise. The power cord and signal cord of the electric actuator can be led out through the cable hole at the rear of the mounting cavity and electrically connected to the control unit.

[0046] In another embodiment of this invention, the sealing plate drive mechanism 9 includes a drive motor and a bidirectional lead screw. The drive motor is electrically connected to the control unit. The drive motor is fixedly mounted on the upper door body 2, specifically inside the upper door body 2. The output end of the drive motor is fixedly connected to the bidirectional lead screw via a coupling.

[0047] The double-ended lead screw is a lead screw with a left-hand thread section and a right-hand thread section machined on the same shaft. Both ends of the double-ended lead screw are mounted on the upper body 2 through bearing seats and can rotate freely. The left sealing plate 801 is threadedly engaged with the left-hand thread section of the double-ended lead screw, and the right sealing plate 802 is threadedly engaged with the right-hand thread section of the double-ended lead screw.

[0048] When the drive motor rotates in the forward direction, the bidirectional lead screw rotates, thereby causing the left and right sealing plates 802 to slide and close in opposite directions. When the drive motor rotates in the reverse direction, it causes the left and right sealing plates 802 to slide and open in opposite directions.

[0049] The advantages of this embodiment are that it requires only one motor, has a more compact structure, good motion synchronization between the left sealing plate 801 and the right sealing plate 802, and is forced to synchronize by the same lead screw, resulting in lower cost and reliable self-locking performance.

[0050] Specifically, based on the above embodiments, this embodiment further adds an elastic sealing gasket. An elastic sealing gasket is provided on the side of the semi-groove corresponding to the robot track 6. The elastic sealing gasket is made of corrosion-resistant and aging-resistant silicone rubber or fluororubber FKM. The elastic sealing gasket can be fixed to the inner wall of the semi-groove by adhesive, vulcanization, or snap-fit, and its surface has a concave-convex structure matching the shape of the robot track 6.

[0051] When the left sealing plate 801 and the right sealing plate 802 are closed, the elastic sealing gasket undergoes elastic deformation, tightly fitting against the outer wall of the robot track 6, filling any tiny gaps that may exist between the semi-groove and the track, thereby improving the airtightness of the seal. The compressibility of the elastic sealing gasket allows it to adapt to minor unevenness on the track surface, maintaining a good sealing effect even if the track has certain manufacturing tolerances or surface scratches.

[0052] Specifically, based on the above embodiments, this embodiment further adds a visual recognition sensor to achieve automatic linkage control between the sealing plate and the walking robot 4. This embodiment also includes a visual recognition sensor. The visual recognition sensor is electrically connected to the control unit. Two visual recognition sensors are respectively installed at the front and rear ends of the gantry 1, i.e., the outer and inner sides of the charging chamber. The visual recognition sensor can be an infrared lidar, a depth camera, or an ultrasonic sensor, used to detect the position and distance of the walking robot 4.

[0053] When the visual recognition sensor located on the outside of the gantry 1 detects that the walking robot 4 has approached to a predetermined distance, the control unit first instructs the sealing plate drive mechanism 9 to open the left sealing plate 801 and the right sealing plate 802. After the left sealing plate 801 and the right sealing plate 802 are fully opened, the position detection element confirms this, and then instructs the door drive mechanism to open the door. When the visual recognition sensor located on the inside of the gantry 1 detects that the walking robot 4 has completely entered the charging room and moved away from the door, the control unit instructs the door drive mechanism to close the door. After the door is fully closed, the control unit instructs the sealing plate drive mechanism 9 to close the left sealing plate 801 and the right sealing plate 802.

[0054] This embodiment realizes fully automatic linkage between the entry and exit of the walking robot and the movement of the sealing plate, without the need for manual intervention, thus improving the level of intelligence and work efficiency.

[0055] Specifically, based on the above embodiments, this embodiment further adds sealing rings to prevent dust and moisture from entering through the sliding gaps between the left sealing plate 801 and the right sealing plate 802 and the upper door body 2. Sealing grooves are provided on the upper door body 2 at positions corresponding to the left and right sealing plates 801 and 802. Sealing rings are provided between the left sealing plate 801 and the upper door body 2, and between the right sealing plate 802 and the upper door body 2. The sealing rings are installed within the sealing grooves on the upper door body 2.

[0056] The sealing ring is made of polytetrafluoroethylene (PTFE) lip-shaped dustproof ring or O-ring. PTFE material has an extremely low coefficient of friction and excellent corrosion resistance. When external dust or moisture attempts to enter the second channel 5 through the gap between the sealing plate and the upper body 2, the sealing ring blocks it.

[0057] Specifically, based on the above embodiments, this embodiment further adds a positioning structure to ensure precise alignment when the left and right sealing plates 802 are closed. As a specific implementation of this embodiment, the opposing end faces of the left sealing plate 801 and the right sealing plate 802 are provided with mutually cooperating positioning protrusions and positioning grooves. Specifically, the right end face of the left sealing plate 801 is provided with a positioning protrusion, and the left end face of the right sealing plate 802 is provided with a corresponding positioning groove. The positioning protrusions and positioning grooves are conical or trapezoidal in shape and have a guiding function.

[0058] When the left sealing plate 801 and the right sealing plate 802 slide towards each other and are about to contact, the positioning protrusion first enters the positioning groove, guiding the left sealing plate 801 and the right sealing plate 802 to make fine adjustments and alignment in the vertical and front-back directions, ensuring that the two half-grooves are completely aligned. When the left sealing plate 801 and the right sealing plate 802 are completely closed, the positioning protrusion and the positioning groove fit tightly together, preventing the left sealing plate 801 and the right sealing plate 802 from misaligning due to force. This embodiment improves the reliability of the seal and avoids the half-grooves from failing to completely cover the track or compressing the track surface due to misalignment of the left sealing plate 801 and the right sealing plate 802.

[0059] Specifically, based on the above embodiments, this embodiment further extends the lower ends of the left sealing plate 801 and the right sealing plate 802 to the lower door body 3. The lower ends of the left sealing plate 801 and the right sealing plate 802 extend downwards beyond the lower end face of the upper door body 2. A guide groove extending vertically is provided at the corresponding position on the upper end of the lower door body 3. The width of the guide groove matches the thickness of the lower ends of the left sealing plate 801 and the right sealing plate 802.

[0060] When the upper door body 2 and the lower door body 3 are closed, the lower ends of the left sealing plate 801 and the right sealing plate 802 are precisely inserted into the guide groove. During the horizontal sliding of the sealing plates, the guide groove provides lateral support and guidance for the lower ends of the left sealing plate 801 and the right sealing plate 802, preventing them from deforming due to force. It should be noted that even if the lower ends of the left sealing plate 801 and the right sealing plate 802 do not extend beyond the lower end face of the upper door body 2, the gap between the upper door body 2 and the lower door body can be sealed to a certain extent simply by the end faces of the sealing plates abutting against the upper end face of the lower door body 3. However, in this embodiment, the lower ends of the left sealing plate 801 and the right sealing plate 802 extend further downward and insert into the guide groove, forming a more reliable sealing structure.

[0061] Specifically, after the lower ends of the left sealing plate 801 and the right sealing plate 802 are inserted into the guide groove, a longer sealing contact interface is formed between them. Compared with simple end face contact, this increases the length and tortuosity of the gas leakage path, significantly improving airtightness.

[0062] Specifically, based on the above embodiments, this embodiment further adds a position detection element to provide feedback on the closing state of the sealing plate, thereby improving the reliability of the system. This embodiment also includes at least one position detection element. The position detection element is mounted on the upper door body 2 or the lower door body 3 and is electrically connected to the control unit. The position detection element can be a micro switch, a Hall effect proximity switch, or a photoelectric sensor.

[0063] Specifically, a position detection element is installed on the upper door body 2 near the closing end point of the left sealing plate 801, and another position detection element is installed at the closing end point of the right sealing plate 802. When the left sealing plate 801 and the right sealing plate 802 slide to the closed position, the position detection element is triggered, and the position detection element sends a position signal to the control unit. After issuing a closing command, if the control unit does not receive the position signal from the position detection element within a set time, it determines that the left sealing plate 801 and the right sealing plate 802 have not closed properly, which may be due to jamming or a failure of the drive mechanism. At this time, the control unit issues an alarm signal and stops subsequent door opening actions to prevent damage caused by forcibly opening the door when the left sealing plate 801 and the right sealing plate 802 are not open. Conversely, if the position detection element is still in the triggered state after issuing an opening command, it is also determined to be a fault and an alarm is triggered. This embodiment realizes closed-loop feedback of the closed state of the left sealing plate 801 and the right sealing plate 802, improving the safety and reliability of the equipment.

[0064] The working process of this embodiment is as follows: Initial state: The door is closed, the left sealing plate 801 and the right sealing plate 802 are closed, the semi-groove wraps around the robot track 6, the elastic sealing gasket is tightly attached to the track, the lower ends of the two sealing plates are inserted into the guide groove of the lower door body 3, and the charging room is in a sealed state.

[0065] When the walking robot 4 approaches from the outside, the outer visual recognition sensor detects it, and the control unit commands the drive motor to reverse, causing the bidirectional lead screw to slide the left sealing plate 801 and right sealing plate 802 open in opposite directions. After the position detection element confirms that the opening is complete, the control unit commands the door to open. The walking robot 4 enters the charging chamber. After the inner visual recognition sensor detects that the walking robot 4 has fully entered, the control unit commands the door to close. After the door is closed, the control unit commands the drive motor to rotate forward, causing the left sealing plate 801 and right sealing plate 802 to slide and close towards each other. The positioning protrusion and groove guide the alignment, and after the two sealing plates are closed, the position detection element sends a position signal. The control unit maintains the state of the two sealing plates, waiting for the next action.

[0066] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A vertically opposing hinged door structure, characterized in that, include: gantry; It has a first passageway for walking robots to pass through; The upper door body is slidably mounted on the gantry along the vertical direction, and the upper door body has a second channel for the robot track to pass through; The lower door body is slidably mounted on the gantry along the vertical direction and is linked with the upper door body to achieve double-opening and closing; Second channel sealing device; It is installed inside the second channel to seal the second channel when the upper and lower doors are closed; The control unit is used to control the operation of the entire top-and-bottom opening and closing door structure.

2. The vertically opposing hinged door structure according to claim 1, wherein: The second channel sealing device includes: a left sealing plate, a right sealing plate, and a sealing plate driving mechanism; the left sealing plate and the right sealing plate are symmetrically arranged on the left and right sides of the robot track, and are slidably installed on the upper door body in a direction perpendicular to the robot track; The sealing plate driving mechanism is mounted on the upper body and is connected to the left sealing plate and the right sealing plate in a transmission connection. It is used to drive the left sealing plate and the right sealing plate to slide towards each other or backwards in a direction perpendicular to the robot track. The left and right sealing plates are respectively provided with semi-grooves that match the shape of the robot track. When the left and right sealing plates slide to the closed position, the two semi-grooves are joined together and wrapped around the outer wall of the robot track, thereby sealing the second channel.

3. The vertically opposing hinged door structure according to claim 2, wherein: The sealing plate driving mechanism includes a left electric push rod and a right electric push rod; the left electric push rod and the right electric push rod are electrically connected to the control unit; the housing of the left electric push rod is fixed to the upper door body, and its push rod end is fixedly connected to the left sealing plate; the housing of the right electric push rod is fixed to the upper door body, and its push rod end is fixedly connected to the right sealing plate.

4. The vertically opposing hinged door structure according to claim 2, wherein: The sealing plate driving mechanism includes a drive motor and a bidirectional lead screw; the drive motor is electrically connected to the control unit; the drive motor is fixedly installed on the upper body; the output end of the drive motor is fixedly connected to the bidirectional lead screw; the two ends of the bidirectional lead screw are respectively threaded to the left sealing plate and the right sealing plate.

5. The vertically opposing hinged door structure according to claim 2, wherein: An elastic sealing gasket is provided on the side of the semi-groove corresponding to the robot track.

6. The vertically opposing hinged door structure according to claim 3, wherein: A visual recognition sensor; the visual recognition sensor is electrically connected to the control unit; two visual recognition sensors are respectively installed at the front and rear ends of the gantry for detecting the position of the walking robot.

7. The vertically opposing hinged door structure according to claim 2, wherein: A sealing groove is provided on the upper door body at the position corresponding to the left sealing plate and the right sealing plate; a sealing ring is provided between the left sealing plate and the upper door body, and between the right sealing plate and the upper door body; the sealing ring is installed in the sealing groove on the upper door body.

8. The vertically opposing hinged door structure according to claim 2, wherein: The left and right sealing plates are provided with matching positioning protrusions and positioning grooves on their opposing end faces to achieve precise alignment when closed.

9. The top-and-bottom double-opening door according to claim 2, characterized in that: The lower ends of the left sealing plate and the right sealing plate extend downward beyond the lower end face of the upper door body; a guide groove extending vertically is provided at the corresponding position on the upper end of the lower door body; the lower ends of the left sealing plate and the right sealing plate slide along the guide groove.

10. The top-and-bottom hinged door according to claim 2, characterized in that: It also includes at least one position detection element; the position detection element is installed on the upper part or the lower part and is electrically connected to the control unit, for detecting whether the left sealing plate and the right sealing plate have slid to the closed position.

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