Low-cost and high-reliability force control opening and closing mechanism and automatic control system

Abstract

The application relates to the technical field of urban drainage systems, and discloses a low-cost high-reliability force control opening and closing mechanism and an automatic control system, which comprises a supporting frame, an electrical control box is fixedly connected to the outside of the supporting frame, a flap body is installed on the outside of the supporting frame through threads, a mounting bracket is fixedly connected to the outside of the supporting frame, a guide wheel is rotatably connected to the inside of the fixed frame, a servo motor is fixedly connected to the outside of the fixed plate, a bearing bracket is fixedly connected to the outside of the fixed plate, a transmission mechanism is connected to the output end of the servo motor through a planetary reducer, a rotating rod is arranged in the transmission mechanism, a winch one and a winch two are fixedly connected to the two ends of the rotating rod through bearing brackets, and a steel rope is wound around the inside of the winch two and the winch one. Through mutual cooperation of the servo motor and the transmission mechanism, the problems of passive opening and closing of a traditional flap depending on water pressure and easy leakage are solved, and the system is suitable for the demand of a sewage pipe network.

Description

Technical Field

[0001] This invention relates to the field of urban drainage system technology, specifically to a low-cost, high-reliability force-controlled opening and closing mechanism and automatic control system. Background Technology

[0002] With increasingly stringent national environmental protection regulations, urban sewage treatment has become one of the core aspects of ecological environmental protection. As a key infrastructure for sewage collection and transportation, the flap gate components at the end of the urban sewage pipe network play an important role in controlling sewage discharge, preventing backflow of external water bodies, and avoiding the spread of odors within the pipe network. The operational stability and control precision of the flap gate directly determine the environmental benefits and operational efficiency of the urban sewage pipe network system, and are an important link in ensuring the quality of urban water environment.

[0003] Currently, water-pressure driven flap valves are widely used at the outlets of urban sewage pipe networks. These existing flap valves rely entirely on the water pressure generated by the flow of sewage inside the pipe for opening. When the water pressure is sufficient to overcome the valve's own weight, the friction of the seals, and external environmental pressure, it pushes the valve to rotate around its hinge point, opening it and allowing sewage to drain smoothly from the pipe network. When the sewage flow decreases or the water pressure drops to an insufficient level to maintain the valve's open position, the valve automatically rotates back to its original position under its own weight and the action of an auxiliary reset structure, completing the closing action to prevent external water from flowing back into the pipe network. Because these water-pressure driven flap valves require no additional power and have a relatively simple structure, they were widely used in the early construction of urban sewage pipe networks.

[0004] However, in the process of realizing the technical solution of this application, the inventors of this application discovered that the above-mentioned technology has at least the following technical problems: the existing water pressure driven free flap gate lacks active external force drive, the flap gate cannot achieve stable and reliable opening and closing action, and is prone to failure to close tightly, resulting in continuous leakage of sewage from the pipe network to the external environment. Summary of the Invention

[0005] This invention provides a low-cost, high-reliability force-controlled opening and closing mechanism and automatic control system, which solves the problem that existing water pressure-driven free flap gates lack active external force drive, making it impossible for the flap gates to achieve stable and reliable opening and closing actions, and easily leading to incomplete closure, resulting in continuous leakage of sewage from the pipeline network to the external environment.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a low-cost, high-reliability force-controlled opening and closing mechanism, comprising a support frame, an electrical control box fixedly connected to the outside of the support frame, a flap gate body threadedly mounted to the outside of the support frame, a mounting bracket fixedly connected to the outside of the support frame, a fixed frame fixedly connected to the lower surface of the mounting bracket, a guide wheel rotatably connected inside the fixed frame, an installation groove formed inside the mounting bracket, a fixed plate fixedly connected to the upper outside of the support frame, a servo motor fixedly connected to the outside of the fixed plate, a bearing bracket fixedly connected to the outside of the fixed plate, a transmission mechanism connected to the output end of the servo motor via a planetary reducer, a rotating rod disposed inside the transmission mechanism, the planetary reducer fixedly connected to the outside of the fixed plate, and a winch one and a winch two fixedly connected to both ends of the rotating rod via bearing brackets, with steel rope wound inside the winch one and the winch two.

[0007] By adopting the above technical solution, after the servo motor starts, its speed and torque are adjusted by the planetary reducer, and the rotating rod is driven to rotate through the transmission mechanism. The rotating rod further drives the winches at both ends to rotate synchronously, realizing the winding and unwinding of the steel cable, and thus pulling the flap gate body to complete the opening or closing action. The active external force driven by the servo motor replaces the traditional passive opening and closing method that relies on water pressure, allowing for precise control of the flap gate's opening and closing state. This avoids problems caused by insufficient or unstable water pressure leading to incomplete closure, fundamentally solving the hidden danger of sewage leakage in the pipe network. At the same time, the overall structural design is simple, balancing low cost and high reliability, and adapting to the usage needs of urban sewage pipe networks.

[0008] Preferably, the transmission mechanism includes a transmission component one, which includes a first gear. The interior of the first gear is connected to the output end of the servo motor, and the tooth ends of the first gear are meshed with a second gear. The exterior of the rotating rod is fixedly connected to the interior of the second gear.

[0009] Preferably, the transmission mechanism further includes a second transmission component, which includes a first bevel gear. The interior of the first bevel gear is connected to the output end of the servo motor. One side of the first bevel gear is meshed with a second bevel gear. The exterior of the second bevel gear is fixedly connected to a first connecting rod, and one end of the first connecting rod is fixedly connected to a second winch.

[0010] Preferably, a bevel gear three is meshed with the other tooth end of the bevel gear one, a connecting rod two is fixedly connected to the outside of the bevel gear three, a winch one is fixedly connected to one end of the connecting rod two, and an installation rod is rotatably connected between the connecting rod one and the connecting rod two.

[0011] Preferably, the electrical control box is equipped with an automatic control system.

[0012] Preferably, an automatic control system for a low-cost, high-reliability force-controlled opening and closing mechanism is provided. The automatic control system includes a PLC controller, a servo driver, and a remote communication module. The PLC controller controls the torque mode and position mode of the servo motor through the servo driver. The torque mode is used to achieve precise closing and overload protection by real-time detection of torque value when the door is closed. The position mode is used to control the opening angle of the door by pulse signal when the door is opened.

[0013] Preferably, the PLC controller has a built-in torque monitoring algorithm. When the flap door is closed, the servo driver detects the torque output of the servo motor in real time. When the detected torque exceeds the preset protection value and the flap door has not reached the fully closed position, the PLC controller triggers a shutdown protection and reports a fault signal to the management center through the remote communication module.

[0014] Preferably, the remote communication module is a 4G DTU module, which supports remote parameter setting, operation status monitoring and start / stop control via a mobile APP. The PLC controller establishes real-time data interaction with the mobile APP through the 4G DTU module to achieve 24 / 7 remote operation and maintenance management.

[0015] Preferably, the automatic control system further includes an adaptive torque adjustment function, wherein the PLC controller dynamically adjusts the torque set value according to the torque change data detected during the operation of the flap gate, so as to adapt to the loosening or deformation of the steel rope after long-term use and maintain the sealing performance of the flap gate when it is closed.

[0016] Preferably, the automatic control system integrates an environmental sensing module, which includes a water level sensor and a rainfall sensor. The PLC controller automatically determines whether it is a sunny or rainy day based on the data from the water level sensor and the rainfall sensor, and performs corresponding interception or sewage discharge operations to realize the intelligent operation of the flap gate.

[0017] This invention provides a low-cost, high-reliability force-controlled opening and closing mechanism and an automatic control system. It offers the following advantages:

[0018] 1. This invention solves the problem of traditional flap gates relying on water pressure for passive opening and closing and being prone to leakage by cooperating with a servo motor and transmission mechanism, and is suitable for the needs of sewage pipe networks.

[0019] 2. The torque control method of the flap door in this invention also has a protection function. When there is a foreign object blocking the door during the closing process, the torque will increase sharply. The servo drive will detect this in real time. When the torque exceeds the protection value and the flap door is not closed in place, the PLC will immediately stop the machine for protection and report the fault to the management department, so as to facilitate timely intervention and reduce the impact of the fault.

[0020] 3. This invention utilizes a servo motor torque and position control mode, combined with a mechanical transmission structure, to achieve precise control. When closing, the torque mode is switched, with the PLC monitoring the torque in real time and stopping as soon as the target is reached to ensure a seal. When opening, the position mode is switched, with pulse signals precisely controlling the opening angle. This eliminates the need for travel limit switches, fundamentally solving the drawbacks of traditional limit methods and significantly improving the stability and reliability of the flap gate operation. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of a low-cost, high-reliability force-controlled opening and closing mechanism according to the present invention.

[0022] Figure 2 This is a partial structural diagram of the mounting groove for a low-cost, high-reliability force-controlled opening and closing mechanism according to the present invention.

[0023] Figure 3 This is a partial structural diagram of the fixing plate of a low-cost, high-reliability force-controlled opening and closing mechanism according to the present invention.

[0024] Figure 4 This is a partial structural diagram of a transmission assembly of a low-cost, high-reliability force-controlled opening and closing mechanism according to the present invention.

[0025] Figure 5 This is an automatic control system architecture diagram of a low-cost, high-reliability force-controlled opening and closing mechanism according to the present invention.

[0026] The components include: 1. Support frame; 2. Electrical control box; 3. Flap gate body; 4. Mounting bracket; 5. Fixing frame; 6. Guide wheel; 7. Mounting groove; 8. Fixing plate; 9. Servo motor; 10. Planetary reducer; 11. Transmission component one; 111. First gear; 112. Second gear; 12. Bearing bracket; 13. Rotating rod; 14. Winch one; 15. Winch two; 16. Steel rope; 17. Transmission component two; 171. Bevel gear one; 172. Bevel gear two; 173. Connecting rod one; 174. Bevel gear three; 175. Connecting rod two; 176. Mounting rod. Detailed Implementation

[0027] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1

[0029] Please see the appendix Figure 1 - Appendix Figure 3This invention provides a low-cost, high-reliability force-controlled opening and closing mechanism, including a support frame 1. An electrical control box 2 is fixedly connected to the outside of the support frame 1. A flap gate body 3 is threadedly installed on the outside of the support frame 1. A mounting bracket 4 is fixedly connected to the outside of the support frame 1. A fixing frame 5 is fixedly connected to the lower surface of the mounting bracket 4. A guide wheel 6 is rotatably connected inside the fixing frame 5. A mounting groove 7 is opened inside the mounting bracket 4. A fixing plate 8 is fixedly connected to the outside of the upper side of the support frame 1. A servo motor 9 is fixedly connected to the outside of the fixing plate 8. A bearing bracket 12 is fixedly connected to the outside of the fixing plate 8. The output end of the servo motor 9 is connected to a transmission mechanism through a planetary reducer 10. A rotating rod 13 is provided inside the transmission mechanism. The planetary reducer 10 is fixedly connected to the outside of the fixing plate 8. Both ends of the rotating rod 13 are fixedly connected to a winch 14 and a winch 2 15 through the bearing bracket 12. Steel rope 16 is wound inside the winch 2 14 and the winch 14.

[0030] Specifically, the automatic control system integrated inside the electrical control box 2 can receive and process the mechanism's operating data in real time, providing control basis for subsequent operations such as mode switching and torque monitoring of the servo motor 9. The fixed frame 5 is used to limit the guide wheel 6, enabling the guide wheel 6 to rotate stably. At the same time, the mounting groove 7 inside the mounting bracket 4 provides a passage for the steel rope 16. With the guiding effect of the guide wheel 6, it can prevent the steel rope 16 from deviating or tangling during the traction of the flap gate body 3. The planetary reducer 10 can convert the high speed of the servo motor 9 into a large torque output, while reducing the speed to ensure that the transmission mechanism has enough power to drive the winch to rotate. It can also prevent the servo motor 9 from being damaged due to directly bearing a large load, thus improving the motor's service life. The bearing bracket 12 can reduce the frictional resistance when the rotating rod 13 rotates. When the transmission mechanism drives the rotating rod 13 to rotate, the first winch 14 and the second winch 15 rotate synchronously. The opening and closing of the flap gate body 3 is achieved by the winding and unwinding of the steel rope 16, making the flap gate body 3 evenly stressed. The support frame 1 is used to fix the mounting bracket 4.

[0031] Please see the appendix Figure 3 The transmission mechanism includes a transmission component 11, which includes a first gear 111. The interior of the first gear 111 is connected to the output end of the servo motor 9. The teeth of the first gear 111 are meshed with a second gear 112. The exterior of the rotating rod 13 is fixedly connected to the interior of the second gear 112.

[0032] Specifically, after the servo motor 9 adjusts its speed and torque through the planetary reducer 10, it drives the first gear 111 to rotate. The first gear 111 drives the second gear 112 to rotate. When the second gear 112 rotates under the meshing drive of the first gear 111, it directly drives the rotating rod 13 to rotate synchronously. Combined with the support of the bearing bracket 12 on the rotating rod 13, it drives the winches 14 and 15 at both ends to rotate synchronously. The opening and closing of the flap gate body 3 is achieved by the winding and unwinding of the steel rope 16.

[0033] Example 2

[0034] Please see the appendix Figure 4 The transmission mechanism also includes a second transmission assembly 17, which includes a first bevel gear 171. The interior of the first bevel gear 171 is connected to the output end of the servo motor 9. One side of the first bevel gear 171 is meshed with a second bevel gear 172. The exterior of the second bevel gear 172 is fixedly connected to a first connecting rod 173. One end of the first connecting rod 173 is fixedly connected to a second winch 15. The other side of the first bevel gear 171 is meshed with a third bevel gear 174. The exterior of the third bevel gear 174 is fixedly connected to a second connecting rod 175. One end of the second connecting rod 175 is fixedly connected to a first winch 14. A mounting rod 176 is rotatably connected between the first connecting rod 173 and the second connecting rod 175.

[0035] Specifically, since one tooth end of bevel gear 171 meshes with bevel gear 2 172 and the other tooth end meshes with bevel gear 3 174, and bevel gear 2 172 and bevel gear 3 174 are located on both sides of bevel gear 171, the connecting rod 173 fixed to the outside of bevel gear 2 172 and the connecting rod 2 175 fixed to the outside of bevel gear 3 174 will rotate synchronously in the opposite direction with the corresponding bevel gear. One end of connecting rod 173 is connected to winch 2 15 and the other end of connecting rod 2 175 is connected to winch 14. Therefore, winch 14 and winch 2 15 will rotate relative to each other as the connecting rods rotate. One winds the rope and the other winds the rope. Then, through the differentiated traction of steel rope 16, the flap gate body 3 is driven to complete the tilting opening and closing or fine adjustment action at a specific angle.

[0036] Please see the appendix Figure 5 An automatic control system for a low-cost and high-reliability force-controlled opening and closing mechanism is provided. The electrical control box 2 is equipped with an automatic control system, which includes a PLC controller, a servo driver and a remote communication module. The PLC controller controls the torque mode and position mode of the servo motor 9 through the servo driver. The torque mode is used to achieve precise closing and overload protection by real-time detection of torque value when the door is closed. The position mode is used to control the opening angle of the door by pulse signal when the door is opened.

[0037] Specifically, the PLC controller is electrically connected to the servo driver, which controls the operation of the servo motor 9. In torque mode, the servo driver detects the torque output of the servo motor 9. When the flap gate body 3 closes, the PLC controller switches the servo motor 9 to torque mode, driving winches 14 and 15 to pull the flap gate body 3 via steel cable 16. After receiving the signal, the PLC controller cuts off the power supply to the servo motor 9 via a relay. The closing action is completed, and a fully closed signal is output to the indicator light, illuminating the green indicator light.

[0038] In position mode, the PLC controller sends a pulse signal to open the alarm door body 3 via the servo driver. After reaching the set angle, the PLC controller stops pulse output, the servo motor 9 stops, and the output signal is sent to the indicator light, illuminating the red indicator light.

[0039] The PLC controller has a built-in torque monitoring algorithm. When the flap door is closed, the servo driver detects the torque output of the servo motor 9 in real time. When the detected torque exceeds the preset protection value and the flap door has not reached the fully closed position, the PLC controller triggers the shutdown protection and reports the fault signal to the management center through the remote communication module.

[0040] Specifically, the servo driver calculates the real-time torque of the servo motor 9 through current feedback. When the torque exceeds the preset value and the encoder feedback shows that the flap door body 3 angle is greater than 5°, indicating that it is not fully closed, the PLC controller cuts off the power to the servo motor 9 via a relay, triggering a shutdown protection. The PLC controller sends a fault signal to the management center through the 4G DTU module. The signal includes a fault code, a timestamp, and flap door angle data.

[0041] The remote communication module is a 4G DTU module, which supports remote parameter setting, operation status monitoring and start / stop control via a mobile APP. The PLC controller establishes real-time data interaction with the mobile APP through the 4G DTU module to achieve 24 / 7 remote operation and maintenance management.

[0042] Specifically, the 4G DTU module establishes two-way communication with a mobile APP. The mobile APP sends control commands, including torque setting values, opening angle, and operating mode switching commands. The PLC controller updates the operating status data every second, including the door flap angle, torque value, and motor current. The data is uploaded to the cloud server through the 4G DTU module.

[0043] The automatic control system also includes an adaptive torque adjustment function. The PLC controller dynamically adjusts the torque setting value based on the torque change data detected during the operation of the flap gate, so as to adapt to the loosening or deformation of the steel rope 16 after long-term use and maintain the sealing performance of the flap gate when it is closed.

[0044] Specifically, the adaptive torque adjustment function is implemented through an embedded algorithm in the PLC controller. The algorithm statistically analyzes torque change data and records the peak torque and closing time. When a decrease in the peak torque or an extension of the closing time is detected, it indicates that the steel rope 16 has become loose or deformed. The PLC controller increases the torque setting value, and after adjustment, the servo driver controls the servo motor 9 with the new setting value.

[0045] The automatic control system integrates an environmental sensing module, which includes a water level sensor and a rainfall sensor. Based on the data from the water level sensor and the rainfall sensor, the PLC controller automatically determines whether it is a sunny or rainy day and executes corresponding interception or sewage discharge operations to realize the intelligent operation of the flap gate.

[0046] Specifically, the environmental sensing module includes a water level sensor and a rainfall sensor, which are connected to the PLC controller. The water level sensor is installed downstream of the flap gate body 3 to detect the water level in the pipeline, and the rainfall sensor is installed on the top of the support frame 1 to detect the rainfall. The PLC controller collects sensor data once per minute. When the water level exceeds the set threshold, it is determined to be a rainy day, and the PLC controller sends a pulse signal to drive the servo motor 9 to open the flap gate body 3 to achieve sewage discharge. When the water level is lower than the set threshold, it is determined to be a sunny day, and the PLC controller switches to torque mode to close the flap gate body 3 to achieve flow interception.

[0047] Working principle: First, the steel rope 16 is passed through the mounting groove 7 and the guide wheel 6 and wound and fixed to the force point of the flap gate body 3. When the second winch 15 and the first winch 14 need to rotate in the same direction, the servo motor 9 drives the first gear 111 to rotate through the planetary reducer 10. The rotation of the first gear 111 will drive the second gear 112 to rotate, which will drive the rotating rod 13 to rotate. The rotation of the rotating rod 13 will drive the second winch 15 and the first winch 14 to rotate. Since one end of the steel rope 16 is wound and fixed on the first winch 14 and the second winch 15, and the other end is connected to the force point of the flap gate body 3, the flap gate is opened and closed by rotating the winches.

[0048] When winch 2 15 and winch 14 need to rotate relative to each other, servo motor 9 drives bevel gear 171 to rotate through planetary reducer 10. The rotation of bevel gear 171 will drive bevel gear 2 172 and bevel gear 3 174 to rotate, which in turn drives connecting rod 1 173 and connecting rod 2 175 to rotate. Since connecting rod 1 173 and connecting rod 2 175 are respectively connected to winch 2 15 and winch 14, the rotation of winch 2 15 and winch 14 will drive steel rope 16 to rotate. Since the other end of steel rope 16 is connected to the force point of the flap gate body 3, the rotation of the winches can realize the opening and closing of the flap gate.

[0049] The automatic control system is integrated into the electrical control box 2, along with leakage protection switches, buttons, indicator lights, relays, and a 4G DTU remote communication module. When the flap door body 3 is closed, the PLC controller switches the servo motor 9 to torque mode, driving winches 14 and 15 to pull the flap door body 3 to close via steel cable 16. The servo driver monitors the torque in real time. When the torque reaches the set value, it indicates that the flap door body 3 has pressed the sealing strip tightly. After receiving the signal, the PLC controller stops the closing action and outputs a fully closed signal. If an obstruction is encountered during the closing process and the torque exceeds the protection value, the PLC controller immediately stops the servo motor 9, triggers the protection mechanism, and reports the fault to the management center via the 4G DTU module. When the flap door body 3 is opened, the PLC controller switches the servo motor 9 to position mode, controls the winch rotation via pulse signals, precisely adjusts the opening angle of the flap door body 3, and stops after reaching the set angle, outputting a fully open signal.

[0050] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A low-cost, high-reliability force-controlled opening and closing mechanism, comprising a support frame (1), characterized in that, An electrical control box (2) is fixedly connected to the outside of the support frame (1). A flap gate body (3) is threadedly installed on the outside of the support frame (1). A mounting bracket (4) is fixedly connected to the outside of the support frame (1). A fixing frame (5) is fixedly connected to the lower surface of the mounting bracket (4). A guide wheel (6) is rotatably connected inside the fixing frame (5). An installation groove (7) is opened inside the mounting bracket (4). A fixing plate (8) is fixedly connected to the outside of the upper side of the support frame (1). A servo is fixedly connected to the outside of the fixing plate (8). The servo motor (9) is fixedly connected to the outside of the fixed plate (8) with a bearing bracket (12). The output end of the servo motor (9) is connected to a transmission mechanism through a planetary reducer (10). A rotating rod (13) is provided inside the transmission mechanism. The planetary reducer (10) is fixedly connected to the outside of the fixed plate (8). Both ends of the rotating rod (13) are fixedly connected to a winch one (14) and a winch two (15) through the bearing bracket (12). Steel ropes (16) are wound inside the winch two (15) and the winch one (14).

2. The low-cost, high-reliability force-controlled opening and closing mechanism according to claim 1, characterized in that, The transmission mechanism includes a transmission component (11), which includes a first gear (111). The interior of the first gear (111) is connected to the output end of the servo motor (9). The tooth end of the first gear (111) is meshed with a second gear (112). The exterior of the rotating rod (13) is fixedly connected to the interior of the second gear (112).

3. The low-cost, high-reliability force-controlled opening and closing mechanism according to claim 1, characterized in that, The transmission mechanism further includes a second transmission component (17), which includes a first bevel gear (171). The interior of the first bevel gear (171) is connected to the output end of the servo motor (9). One side of the first bevel gear (171) is meshed with a second bevel gear (172). The exterior of the second bevel gear (172) is fixedly connected to a first connecting rod (173), and one end of the first connecting rod (173) is fixedly connected to a second winch (15).

4. The low-cost, high-reliability force-controlled opening and closing mechanism according to claim 3, characterized in that, The other tooth end of the first bevel gear (171) is meshed with the third bevel gear (174). The third bevel gear (174) is externally fixedly connected to the second connecting rod (175). One end of the second connecting rod (175) is fixedly connected to the first winch (14). The first connecting rod (173) and the second connecting rod (175) are rotatably connected to the mounting rod (176).

5. The low-cost, high-reliability force-controlled opening and closing mechanism according to claim 1, characterized in that, The electrical control box (2) is equipped with an automatic control system.

6. An automatic control system for a low-cost, high-reliability force-controlled opening and closing mechanism, characterized in that, The automatic control system, which is applied to a low-cost and high-reliability force-controlled opening and closing mechanism as described in claim 5, includes a PLC controller, a servo driver, and a remote communication module. The PLC controller controls the torque mode and position mode of the servo motor (9) through the servo driver. The torque mode is used to achieve precise closing and overload protection by real-time detection of torque value when the door is closed. The position mode is used to control the opening angle through pulse signal when the door is opened.

7. The automatic control system for a low-cost, high-reliability force-controlled opening and closing mechanism according to claim 6, characterized in that, The PLC controller has a built-in torque monitoring algorithm. When the flap door is closed, the servo driver detects the torque output of the servo motor (9) in real time. When the torque exceeds the preset protection value and the flap door has not reached the fully closed position, the PLC controller triggers the shutdown protection and reports the fault signal to the management center through the remote communication module.

8. The automatic control system for a low-cost, high-reliability force-controlled opening and closing mechanism according to claim 6, characterized in that, The remote communication module is a 4G DTU module, which supports remote parameter setting, operation status monitoring and start / stop control via a mobile APP. The PLC controller establishes real-time data interaction with the mobile APP through the 4G DTU module to achieve 24 / 7 remote operation and maintenance management.

9. The automatic control system for a low-cost, high-reliability force-controlled opening and closing mechanism according to claim 6, characterized in that, The automatic control system also includes an adaptive torque adjustment function. The PLC controller dynamically adjusts the torque setting value based on the torque change data detected during the operation of the flap gate, so as to adapt to the loosening or deformation of the steel rope after long-term use and maintain the sealing performance of the flap gate when it is closed.

10. The automatic control system for a low-cost, high-reliability force-controlled opening and closing mechanism according to claim 6, characterized in that, The automatic control system integrates an environmental sensing module, which includes a water level sensor and a rainfall sensor. The PLC controller automatically determines whether it is a sunny or rainy day based on the data from the water level sensor and the rainfall sensor, and performs corresponding interception or sewage discharge operations to realize the intelligent operation of the flap gate.

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