Side hung door torque detection device

Abstract

The utility model provides a vertical hinged door torque detection device, which relates to the technical field of vertical hinged door safety detection and comprises an encoder arranged in a vertical hinged door motor and used for acquiring position information of the vertical hinged door motor; and the driver is connected with the vertical hinged door motor and is at least used for acquiring the position information and the current information of the vertical hinged door motor, calculating and analyzing the output of the vertical hinged door motor and the stress of the obstacle according to the position information and the current information, and controlling the action of the vertical hinged door motor according to the stress of the obstacle. According to the utility model, the re-opening action of the vertical hinged door motor is controlled by acquiring the stress of the obstacle, so that the clamping risk of small obstacles (such as fingers) can be avoided, and the accuracy and the safety of detecting the obstacle of the vertical hinged door are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of safety detection of swing doors, and particularly relates to a torque detection device for swing doors. Background Technique

[0002] In the traditional mechanical structure of elevator door opening and closing, the door panel moves left and right. When there is an obstacle between the two door panels, the torque of the door panel on the obstacle can be converted into the output force of the motor through conversion. Thus, the clamping force of the door panel on the obstacle can be intuitively judged from the Q-axis current of the motor, and the passenger torque protection can be carried out through current setting. As Figure 1 shown.

[0003] In the use of swing doors, the current mainstream solution still adopts the traditional solution, judging the clamping force through the output force of the motor, which cannot truly reflect the torque received by the obstacle, and is not sensitive to small obstacles. In actual working conditions, the items clamped are generally fingers or other small items. If the traditional solution is still used to judge the clamping force, it will greatly increase the danger of clamping small items such as fingers, and the safety performance is poor.

[0004] In the current mainstream solution, the swing door motor of the villa elevator adopts a brushless DC motor, and the position of the rotor magnetic pole is judged through Hall components for commutation control. This solution has a simple control algorithm, but it cannot identify the clamping of small obstacles (such as fingers), and has large torque fluctuations, certain noise, and low motor operation efficiency. And swing doors are often used in the scenario of home villa elevators, and users pay particular attention to the performance in terms of noise, energy saving, and safety.

[0005] Based on this, this application is proposed. Content of the Utility Model

[0006] The utility model provides a torque detection device for swing doors to solve at least one problem in the background technique, so as to improve the safety performance of the swing doors of flat elevators.

[0007] To achieve the above object, the utility model provides the following technical solutions:

[0008] The torque detection device for swing doors includes:

[0009] An encoder, arranged in the swing door motor, for collecting the position information of the swing door motor;

[0010] A driver, connected to the swing door motor, at least for obtaining the position information and current information of the swing door motor, calculating and analyzing to obtain the output force of the swing door motor and the force received by the obstacle, and controlling the action of the swing door motor according to the force received by the obstacle.

[0011] The present invention provides a preferred solution, and the driver includes:

[0012] A current sampling module is used to collect the current value I of the swing door motor at present.

[0013] An angle analysis module is used to analyze the angle of the motor position information obtained by the encoder to obtain the current angle value θ of the swing door.

[0014] The main chip is used to calculate the output force value F1 of the motor according to the current value I of the swing door motor at present, calculate the force value F2 of the obstacle according to the current angle value θ of the swing door, and send a re-opening operation instruction to the motor control module when the force value F2 is greater than the set value.

[0015] The motor control module is used to receive the instruction from the main chip and control the swing door motor to perform a re-opening operation when receiving the re-opening operation instruction.

[0016] The present invention provides a preferred solution. The main chip includes a position regulator, a speed loop PI regulator, and a current loop PI regulator. The encoder feeds the collected position information back to the position regulator as the position loop. By obtaining the speed feedback from the encoder position information and acting on the given speed through the speed loop PI regulator, the current loop given value is obtained to control the swing door motor.

[0017] The present invention provides a preferred solution. The motor control module adopts an SVPWM controller, and the swing door motor adopts a permanent magnet synchronous motor.

[0018] The present invention provides a preferred solution. The encoder adopts a magnetic encoder.

[0019] Compared with the prior art, the above technical solution has the following advantages:

[0020] (1) By obtaining the force of the obstacle, the present invention controls the re-opening action of the swing door motor, which can avoid the risk of clamping small obstacles (such as fingers) and improve the accuracy and safety of obstacle detection of the swing door.

[0021] (2) By cooperating with the encoder, the present invention realizes the FOC control of the swing door motor, which has the advantages of small torque ripple, high efficiency, and low noise. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0023] Figure 1 Schematic diagram of the opening drive and door machine control of a traditional elevator;

[0024] Figure 2 Force decomposition diagram of the torque detection device for a swing door provided by a specific embodiment of the present invention;

[0025] Figure 3 Control block diagram of the torque detection device for a swing door provided by a specific embodiment of the present invention;

[0026] Figure 4 Motor control schematic diagram of the torque detection device for a swing door provided by a specific embodiment of the present invention.

[0027] Reference numerals: left door panel 1, right door panel 2, obstacle 3, swing door motor 4, A-axis motor 41, B-axis motor 42, encoder 5, driver 6, current sampling module 61, angle analysis module 62, main chip 63, motor control module 64. Specific embodiments

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] Embodiment 1

[0030] Please refer to Figure 2 , in this embodiment, the swing door of the elevator is closed and opened by the swing door motor 4. The swing door adopts a left door panel 1 driven by an A-axis motor 41 and a right door panel 2 driven by a B-axis motor 42. Through the analysis of the mechanical structure and force of the elevator swing door, the smaller the obstacle 3 of the swing door, the smaller the θ angle in the figure when the obstacle 3 is caught. When the motor output is the same, the smaller the θ angle, the greater the clamping force on the obstacle 3. In actual working conditions, the items caught are generally fingers or other small items. If the traditional method is still used to judge the clamping force, the risk of fingers and other small items being caught will be greatly increased. In this embodiment, by decomposing the torque and using the decomposed torque as the judged resistance torque, the purpose of balanced clamping force during the opening and closing of the door is achieved. Assume that the motor output is F1 and the clamping force on the obstacle 3 is F2, F2 = F1 / sinθ. By monitoring the magnitude of the output of F2, it is judged whether a foreign object is caught, and thus whether a re-opening action is required.

[0031] Therefore, according to the above principle, this embodiment provides a torque detection device for a swing door, which mainly includes: an encoder 5, disposed inside the swing door motor 4, for collecting the position information of the swing door motor 4; a driver 6, connected to the swing door motor 4, at least for obtaining the position information and current information of the swing door motor 4, calculating and analyzing to obtain the output force of the swing door motor 4 and the force on the obstacle 3, and controlling the operation of the swing door motor 4 according to the force on the obstacle 3. By obtaining the force on the obstacle 3 to control the re-opening action of the swing door motor 4 in this embodiment, the risk of pinching small obstacles 3 (such as fingers) can be avoided, and the accuracy and safety of obstacle 3 detection for the swing door can be improved.

[0032] Please refer to Figure 3 , the driver 6 of this embodiment specifically adopts the following circuit modules:

[0033] A current sampling module 61, for real-time collecting the current value I of the swing door motor 4;

[0034] An angle parsing module 62, for parsing the motor position information obtained by the encoder 5 to obtain the current angle value θ of the swing door;

[0035] A main chip 63, for calculating the output force value F1 of the motor according to the current value I of the swing door motor 4, calculating the force value F2 of the obstacle 3 according to the current angle value θ of the swing door, and when the force value F2 is greater than the set value, sending a re-opening operation instruction to the motor control module 64;

[0036] A motor control module 64, for receiving instructions from the main chip 63 and controlling the swing door motor 4 to perform a re-opening operation when receiving the re-opening operation instruction.

[0037] In this embodiment, the motor control module 64 is connected to the stator winding of the swing door motor 4 through a power line, the current sampling module 61 is connected to the stator winding of the swing door motor 4 through a power line, and the angle parsing module 62 is connected to the encoder 5 of the swing door motor 4 through an encoder line.

[0038] This embodiment realizes the FOC control of the swing door motor 4 through cooperation with the encoder 5. It has the advantages of small torque ripple, high efficiency, and low noise.

[0039] In this embodiment, the swing door is driven to detect the current value I of the swing door motor 4 through a power line. Since the motor output torque is proportional to the current, the output force F1 of the motor at this time is calculated. The current angle value θ of the swing door is detected through an encoder line, and the force F2 on the obstacle 3 can be calculated through a formula. If the main chip 63 determines that the force value is greater than the set value, the swing door motor 4 is controlled by the motor control module 64 to perform a re-opening operation to prevent the object from being damaged due to excessive clamping force.

[0040] Embodiment 2

[0041] Please refer to Figure 4 This embodiment includes the technical solution of Embodiment 1 and also has the following differences: In this embodiment, the motor control module 64 uses an SVPWM controller, and the swing door motor 4 uses a permanent magnet synchronous motor. The main chip 63 has a position regulator, a speed loop PI regulator, and a current loop PI regulator; the encoder 5 feeds the collected position information back to the position regulator as the position loop; the speed feedback is obtained from the position information of the encoder 5 and acts on the given speed through the speed loop PI regulator to obtain the current loop given. The three-phase current undergoes CLARK transformation and PARK transformation through the angle information obtained by the encoder 5 to obtain the feedback currents of the Q-axis and D-axis. After acting on the current loop PI regulator, V d and V q are calculated. Then, through the inverse PARK transformation, V α and V β are obtained. After passing through the SVPWM algorithm, the three-phase output duty ratio is obtained to control the motor. In this embodiment, a self-tuning encoder 5 is added after the swing door motor 4. Considering that the ordinary encoder 5 requires a pole self-learning operation on site, which increases the difficulty of debugging, the self-tuning encoder 5 (magnetic encoder 5) of another patent of the applicant (publication number: CN117191091A, name: magnetic encoder 5, motor, elevator door machine and its control device) is used as the position feedback element in this embodiment, which does not require debugging and improves the installation efficiency.

[0042] In each embodiment of this specification, the key points are the differences from other embodiments. For the same or similar parts between the embodiments, reference can be made to each other.

[0043] The swing door torque detection device provided by the present application has been introduced in detail above. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present application, several improvements and modifications can still be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A torque detection device for a side-hung door, characterized in that, Including: An encoder, disposed within the swing door motor, for collecting the position information of the swing door motor; A driver, connected to the swing door motor, at least for obtaining the position information and current information of the swing door motor, calculating and analyzing to obtain the output force of the swing door motor and the force on the obstacle according to the position information and current information, and controlling the operation of the swing door motor according to the force on the obstacle.

2. The torque detection device for a side-hung door according to claim 1, characterized in that, The driver includes: A current sampling module, for collecting the current value I of the swing door motor at present; An angle analysis module, for analyzing the angle of the motor position information obtained by the encoder to obtain the current angle value θ of the swing door; A main chip, for calculating the output force value F1 of the motor according to the current value I of the swing door motor at present, calculating the force value F2 of the obstacle according to the current angle value θ of the swing door, and when the force value F2 is greater than the set value, sending a re-opening operation instruction to the motor control module; A motor control module, for receiving the instruction from the main chip and controlling the swing door motor to perform a re-opening operation when receiving the re-opening operation instruction.

3. The torque detection device for a side-hung door according to claim 2, wherein The main chip includes a position regulator, a speed loop PI regulator, and a current loop PI regulator; the encoder feeds back the collected position information as the position loop to the position regulator; by obtaining the speed feedback from the encoder position information and acting on the given speed through the speed loop PI regulator, the current loop given is obtained to control the swing door motor.

4. The torque detection device for a side-hung door according to claim 3, wherein, The motor control module adopts an SVPWM controller, and the swing door motor adopts a permanent magnet synchronous motor.

5. The torque detection device for a side-hung door according to claim 1, wherein The encoder adopts a magnetic encoder.

6. The torque detection device for a side-hung door according to claim 2, wherein The motor control module is connected to the swing door motor through a power line.

7. The torque detection device for a side hung door according to claim 2, wherein, The current sampling module is connected to the swing door motor through a power line.

8. The torque detection device for a side-hung door according to claim 2, wherein, The angle analysis module is connected to the encoder of the swing door motor through an encoder line.

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