Automatic door opening and closing mechanism and door box equipment

Abstract

The utility model relates to an automatic door opening and closing mechanism and door box equipment, which can realize full-angle automatic door opening and closing, improve user experience and improve safety performance. The automatic door opening and closing mechanism comprises a hinge assembly; the gravity balance assembly comprises a pull rope connected with the hinge assembly or used for being connected with the door body assembly and an elastic piece used for being connected with the box body frame, and the elastic piece is connected to the pull rope and used for applying tension torque opposite to the gravity torque of the door body assembly to the door body assembly; the bypass driving system comprises a driving motor and a force transmission assembly which is in driving connection with the driving motor; the force transmission assembly is located on the side of the gravity balance assembly and connected with a connecting point on the gravity balance assembly so as to drive the connecting point to move under driving of the driving motor, and the force transmission assembly is used for increasing or reducing the tension torque applied to the door body assembly by the gravity balance assembly, so that the motion state of the door body assembly is changed.

Description

Technical Field

[0001] This utility model relates to the field of home appliance technology, and in particular to an automatic door opening and closing mechanism and door box device. Background Technology

[0002] Door-mounted appliances such as built-in dishwashers are common household appliances. Typically, these appliances automatically open and close their doors using a push-rod mechanism on top of the appliance. However, existing push-rod mechanisms have several drawbacks. First, the push-rod extends too far after pushing the door open, affecting aesthetics. Second, the existing mechanism is limited to a small angle range for automatic opening and closing; the remaining angles still require manual operation, which often involves overcoming significant lock force, resulting in a poor user experience. Furthermore, during automatic closing, the push-rod mechanism in existing systems is usually rigidly connected to the lock to pull the door shut. If the user's hand is positioned between the door and the appliance at this point, it could easily pinch their hand, posing a significant safety hazard. Utility Model Content

[0003] Therefore, it is necessary to address the problems of existing push rod mechanisms that can only achieve automatic door opening and closing within a small angle range, resulting in poor user experience and safety hazards. This utility model provides an automatic door opening and closing mechanism and door box device that can achieve automatic door opening and closing at all angles, improving user experience and enhancing safety performance.

[0004] In one embodiment of this application, the present invention provides an automatic door opening and closing mechanism for being disposed between a housing frame and a door assembly, comprising:

[0005] A hinge assembly for connecting the door assembly and the housing frame to allow the door assembly to rotate about the housing frame to open or close;

[0006] A gravity balancing assembly includes a pull cord for connection to the door assembly or the hinge assembly and an elastic element for connection to the housing frame, the elastic element being connected to the pull cord for applying a pulling torque to the door assembly in the opposite direction to the gravitational torque of the door assembly; and

[0007] A bypass drive system includes a drive motor and a force transmission component connected to the drive motor. The force transmission component is located beside the gravity balance component and connected to a connection point on the gravity balance component. Under the drive of the drive motor, the connection point is moved to increase or decrease the pulling torque applied by the gravity balance component to the door component, thereby changing the motion state of the door component.

[0008] According to one embodiment of this application, the force transmission component is a linear transmission mechanism; the linear transmission mechanism includes a lead screw connected to the drive motor and a nut fitted on the lead screw, the nut being positioned at the connection point on the gravity balance component.

[0009] According to one embodiment of this application, the connection point is located at the connection between the elastic element and the pull rope; or, the connection point is located at the middle part of the pull rope. According to one embodiment of this application, the elastic element is a tension spring, the fixed end of the tension spring is used for fixed connection to the housing frame, and the free end of the tension spring is connected to the pull rope and the nut.

[0010] According to one embodiment of this application, the lead screw is arranged in parallel with the tension spring.

[0011] According to one embodiment of this application, the nut is rotatably connected to the free end of the tension spring.

[0012] According to one embodiment of this application, the hinge assembly includes a hinge base for fixed connection with the box frame, a hinge bracket for fixed connection with the door assembly, and a pivot for rotatably connecting the hinge bracket to the hinge base; the two ends of the pull rope are respectively limited and connected to the hinge bracket and the free end of the tension spring.

[0013] According to one embodiment of this application, the gravity balancing assembly further includes a pulley assembly for mounting on the housing frame, the pulley assembly being arranged between the free end of the tension spring and the hinge bracket, the pull rope passing around the pulley assembly such that the direction of the tension force applied by the pull rope to the tension spring is always consistent with the axial direction of the tension spring.

[0014] According to one embodiment of this application, the pulley assembly includes an adjusting pulley arranged adjacent to the axis of the tension spring and a fixed pulley arranged adjacent to the hinge bracket. The pull rope extends from the free end of the tension spring, passing successively over the adjusting pulley and the fixed pulley to the hinge bracket. The adjusting pulley includes an adjusting screw arranged parallel to the lead screw, a pulley shaft threaded to the adjusting screw, a pulley body rotatably fitted onto the pulley shaft and through which the pull rope passes, and a slide rail extending along the axial direction of the tension spring. The pulley shaft is slidably inserted into the slide rail, such that the pulley shaft and the adjusting screw cooperate to form a lead screw drive.

[0015] According to one embodiment of this application, a door lock and door sealing system is also included, the door lock and door sealing system including a door lock assembly for releasably locking the door assembly to the housing frame and a door sealing assembly for sealing the gap between the housing frame and the door assembly; the door lock assembly has a first state and a second state, and the door lock force when the door lock assembly is in the first state is greater than the door lock force when the door lock assembly is in the second state.

[0016] According to one embodiment of this application, the drive motor has a built-in Hall sensor; the automatic door opening and closing mechanism further includes a hovering micro switch for being triggered by the door assembly in a hovering position and a hinge micro switch for being triggered by the door assembly in an open position.

[0017] According to another aspect of this application, one embodiment of this application further provides a door box device, including:

[0018] Box frame;

[0019] Door components; and

[0020] The automatic door opening and closing mechanism described above is disposed between the housing frame and the door assembly.

[0021] In summary, the bypass drive system of this application only requires a small force to be applied to the pull rope and / or the elastic element to change the magnitude of the pulling torque, thereby disrupting the torque balance and realizing the automatic opening and closing of the door box device. Therefore, the drive motor in the bypass drive system of this application does not require a large power, but only needs to provide a small driving force to disrupt the hovering balance. The requirements for the drive motor are low, which helps to reduce costs and facilitates implementation.

[0022] Furthermore, since the bypass drive system of this application only needs to apply driving force to the connection between the elastic element and the pull rope in the gravity balance component, the bypass drive system of this application can be integrated into the housing frame, avoiding visibility during use, resulting in a simple and aesthetically pleasing appearance and enhancing the sense of intelligent technology. At the same time, the door housing device of this application retains the traditional hinge spring system, so that manual opening and closing with a hovering function can still be completed even when the drive motor in the bypass drive system is not operating; that is to say, the automatic door opening and closing mechanism of this application can meet both manual and fully automatic door opening and closing needs. Attached Figure Description

[0023] Figure 1A A schematic diagram showing the curves of the tension torque applied to the hinge spring system and the gravitational torque of the door assembly as a function of the door opening angle;

[0024] Figure 1BA schematic diagram showing the ratio of the tension torque applied to the hinge spring system to the gravitational torque of the door assembly as a function of the door opening angle;

[0025] Figure 2 This is a perspective view of a door box device according to an embodiment of this application;

[0026] Figure 3 A partially enlarged schematic diagram of the door assembly in a hovered state in the door box device according to the above embodiments of this application is shown;

[0027] Figure 4 A partially enlarged schematic diagram of the door assembly in the closed state in the door box device according to the above embodiments of this application is shown;

[0028] Figure 5 A partially enlarged schematic diagram of the door assembly in the open state in the door box device according to the above embodiments of this application is shown;

[0029] Figure 6 A schematic diagram of the adjustment of the adjusting pulley of the automatic door opening and closing mechanism in the door box device according to the above embodiments of this application is shown;

[0030] Figure 7 This is a flowchart illustrating an automatic door opening and closing method according to an embodiment of this application;

[0031] Figure 8 An example of the automatic door opening step in the automatic door opening and closing method according to the above embodiments of this application is shown;

[0032] Figure 9 An example of the automatic door closing step in the automatic door opening and closing method according to the above embodiments of this application is shown.

[0033] Explanation of main component symbols: 1. Automatic door opening and closing mechanism; 10. Gravity balance assembly; 11. Hinge assembly; 111. Hinge base; 112. Hinge bracket; 113. Rotating shaft; 12. Pull rope; 13. Elastic element; 130. Tension spring; 131. Fixed end; 132. Free end; 14. Pulley assembly; 141. Adjusting pulley; 1411. Adjusting screw; 1412. Pulley shaft; 1413. Pulley body; 1414. Slide rail; 1415. Reinforcing plate; 142. Fixed pulley; 20. Bypass drive system; 21. Drive motor; 22. Lead screw; 23. Nut; 30. Door lock and door seal system; 31. Door lock assembly; 32. Door seal assembly; 40. Hovering micro switch; 50. Hinge micro switch; 2. Box frame; 3. Door assembly.

[0034] The above description of the main component symbols, together with the accompanying drawings and specific embodiments, provides a further detailed explanation of this utility model. Detailed Implementation

[0035] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0036] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0037] Furthermore, 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0039] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0040] In some door frame devices, the suspension and non-suspended position of the door assembly are achieved by balancing or differentiating the torque generated by a hinge spring system with the door's weight torque. This hinge spring system mainly consists of a spring, a cord, and a hinge. The hinge is positioned between the frame and the door assembly, allowing the door assembly to pivot relative to the frame to change the door angle. The spring connects to the hinge via the cord to apply torque to the hinge. As the door angle changes, the weight G of the door assembly remains constant, but the lever arm Lg changes, causing the gravitational torque M1 = G * Lg to change with the door angle. Simultaneously, the tension in the cord changes with the door angle, causing the tension F exerted by the spring on the hinge through the cord and the lever arm Lf of the cord to both change. Therefore, the tension torque M2 = F * Lf also changes with the door angle.

[0041] Thus, by designing the hinge spring system parameters, it is generally possible to achieve M2≈M1 except for small angles, with its curve roughly varying with the door opening angle as shown in the figure. Figure 1A and 1B As shown: In areas outside the small angle, the existing hinge spring system can already achieve M2≈M1. The small difference can be compensated by friction to achieve torque balance hovering outside the small angle; while torque balance hovering within the small angle can be achieved by the action of door seal and door lock.

[0042] However, while this hinge spring system can allow the door to hover at all angles, it cannot automatically open or close the door. Therefore, the applicant has designed an automatic door opening and closing mechanism and door housing device that can achieve automatic opening and closing at all angles, improving user experience and enhancing safety performance.

[0043] Specifically, see the attached document. Figures 2 to 6As shown, one embodiment of this application provides a door cabinet device, which may include a cabinet frame 2 with an opening, a door assembly 3 for covering the opening of the cabinet frame 2, and an automatic door opening and closing mechanism 1 disposed between the cabinet frame 2 and the door assembly 3, so as to realize automatic door opening and closing at all angles. It is understood that the door cabinet device of this application may be implemented as a sink dishwasher or refrigerator, etc.; in addition, the door cabinet device of this application may also include, but is not limited to, a functional body capable of realizing functions such as washing dishes or refrigeration, which will not be elaborated here.

[0044] More specifically, such as Figures 3 to 6 As shown, the automatic door opening and closing mechanism 1 may include a hinge assembly 11, a gravity balancing assembly 10, and a bypass drive system 20. The hinge assembly 11 is used to connect the door body assembly 3 and the housing frame 2, so that the door body assembly 3 can rotate around the housing frame 2 to open or close. The gravity balancing assembly 10 includes a pull cord 12 connected to the hinge assembly 11 or for connecting to the door body assembly 3, and an elastic member 13 for connecting to the housing frame 2. The elastic member 13 is connected to the pull cord 12 and is used to apply a pulling torque M2 to the door body assembly 3 in the opposite direction to the gravitational torque M1 of the door body assembly 3. The bypass drive system 20 includes a drive motor 21 and a force transmission component connected to the drive motor 21. The force transmission component is located beside the gravity balance component 10 and is connected to the connection point on the gravity balance component 10. Under the drive of the drive motor 21, the connection point is moved to increase or decrease the pulling torque M2 applied by the gravity balance component 10 to the door assembly 3, so that the motion state of the door assembly 3 changes.

[0045] Preferably, under the action of the elastic member 13, the pull cord 12 can apply a pulling torque M2 to the door assembly 3 that is balanced with the gravitational torque M1 of the door assembly 3, so that the door assembly 3 can be suspended relative to the box frame 2. The bypass drive system 20 can increase or decrease the pulling torque M2 applied to the door assembly 3 to break the torque balance and realize automatic opening and closing of the door at all angles. It is understood that in other examples of this application, the pulling torque M2 applied by the pull cord 12 to the door assembly 3 under the action of the elastic member 13 can be greater than or less than the gravitational torque M1 of the door assembly 3, and the automatic opening and closing of the door at all angles can still be achieved by means of the bypass drive system 20.

[0046] It is worth noting that, such as Figure 3As shown, when the door assembly 3 is suspended relative to the housing frame 2, the pulling torque M2 exerted by the pull rope 12 on the door assembly 3 under the action of the elastic element 13 is approximately equal to the gravitational torque M1 of the door assembly 3, thus achieving torque balance through friction. Therefore, when closing the door, the bypass drive system 20 only needs to apply additional pulling force to the pull rope 12 and / or the elastic element 13 to increase the pulling torque M2, making the pulling torque M2 greater than the gravitational torque M1, thereby achieving automatic closing; when opening the door, the bypass drive system 20 only needs to apply additional pushing force to the pull rope 12 and / or the elastic element 13 to decrease the pulling torque M2, making the pulling torque M2 less than the gravitational torque M1, thereby achieving automatic opening.

[0047] Optionally, the force transmission component can be implemented as a linear transmission mechanism, which may include a lead screw 22 driven by the drive motor 21 and a nut 23 fitted onto the lead screw 22. The nut 23 is positioned at a connection point on the gravity balance component 10 to increase or decrease the pulling torque M2 applied to the door assembly 3, thereby breaking the torque balance state and achieving automatic opening and closing of the door at all angles. In other words, since the bypass drive system 20 of this application only needs to apply a small force to the pull rope 12 and / or the elastic element 13 to change the magnitude of the pulling torque M2, thereby breaking the torque balance state and achieving automatic opening and closing of the door box device, the drive motor 21 in the bypass drive system 20 of this application does not require a large power, but only needs to provide a small driving force to break the hovering balance. The requirements for the drive motor are low, which helps to reduce costs and facilitates implementation.

[0048] Optionally, the connection point on the gravity balancing assembly 10 is located at the connection between the elastic element 13 and the pull rope 12. Since the bypass drive system 20 of this application only needs to apply driving force to the connection between the elastic element 13 and the pull rope 12 in the gravity balancing assembly 10, the bypass drive system 20 can be integrated within the housing frame 2, preventing it from being seen by the user during use, resulting in a clean and aesthetically pleasing appearance and enhancing the sense of intelligent technology. At the same time, the door housing device of this application retains a traditional hinge spring system, so that manual opening and closing with a hovering function can still be completed even when the drive motor 21 in the bypass drive system 20 is not activated; that is, the automatic door opening and closing mechanism 1 of this application can accommodate both manual and fully automatic door opening and closing needs. It is understood that in other examples of this application, the connection point on the gravity balancing assembly 10 can also be located in the middle of the pull rope 12, i.e., the portion of the pull rope 12 excluding both ends.

[0049] For example, such as Figures 3 to 6As shown, the elastic element 13 in the gravity balance assembly 10 can be, but is not limited to, a tension spring 130. The fixed end 131 of the tension spring 130 is fixedly connected to the housing frame 2, and the free end 132 of the tension spring 130 is connected to the pull rope 12 and the nut 23. In this way, the pull rope 12 applies a tension torque to the door assembly 3 under the tension of the tension spring 130; and when the drive motor 21 works to drive the lead screw 22 to rotate, the nut 23 moves along the lead screw 22 under the action of the lead screw 22, thereby causing the free end 132 of the tension spring 130 to change position, thereby applying a force that changes the magnitude of the tension torque to the tension spring 130 and the pull rope 12, so as to disrupt the original torque balance and realize automatic opening and closing of the door. It is understood that in other examples of this application, the elastic element 13 can also be implemented as a compression spring, in which case the pull rope 12 can apply a pulling torque to the door assembly 3 under the pressure of the compression spring to achieve torque balance. This application will not elaborate further on this.

[0050] Optionally, such as Figure 3 and Figure 4 As shown, the nut 23 in the bypass drive system 20 is rotatably connected to the free end 132 of the tension spring 130 so as to drive the free end 132 of the tension spring 130 to move synchronously, thereby efficiently changing the tensile torque applied to the door assembly 3; at the same time, it can also reduce stress concentration, reduce the risk of the nut 23 getting stuck, and facilitate installation.

[0051] Optionally, such as Figures 3 to 6 As shown, the lead screw 22 in the bypass drive system 20 is arranged parallel to the tension spring 130, so that the moving direction of the nut 23 is consistent with the extension and retraction direction of the tension spring 130. In this way, the free end 132 of the tension spring 130 moves along the axial direction of the tension spring 130 under the drive of the nut 23, preventing the tension spring 130 from tilting during extension and retraction, and avoiding interference or friction with other parts.

[0052] According to the above embodiments of this application, as Figure 4 and Figure 5 As shown, the hinge assembly 11 includes a hinge base 111 fixedly connected to the box frame 2, a hinge bracket 112 fixedly connected to the door assembly 3, and a pivot 113 rotatably connecting the hinge bracket 112 to the hinge base 111, such that the door assembly 3 rotates around the pivot 113 to open or close the opening of the box frame 2.

[0053] Optionally, the two ends of the pull cord 12 are respectively limited and connected to the elastic element 13 and the hinge bracket 112. For example, as Figures 3 to 6As shown, one end of the pull rope 12 is limited to the free end 132 of the tension spring 130, and the other end of the pull rope 12 is limited to the hinge bracket 112, so as to indirectly connect to the door assembly 3 through the hinge bracket 112, which facilitates the application of a pulling torque to the door assembly 3. It is understood that the limiting connection mentioned in this application may include, but is not limited to, fixed connection, sleeve connection, hook connection and other connection methods, as long as the tension spring 130 can apply a pulling torque to the door assembly 3 through the pull rope 12. This application will not elaborate on this further.

[0054] It is worth noting that during the opening and closing of the door, such as Figures 3 to 5 As shown, the hinge bracket 112 rotates around the pivot 113 along with the door assembly 3, causing the connection point between the hinge bracket 112 and the pull rope 12 to be out of sync with the axis of the tension spring 130. This results in the pull rope 12 exerting a force on the free end 132 of the tension spring 130 in a direction different from the axial direction of the tension spring 130, which can easily damage the tension spring 130 and / or the bypass drive system 20. To solve this problem, the gravity balance assembly 10 of this application may further include a pulley assembly 14. The pulley assembly 14 is installed on the housing frame 2 and arranged between the free end 132 of the tension spring 130 and the hinge bracket 112. The pull rope 12 passes around the pulley assembly 14 to change the direction of the pull rope 12, so that the pull rope 12 always exerts a force on the free end 132 of the tension spring 130 in a direction consistent with the axial direction of the tension spring 130, preventing the tension spring 130 from tilting.

[0055] Optionally, such as Figures 3 to 6 As shown, the pulley assembly 14 may include an adjusting pulley 141 arranged along the axis of the tension spring 130 and a fixed pulley 142 arranged along the hinge bracket 112. The pull rope 12 extends from the free end 132 of the tension spring 130, passing successively over the adjusting pulley 141 and the fixed pulley 142 to the hinge bracket 112. In this way, after passing over the adjusting pulley 141 arranged along the axis of the tension spring 130, the pull rope 12 can be connected to the free end 132 of the tension spring 130 along the axial direction of the tension spring 130, ensuring that the free end 132 of the tension spring 130 is only subjected to the same force as the axial direction of the tension spring 130, preventing the tension spring 130 from tilting. At the same time, after passing over the fixed pulley 142 arranged along the hinge bracket 112, the pull rope 12 can increase the tension arm of the pull rope 12, which helps to reduce the elastic force requirement of the tension spring 130.

[0056] Optionally, such as Figure 3 and Figure 6As shown, the adjusting pulley 141 may include an adjusting screw 1411 arranged parallel to the lead screw 22, a pulley shaft 1412 threaded to the adjusting screw 1411, a pulley body 1413 rotatably fitted onto the pulley shaft 1412 and through which the pull rope 12 passes, and a slide rail 1414 extending along the axial direction of the tension spring 130. The pulley shaft 1412 is slidably inserted into the slide rail 1414, such that the pulley shaft 1412 and the adjusting screw 1411 cooperate to form a lead screw drive. Thus, when the adjusting screw 1411 is rotated, the pulley shaft 1412 slides along the slide rail 1414 under the action of the adjusting screw 1411, thereby driving the pulley body 1413 to move closer to or further away from the free end 132 of the tension spring 130 along the axial direction of the tension spring 130. This changes the preload of the tension spring 130 to adapt to the weight changes of the door assembly 3, thereby meeting the requirements for suspension of doors of different weights.

[0057] In other words, for door components 3 of different weights, the automatic door opening and closing mechanism 1 of this application only needs to adjust the preload of the tension spring 130 by adjusting the pulley 141 to meet the torque balance requirements for door suspension of different weights. Furthermore, after adjusting to accommodate door components of different weights, it can still achieve automatic opening and closing at all angles through the bypass drive system 20. It is understood that the elasticity of the tension spring 130 will decrease after a period of use. At this time, the automatic door opening and closing mechanism 1 of this application can also adjust the preload of the tension spring 130 by adjusting the pulley 141 to still meet the torque balance requirements for door suspension.

[0058] Optionally, such as Figure 6 As shown, the adjusting pulley 141 may further include a reinforcing plate 1415 fixed to the housing frame 2, the reinforcing plate 1415 abutting against one end of the adjusting screw 1411 near the tension spring 130. Thus, although the pulley body 1413 connected to the adjusting screw 1411 will be subjected to a large pulling force applied by the pull rope 12, the reinforcing plate 1415 can prevent the adjusting screw 1411 from wearing down the housing frame 2.

[0059] According to the above embodiments of this application, as Figure 2As shown, the automatic door opening and closing mechanism 1 may further include a door lock and door sealing system 30, which includes a door lock assembly 31 for releasably locking the door assembly 3 to the housing frame 2 and a door sealing assembly 32 for sealing the gap between the housing frame 2 and the door assembly 3; the door lock assembly 31 has a first state and a second state, and the door locking force when the door lock assembly 31 is in the first state is greater than the door locking force when the door lock assembly 31 is in the second state. In this way, when the door needs to be opened, the door lock assembly 31 will switch from the first state to the second state to reduce the door lock force. At this time, the door body assembly 3 will disengage from the door lock under the action of the door seal assembly 32, and after disengagement, the door lock assembly 31 will switch from the second state to the first state, thereby triggering the drive motor 21 of the bypass drive system 20 to rotate in the forward direction, so as to drive the free end 132 of the tension spring 130 to move in the direction of stretching the tension spring 130, so that the tension torque M2 on the door body assembly 3 tends to decrease, disrupting the torque balance, thereby realizing automatic door opening.

[0060] Similarly, when the door needs to be closed, the closing signal triggers the drive motor 21 to rotate in the opposite direction, causing the free end 132 of the tension spring 130 to move in the direction of shortening the tension spring 130. This causes the tension torque M2 on the door assembly 3 to tend to increase, disrupting the torque balance and thus achieving automatic closing. It can be understood that when the door assembly 3 is about to reach the closed position, closing the door requires overcoming the resistance torque of the door lock assembly 31 and the door seal assembly 32, increasing the load on the lead screw 22. At this time, the output power of the drive motor 21 increases, thereby increasing the force exerted by the nut 23 on the free end 132 of the tension spring 130 to overcome the resistance torque until the door lock signal is triggered to complete the closing, thus achieving automatic closing at all angles.

[0061] According to the above embodiments of this application, the number of automatic door opening and closing mechanisms 1 in each door box device can be one or two, to automatically open or close a single door assembly. For example, in one example of this application, two automatic door opening and closing mechanisms 1 can be located on the left and right sides of the door assembly 3 respectively, to cooperate in achieving automatic door opening and closing; or, in another example of this application, an automatic door opening and closing mechanism 1 and a hinge spring system can be arranged on the left and right sides of the door assembly 3 respectively, so that automatic door opening and closing can also be achieved through the cooperation of the two, which will not be elaborated further in this application.

[0062] It is worth noting that in the bypass drive system 20 of this application, the drive motor 21 can be controlled to rotate forward and backward by a control board (not shown in the figure) to drive the nut 23 to reciprocate linearly along the lead screw 22. Furthermore, the drive motor 21 can have a built-in Hall sensor (not shown in the figure) to detect the rotational speed of the lead screw 22, thereby sensing the magnitude of the motor load and implementing safety precautions. It is understood that this application defines the forward rotation of the drive motor 21 as the direction of rotation that stretches the tension spring 130, and the reverse rotation of the drive motor 21 as the direction of rotation that shortens the tension spring 130.

[0063] For example, to prevent safety issues such as increased screw load caused by pinching a hand when closing the door, the Hall sensor of this application can first control the drive motor 21 to stop for a first predetermined time n1 when it senses that the motor load has increased and the speed has slowed down when the door is about to be closed, so as to give the user time to release the handle. Then, it can control the drive motor 21 to increase the output power for a second predetermined time n2 to overcome the resistance torque until the door lock signal is triggered to complete the closing, thereby safely realizing automatic closing at all angles.

[0064] Furthermore, during the automatic door opening and closing process, for safety and intermediate operation considerations, such as... Figure 3 As shown, the automatic door opening and closing mechanism 1 of this application can be set with one or more hovering positions, and the hovering position of the hinge bracket 112 is sensed by the hovering micro switch 40, thereby controlling the drive motor 21 to stop rotating so that the hinge bracket 112 is hovered at the preset hovering position, thereby realizing the hovering of the door assembly 3. Optionally, the hovering micro switch 40 of this application is installed on the housing frame 2.

[0065] Similarly, during the automatic opening and closing process, for safety and operational considerations, such as... Figure 5 As shown, the automatic door opening and closing mechanism 1 of this application can be set to an open position, and the hinge bracket 112 is sensed by the hinge micro switch 50, thereby controlling the drive motor 21 to stop rotating so that the hinge bracket 112 stays in the open position, thus keeping the door assembly 3 open. It is understood that the hinge micro switch 50 mentioned in this application can be installed on the housing frame 2 to detect the open position of the door assembly 3, so that it is triggered to generate a signal when the door assembly 3 is in the open position, which will not be described in detail in this application.

[0066] It is worth noting that since the drive motor 21 has a built-in Hall sensor, during the automatic door opening and closing process, if the user intervenes manually, such as by pushing or pulling the door assembly 3, the load force on the lead screw 22 through the pull rope 12 of the door assembly 3 changes. At this time, the Hall sensor will detect the change in motor speed and thus determine the user's intention to intervene: when the direction of the user's intervention is consistent with the direction of the lead screw's action to open and close the door, that is, when the intervention is positive, it is equivalent to reducing the load force on the lead screw 22, and the speed of the drive motor 21 can be controlled to increase, so as to speed up the opening and closing of the door; when the direction of the user's intervention is inconsistent with the direction of the lead screw's action to open and close the door, that is, when the intervention is negative, it is equivalent to increasing the load force on the lead screw 22, and the speed of the drive motor 21 can be controlled to decrease, so as to slow down the opening and closing of the door.

[0067] In other words, when the user intervenes in the same direction, the Hall sensor will detect an increase in rotation speed; when the user intervenes in the opposite direction, the Hall sensor will detect a decrease in rotation speed. Based on this, this application can quickly identify the user's intervention intention while ensuring safety, and react accordingly: if the intervention is in the same direction, the original action logic continues; if the intervention is in the opposite direction, the original action stops, and then the reverse action logic is implemented. The action logic is relatively simple, so as to improve the intelligent experience and enhance the user experience.

[0068] It is worth mentioning that, according to another aspect of this application, such as Figure 7 As shown, one embodiment of this application further provides an automatic door opening and closing method, which may include the steps of:

[0069] S100: In response to the door opening signal, the drive motor of the bypass drive system in the automatic door opening and closing mechanism is controlled to rotate forward. This drives the nut of the bypass drive system, along with the connection between the spring and the pull rope of the gravity balance component in the automatic door opening and closing mechanism, to move forward along the lead screw of the bypass drive system, thereby reducing the pulling torque exerted by the gravity balance component on the door assembly. This makes the gravitational torque of the door assembly greater than the applied pulling torque, thus achieving automatic door opening; and

[0070] S200: In response to the door closing signal, control the drive motor to reverse, so as to drive the nut, along with the connection between the spring and the pull rope, to move in the opposite direction along the screw, thereby increasing the pulling torque applied by the gravity balance component to the door assembly, so that the gravitational torque of the door assembly is less than the applied pulling torque, so as to achieve automatic door closing.

[0071] It is worth noting that in step S100, the door opening signal can be a directly input door opening signal or an automatically generated door opening signal caused by a change in the door lock signal after the user manually opens the door to a certain angle; similarly, in step S200, the door closing signal can be a directly input door closing signal or an automatically generated door closing signal caused by a change in the hinge micro switch signal after the user manually closes the door to a certain angle.

[0072] Exemplarily, in one example of this application, such as Figure 8 As shown, step S100 in the automatic door opening and closing method of this application may include the following steps:

[0073] S110: In response to an opening signal, control the door lock component of the door lock and door seal system in the automatic door opening and closing mechanism to switch from a first state to a second state, so that the door lock component is disengaged under the action of the door seal component of the door lock and door seal system, and after disengagement, switches back from the second state to the first state; and

[0074] S120: When the door lock assembly switches from the second state back to the first state, the drive motor is controlled to start rotating forward so that the pulling torque applied by the gravity balance assembly to the door assembly is less than the gravitational torque of the door assembly, and the door starts to open automatically.

[0075] Optionally, in one example of this application, such as Figure 8 As shown, step S100 may further include the following steps:

[0076] S130: When the automatic door opening and closing mechanism triggers the hovering micro switch of the automatic door opening and closing mechanism during the automatic door opening process, the drive motor is controlled to stop rotating so that the door assembly is in a hovering state.

[0077] S140: During the first preset time when the door assembly is in a hovering state, determine whether a door closing signal is input;

[0078] S150: In response to the absence of a door closing signal, control the drive motor to continue rotating forward so that the pulling torque exerted by the gravity balancing component on the door assembly is less than the gravitational torque of the door assembly, thus continuing to automatically open the door; and

[0079] S160: In response to the input of a door closing signal, control the drive motor to reverse so that the pulling torque exerted by the gravity balance component on the door assembly is greater than the gravitational torque of the door assembly, and start automatic door closing.

[0080] It is worth noting that, in one example of this application, such as Figure 8 As shown, step S100 in this automatic door opening and closing method may further include the following steps:

[0081] S170: When the automatic door opening and closing mechanism triggers the hinge micro switch of the automatic door opening and closing mechanism during the automatic door opening process, the drive motor is controlled to stop rotating so that the door assembly remains in the open state.

[0082] It is understood that in step S140 of this application, the first preset time may be implemented as a few seconds or other hovering time, as long as it can provide the user with sufficient reaction time. This application will not elaborate further on this.

[0083] Similarly, in one example of this application, such as Figure 9 As shown, step S200 in the automatic door opening and closing method of this application may include the following steps:

[0084] S210: In response to the door closing signal, control the drive motor to start reversing so that the pulling torque applied by the gravity balance component to the door assembly is greater than the gravitational torque of the door assembly, and start automatically closing the door;

[0085] S220: When the automatic door opening and closing mechanism triggers the hovering micro switch during the automatic door closing process, it controls the drive motor to stop rotating so that the door assembly is in a hovering state.

[0086] S230: During the second preset time when the door assembly is in a hovering state, determine whether an opening signal is input;

[0087] S240: In response to the absence of an input door opening signal, control the drive motor to continue reversing so that the pulling torque exerted by the gravity balancing component on the door assembly is greater than the gravitational torque of the door assembly, thus continuing to automatically close the door; and

[0088] S250: In response to the input of an opening signal, the drive motor is controlled to rotate forward so that the pulling torque exerted by the gravity balance component on the door assembly is less than the gravitational torque of the door assembly, and the door starts to open automatically.

[0089] It is worth noting that, in one example of this application, such as Figure 9 As shown, step S200 in this automatic door opening and closing method may further include the following steps:

[0090] S260: When the automatic door closing mechanism detects an increase in load through the Hall sensor built into the drive motor during the automatic closing process, it controls the drive motor to first stop rotating for a third preset time, and then continue to reverse, so that the pulling torque applied by the gravity balance component to the door assembly is greater than the gravitational torque of the door assembly, and the automatic closing continues; and

[0091] S270: When the automatic door opening and closing mechanism triggers a door lock signal during the automatic door opening process, it controls the drive motor to stop rotating so that the door assembly remains in the closed state.

[0092] It is worth noting that the second and third preset times mentioned in this application are the same as the first preset time, which can be a few seconds or other times, as long as sufficient reaction time is given to the user so that the user can make a manual intervention choice or give the user enough reaction time to release the handle. This application will not elaborate further on this.

[0093] Optionally, in step S260 of this application, after the drive motor stops rotating for a third preset time, it continues to reverse for a fourth preset time before controlling the drive motor to stop rotating again, in order to prevent damage caused by the drive motor continuously reversing when the door lock assembly malfunctions. It is understood that the fourth preset time mentioned in this application can be obtained based on experience or experimentation, as long as it is ensured that the door lock signal of the door lock assembly can be triggered within the fourth preset time of continued reversal; this application will not elaborate further on this.

[0094] It is worth noting that since manual intervention often occurs during the full-angle automatic door opening and closing process, in order to respond to the user's intentions in a way that ensures safety, such as... Figure 7 As shown, the automatic door opening and closing method of this application may further include the following steps:

[0095] S300: Based on the closed position, hovering position, and open position, the automatic door opening and closing process is divided into several stages;

[0096] S400: Based on the changes in the state of the door lock signal, hover micro switch, and hinge micro switch, determine the stage of the automatic door opening and closing mechanism when manual intervention is required;

[0097] S500: The Hall sensor built into the drive motor senses the trend of speed change during manual intervention, so as to determine that the manual intervention is in the same direction when the speed increases and in the opposite direction when the speed decreases.

[0098] S600: In response to intervention in the same direction, continue executing the action logic of the current stage; and

[0099] S700: In response to reverse intervention, stop executing the action logic of the current stage and execute the reverse action logic.

[0100] For example, in step S300 of this application: the automatic door opening and closing process includes a first door opening stage from the closed position to the hovering position, a second door opening stage from the hovering position to the open position, a first door closing stage from the open position to the hovering position, and a second door closing stage from the hovering position to the closed position.

[0101] Optionally, the automatic door opening and closing process may further include a first hovering phase during the opening process and a second hovering phase during the closing process.

[0102] Optionally, in step S400 of this application: after the door lock signal changes and before the hover micro switch is triggered, the automatic door opening and closing mechanism is in a first opening stage; after the hover micro switch is triggered and before it is deactivated, the automatic door opening and closing mechanism is in a first hovering stage; after the hover micro switch is deactivated and before the hinge micro switch is triggered, the automatic door opening and closing mechanism is in a second opening stage; after the hinge micro switch is deactivated and before the hover micro switch is triggered, the automatic door opening and closing mechanism is in a first closing stage; after the hover micro switch is triggered again and before it is deactivated, the automatic door opening and closing mechanism is in a second hovering stage; before the hover micro switch is deactivated and the door lock signal changes, the automatic door opening and closing mechanism is in a second closing stage.

[0103] It is worth noting that during the door opening process: if the manual intervention is implemented as manual opening, the direction of the manual intervention is the same as the direction of the door opening process. At this time, the door assembly will increase its opening speed under manual action to increase the tension of the pull rope on the nut, so that the Hall sensor can sense the increase in the forward rotation speed of the drive motor, thus determining that the manual intervention is in the same direction. If the manual intervention is implemented as manual closing, the direction of the manual intervention is opposite to the direction of the door opening process. At this time, the door assembly will close under manual action to reduce the tension of the pull rope on the nut, so that the Hall sensor can sense the decrease in the forward rotation speed of the drive motor, thus determining that the manual intervention is in the opposite direction.

[0104] Similarly, during the closing process: if the manual intervention is implemented as manually opening the door, the direction of the manual intervention is opposite to the direction of the closing process. At this time, the door assembly opens under manual action to increase the tension of the pull rope on the nut, so that the Hall sensor can sense the slowing down of the reverse rotation speed of the drive motor, thus determining that the manual intervention is a reverse intervention; if the manual intervention is implemented as manually closing the door, the direction of the manual intervention is the same as the direction of the closing process. At this time, the closing speed of the door assembly increases under manual action to reduce the tension of the pull rope on the nut, so that the Hall sensor can sense the accelerating reverse rotation speed of the drive motor, thus determining that the manual intervention is a same-direction intervention.

[0105] In particular, even if human intervention occurs during the automatic door opening and closing process, the automatic door opening and closing method of this application will continue to execute the hovering logic when the door component passes through the first hovering stage or the second hovering stage. It will still stop for a preset time before continuing the corresponding automatic door opening and closing logic to prevent hand pinching and collision, so as to give the user reaction time.

[0106] Optionally, when manual intervention occurs in the first hovering phase or the second hovering phase, the action logic of the hovering phase is stopped, and the action logic of the next phase is executed. It is understood that if the manual intervention in the first or second hovering phase is manual door opening, the next phase refers to the second door opening phase; if the manual intervention in the first or second hovering phase is manual door closing, the next phase refers to the second door closing phase.

[0107] For example, consider manual intervention during automatic door opening:

[0108] 1) Intervention in the same direction during the first door opening stage (such as manual door opening): If the manual door opening does not reach the hovering position, the action logic of the first door opening stage will continue to continue the automatic door opening process until the hovering position is reached, triggering the hovering micro switch to control the drive motor to stop for n seconds before entering the normal automatic door opening logic; if the manual door opening reaches the hovering position, the action logic of the first hovering stage will continue to be executed to trigger the hovering micro switch to control the drive motor to stop for n seconds before entering the normal automatic door opening logic.

[0109] 2) Reverse intervention occurs during the first opening stage (such as manual closing): If the manual closing does not reach the closing position, the user's intention to close the door is determined, the automatic opening process is terminated, the action logic of the second closing stage is executed, the drive motor is controlled to reverse until the door lock signal is triggered to complete the automatic closing; if the manual closing reaches the closing position, the door lock signal is triggered, the manual closing is completed, and the automatic opening process is terminated.

[0110] 3) Intervention in the same direction during the first hovering phase (such as manual door opening): If the manual door opening does not reach the opening position, the action logic of the second door opening phase will continue to continue the automatic door opening process until the opening position is reached, triggering the hinge micro switch to control the drive motor to stop rotating and complete the door opening; if the manual door opening reaches the opening position, triggering the hinge micro switch to control the drive motor to stop rotating and complete the manual door opening, ending the automatic door opening process.

[0111] 4) Reverse intervention occurs during the first hovering phase (such as manual closing): If the manual closing does not reach the closing position, the user's intention to close the door is determined, the automatic opening process is terminated, the action logic of the second closing phase is executed, the drive motor is controlled to reverse until the door lock signal is triggered to complete the automatic closing; if the manual closing reaches the closing position, the door lock signal is triggered, the manual closing is completed, and the automatic opening process is terminated.

[0112] 5) Intervention in the same direction during the second door opening stage (such as manual door opening): If the manual door opening does not reach the opening position, the action logic of the second door opening stage will continue to continue the automatic door opening process until the opening position is reached, triggering the hinge micro switch to control the drive motor to stop rotating and complete the automatic door opening; if the manual door opening reaches the opening position, triggering the hinge micro switch to control the drive motor to stop rotating and complete the manual door opening, ending the automatic door opening process.

[0113] 6) Reverse intervention occurs during the second opening stage (e.g., manual closing): If the manual closing does not reach the hovering position, the user's intention to close the door is determined, the automatic opening process is terminated, the action logic of the first closing stage is executed, the drive motor is reversed, and the hovering micro switch is triggered when the door is in the hovering position, the drive motor is stopped for n seconds, and then the normal automatic closing logic is entered; if the manual closing reaches the hovering position, the action logic of the second hovering stage is executed, the hovering micro switch is triggered, the drive motor is stopped for n seconds, and then the normal automatic closing logic is entered.

[0114] Similarly, let's take manual intervention during the automatic door closing process as an example:

[0115] 1) In the first closing stage, if there is a unidirectional intervention (such as manual closing): If the manual closing does not reach the hovering position, the action logic of the first closing stage will continue to be executed to continue the automatic closing process until the hovering position is reached, at which point the hovering micro switch is triggered, controlling the drive motor to stop for n seconds before entering the normal automatic closing logic; if the manual closing reaches the hovering position, the action logic of the second hovering stage will continue to be executed to trigger the hovering micro switch, controlling the drive motor to stop for n seconds before entering the normal automatic closing logic.

[0116] 2) Reverse intervention occurs during the first closing stage (such as manual opening): If the manual opening does not reach the opening position, the user's intention to open the door is determined, the automatic closing process is terminated, the action logic of the second opening stage is executed, the drive motor is controlled to rotate forward until the hinge micro switch is triggered to complete the automatic opening; if the manual opening reaches the opening position, the hinge micro switch is triggered to complete the manual opening and terminate the automatic closing process.

[0117] 3) Intervention in the same direction during the second hovering phase (such as manual closing): If the manual closing does not reach the closing position, the action logic of the second closing phase continues to continue the automatic closing process until the closing position is reached, triggering the door lock signal to control the drive motor to stop rotating and complete the automatic closing; if the manual closing reaches the closing position, triggering the door lock signal to control the drive motor to stop rotating and complete the manual closing, ending the automatic closing process.

[0118] 4) Reverse intervention occurs during the second hovering phase (such as manual door opening): If the manual door opening does not reach the opening position, the user's intention to open the door is determined, the automatic door closing process is terminated, the action logic of the second door opening phase is executed, the drive motor is controlled to rotate forward until the hinge micro switch is triggered to complete the automatic door opening; if the manual door opening reaches the opening position, the hinge micro switch is triggered to complete the manual door opening and terminate the automatic door closing process.

[0119] 5) Intervention in the same direction during the second closing stage (such as manual closing): If the manual closing does not reach the closing position, the action logic of the second closing stage continues to continue the automatic closing process until the closing position is reached, triggering the door lock signal to control the drive motor to stop rotating and complete the automatic closing; if the manual closing reaches the closing position, triggering the door lock signal to control the drive motor to stop rotating and complete the manual closing, ending the automatic closing process.

[0120] 6) Reverse intervention occurs during the second closing stage (e.g., manual opening): If the manual closing does not reach the hovering position, the user's intention to open the door is determined, the automatic closing process is terminated, the action logic of the first opening stage is executed, the drive motor is controlled to rotate forward until the hovering position is reached, triggering the hovering micro switch, controlling the drive motor to stop for n seconds before resuming the normal automatic opening logic; if the manual opening reaches the hovering position, the action logic of the first hovering stage is executed, triggering the hovering micro switch, controlling the drive motor to stop for n seconds before resuming the normal automatic opening logic.

[0121] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0122] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model.

Claims

1. An automatic door opening and closing mechanism, used to be installed between the box frame and the door assembly, characterized in that, include: A hinge assembly for connecting the door assembly and the housing frame to allow the door assembly to rotate about the housing frame to open or close; A gravity balancing assembly includes a pull cord connected to or for connection to the hinge assembly and an elastic element for connection to the box frame, the elastic element being connected to the pull cord for applying a pulling torque to the door assembly in the opposite direction to the gravitational torque of the door assembly. as well as A bypass drive system includes a drive motor and a force transmission component connected to the drive motor. The force transmission component is located beside the gravity balance component and connected to a connection point on the gravity balance component. Under the drive of the drive motor, the connection point is moved to increase or decrease the pulling torque applied by the gravity balance component to the door component, thereby changing the motion state of the door component.

2. The automatic door opening and closing mechanism according to claim 1, characterized in that, The force transmission component is a linear transmission mechanism; the linear transmission mechanism includes a lead screw connected to the drive motor and a nut fitted on the lead screw, the nut being limited to the connection point on the gravity balance component.

3. The automatic door opening and closing mechanism according to claim 2, characterized in that, The connection point is located at the connection between the elastic element and the pull rope; or, the connection point is located in the middle of the pull rope.

4. The automatic door opening and closing mechanism according to claim 2, characterized in that, The elastic element is a tension spring. The fixed end of the tension spring is used to fix it to the box frame, and the free end of the tension spring is connected to the pull rope and the nut.

5. The automatic door opening and closing mechanism according to claim 4, characterized in that, The lead screw is arranged in parallel with the tension spring.

6. The automatic door opening and closing mechanism according to claim 4, characterized in that, The nut is rotatably connected to the free end of the tension spring.

7. The automatic door opening and closing mechanism according to any one of claims 4 to 6, characterized in that, The hinge assembly includes a hinge base for fixed connection with the box frame, a hinge bracket for fixed connection with the door assembly, and a pivot for rotatably connecting the hinge bracket to the hinge base; the two ends of the pull rope are respectively limited and connected to the hinge bracket and the free end of the tension spring.

8. The automatic door opening and closing mechanism according to claim 7, characterized in that, The gravity balancing assembly further includes a pulley assembly for mounting on the housing frame, the pulley assembly being arranged between the free end of the tension spring and the hinge bracket, the pull rope passing around the pulley assembly such that the direction of the tension force applied by the pull rope to the tension spring is always consistent with the axial direction of the tension spring.

9. The automatic door opening and closing mechanism according to any one of claims 1 to 6, characterized in that, It also includes a door lock and door sealing system, the door lock and door sealing system comprising a door lock assembly for releasably locking the door assembly to the housing frame and a door sealing assembly for sealing the gap between the housing frame and the door assembly; the door lock assembly has a first state and a second state, and the door lock force when the door lock assembly is in the first state is greater than the door lock force when the door lock assembly is in the second state.

10. A door-mounted equipment, characterized in that, include: Box frame; Door components; as well as The automatic door opening and closing mechanism as described in any one of claims 1 to 9, wherein the automatic door opening and closing mechanism is disposed between the housing frame and the door assembly.

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