Vector controlled intelligent servo automatic door

Abstract

The utility model relates to automatic door technical field, concretely is a kind of intelligent servo automatic door of vector control, including door panel one and door panel two, the door panel one and door panel two are arranged side by side;The upper and lower ends of the door panel one and door panel two are provided with door frame, the door panel one and door panel two are provided with guiding mechanism between door frame;The front of the door frame at top is fixedly installed with shell, and automatic opening and closing mechanism is arranged between shell and door panel one and door panel two;Manual opening and closing mechanism is arranged between the door panel two and opening and closing mechanism.The utility model is in matched use by the separable meshing structure of plug rod and slot and the elastic reset of spring, realizes the effect that when servo motor or controller fails, it is quickly switched to manual operation mode, solves the technical problem that in prior art, door body cannot be moved completely due to electrical fault, and emergency passage is affected.

Description

Technical Field

[0001] This utility model relates to the field of automatic door technology, specifically to a vector-controlled intelligent servo automatic door. Background Technology

[0002] Automatic door systems are widely used in commercial buildings, medical facilities, and industrial sites. Their core requirements include smooth operation, positioning accuracy, and emergency manual operation capability. Traditional double-door systems must ensure the synchronous movement of both door panels to avoid interference or seal failure, especially in scenarios with wide passageways, where symmetrical opening and closing designs can optimize traffic flow. Servo motors, due to their high-precision speed control characteristics, are gradually becoming the preferred solution for automatic door drives, while vector control technology further enhances the dynamic response and anti-interference capabilities of door panel position control.

[0003] The current servo-driven double-door system cannot switch to manual opening and closing mode when the motor or controller fails, making the door unable to move and affecting passage needs in emergency situations. Utility Model Content

[0004] The purpose of this invention is to provide a vector-controlled intelligent servo automatic door to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A vector-controlled intelligent servo automatic door, including

[0007] Door panel one and door panel two are arranged side by side;

[0008] Door frames are provided at the upper and lower ends of both door panel one and door panel two, and guide mechanisms are provided between door panel one and door panel two and the door frames;

[0009] An outer shell is fixedly installed on the front of the top door frame, and an automatic opening and closing mechanism is provided between the outer shell and door panel one and door panel two;

[0010] A manual opening and closing mechanism is provided between the second door panel and the automatic opening and closing mechanism.

[0011] Preferably, the automatic opening and closing mechanism includes a servo motor fixedly installed on the left side of the front of the housing, and a gear 1 and a gear 2 rotatably connected to the left side of the top door frame and the middle part of the door frame respectively through bearings. A rack 1 that meshes with the gear 1 is fixedly connected to the top of the door panel 1. The upper right end of the rack 1 meshes with the gear 2. A rack 2 meshes above the gear 2.

[0012] Preferably, the guiding mechanism includes guide grooves opened on opposite sides of the two door frames, and base frames are fixedly installed on both sides of the bottom end of the door panel one and the door panel two. Rollers are rotatably connected to the lower interior of the base frames through bearings. The rollers are in rolling connection with the guide grooves at the bottom end, and rack one and rack two are in sliding connection with the guide grooves at the top end.

[0013] Preferably, the manual opening and closing mechanism includes a horizontal bar fixed side by side to the right side of the rack two, and a top frame fixedly connected to the top right side of the door panel two. The top frame has a telescopic groove in the middle and a movable groove at the top right side of the door panel two. A vertical bar is movably installed inside the movable groove, and a limit ring is elastically connected inside the telescopic groove by a spring.

[0014] Preferably, the manual opening and closing mechanism further includes a rod vertically fixed to the middle of the top of the limiting ring, and a slot opened in the middle of the horizontal bar. The top of the rod is inserted into the slot, and a handle is fixedly installed on the front of the bottom end of the vertical bar.

[0015] Preferably, a controller is fixedly installed on the outer side of the middle part of the housing, and the controller is electrically connected to the servo motor.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] 1. This vector-controlled intelligent servo automatic door, through the detachable engagement structure of the plug rod and slot and the elastic reset of the spring, achieves the effect of quickly switching to manual operation mode when the servo motor or controller fails, solving the technical problem in the prior art where the door cannot move at all due to electrical faults, thus affecting emergency passage.

[0018] 2. This vector-controlled intelligent servo automatic door achieves precise synchronous reverse motion of the two doors by using a two-stage reverse transmission mechanism of gear one and rack one, and gear two and rack two in combination with the closed-loop control of an incremental encoder. This solves the problem of asynchronous motion caused by transmission errors in traditional double-door systems. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall main structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the gear two mounting structure of this utility model;

[0021] Figure 3 For the present utility model Figure 1 Enlarged view of point A in the middle;

[0022] Figure 4 For the present utility model Figure 2 Enlarged view of point B in the middle;

[0023] Figure 5 This is the control logic diagram of this utility model.

[0024] In the diagram: 1. Door panel one; 2. Door panel two; 3. Outer shell; 4. Servo motor; 5. Gear one; 6. Gear two; 7. Rack one; 8. Rack two; 9. Guide groove; 10. Base frame; 11. Roller; 12. Horizontal bar; 13. Top frame; 14. Telescopic groove; 15. Movable groove; 16. Vertical bar; 17. Spring; 18. Limit ring; 19. Controller; 20. Insert rod; 21. Slot; 22. Handle; 23. Door frame. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] like Figure 1-4 As shown, this utility model provides a technical solution:

[0027] A vector-controlled intelligent servo automatic door includes a door panel 1 and a door panel 2 arranged side by side. Door frames 23 are provided at the top and bottom of both door panels 1 and 2. A guide mechanism is provided between the door panels 1 and 2 and the door frames 23. The guide mechanism includes guide grooves 9 formed on opposite sides of the two door frames 23. Base frames 10 are fixedly installed on both sides of the bottom of the door panels 1 and 2. Rollers are rotatably connected to the lower interior of the base frames 10 via bearings. 11. Roller 11 is tumblingly connected to bottom guide groove 9, and rack 1 7 and rack 2 8 are slidably connected to top guide groove 9; a housing 3 is fixedly installed on the front of top door frame 23, and an automatic opening and closing mechanism is provided between housing 3 and door panel 1 and door panel 2. The automatic opening and closing mechanism includes a servo motor 4 fixedly installed on the left side of the front of housing 3, and gear 1 5 and gear 2 6 rotatably connected to the left side of top door frame 23 and the middle part of top door frame 23 respectively through bearings. A rack 1 7 that meshes with gear 1 5 is fixedly connected to the top of door panel 1, and the upper right end of rack 1 7 meshes with gear 2 6. A rack 2 8 meshes above gear 2 6. A controller 19 is fixedly installed on the outer side of the middle part of housing 3, and the controller 19 is electrically connected to servo motor 4; a manual opening and closing mechanism is provided between door panel 2 and automatic opening and closing mechanism. The manual opening and closing mechanism includes a horizontal bar 12 fixedly fixed to the right side of rack 2 8, and a top frame 13 fixedly connected to the top right side of door panel 2. A telescopic groove 14 is provided in the middle, and a movable groove 15 is provided at the top right side of the door panel 2. A vertical bar 16 is movably installed inside the movable groove 15. A limit ring 18 is elastically connected inside the telescopic groove 14 by a spring 17. The manual opening and closing mechanism also includes a rod 20 fixed vertically at the top center of the limit ring 18, and a slot 21 opened in the middle of the horizontal bar 12. The top of the rod 20 is inserted into the slot 21. A handle 22 is fixedly installed on the front of the bottom end of the vertical bar 16.

[0028] In this embodiment, the separable engagement structure of the insertion rod 20 and the slot 21, along with the elastic reset of the spring 17, enables a quick switch to manual operation mode when the servo motor 4 or controller 19 fails, thus solving the technical problem in the prior art where electrical faults cause the door to be completely immobile, affecting emergency passage.

[0029] Working principle: After the servo motor 4 receives the command from the controller 19 and starts, it drives the gear 5 to rotate. The gear 5 meshes with the rack 7, causing the door panel 1 to move horizontally along the guide groove 9. The upper right end of the rack 7 meshes with the gear 6, causing the gear 6 to rotate synchronously. The rack 8 meshing above the gear 6 moves in the opposite direction. At this time, if the manual opening and closing mechanism is in the linkage state (i.e., the insert rod 20 is inserted into the slot 21), the crossbar 12 will drive the door panel 2 to move synchronously in the opposite direction to the door panel 1 along the guide groove 9 via the roller 11 of the base frame 10, realizing the symmetrical opening and closing of the double doors. When manual operation is required, the crossbar 12 will move the door panel 2 in the opposite direction to the door panel 1 through the roller 11 of the base frame 10, thus realizing the symmetrical opening and closing of the double doors. Pulling down the handle 22 causes the vertical bar 16 to move down in the movable groove 15, which in turn causes the limit ring 18 to compress the spring 17 and disengage the insertion rod 20 from the slot 21. At this time, the movement of the rack 28 is no longer transmitted to the door panel 2, and the door panel 2 can be pushed alone to slide in the guide groove 9 through the roller 11. After releasing the handle 22, the spring 17 rebounds and the insertion rod 20 is reinserted into the slot 21 to restore the linkage state. Throughout the process, the guide mechanism ensures the stability of the door panel's movement trajectory through the cooperation of the guide groove 9 and the roller 11. The controller 19 achieves vector control of the door panel's opening and closing speed and position by adjusting the speed and direction of the servo motor 4.

[0030] like Figure 5 As shown, an incremental encoder is fixedly installed on the output shaft of servo motor 4. The incremental encoder collects the angular displacement signal of the servo motor rotor in real time and calculates the linear displacement of door panel one through the gear and rack transmission ratio. At the same time, it calculates the expected position of door panel two based on the synchronous motion relationship of the two doors. The controller compares the detected actual position with the target position of the preset motion curve (S-shaped acceleration and deceleration) and uses the PID control algorithm to calculate the position error compensation. Then, it converts the speed command into the direct axis / quadrature axis component of the motor stator current through field-oriented control (FOC). The system monitors the position synchronization error of the two doors in real time and automatically adjusts the current vector output when the error exceeds the threshold. It corrects the motor torque output by changing the PWM duty cycle. At the same time, the controller continuously monitors the continuity of the encoder signal. When pulse loss or sudden position change is detected, it triggers an emergency stop and prevents motor overload through current loop limitation. Finally, a position-speed-current three-closed-loop control structure is formed to ensure smooth and accurate door panel movement.

[0031] By using a two-stage reverse transmission mechanism consisting of gear 5 and rack 7, and gear 6 and rack 8, in conjunction with the closed-loop control of an incremental encoder, the effect of precise synchronous reverse motion of the two doors is achieved, solving the problem of asynchronous motion caused by transmission errors in traditional two-door systems.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A vector-controlled intelligent servo automatic door, characterized in that: The system includes a door panel 1 (1) and a door panel 2 (2), which are arranged side by side. Door frames (23) are provided at the top and bottom of both door panels 1 (1) and 2 (2). A guide mechanism is provided between the door panels 1 (1) and 2 (2) and the door frames (23). The guide mechanism includes guide grooves (9) opened on opposite sides of the two door frames (23). Base frames (10) are fixedly installed on both sides of the bottom of the door panels 1 (1) and 2 (2). Rollers (11) are rotatably connected to the bottom of the base frames (10) through bearings. The bottom guide groove (9) is rolled together, and rack one (7) and rack two (8) are slidably connected to the top guide groove (9). The front of the top door frame (23) is fixedly installed with a shell (3). An automatic opening and closing mechanism is provided between the shell (3) and door panel one (1) and door panel two (2). The automatic opening and closing mechanism includes a servo motor (4) fixedly installed on the left side of the front of the shell (3), and gear one (5) and gear two (6) rotatably connected to the left side of the top door frame (23) through bearings. A gear one (5) is fixedly connected to the top of the door panel one (1) and gear two (6) in the middle. A rack 1 (7) meshes with a gear 2 (6) at its upper right side. A rack 2 (8) meshes above the gear 2 (6). A manual opening and closing mechanism is provided between the door panel 2 (2) and the automatic opening and closing mechanism. The manual opening and closing mechanism includes a horizontal bar (12) fixed side by side to the right side of the rack 2 (8) and a top frame (13) fixedly connected to the top right side of the door panel 2 (2). A telescopic groove (14) is provided in the middle of the top frame (13). A movable groove (15) is provided at the top right side of the door panel 2 (2). The interior of the movable groove (15) The device is equipped with a vertical bar (16), and the inside of the telescopic groove (14) is elastically connected to a limit ring (18) by a spring (17). The manual opening and closing mechanism also includes a rod (20) fixed vertically at the middle of the top of the limit ring (18) and a slot (21) opened in the middle of the horizontal bar (12). The top of the rod (20) is inserted into the slot (21). A handle (22) is fixedly installed on the front of the bottom end of the vertical bar (16). A controller (19) is fixedly installed on the outer side of the middle part of the outer shell (3). The controller (19) is electrically connected to the servo motor (4).

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