An endless hovering electric door for automobile

Abstract

The utility model discloses a kind of electric door of infinitely variable hover for car, it is related to the technical field of automobile door control structure, including door main body, controller, short distance millimeter wave radar and actuator are installed in the inside of door main body;The controller is fixed in the inside of door main body, gyroscope sensor is configured in the controller, the controller is used to receive the operating signal of actuator feedback and output control instruction;The short distance millimeter wave radar is fixed to the inside lower region of door main body, and located when door main body opens the side of door frame, for obtaining the position and motion state parameter of door main body in cooperation with gyroscope sensor;The actuator is fixed to the inside middle region of door main body.The utility model can capture the position and motion state of door main body in real time, realize the stable hover of door in arbitrary position by accurate control of reverse braking force, solve the core limitation that traditional fixed-point hover, electromagnetic braking scheme cannot hover flexibly.

Description

Technical Field

[0001] This utility model relates to the field of automotive door control structure technology, specifically to a continuously variable electric door for automobiles. Background Technology

[0002] Currently, most electric car doors on the market adopt a design of fixed-point hovering or fixed-position connection, which has many shortcomings: First, it is impossible to achieve stable hovering at any position, which seriously affects the user experience; second, the braking or support mechanism mostly relies on hydraulic or spring structures, which not only makes the structure complex but also leads to higher production costs; third, the control during the opening and closing of the door is not smooth enough, and the safety needs to be further improved.

[0003] Existing related patents (CN113090143A) disclose a door limiter, which mainly relies on mechanical structures to achieve door control functions. This is difficult to meet the development requirements of intelligent and electric vehicles and fails to effectively solve the core problem of stepless hovering. Some solutions that use electromagnetic brakes to achieve multi-position hovering also have drawbacks such as high cost, complex structure, and high energy consumption.

[0004] In view of the above, this application is hereby submitted. Utility Model Content

[0005] The purpose of this utility model is to provide an infinitely hovering electric door for automobiles to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, this utility model provides an infinitely hovering electric door for automobiles, including a door body, and a controller, a short-range millimeter-wave radar and an actuator are installed inside the door body;

[0007] The controller is fixed inside the door body and is equipped with a gyroscope sensor. The controller is used to receive the operating signals fed back by the actuator and output control commands.

[0008] The short-range millimeter-wave radar is fixed to the lower inner part of the door body and is located on the side away from the door frame when the door body is open. It is used to cooperate with the gyroscope sensor to obtain the position and motion state parameters of the door body.

[0009] The actuator is fixed in the middle area inside the door body and is located on the side of the door frame when the door body is opened. It includes a housing installed inside the door body. Inside the housing is a strut that can slide along its axial direction. One end of the strut extends to the outside of the housing and is connected to the vehicle body. The housing is also equipped with a power output mechanism that drives the strut to slide, and a Hall sensor is configured on the power output mechanism.

[0010] Furthermore, the power output mechanism includes a front cover installed at the front end of the housing, a rear cover connected to the rear end of the housing, a servo motor installed on the side wall of the housing, a gearbox connected to the drive end of the servo motor installed inside the rear cover, a threaded rod rotatably installed inside the housing, the rear end of the threaded rod being connected to the gearbox, a nut threadedly connected to the threaded rod, and the nut being connected to the support rod.

[0011] Furthermore, one end of the support rod extending into the housing is connected to a connecting seat, and the support rod is fixedly connected to the nut through the connecting seat.

[0012] Furthermore, a bearing seat is rotatably mounted inside the front cover, and the front end of the threaded rod is connected to the bearing seat.

[0013] Furthermore, one end of the strut extending through the front cover to the outside of the housing is connected to a bracket, and the strut is connected to the vehicle body through the bracket.

[0014] Furthermore, a positioning bolt is installed on the front cover, and the actuator is fixed to the door body by the positioning bolt installed on the front cover.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] 1. This utility model integrates a controller, short-range millimeter-wave radar, and actuator inside the main body of the car door to form a collaborative system. With the dual sensing detection of gyroscope sensor and short-range millimeter-wave radar as the core, and combined with the real-time feedback of Hall sensor on the actuator, it can capture the position and movement state of the main body of the car door in real time. Through the precise control of reverse braking force, it can achieve stable hovering of the car door at any position, solving the core limitation of traditional fixed-point hovering and electromagnetic braking schemes that cannot flexibly hover.

[0017] 2. This utility model features a highly efficient transmission chain consisting of an internal servo motor, gearbox, threaded rod, nut, and support rod. This results in low power transmission loss and rapid response. Combined with command output, it ensures smooth and seamless opening and closing of the car door, effectively improving the problems of inconsistent control and jamming inherent in traditional hydraulic or spring structures, and enhancing the user's operating experience. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the actuator in this utility model;

[0020] Figure 3 For along Figure 2 A schematic diagram of the cross-sectional structure along the center section AA.

[0021] In the diagram: 1. Door body; 2. Controller; 3. Short-range millimeter-wave radar; 4. Actuator; 41. Housing; 42. Front cover; 43. Rear cover; 44. Servo motor; 45. Hall sensor; 46. Gearbox; 47. Shaft seat; 48. Threaded rod; 49. Nut; 410. Connecting seat; 411. Support rod; 412. Bracket; 413. Positioning bolt. Detailed Implementation

[0022] 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.

[0023] Please see Figures 1-3 This utility model provides a technical solution: a continuously variable hovering electric door for automobiles, including a door body 1, and a controller 2, a short-range millimeter-wave radar 3 and an actuator 4 installed inside the door body 1;

[0024] The controller 2 is fixed inside the door body 1. The controller 2 is equipped with a gyroscope sensor. The controller 2 is used to receive the running signals fed back by the actuator 4 and output control commands.

[0025] The short-range millimeter-wave radar 3 is fixedly mounted in the lower inner area of ​​the door body 1 and is located on the side of the door body 1 away from the door frame when it is opened. It is used to cooperate with the gyroscope sensor to obtain the position and motion state parameters of the door body 1.

[0026] The actuator 4 is fixedly mounted in the middle area of ​​the inner side of the door body 1 and is located on the side of the door body 1 adjacent to the door frame when the door body 1 is opened. It includes a housing 41 installed inside the door body 1. Inside the housing 41, there is a support rod 411 that can slide along its axial direction. One end of the support rod 411 extends to the outside of the housing 41 and is connected to the vehicle body. The housing 41 is also equipped with a power output mechanism that drives the support rod 411 to slide. A Hall sensor 45 is configured on the power output mechanism.

[0027] Specifically, taking the door body 1 as the integrated carrier, the controller 2 is fixed inside the door body 1 and has a built-in gyroscope sensor; the short-range millimeter-wave radar 3 is precisely arranged on the lower inner side of the door body 1, and is located on the side away from the door frame when the door is open. This layout can avoid obstruction by the door frame and ensure interference-free detection of the door's movement trajectory. The two work together to collect position and motion state parameters such as the opening angle and angular velocity of the door body 1 in real time; the actuator 4 is fixed in the middle of the inner side of the door body 1 and is located on the side adjacent to the door frame when the door is open. The support rod 411 inside its housing 41 can slide axially and extend to one end outside the housing 41. Connected to the vehicle body, the actuator 4's power output mechanism is equipped with a Hall sensor 45 to provide real-time feedback on the power operation status signal. The controller 2 receives the feedback signal from the Hall sensor 45 and, combined with the data collected by the dual-sensor components gyroscope sensor + short-range millimeter-wave radar 3, accurately determines the working status of the door body 1. When the electric opening and closing command is triggered, the controller 2 outputs a forward / reverse control command to drive the actuator 4 to move. When hovering is required, the controller 2 outputs a reverse force control command, which applies a support force opposite to the direction of gravity to the door body 1 through the strut 411 of the actuator 4, achieving stable hovering at any position.

[0028] It should be noted that the short-range millimeter-wave radar 3 is installed inside the door body 1, which enables the door body 1 to detect surrounding obstacles, avoid collisions with obstacles when opening and closing the door body 1, and play a protective role as well as assisting in opening and closing the door body 1.

[0029] As a technical optimization of this utility model, the power output mechanism includes a front cover 42 installed at the front end of the housing 41, a rear cover 43 connected to the rear end of the housing 41, a servo motor 44 installed on the side wall of the housing 41, a gearbox 46 connected to the drive end of the servo motor 44 installed inside the rear cover 43, a threaded rod 48 rotatably installed inside the housing 41, the rear end of the threaded rod 48 being connected to the gearbox 46, a nut 49 threadedly connected to the threaded rod 48, and the nut 49 being connected to the support rod 411.

[0030] Specifically, the actuator 4 has a front cover 42 installed at the front end of its housing 41 and a rear cover 43 connected at the rear end. The servo motor 44 is fixed to the side wall of the housing 41, and its drive end is connected to the gearbox 46 inside the rear cover 43. The threaded rod 48 is rotatably installed inside the housing 41, with its rear end linked to the gearbox 46 and its front end threadedly engaged with the nut 49. The nut 49 is directly associated with the support rod 411, forming a complete power transmission link. The control command output by the controller 2 drives the servo motor 44 to start. The power generated by the motor is decelerated and increased in torque through the gearbox 46, improving the stability and load capacity of the power output. The decelerated power is transmitted to the threaded rod 48, causing the threaded rod 48 to rotate. Through the thread meshing action, it is converted into the axial linear motion of the nut 49, which in turn drives the support rod 411 to extend and retract along the axial direction of the housing 41, realizing the opening or closing of the door body 1.

[0031] As a technical optimization of this utility model, one end of the support rod 411 extending into the interior of the housing 41 is connected to a connecting seat 410, and the support rod 411 is fixedly connected to the nut 49 through the connecting seat 410.

[0032] Specifically, one end of the strut 411 extending into the housing 41 is fixedly connected to the nut 49 via the connecting seat 410. When the nut 49 moves axially under the drive of the threaded rod 48, the driving force or braking force is transmitted evenly and stably to the strut 411 through the connecting seat 410, avoiding stress concentration and loose connection problems that may occur when the nut 49 and the strut 411 are directly connected, and ensuring the consistency of power transmission.

[0033] As a technical optimization of this utility model, a bearing seat 47 is rotatably mounted inside the front cover 42, and the front end of the threaded rod 48 is connected to the bearing seat 47.

[0034] Specifically, when the gearbox 46 drives the threaded rod 48 to rotate, the bearing 47 provides stable radial support for the front end of the threaded rod 48, restricts the radial displacement and eccentric wobbling of the threaded rod 48, ensures that the thread meshing clearance between the threaded rod 48 and the nut 49 is uniform, guarantees the coaxiality and smoothness of the rotational motion, and provides a structural basis for the efficient conversion of power.

[0035] As a technical optimization of this utility model, the end of the support rod 411 that extends through the front cover 42 to the outside of the housing 41 is connected to the bracket 412, and the support rod 411 is connected to the vehicle body through the bracket 412.

[0036] Specifically, the end of the strut 411 that extends through the front cover 42 to the outside of the housing 41 is fixedly connected to the vehicle body via a bracket 412. When the strut 411 extends or retracts, the bracket 412 acts as a force transmission medium, transmitting the driving force of the strut 411 to the vehicle body, or providing suspension support force to the door body 1 through the reaction force of the vehicle body. At the same time, the bracket 412 can compensate for the installation error between the vehicle body and the door body 1, ensuring that the direction of force transmission is consistent with the design benchmark, and avoiding force transmission failure due to installation deviation.

[0037] As a technical optimization of this utility model, a positioning bolt 413 is installed on the front cover 42, and the actuator 4 is fixed to the door body 1 by the positioning bolt 413 installed on the front cover 42.

[0038] Specifically, the positioning bolts 413 installed on the front cover 42 serve as the fixed connection between the actuator 4 and the door body 1: through the threaded fastening action of the positioning bolts 413, the housing 41 of the actuator 4 is accurately positioned and firmly fixed to the mounting surface inside the door body 1, ensuring that the installation position of the actuator 4 is consistent with the design benchmark, and avoiding deviation of the extension direction of the support rod 411, component interference, or signal transmission delay due to installation deviation.

[0039] This solution achieves electric opening and closing, manual assistance, and stepless hovering at any position of the door through the coordinated action of the controller 2, short-range millimeter-wave radar 3, and actuator 4 integrated inside the door body 1. The specific working principle is as follows:

[0040] All core components are integrated inside the door body 1, with a layout adapted to the door space and meeting functional requirements. The controller 2 is fixed inside the door body 1 to ensure the stability of signal processing and command output. The short-range millimeter-wave radar 3 is fixed in the lower inner area of ​​the door body 1 and is located on the side away from the door frame when the door body 1 is open. This position can accurately capture the door's movement trajectory and attitude. The actuator 4 is fixed in the middle inner area of ​​the door body 1 by the positioning bolt 413 on the front cover 42 and is located on the side of the door body 1 adjacent to the door frame when the door body 1 is open. Its strut 411 is fixed to the vehicle body by the bracket 412, providing reliable support and transmission foundation for the door body 1.

[0041] The controller 2 has a built-in gyroscope sensor, which forms a dual-sensor collaborative mechanism with the short-range millimeter-wave radar 3 to jointly collect position and motion state parameters such as the opening angle and angular velocity of the door body 1 in real time. At the same time, the Hall sensor 45 configured on the power output mechanism of the actuator 4 provides real-time feedback on the operating status of the power output mechanism, such as speed and position signals, to provide data support for the precise control of the controller 2.

[0042] Actuator 4 is the core actuator for realizing the movement of the car door. After the power output mechanism is started, the power generated by the servo motor 44 is transmitted to the gearbox 46 inside the rear cover 43 through its drive end. The gearbox 46 completes the deceleration and torque increase process to improve the stability and load capacity of the power output. The decelerated and torque-increased power is transmitted to the threaded rod 48 inside the housing 41. The front end of the threaded rod 48 is rotatably connected to the bearing seat 47 inside the front cover 42 to ensure the coaxiality and smoothness of the rotational movement. The rotational movement of the threaded rod 48 is converted into the axial linear movement of the nut 49 through the threaded engagement. Since the nut 49 is fixedly connected to the support rod 411 through the connecting seat 410, it drives the support rod 411 to slide along the axial direction of the housing 41, realizing the extension and retraction of the support rod 411. The end of the support rod 411 extending to the outside of the housing 41 is connected to the car body through the bracket 412, and finally converts the linear movement into the opening or closing power of the car door body 1, or into the support force required for suspension.

[0043] Electric opening and closing mode:

[0044] When the user triggers the electric control command, the controller 2 outputs a forward or reverse power control command to the servo motor 44 of the actuator 4 according to the preset program:

[0045] When the servo motor 44 rotates in the forward direction, it drives the threaded rod 48 to rotate in the forward direction after being reduced in speed and increased in torque by the gearbox 46. The nut 49 drives the support rod 411 to extend along the axial direction of the housing 41, and pulls the door body 1 to open through the bracket 412. When the servo motor 44 rotates in the reverse direction, it similarly drives the threaded rod 48 to rotate in the reverse direction. The nut 49 drives the support rod 411 to retract, and pushes the door body 1 to close through the bracket 412, thus completing the electric opening and closing action.

[0046] Manual assist mode:

[0047] When the user manually pushes or pulls the door body 1, the controller 2 detects the external force signal and motion state changes of the door in real time through the short-range millimeter-wave radar 3 and gyroscope sensor. The short-range millimeter-wave radar 3 detects whether there are obstacles in the surroundings. The controller 2 then adjusts the output parameters of the servo motor 44 to reduce the reverse force of the motor and reduce the damping of the support rod 411 during the extension and retraction process. The door body 1 opens and closes smoothly with the assistance of the user's external force and the low resistance of the actuator 4, improving the convenience and comfort of manual operation.

[0048] Infinitely hovering mode:

[0049] When the door body 1 stops at any angle, the hovering function is achieved through a closed loop of signal detection, command output, and support braking:

[0050] Signal detection: The controller 2 synchronously receives the door position parameters and motion angular velocity parameters collected by the short-range millimeter-wave radar 3 and the gyroscope sensor, the detection signal of the short-range millimeter-wave radar 3, and the actuator operation signal fed back by the Hall sensor 45, and accurately determines the current position and stationary state of the door body 1.

[0051] Command output: Based on the judgment result, controller 2 outputs a reverse force control command to servo motor 44, and calls the pre-stored hovering parameters to adjust the motor output torque;

[0052] Support braking: The servo motor 44 is energized in reverse to generate braking torque, which is then reduced and increased in torque by the gearbox 46 and transmitted to the threaded rod 48. The nut 49 drives the support rod 411 to maintain the current extension position, and then the bracket 412 applies a stable support force to the door body 1 in the opposite direction of gravity to counteract the door's own weight or external interference force, so as to achieve stable suspension of the door body 1 in any position.

[0053] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0054] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A continuously variable electric door for automobiles, comprising a door body (1), characterized in that: The door body (1) is equipped with a controller (2), a short-range millimeter-wave radar (3) and an actuator (4). The controller (2) is fixed inside the door body (1). The controller (2) is equipped with a gyroscope sensor. The controller (2) is used to receive the running signal fed back by the actuator (4) and output control commands. The short-range millimeter-wave radar (3) is fixed in the lower inner area of ​​the door body (1) and is located on the side away from the door frame when the door body (1) is opened. It is used to cooperate with the gyroscope sensor to obtain the position and motion state parameters of the door body (1). The actuator (4) is fixed in the middle area inside the door body (1) and located on the side adjacent to the door frame when the door body (1) is opened. It includes a housing (41) installed inside the door body (1). Inside the housing (41) is a strut (411) that can slide along its axial direction. One end of the strut (411) extends to the outside of the housing (41) and is connected to the vehicle body. The housing (41) is also equipped with a power output mechanism that drives the strut (411) to slide. A Hall sensor (45) is configured on the power output mechanism.

2. The continuously variable electric door for automobiles as described in claim 1, characterized in that: The power output mechanism includes a front cover (42) installed at the front end of the housing (41), a rear cover (43) connected to the rear end of the housing (41), a servo motor (44) installed on the side wall of the housing (41) and the rear cover (43) having a gearbox (46) connected to the drive end of the servo motor (44) installed inside the rear cover (43), a threaded rod (48) rotatably installed inside the housing (41), the rear end of the threaded rod (48) being connected to the gearbox (46), a nut (49) threadedly connected to the threaded rod (48), and the nut (49) being connected to the support rod (411).

3. The continuously variable electric door for automobiles as described in claim 2, characterized in that: The end of the support rod (411) extending into the housing (41) is connected to a connecting seat (410), and the support rod (411) is fixedly connected to the nut (49) through the connecting seat (410).

4. The continuously variable electric door for automobiles as described in claim 2, characterized in that: The front cover (42) is rotatably mounted with a bearing seat (47), and the front end of the threaded rod (48) is connected to the bearing seat (47).

5. A continuously variable electric door for automobiles as described in claim 2, characterized in that: The strut (411) extends through the front cover (42) to the outside of the housing (41) and is connected to a bracket (412). The strut (411) is connected to the vehicle body through the bracket (412).

6. The continuously variable electric door for automobiles as described in claim 2, characterized in that: The front cover (42) is equipped with positioning bolts (413), and the actuator (4) is fixed to the door body (1) by the positioning bolts (413) installed on the front cover (42).

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