CN106351141A - Automatic anti-collision passageway gate and control method thereof - Google Patents
Automatic anti-collision passageway gate and control method thereof Download PDFInfo
- Publication number
- CN106351141A CN106351141A CN201610891064.4A CN201610891064A CN106351141A CN 106351141 A CN106351141 A CN 106351141A CN 201610891064 A CN201610891064 A CN 201610891064A CN 106351141 A CN106351141 A CN 106351141A
- Authority
- CN
- China
- Prior art keywords
- motor
- gate
- coordinate
- cpu
- door
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
- E01F13/06—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage by swinging into open position about a vertical or horizontal axis parallel to the road direction, i.e. swinging gates
-
- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B11/00—Means for allowing passage through fences, barriers or the like, e.g. stiles
- E06B11/08—Turnstiles; Gates for control of entry or exit of persons, e.g. in supermarkets
- E06B11/085—Turnstiles; Gates for control of entry or exit of persons, e.g. in supermarkets non-rotary or with a limited angle of rotation, e.g. 90°
Landscapes
- Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses an automatic anti-collision passageway gate, which comprises a gate body and a direct current motor arranged in the gate body, wherein a direct current motor CPU (central processing unit) which is connected with the direct current motor for driving and current control is also arranged in the gate body; a current detecting device is also arranged between the CPU and the direct current motor; a three-phase absolute value rotary encoder is also arranged in the gate body; the three-phase absolute value rotary encoder is connected with the CPU. The automatic anti-collision passageway gate has the beneficial effects that the direct current motor and the three-phase absolute value rotary encoder (a phase A, a phase B and a phase Z) are combined for controlling the passageway gate. The encoder is used for positioning, acceleration and deceleration processing in operation, current sampling by the CPU and motor current control, so that the goal of controlling the output torque of the motor is achieved; through current change, a positioning sensor in a traditional gate is replaced; the protection on pedestrians is provided.
Description
Technical field
The present invention relates to gate equipment and control method field, more particularly, to a kind of automatic Anti-knocking passageway gate machine and its
Control method.
Background technology
Statement in this part merely provides the background information relevant with present disclosure thereby increases and it is possible to not constitute
Prior art.
Three kinds of main at present types of walkway gate in prior art: pendulum lock, wing lock, triroller gate
First, put lock:
The pendulum brake structure of the first form closes doors three as shown in figure 1, two points that open the door are passed through in the swing arm of pendulum lock with middle
Individual sensor positioning.Its swing arm drives swing arm motion by motor, and according to pedestrian by needing to carry out door opening action, pedestrian passes through
Afterwards, swing arm returns to the position locked by frame for movement of closing the door.
But, the shake of its switch gate is big, and action is stiff, when being collided, because position of closing the door is that mechanical rigid is locked, easily
Frame for movement is damaged, or the swing arm that fractures.When having a power failure, if (put it is impossible to open door when gate also lost efficacy from charged pool
Arm).Because the pendulum lock of this structure only has three position sensor positioning, motor cannot do acceleration and deceleration smooth motion, permanent with motor
Constant speed degree drives the motion of swing arm, passes through machinery jerk by force, so that shake cannot be avoided at position sensor.In position of closing the door
Put, frame for movement is locked, being hit by extraneous collision (bicycle, motor bicycle, tricycle, etc.) when, rigid contrast occurs it is impossible to
Avoid the damage to mechanical part.When occurring to have a power failure, gate is relied on to open swing arm from charged pool, but if battery failure occurs
Situations such as it may appear that door of not opening, be unfavorable for evacuating personnel.
The pendulum brake structure of second form is as shown in Fig. 2 pendulum lock passes through an absolute value rotary encoder positioning, enabling point
The coordinate points producing for rotary encoder with pass doors.In position of closing the door, when encountering illegal pushing arm, rotated by absolute value and compile
Code device reads out this and illegally rotates, then locked to swing arm by electromagnetic clutch, stops and illegally passes through.After time delay, swing arm is again
Go back to position of closing the door.Its electromagnetic clutch can be locked, when locked first, because in the attracting process of electromagnetic clutch, there being one to beat
Slip over journey, cushioning shock is had certain effect, but be subject to during continuous collision or frangibility swing arm or damage frame for movement portion
Point.
The pendulum lock of this structure is positioned by absolute rotary encoder, and closing the door, the locked side of frame for movement is no longer used in position
Formula, but in illegal pushing arm, illegally pass through for stoping, electromagnetic clutch can be locked, and this there is a contradiction, by the external world
During collision, electromagnetic clutch also can be locked, electromagnetic clutch can skid during locked a bit of, to collide have certain
Alleviate, but during by continuous collision, still cannot avoid the damage to mechanical part.Another: installing additional of electromagnetic clutch, greatly increase
Cost, and increase fault rate, meanwhile, during assembling and setting, difficulty increases, and the time lengthens.Because of complex structure, scene
Maintenance is difficult.
2nd, wing lock
Its structure of wing lock of the prior art is shown in Fig. 3, does switch gate action by the Motor drive wing, position of opening the door and close the door
Positioned by sensor, close locked by machinery behind the door.But wing lock is operationally, switch gate shake is big, and action is stiff,
The situation of loose hip occurs after life-time service.Have a power failure when, if gate from charged pool also lost efficacy when it is impossible to open door (wing).
Furthermore operationally, switch gate passes through two position sensor positioning, motor cannot do acceleration and deceleration smooth motion, with
Motor constant speed drive wing action, when action is to position sensing location, mechanically rigidity is stopped, and shake is big, makes an uproar
Sound is big, and the situation loose hip after life-time service cannot avoid although there being the methods such as liquid feeding compression buffer, but such device becomes
Consumable accessory is it is impossible to tackle the problem at its root.When occurring to have a power failure, gate is relied on to open flap door from charged pool, but because battery loses
Situations such as effect, it may appear that door of not opening, is unfavorable for evacuating personnel.
3rd, roller lock (cross lock is in the same manner)
Roller brake structure such as Fig. 4 of the first form, equipped with cam on triroller gate rotating disk, by two magnet control rotating disks
Clockwise or inverse clock rotate.At ordinary times, two locked with electromagnet cams, make rotating disk can not rotate.When needs turn to certain direction
When dynamic, corresponding electric magnet unblock, people promotes the bar (roller) connecting rotating disk, can rotate a position, reaches next position
When, give a signal by a sensors in place, make electric magnet locking cam again.But there is automaticity in this structure
Low, action is stiff, when being collided, because of the cam on electromagnet mechanism rigidly locked rotating disk, easily damages frame for movement, or
Snap bar (roller).
But the roller lock automaticity of this structure is low, gradually can not meet the requirement in market, electric magnet is to cam at ordinary times
Deadlock, bar (roller) is rigid when being subject to and colliding, and the damage to frame for movement is inevitable.
Roller brake structure such as Fig. 5 of second form, triroller gate rotating disk equipped with linkage absolute value rotary encoder, with electromagnetism
Clutch, rotating disk passes through Motor drive, and the turned position of rotating disk is real with the coordinate being located through the generation of absolute value rotary encoder
Existing, in illegal bar (roller) promoting and connecting rotating disk, this illegal action is read by absolute value rotary encoder, then passes through
The locked rotating disk of electromagnetic clutch, stops and illegally passes through, after time delay, rotating disk returns to the position before illegal push rod (roller).The roller of this structure
, when being collided, electromagnetic clutch can be locked for lock, when locked first, because in the attracting process of electromagnetic clutch, there being one to beat
Slip over journey, cushioning shock is had certain effect, but be subject to during continuous collision or frangibility bar (roller) or frame for movement.Another this
The power planting structure motor passes through belt transmission to rotating disk, and belt using rear easy skidding, is easily affected by temperature for a long time simultaneously.
The triroller gate of this structure not deadlock at ordinary times, but when illegal push rod (roller), illegally pass through for stoping, electromagnetic clutch
Can be locked, this there is a contradiction, and when being collided, electromagnetic clutch also can be locked, and electromagnetic clutch is in locked process
In can skid a bit of, to collide have certain alleviation, but by continuous collision when, the damage to frame for movement is inevitable.Separately
Outward, the installing additional of electromagnetic clutch, considerably increases cost, and increases fault rate, meanwhile, during assembling and setting, difficulty
Increase, the time lengthens.Because of complex structure, field maintenance is difficult.
Therefore prior art has much room for improvement and develops.
Content of the invention
The technical problem to be solved in the present invention is to provide a kind of automatic Anti-knocking passageway gate machine and control method.
The technical solution of the present invention is: a kind of automatic Anti-knocking passageway gate machine, including gate and be arranged on described
D.c. motor in gate, be additionally provided with described gate be connected with described d.c. motor for described in driving and current control
The cpu of d.c. motor, is additionally provided with current sensing means between described cpu and d.c. motor；It is additionally provided with volume in described gate
Code device, described encoder is connected with described cpu.
A kind of control method of automatic Anti-knocking passage swing gate gate, comprises the steps:
1) the z signal of encoder is installed between two backstop positions, when upper electric initial, drives d.c. motor to rotate, with
Swing arm links, and detects the z point signal of encoder；
2) z point signal is such as detected, with this as datum mark 0 coordinate figure positioning, if can't detect z point signal,
Then swing arm can go to end points always, then male means can be encountered backstop position and can not be rotated further, and d.c. motor is in stall shape
State；By the detection to d.c. motor electric current, or the appearance halted state of encoder can be learnt currently go to end points, then control
D.c. motor processed rotates backward, and before going to another end points, detects z point signal, then puts 0 coordinate on the basis of this z point signal,
Drive swing arm to go to the position closed the door again to stop；If z point signal all can not be found during rotating, represent swing arm
Blocked by external factor, then report to the police, by manually carrying out handling failure.
3) coordinate points (cpu can preserve) closing doors are arranged by controller, and automatically calculate the seat of two backstop positions
Mark, as the coordinate figure of the point that opens the door；So far go up electronic completing；
4) when illegally pushing or collide when having, cpu measures coordinate value changes, according to the direction of change, applies to d.c. motor
Plus a reverse rotating torque；Stop and illegally push the door open, reach and stop the purpose passed through.
Wherein step 4) in the size of reverse rotating torque be to be reached by current control, damage less than frame for movement
Maximum limit.Thus reach preventing from damaging gate during colliding gate.
Cpu records the electric current driving d.c. motor during normal condition switch gate, when people is got in swing arm, d.c. motor electric current
Can be mutated, when cpu detects this change, make stopping d.c. motor rotational action, protect pedestrian, and report to the police.
In normal condition runs, can be according to coordinate figure, d.c. motor accelerates when initial, then more at the uniform velocity, near mesh
Run slowly during mark halt, reach swing arm and run smoothness steadily, do not impact, noise is low, extend the service life of gate, completely
The requirement to high standard equipment for the sufficient people.
A kind of control method of automatic Anti-knocking passage wing lock gate, comprises the steps:
1) the z signal of encoder is installed between two backstop positions, when upper electric initial, drive d.c. motor to rotate, and examines
Survey the z signal of encoder, d.c. motor drives rocker actuator, rocker actuator promotes wing action again；
2) z signal is such as detected, with this as datum mark 0 coordinate figure positioning, if can't detect z point signal,
Swing arm can go to end points always, then encounter backstop position and can not be rotated further, d.c. motor is in locked rotor condition, by direct current
The detection of motor current, can learn and currently go to end points, or, to encoder, the state of stopping operating, and learn and currently turned
To end points, then control d.c. motor to rotate backward, before going to another end points, detect z point signal, then with this z point signal be
Datum mark 0 coordinate, then drive swing arm to go to the position closed the door to stop；If z point all can not be found during rotating
Signal, represents that the wing is blocked by external factor, then reports to the police, by manually carrying out handling failure.
3) coordinate points (can preserve) closing doors, and the coordinate points (can preserve) of the point that opens the door are arranged by controller, extremely
Electronic on this complete；
4) when the wing close the door favorite outer clip to people or thing when, d.c. motor is obstructed and causes electric current to become big, and cpu passes through detection
The change of electric current, judges there is accident, then stop d.c. motor or door is opened in reversion；
5) in the position closed the door, if external force is intended to break door into two with one's hands, cpu detects the change of encoder position, according to change
Direction, apply a reverse rotating torque to d.c. motor, stop and illegally break door into two with one's hands, reach and stop the purpose passed through.And
Different prevention moments can be set, to meet the demand of client to different application places.
Wherein step 5) in the size of reverse rotating torque be to be reached by current control, damage less than frame for movement
Maximum limit.
Run under normal condition, can be according to coordinate figure, d.c. motor accelerates when initial, then more at the uniform velocity, near target
Run slowly during halt.
A kind of automatic Anti-knocking passage three-roller gate or the control method of cross lock, comprise the steps:
1), when above electricity is initial, drives d.c. motor to rotate, and detect the z signal of encoder；
2) when z signal is detected, cpu puts 0 coordinate on the basis of recording this point, and continuing to rotate to initially close the door (stops logical
OK) setting coordinate position stops, and the modulus according to encoder, in three-roller gate with modulus trisection or four in cross lock
Decile, each bar or roller stroke to be moved when drawing normal operation；
3) when having illegal push rod or colliding, cpu measures coordinate value changes by encoder, according to the direction of change, gives
D.c. motor applies a reverse rotating torque, stops illegal catch bar or roller.
Wherein step 3) reverse rotating torque is by current control, the maximum damaged less than frame for movement of this moment
The limit.
Beneficial effects of the present invention:
Combined with three-phase absolute value rotary encoder (a phase, b phase, z phase) using d.c. motor, to passageway gate machine control.Compile
Code device is used for positioning, and acceleration and deceleration in operation are processed, and the sampling to electric current for the cpu controls the electric current of motor, reaches control motor output
The purpose of moment, and by the change of electric current, replace the alignment sensor and offer protection to pedestrian in traditional gate.
Brief description
Fig. 1 is the first structural representation putting lock in prior art；
Fig. 2 is the second structural representation putting lock in prior art；
Fig. 3 is prior art airfoil brake structure schematic diagram；
Fig. 4 is triroller gate or the first structural representation of cross lock in prior art；
Fig. 5 is triroller gate or cross lock second structural representation in prior art；
Fig. 6 is schematic block circuit diagram of the present invention；
Fig. 7 puts brake system frame diagram for the present invention；
Fig. 8 is wing brake system frame diagram of the present invention；
Fig. 9 is triroller gate of the present invention or cross brake system frame diagram.
Specific embodiment
Embodiment:
Refering to Fig. 6, a kind of automatic Anti-knocking passageway gate machine, including gate and be arranged on the direct current horse in described gate
Reach, in described gate, be additionally provided with the cpu for d.c. motor described in driving and current control being connected with described d.c. motor,
It is additionally provided with current sensing means between described cpu and d.c. motor；It is additionally provided with encoder, described encoder in described gate
It is connected with described cpu.
Refering to Fig. 7, the z signal of encoder be installed on swing in the range of (i.e. between two backstop positions), upper electricity is just
During the beginning, drive d.c. motor slow rotation, link with swing arm, and detect the z point signal of encoder, z point signal is such as detected,
With this as datum mark 0 coordinate figure positioning, if can't detect z point signal, swing arm can go to end points always, at this moment convex
Lifting device can be encountered backstop position and can not be rotated further, and motor is in locked rotor condition, by the detection to motor current, or to volume
The appearance state of stopping operating of code device can be learnt and currently go to end points, then control motor to rotate backward, going to another end points
Before, z point signal necessarily can be detected, on the basis of this z point signal, then put 0 coordinate, then drive swing arm to go to and close the door
Position stop (user can arrange, by controller, the coordinate points closing doors, and automatically calculates the coordinate of two backstop positions,
System can preserve, and next time is without arranging again).So far go up electronic completing.
When have illegally push (collision) when, cpu measures coordinate value changes, according to change direction, to motor apply one
Reverse rotating torque, stops and illegally pushes the door open, and reaches and stops the purpose passed through, the size of this reverse rotating torque is logical
Excess current control reaches, so the size of this moment can be by user setup, with the limit damaged less than frame for movement
For higher limit.Reach prevention illegally to pass through, can guarantee that again and do not damage frame for movement in collision.The system is illegally being pushed away
Or when colliding swing arm, as pushed away or hitting one " spring " (elastic force of this " spring " can be arranged)
In terms of protection pedestrian, when the failure of apparatus that other prevents swing arm from getting to people, this can be last defence line.cpu
The electric current of drive motor when can record normal switch door at ordinary times, when people is got in swing arm, motor current can be mutated, and cpu detects
During this change, make stopping revolution action, protect pedestrian, and report to the police.
In normal operation, can be accelerated when initial according to stroke (coordinate figure), motor, then more at the uniform velocity, near target
Run slowly during halt, reach swing arm and run smooth steady, not impact, noise is low, extends the service life of gate, meets
The requirement to high standard equipment for the people.
This pendulum brake system Anti-knocking effect is significant, the moment of Anti-knocking can freely be arranged, and through repeatedly colliding test, can reach
The purpose of protection frame for movement.And it is very accurate to position, no overshoot phenomenon.And frame for movement is simple, low cost, debugging is non-
Often facilitate.And improve the protection to pedestrian.
Refering to Fig. 8, the z signal of encoder be installed on swing in the range of (i.e. between two backstop positions), upper electricity is just
During the beginning, driving d.c. motor slow rotation, and detect the z signal of encoder, motor drives rocker actuator, and rocker actuator promotes again
Wing action, in motor process, such as detects z signal, with this as datum mark 0 coordinate figure positioning, if can't detect z
Point signal, then swing arm can go to end points always, at this moment can encounter backstop position and can not be rotated further, and motor is in locked rotor condition,
By the detection to motor current, can learn and currently go to end points, or state that the appearance of encoder is stopped operating, can learn
Currently go to end points, then controlled motor to rotate backward, before going to another end points, z point signal necessarily can be detected, so
Put 0 coordinate on the basis of this z point signal afterwards, then drive swing arm go to the position closed the door stop (user can by control
The coordinate points of doors, and the coordinate points of the point that opens the door are closed in device setting, and system can preserve, and next time is without arranging again).So far go up electronic
Complete.
When the failure of apparatus that other prevents the wing from pressing from both sides people, this can be last defence line, when the wing favorite outer clips to people closing the door
Or during thing, motor is obstructed and causes electric current to become big, cpu passes through to detect the change of electric current, judges there is accident, now stops motor
Or reversion open door.Effectively prevent from hurting sb.'s feelings, or damage machinery.
In the position closed the door, if external force is intended to break door into two with one's hands, cpu detects the change of encoder position, according to change
Direction, applies a reverse rotating torque to motor, stops and illegally breaks door into two with one's hands, reaches and stops the purpose passed through, this is reverse
The size of rotating torque be to be reached by current control, so the size of this moment can be by user setup, with little
It is the upper limit in the limit that frame for movement is damaged.Reach prevention illegally to pass through, can guarantee that again and forcing to break into two with one's hands in door not damage
Frame for movement.In addition also can be in the different moment of different application places settings, to meet the requirement of different clients, such as child
Garden, it can be provided the moment of very little, child breaks not open, if unexpected clipping to also is not hurted sb.'s feelings.
In normal operation, can be accelerated when initial according to stroke (coordinate figure), motor, then more at the uniform velocity, stop near target
Run slowly during stop, reach the wing and run smooth steady, not impact, noise is low, extends the service life of gate, meets people
Requirement to high standard equipment.
With conventional flap lock ratio, mainly control mode difference, deduct alignment sensor, added encoder, but movement knot
Structure is simple, and cost increase is inconspicuous, but the flattening effect running has significant change.Protection to pedestrian is significantly increased, special
In the case of not being power failure, when battery also lost efficacy, conventional flap lock is machinery locked (illegally passing through because will stop) it is impossible to beat
Open, but this control mode is when losing power supply, motor no longer rotates backward moment to be gone to stop and open the door, and pedestrian completely can be light
Pine breaks door into two with one's hands.
Refering to Fig. 9, when upper electricity is initial, drives d.c. motor to rotate, and detect the z signal of encoder, when z signal is detected
When, cpu puts 0 coordinate on the basis of recording this point, continues to rotate to initial resistance position (position of closing the door) and stops (initial resistance position
Put user can arrange in the controls, system can preserve, next time is without arranging again), and the modulus according to encoder, with this
Modulus trisection (being the quartering in cross lock), each bar (roller) stroke to be moved when drawing normal operation is it is possible to just
Often work.
When there being illegal push rod (collision), cpu measures coordinate value changes by encoder, according to the direction of change, to horse
Reach one reverse rotating torque of applying, stop illegal catch bar (roller), this reverse rotating torque is by current control,
And the size of this moment can be defined by the limit damaged less than frame for movement with user setup.Reach prevention illegal
Pass through, can guarantee that again and do not damage machinery in collision.When the system illegally being pushed away or collide bar (roller), as pushed away
Or hit one " spring " (elastic force of this " spring " can be arranged)
The system directly drives rotating disk using motor, overcomes the problem that the common triroller gate of tradition can not collide, tradition is certainly
Dynamic triroller gate is unable to continuous collision, and the problem of belt slippage.Make frame for movement simple, install, debugging is convenient.
Lead to the application that d.c. motor is combined in passageway gate machine with coding, and make good use of the linear spy of d.c. motor moment
Property, solve the problems, such as Anti-knocking, solve positioning overshooting problem, solve shake in operation, noise problem.Effectively increase
Protection to pedestrian.And making gate frame for movement simple, installation and debugging are convenient.
The present invention utilizes d.c. motor to combine with three-phase absolute value rotary encoder (a phase, b phase, z phase), to passageway gate machine
Control.Encoder is used for positioning, and acceleration and deceleration in operation are processed, and the sampling to electric current for the cpu controls the electric current of motor, reaches control
The purpose of motor output torque, and by the change of electric current, replace the alignment sensor and offer guarantor to pedestrian in traditional gate
Shield.
In the description of this specification, the description of term " embodiment " etc. means with reference to this embodiment or example description
Specific features, structure, material or feature be contained at least one embodiment or the example of the present invention.In this manual,
Identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.And, the specific features of description, knot
Structure, material or feature can combine in any one or more embodiments or example in an appropriate manner.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of automatic Anti-knocking passageway gate machine it is characterised in that, including gate and be arranged on the direct current horse in described gate
Reach, in described gate, be additionally provided with the cpu for d.c. motor described in driving and current control being connected with described d.c. motor,
It is additionally provided with current sensing means between described cpu and d.c. motor；It is additionally provided with encoder, described encoder in described gate
It is connected with described cpu.
2. automatic Anti-knocking passage swing gate gate according to claim 1 control method it is characterised in that include as
Lower step:
1) the z signal of encoder is installed between two backstop positions, when upper electric initial, drives d.c. motor to rotate, with swing arm
Linkage, and detect the z point signal of encoder；
2) z point signal is such as detected, with this as datum mark 0 coordinate figure of positioning, if can't detect z point signal, putting
Arm can go to end points always, then male means can be encountered backstop position and can not be rotated further, and d.c. motor is in locked rotor condition；Logical
Cross the detection to d.c. motor electric current, or the appearance halted state of encoder can be learnt currently gone to end points, then control straight
Stream motor rotates backward, and before going to another end points, detects z point signal, then puts 0 coordinate on the basis of this z point signal, then drive
Movable pendulum arm goes to the position closed the door and stops；If z point signal all can not be found during rotating, represent that swing arm is subject to outer
Portion's factor is blocked, then report to the police, by manually carrying out handling failure；
3) coordinate points closing doors are arranged by controller, this coordinate points cpu can preserve, and automatically calculates two backstop positions
Coordinate, as the coordinate figure of the point that opens the door；So far go up electronic completing；
4) when illegally pushing or collide when having, cpu measures coordinate value changes, according to the direction of change, applies one to d.c. motor
Individual reverse rotating torque；Stop and illegally push the door open, reach and stop the purpose passed through.
3. the control method of automatic Anti-knocking passage swing gate gate according to claim 2 is it is characterised in that step 4)
In the size of reverse rotating torque be to be reached by current control, the maximum limit damaging less than frame for movement, thus reach
Prevent from damaging gate during colliding gate.
4. the control method of automatic Anti-knocking passage swing gate gate according to claim 2 is it is characterised in that cpu remembers
The electric current of d.c. motor is driven, when people is got in swing arm, d.c. motor electric current can be mutated, cpu examines during record normal condition switch gate
When measuring this change, make stopping d.c. motor rotational action, protect pedestrian, and report to the police.
5. the control method of automatic Anti-knocking passage swing gate gate according to claim 2 is it is characterised in that normal
During state is run, can be according to coordinate figure, d.c. motor accelerates when initial, then more at the uniform velocity, slows down when target halt
Run, reach swing arm and run smoothness steadily, do not impact, noise is low, extend the service life of gate, meet people to high standard
The requirement of equipment.
6. a kind of control method of automatic as claimed in claim 1 Anti-knocking passage wing lock gate is it is characterised in that include
Following steps:
1) the z signal of encoder is installed between two backstop positions, when upper electric initial, drive d.c. motor to rotate, and detects volume
The z signal of code device, d.c. motor drives rocker actuator, and rocker actuator promotes wing action again；
2) z signal is such as detected, with this as datum mark 0 coordinate figure positioning, if can't detect z point signal, swing arm
End points can be gone to always, then encounter backstop position and can not be rotated further, d.c. motor is in locked rotor condition, by d.c. motor
The detection of electric current, can learn and currently go to end points, or, to encoder, the state of stopping operating, and learn and currently gone to end
Point, then control d.c. motor to rotate backward, before going to another end points, detect z point signal, then on the basis of this z point signal
Put 0 coordinate, then drive swing arm to go to the position closed the door and stop；If z point signal all can not be found during rotating,
Represent that the wing is blocked by external factor, then report to the police, by manually carrying out handling failure.
3) coordinate points closing doors are arranged by controller, this coordinate points can preserve, and the coordinate points of the point that opens the door can preserve, extremely
Electronic on this complete；
4) when the wing close the door favorite outer clip to people or thing when, d.c. motor is obstructed and causes electric current to become big, and cpu passes through to detect electric current
Change, judge there is accident, then stop d.c. motor or reversion open door；
5) in the position closed the door, if external force is intended to break door into two with one's hands, cpu detects the change of encoder position, according to the side of change
To d.c. motor one reverse rotating torque of applying, prevention is illegally broken door into two with one's hands, reached and stop the purpose passed through.And can be right
Different application places, arrange different prevention moments, to meet the demand of client.
7. the control method of automatic Anti-knocking passage wing lock gate according to claim 6 is it is characterised in that wherein walk
In rapid 5), the size of reverse rotating torque is to be reached by current control, the maximum limit damaging less than frame for movement.
8. the control method of automatic Anti-knocking passage wing lock gate according to claim 6 is it is characterised in that normal shape
Run under state, can be according to coordinate figure, d.c. motor accelerates when initial, then more at the uniform velocity, fortune of slowing down when target halt
OK.Reach the wing and run smooth steady, not impact, noise is low, extends the service life of gate, meets people to high standard equipment
Requirement.
9. the control method of a kind of automatic as claimed in claim 1 Anti-knocking passage three-roller gate or cross lock, its feature
It is, comprise the steps:
1), when above electricity is initial, drives d.c. motor to rotate, and detect the z signal of encoder；
2) when z signal is detected, cpu puts 0 coordinate on the basis of recording this point, continues to rotate to initially close the door or stop current setting
Put coordinate position to stop, and the modulus according to encoder, three-roller gate with modulus trisection or in cross lock the quartering,
Each bar or roller stroke to be moved when drawing normal operation；
3) when having illegal push rod or colliding, cpu measures coordinate value changes by encoder, according to the direction of change, to direct current
Motor applies a reverse rotating torque, stops illegal catch bar or roller.
10. the control method of automatic Anti-knocking passage three-roller gate according to claim 9 or cross lock, its feature exists
In wherein step 3) reverse rotating torque is by current control, the setting of this moment is less than the maximum that frame for movement is damaged
The limit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610891064.4A CN106351141B (en) | 2016-10-12 | 2016-10-12 | A kind of automatic Anti-knocking passageway gate machine and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610891064.4A CN106351141B (en) | 2016-10-12 | 2016-10-12 | A kind of automatic Anti-knocking passageway gate machine and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106351141A true CN106351141A (en) | 2017-01-25 |
| CN106351141B CN106351141B (en) | 2019-05-31 |
Family
ID=57867206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610891064.4A Active CN106351141B (en) | 2016-10-12 | 2016-10-12 | A kind of automatic Anti-knocking passageway gate machine and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106351141B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106836059A (en) * | 2017-04-06 | 2017-06-13 | 深圳市嘉昱机电有限公司 | Intelligent swing turnstile system |
| CN108915572A (en) * | 2018-06-25 | 2018-11-30 | 艾弗世(苏州)专用设备股份有限公司 | A kind of beating gate cell transmission mechanism and pat gate cell |
| CN110748270A (en) * | 2018-07-23 | 2020-02-04 | 杭州海康威视数字技术股份有限公司 | Gate equipment, limit detection method of gate equipment and controller |
| CN113867241A (en) * | 2021-09-18 | 2021-12-31 | 浙江大华技术股份有限公司 | Method and device for controlling swing gate speed and electronic equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001283268A (en) * | 2000-03-30 | 2001-10-12 | Toyo Electric Mfg Co Ltd | Gate opening/closing device in hybrid driving system |
| US20030029090A1 (en) * | 2001-08-09 | 2003-02-13 | Gillingham James Robert | Method and apparatus for security gate gearing |
| CN201170016Y (en) * | 2008-02-22 | 2008-12-24 | 深圳市捷顺科技实业股份有限公司 | Channel brake |
| CN101440609A (en) * | 2008-12-10 | 2009-05-27 | 顿孟元 | Encoding controlled bidirectional balance road gate |
| CN101787680A (en) * | 2010-03-09 | 2010-07-28 | 苏州巨立电梯有限公司 | Anti-collision passageway gate machine |
| CN201850989U (en) * | 2010-10-28 | 2011-06-01 | 广州市合大吉电子科技有限公司 | Intelligent wireless remote control roller gate |
| CN103410108A (en) * | 2013-07-26 | 2013-11-27 | 浙江众合机电股份有限公司 | Shear type door gate with door panel driven by motor to be opened or closed |
-
2016
- 2016-10-12 CN CN201610891064.4A patent/CN106351141B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001283268A (en) * | 2000-03-30 | 2001-10-12 | Toyo Electric Mfg Co Ltd | Gate opening/closing device in hybrid driving system |
| US20030029090A1 (en) * | 2001-08-09 | 2003-02-13 | Gillingham James Robert | Method and apparatus for security gate gearing |
| CN201170016Y (en) * | 2008-02-22 | 2008-12-24 | 深圳市捷顺科技实业股份有限公司 | Channel brake |
| CN101440609A (en) * | 2008-12-10 | 2009-05-27 | 顿孟元 | Encoding controlled bidirectional balance road gate |
| CN101787680A (en) * | 2010-03-09 | 2010-07-28 | 苏州巨立电梯有限公司 | Anti-collision passageway gate machine |
| CN201850989U (en) * | 2010-10-28 | 2011-06-01 | 广州市合大吉电子科技有限公司 | Intelligent wireless remote control roller gate |
| CN103410108A (en) * | 2013-07-26 | 2013-11-27 | 浙江众合机电股份有限公司 | Shear type door gate with door panel driven by motor to be opened or closed |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106836059A (en) * | 2017-04-06 | 2017-06-13 | 深圳市嘉昱机电有限公司 | Intelligent swing turnstile system |
| CN108915572A (en) * | 2018-06-25 | 2018-11-30 | 艾弗世(苏州)专用设备股份有限公司 | A kind of beating gate cell transmission mechanism and pat gate cell |
| CN110748270A (en) * | 2018-07-23 | 2020-02-04 | 杭州海康威视数字技术股份有限公司 | Gate equipment, limit detection method of gate equipment and controller |
| CN110748270B (en) * | 2018-07-23 | 2021-06-04 | 杭州海康威视数字技术股份有限公司 | Gate equipment, limit detection method of gate equipment and controller |
| CN113867241A (en) * | 2021-09-18 | 2021-12-31 | 浙江大华技术股份有限公司 | Method and device for controlling swing gate speed and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106351141B (en) | 2019-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106351141A (en) | Automatic anti-collision passageway gate and control method thereof | |
| CN106836059A (en) | Intelligent swing turnstile system | |
| US20190136603A1 (en) | System and method for automated motor actuation in response to a travel-limit displacement of a movable barrier | |
| CN102561901A (en) | Anti-pinch safe door | |
| CN206971121U (en) | Intelligent swing turnstile system | |
| CN103334388B (en) | A kind ofly prevent the safe and intelligent gate rushing lock | |
| CN106795727B (en) | Blocking device for motor vehicle the cover | |
| EP3315704A1 (en) | Monitoring system | |
| CN205476984U (en) | Blocking lock is secretly adorned to automatically controlled locomotive | |
| CN106609500B (en) | A kind of automatic Anti-knocking passageway gate machine and its control method | |
| CN105780685A (en) | Gate door opening/closing device | |
| US8100163B2 (en) | Apparatus and method for controlling barrier movement | |
| CN108150067B (en) | A kind of fire-fighting life-saving door lock monitoring system based on cloud alarm platform | |
| CN104755407B (en) | For preventing the device of hypervelocity that door leaf causes by accumulator, for the method making elevator door run and elevator door | |
| CN113450577A (en) | Gateway system that security protection system of community used | |
| CN206308643U (en) | Anticollision swing turnstile | |
| CN101787680A (en) | Anti-collision passageway gate machine | |
| CN204676455U (en) | A kind of pendulum lock of gate | |
| CN207435954U (en) | A kind of rotary Shan Men mechanisms for ticket check gate | |
| CN217386162U (en) | Control device of intelligent door and intelligent door | |
| CN104912427B (en) | Arrangements for automotive doors anti-pinch device | |
| CN205297219U (en) | Autogiration door but flexibility bullet contracts | |
| CN201678957U (en) | Anti-collision channel gate | |
| CN201972115U (en) | Single-line gate | |
| CN205035750U (en) | Braking control device of door is patted to floodgate machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |