CN113279653A - Door opening and closing device of inner sliding door, door opening and closing control method and door body assembly - Google Patents

Door opening and closing device of inner sliding door, door opening and closing control method and door body assembly Download PDF

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Publication number
CN113279653A
CN113279653A CN202110563964.7A CN202110563964A CN113279653A CN 113279653 A CN113279653 A CN 113279653A CN 202110563964 A CN202110563964 A CN 202110563964A CN 113279653 A CN113279653 A CN 113279653A
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CN
China
Prior art keywords
door
linear motor
guide rail
closing
door opening
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Granted
Application number
CN202110563964.7A
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Chinese (zh)
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CN113279653B (en
Inventor
林孝发
林孝山
李帅宇
陈志斌
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Jomoo Kitchen and Bath Co Ltd
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Jomoo Kitchen and Bath Co Ltd
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Priority to CN202110563964.7A priority Critical patent/CN113279653B/en
Publication of CN113279653A publication Critical patent/CN113279653A/en
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Publication of CN113279653B publication Critical patent/CN113279653B/en
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    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
    • E05D13/00—Accessories for sliding or lifting wings, e.g. pulleys, safety catches
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/71—Power-operated mechanisms for wings with automatic actuation responsive to temperature changes, rain, wind or noise
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
    • 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
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/32—Arrangements of wings characterised by the manner of movement; Arrangements of movable wings in openings; Features of wings or frames relating solely to the manner of movement of the wing
    • E06B3/50—Arrangements of wings characterised by the manner of movement; Arrangements of movable wings in openings; Features of wings or frames relating solely to the manner of movement of the wing with more than one kind of movement
    • E06B3/5009—Arrangements of wings characterised by the manner of movement; Arrangements of movable wings in openings; Features of wings or frames relating solely to the manner of movement of the wing with more than one kind of movement where the sliding and rotating movements are necessarily performed simultaneously
    • 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
    • E06B7/00—Special arrangements or measures in connection with doors or windows
    • E06B7/28—Other arrangements on doors or windows, e.g. door-plates, windows adapted to carry plants, hooks for window cleaners

Abstract

The patent refers to the field of 'vehicle fittings for vehicles, vehicle fittings, or vehicle fittings'. The door opening and closing device comprises a door opening and closing driving device and a door opening and closing control system, the door opening and closing driving device comprises a first driving assembly and a second driving assembly, the door opening and closing control system comprises a control module, and the control module is arranged to control the first driving assembly to drive the first sliding assembly to slide along the first guide rail and control the second driving assembly to drive the second sliding assembly to slide along the second guide rail so as to open and close the door. Through the door opening and closing device, the automatic opening and closing of the inward sliding door are realized, the problems that the door opening process is complex and the risk of clamping hands is caused by manually opening and closing the inward sliding door are avoided, and the inward sliding door is safe and convenient to open and close.

Description

Door opening and closing device of inner sliding door, door opening and closing control method and door body assembly
Technical Field
The invention relates to a door opening and closing device of an inward moving door, a door opening and closing control method and a door body assembly.
Background
In a typical shower room, such as a diamond-type shower room, the inner sliding door (inner fly door) includes two fixed door leaves and a movable door leaf, wherein the movable door leaf can be opened by moving towards the inner side of the fixed door leaf and is substantially overlapped with the fixed door leaf after being opened. Therefore, the maximum passing width of the inward moving door can reach 75% of the width of the door width when the door is opened, which is an advantage of the inward moving door.
However, the conventional inner sliding door has the following problems:
the general included angle between the movable door leaf and the fixed door leaf is 135 degrees when the movable door leaf and the fixed door leaf are closed, and only under the condition of the angle, the movable door leaf can be opened and closed by only one hand. When the shower room is required to be set into a U-shaped structure or an L-shaped structure, namely, when the included angle between the fixed door leaf and the movable door leaf is close to 90 degrees when the fixed door leaf and the movable door leaf are closed, the problem of the motion dead point is exposed: when the door is opened, one side of the movable door leaf close to the fixed door leaf is pushed firstly, so that the included angle between the movable door leaf and the fixed door leaf is close to 135 degrees, and then the other side of the movable door leaf is pushed to continue the door opening action. The process of opening the door is complicated and risks pinching hands.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the application provides a door opening and closing device of an inward moving door, wherein the inward moving door comprises a movable door, a first guide rail and a second guide rail, an included angle is formed between the first guide rail and the second guide rail, a first sliding assembly in sliding fit with the first guide rail is installed at the first end of the movable door, and a second sliding assembly in sliding fit with the second guide rail is installed at the second end of the movable door;
the door opening and closing device comprises a door opening and closing driving device and a door opening and closing control system, the door opening and closing driving device comprises a first driving assembly and a second driving assembly, the door opening and closing control system comprises a control module, the control module is arranged to control the first driving assembly to drive the first sliding assembly to be along the first guide rail slides and controls the second driving assembly to drive the second sliding assembly to be along the second guide rail slides to open and close the door.
The embodiment of the application also provides a door body assembly, which comprises an inward moving door and the door opening and closing device of the inward moving door.
The embodiment of the application also provides a door opening and closing control method for the inward sliding door, which is realized by the door opening and closing device for the inward sliding door, and the door opening and closing control method for the inward sliding door comprises the following steps:
determining the detected signal as a door opening trigger signal or a door closing trigger signal;
when the detected signal is a door opening trigger signal, controlling the first driving assembly and the second driving assembly to act, so that the first end of the movable door of the inward moving door moves towards the direction close to the second guide rail along the first guide rail, and the second end of the movable door moves towards the direction far away from the first guide rail along the second guide rail, so as to open the door;
when the detected signal is a door closing trigger signal, the first driving assembly and the second driving assembly are controlled to act, so that the first end of the movable door of the inward moving door moves towards the direction far away from the second guide rail along the first guide rail, and the second end of the movable door moves towards the direction close to the first guide rail along the second guide rail, and the door is closed.
The door opening and closing device provided by the embodiment of the application can be used for realizing the opening and closing of the inward sliding door. The door opening and closing device comprises a door opening and closing driving device and a door opening and closing control system, and a control module of the door opening and closing control system can control a first driving component and a second driving component of the door opening and closing driving device to work so as to realize the opening and closing of the movable door of the inward-moving door.
Through the door opening and closing device, the automatic opening and closing of the inward sliding door are realized, the problems that the door opening process is complex and the risk of clamping hands is caused by manually opening and closing the inward sliding door are avoided, and the inward sliding door is safe and convenient to open and close.
Additional features and advantages of embodiments of the present application will be set forth in the description which follows.
Drawings
Fig. 1 is a schematic perspective view of a door body assembly according to an embodiment of the present application in a door closing state;
FIG. 2 is a schematic bottom view of the door assembly shown in FIG. 1 in an open state;
FIG. 3 is a schematic perspective view of the door assembly shown in FIG. 1 in a door-open state;
fig. 4 is an assembly structural schematic diagram of a movable door, a first linear motor mover and a second linear motor mover in the door body assembly shown in fig. 1;
FIG. 5 is an exploded view of a first linear motor stator and a first position sensor in the door assembly shown in FIG. 1;
FIG. 6 is a schematic view of an assembled structure of the first linear motor stator and the first position sensor shown in FIG. 5;
FIG. 7 is a schematic structural diagram of an integrated actuator in the door body assembly shown in FIG. 1;
FIG. 8 is a schematic view of a door opening and closing device in the door body assembly shown in FIG. 1;
FIG. 9 is another schematic structural view of a door opening and closing device in the door body assembly shown in FIG. 1;
FIG. 10 is a schematic structural view illustrating a door closing process of the door body assembly shown in FIG. 1;
fig. 11 is a schematic structural view illustrating a door opening process of the door body assembly shown in fig. 1;
fig. 12 is a schematic structural view of a door body assembly according to another embodiment of the present application in a door-open state.
Reference numerals:
1: inner sliding door, 11: movable door, 12: first guide rail, 13: second guide rail, 14: first slide assembly, 15: second slide assembly, 16: a fixed door;
2: first drive assembly, 21: first linear motor stator, 22: first linear motor mover, 23: first encapsulation cover, 24-first encapsulation cover;
3: second drive assembly, 31a-31 c: second linear motor stator, 32: a second linear motor mover;
4: first position sensor, 41: a first circuit board;
5a-5 c: a second position sensor;
6: an integrated driver;
71: control module, 72: a first sensor.
Detailed Description
Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
As shown in fig. 1 to 4, the present embodiment provides a door opening and closing device for an inward-moving door 1. Namely, the automatic opening and closing of the inner sliding door 1 can be realized by using the door opening and closing device.
The inner sliding door 1 comprises a movable door 11, a first guide rail 12 and a second guide rail 13, wherein an included angle is formed between the first guide rail 12 and the second guide rail 13, and the included angle is not less than 90 degrees. When the included angle is 90 degrees, the inward moving door 1 is a right-angle inward moving door. Of course, the included angle between the first guide rail 12 and the second guide rail 13 may also be smaller than 90 °, for example, may be 80 ° or other angles, and may be adjusted according to actual needs. The first end of the movable door 11 is provided with a first sliding assembly 14 which is in sliding fit with the first guide rail 12, and the second end is provided with a second sliding assembly 15 which is in sliding fit with the second guide rail 13. The first sliding assembly 14 is rotatably connected with the movable door 11, and the second sliding assembly 15 is rotatably connected with the movable door 11, so that the first end of the movable door 11 can rotate relative to the first sliding assembly 14, the second end can rotate relative to the second sliding assembly 15, and further the posture of the movable door 11 can be changed in the opening and closing process.
During the opening process of the shutter, the first sliding assembly 14 slides along the first guide rail 12 in a direction approaching the second guide rail 13, and the second sliding assembly 15 slides along the second guide rail 13 in a direction away from the first guide rail 12; during the closing of the shutter, the first sliding member 14 slides along the first guide rail 12 in a direction away from the second guide rail 13, and the second sliding member 15 slides along the second guide rail 13 in a direction close to the first guide rail 12.
The door opening and closing device comprises a door opening and closing driving device and a door opening and closing control system, the door opening and closing driving device comprises a first driving assembly 2 and a second driving assembly 3, the door opening and closing control system comprises a control module 71 (see fig. 8 and 9), and the control module 71 is configured to control the first driving assembly 2 to drive the first sliding assembly 14 to slide along the first guide rail 12 and control the second driving assembly 3 to drive the second sliding assembly 15 to slide along the second guide rail 13 so as to open and close the door.
In the door opening and closing device, the control module 71 of the door opening and closing control system can control the first driving assembly 2 and the second driving assembly 3 to work so as to drive the first sliding assembly 14 and the second sliding assembly 15 to slide along the first guide rail 12 and the second guide rail 13, so that the automatic door opening and closing of the movable door 11 is realized, the problems of complex door opening process and hand clamping risk caused by manually opening and closing the inward moving door 1 are avoided, and the opening and closing operation of the inward moving door 1 is safe and convenient.
In some exemplary embodiments, as shown in fig. 3 and 4, the first driving assembly 2 includes at least one first linear motor stator 21 and one first linear motor stator 22, the at least one first linear motor stator 21 is disposed along the extending direction of the first guide rail 12, and the first linear motor stator 22 is disposed to be connected to the first sliding assembly 14 and can move under the action of the first linear motor stator 21.
The first driving assembly 2 is in the form of a linear motor and includes at least one first linear motor stator 21 and one first linear motor stator 22, wherein the at least one first linear motor stator 21 is disposed along the extending direction of the first guide rail 12, so that under the action of the first linear motor stator 21, the first linear motor stator 22 can move along the first guide rail 12, and further, the first sliding assembly 14 connected to the first linear motor stator 22 is driven to slide along the first guide rail 12.
In some exemplary embodiments, the first linear motor stator 21 is disposed to be located at a side close to the second guide rail 13, and the lengths of the first linear motor stator 21 and the first linear motor mover 22 are both set to be smaller than the sliding stroke of the first slide assembly 14.
As shown in fig. 3, the first driving assembly 2 includes a first linear motor stator 21, and the first linear motor stator 21 is disposed near a side of the second guide rail 13. The length of the first linear motor stator 21 is smaller than the sliding stroke of the first sliding assembly 14, and the length of the first linear motor stator 22 is also smaller than the sliding stroke of the first sliding assembly 14, that is, the first driving assembly 2 can only drive the first sliding assembly 14 to slide in a partial stage of the opening and closing process of the movable door 11, and cannot provide driving force for the first sliding assembly 14 in the whole opening and closing process of the movable door 11.
Of course, the first driving assembly 2 is not limited to include one first linear motor stator 21, but may include a plurality of first linear motor stators 21 so that the first driving assembly 2 can provide the driving force to the first sliding assembly 14 at a partial stage during the opening and closing of the movable door 11 or during the entire opening and closing of the movable door 11.
In some exemplary embodiments, as shown in fig. 3 and 4, the second driving assembly 3 includes a plurality of second linear motor stators and a second linear motor mover 32, the plurality of second linear motor stators being sequentially disposed along the extending direction of the second guide rail 13, the second linear motor mover 32 being disposed to be connected to the second sliding assembly 15 and being movable by the second linear motor stators.
The second driving assembly 3 is in a linear motor form and includes a plurality of second linear motor stators and a second linear motor mover 32, the plurality of second linear motor stators are sequentially arranged along the extending direction of the second guide rail 13, so that under the action of the second linear motor stators, the second linear motor mover 32 can move along the second guide rail 13, and further, the second sliding assembly 15 connected with the second linear motor mover 32 is driven to slide along the second guide rail 13.
As shown in fig. 3, the second driving assembly 3 includes three second linear motor stators 31a to 31c, and the second driving assembly 3 can provide a driving force to the second sliding assembly 15 during a partial stage of the door opening process of the movable door 11 and during a partial stage of the door closing process of the movable door 11 (described in detail below).
Of course, the second driving assembly 3 is not limited to include three second linear motor stators, and may include other numbers of second linear motor stators.
In some exemplary embodiments, as shown in fig. 3, the length of the first linear motor stator 21 (the length of the first linear motor stator 21 in the extending direction of the first guide rail 12) and the length of each of the second linear motor stators 31a to 31c (the length of the second linear motor stators in the extending direction of the second guide rail 13) are the same, so that the first linear motor stator 21 and the second linear motor stators 31a to 31c are the same (including the structure and the size), so that the variety of parts is reduced, which is advantageous for reducing the cost.
As shown in fig. 4, the length of the second linear motor mover 32 (the length of the first linear motor mover 22 in the extending direction of the first guide rail 12) is greater than the length of the first linear motor mover 22 (the length of the second linear motor mover 32 in the extending direction of the first guide rail 12). Of course, the length of the second linear motor mover 32 may also be set equal to or less than the length of the first linear motor mover 22.
The number of the second linear motor stators is at least three, and the distance between two adjacent second linear motor stators which are positioned on one side far away from the first guide rail 12 is larger than the distance between two other adjacent second linear motor stators. As shown in fig. 3, among the three second linear-motor stators 31a to 31c, the distance S2 between the second linear-motor stator 31c and the second linear-motor stator 31b is greater than the distance S1 between the second linear-motor stator 31b and the second linear-motor stator 31 a.
The length of the second linear motor rotor 32 is set to be greater than the distance between any two adjacent second linear motor stators, so that the second linear motor rotor 32 can be always located in the action range of at least one second linear motor stator, and the second driving assembly 3 can provide continuous driving force for the movable door 11, thereby realizing continuous door opening or closing operation of the movable door 11.
In some exemplary embodiments, the opening and closing door control system further comprises a position sensor, and the control module 71 is configured to control the operation parameters of the first driving assembly 2 and the second driving assembly 3 according to the detection result of the position sensor. Wherein the position sensor comprises at least one of a first position sensor 4 and a second position sensor, wherein the first position sensor 4 is arranged to detect a position of the first linear motor mover 22 and the second position sensor is arranged to detect a position of the second linear motor mover 32.
The position of the first linear motor 22 can be known according to the detection result of the first position sensor 4, and then the position of the movable door 11 can be known; the position of the second linear motor mover 32, and thus the position of the movable door 11, can be known from the detection result of the second position sensor. The position of the movable door 11 can be known through the detection result of the first position sensor 4 and/or the second position sensor, so as to control the operation parameters (including the operation speed, the acceleration, the direction and the like) of the first driving assembly 2 and the second driving assembly 3, and further realize the automatic control of the opening and closing process of the movable door 11.
In some exemplary embodiments, the position sensor includes a plurality of second position sensors sequentially arranged along an extending direction of the second guide rail 13, and a length of the second linear motor mover 32 is not less than a distance between any adjacent two of the second position sensors. And, the second linear motor mover 32 is provided to: when the movable door 11 is in the door opening state, the movable door is in the detection range of the second position sensor far away from the first guide rail 12; when the movable door 11 is in the closed state, it is within the detection range of the second position sensor near the first guide rail 12.
The length of the second linear motor mover 32 is not less than the distance between any two adjacent second position sensors, so that the second linear motor mover 32 is within the detection range of at least one second position sensor during the door opening and closing process of the movable door 11. Further, when the movable door 11 is in the door open state or the door closed state, the second linear motor mover 32 is within the detection range of the second position sensor. In this way, the second linear motor rotor 32 is always in the detection range of the second position sensor, so that the position of the second linear motor rotor 32, and therefore the position of the movable door 11, is known at any time, and the operation of the first driving assembly 2 and the second driving assembly 3 is controlled.
In some exemplary embodiments, the position sensor includes at least one first position sensor 4, the at least one first position sensor 4 corresponds to at least one first linear motor stator 21 one-to-one, and the first position sensor 4 is located at a side of the corresponding first linear motor stator 21 close to the second guide rail 13, the first position sensor 4 includes a plurality of first hall elements sequentially arranged along an extending direction of the first guide rail 12, and the first hall elements cooperate with magnetic elements of the first linear motor stator 22 to perform position detection.
The first position sensor 4 includes a first hall element, and the first hall element cooperates with an original magnetic element in the first linear motor 22 to perform position detection, thereby simplifying the structure and reducing the cost. The first position sensor 4 includes a plurality of (e.g., three) first hall elements sequentially arranged along the extending direction of the first guide rail 12, and based on the detection results of the plurality of first hall elements, not only the positions of the first linear motor 22 and the movable door 11 can be known, but also the moving parameters such as the moving speed, the acceleration, the moving direction, and the like of the first linear motor 22 can be known, so as to better control the operating parameters of the first driving assembly 2 and the second driving assembly 3, and to achieve good control of the door opening and closing process.
Specifically, the plurality of first hall elements are sequentially arranged along the extending direction of the first guide rail 12 (i.e., the moving direction of the first linear motor mover 22), when the first linear motor mover 22 moves, the plurality of first hall elements sequentially act on the magnetic elements (e.g., magnetic sheets) of the first linear motor mover 22 and sequentially provide detection signals, and the control module 71 may determine the moving direction of the first linear motor mover 22 according to the difference analysis of the signals.
In some exemplary embodiments, as shown in FIG. 5, the first position sensor 4 further includes a first circuit board 41 mounting a plurality of first Hall elements, such that the first position sensor 4 forms a unitary structure.
In some exemplary embodiments, as shown in FIG. 5, the first position sensor 4 may be packaged with a corresponding first linear motor stator 21. The first linear motor stator 21 includes a set of three-phase coils, and the three-phase coils are connected in a star shape. A T-shaped first packaging sleeve 23 is arranged outside the first linear motor stator 21 and the first position sensor 4, and first packaging covers 24 (which may be plugs) are arranged at two ends of the first packaging sleeve 23 to package the first linear motor stator 21 and the first position sensor 4, and the packaged structure is shown in fig. 6. The first position sensor 4 has a plurality of input/output electrical connection lines.
In some exemplary embodiments, the position sensor includes a plurality of second position sensors, the plurality of second position sensors correspond to the plurality of second linear motor stators one to one, and the second position sensors are located at a side of the corresponding second linear motor stators, which is far away from the first guide rail 12, the second position sensors include a plurality of second hall elements sequentially arranged along an extending direction of the second guide rail 13, and the second hall elements cooperate with the magnetic elements of the second linear motor mover 32 to perform position detection.
The second position sensor comprises a second hall element, and the second hall element is matched with the original magnetic element in the second linear motor rotor 32 to detect the position, so that the structure is simplified, and the cost is reduced. The second position sensor includes a plurality of (e.g., three) second hall elements sequentially arranged along the extending direction of the second guide rail 13, and based on the detection results of the plurality of second hall elements, not only the positions of the second linear motor mover 32 and the movable door 11 can be known, but also the moving parameters such as the moving speed, the acceleration, and the moving direction of the second linear motor mover 32 can be known, so as to better control the operating parameters of the first driving assembly 2 and the second driving assembly 3, and to realize good control of the door opening and closing process.
In some exemplary embodiments, the second position sensor further comprises a second circuit board mounting a plurality of second hall elements, such that the second position sensor forms a unitary structure.
In some exemplary embodiments, the second position sensor may be packaged with a corresponding second linear motor stator. The second linear motor stator is the same as the first linear motor stator 21, and also includes a set of three-phase coils, and the three-phase coils are connected in a star shape. And a T-shaped second packaging sleeve is arranged outside the second linear motor stator and the corresponding second position sensor, and second packaging covers (which can be plugs) are arranged at two ends of the second packaging sleeve so as to package the second linear motor stator and the second position sensor inside. The second position sensor is provided with a plurality of input and output electric connecting wires. The structure of the second linear motor stator and the second position sensor after packaging may be the same as the structure of the first linear motor stator 21 and the first position sensor 4 after packaging.
In some exemplary embodiments, as shown in fig. 3 and 7, the control module 71 is electrically connected to the first and second drive assemblies 2 and 3 through the integrated driver 6. The integrated driver 6 may be composed of four sets of mutually associated driving circuits to perform coordinated control on the first linear motor stator 21 and the second linear motor stators 31a to 31c, and the output end of the integrated driver 6 has four sets of mutually independent electrically connected output harnesses to be electrically connected with the first linear motor stator 21 and the second linear motor stators 31a to 31c, respectively.
Since the first linear motor stator 21 is provided with one, the occupied space is reduced, and therefore, the integrated driver 6 can be provided on the side of the first linear motor stator 21 away from the second guide rail 13.
In some exemplary embodiments, as shown in fig. 8 and 9, one is provided for each of the first position sensor 4 and the first linear motor stator 21; three second position sensors 5a-5c are provided corresponding to the three second linear motor stators 31a-31 c.
In some exemplary embodiments, the control module 71 is configured to control the operation of the second linear motor stator adjacent to the second linear motor stator corresponding to the second position sensor according to the detection signal of the second position sensor.
Through the detection result of the second position sensor, not only the position of the second linear motor rotor 32 can be known, but also the moving parameters such as the moving speed, the acceleration and the moving direction of the second linear motor rotor 32 can be known, so that the time when the second linear motor rotor 32 enters the action range of the second linear motor stator adjacent to the second linear motor stator corresponding to the second position sensor is known, and therefore when the second linear motor rotor 32 enters the action range of the adjacent second linear motor stator, the adjacent second linear motor stator is controlled to work, and the driving force is provided for the second linear motor rotor 32.
The second position sensor is positioned at one side of the corresponding second linear motor stator far away from the first guide rail 12, so that when the second linear motor stator moves towards the direction far away from the first guide rail 12, the next second linear motor stator adjacent to the second linear motor stator corresponding to the second position sensor can be controlled to work by the second position sensor; when the second linear motor stator moves toward the direction close to the first guide rail 12, the second position sensor may control the operation of the corresponding second linear motor stator.
As shown in fig. 3, 8 and 9, the second linear motor stator 31a corresponds to the second position sensor 5a, the second linear motor stator 31b corresponds to the second position sensor 5b, and the second linear motor stator 31c corresponds to the second position sensor 5 c. The control module 71 can control the second linear motor stator 31b to work according to the detection signal of the second position sensor 5 a; the operation of the second linear motor stator 31a and/or 31c can be controlled according to the detection signal of the second position sensor 5 b; the operation of the second linear motor stator 31b can be controlled based on the detection signal of the second position sensor 5 c. Of course, the control module 71 may also control the operation of the corresponding second linear motor stators 31a to 31c according to the detection signals of the second position sensors 5a to 5 c.
In some exemplary embodiments, the first position sensor 4 corresponding to the first linear motor stator 21 proximate to the second guide rail 13 is configured to also serve as a door closing trigger sensor, and the control module 71 is configured to control the first and second drive assemblies 2, 3 to perform a door closing motion according to a door closing trigger signal of the door closing trigger sensor.
The first position sensor 4 is located at a side of the corresponding first linear motor stator 21 close to the second guide rail 13, so that when the movable door 11 is in the door-opening state, the first linear motor 22 is located in a detection range of the first position sensor 4 corresponding to the first linear motor stator 21 close to the second guide rail 13 (i.e. the first position sensor 4 close to the second guide rail 13), so that the first position sensor 4 close to the second guide rail 13 can be used as a door-closing trigger sensor, when the plurality of first hall elements of the first position sensor 4 close to the second guide rail 13 detect that the position of the first linear motor mover 22 is changed and the first linear motor 22 moves in a direction away from the second guide rail 13, the detection signal can be used as a door-closing trigger signal to control the first driving assembly 2 and the second driving assembly 3 to move, the movable door 11 is closed.
In some exemplary embodiments, the second position sensor 5a corresponding to the second linear motor stator 31a near the first guide rail 12 is configured to also serve as a door opening trigger sensor, and the control module 71 is configured to control the first driving assembly 2 and the second driving assembly 3 to perform a door opening action according to a door opening trigger signal of the door opening trigger sensor.
The second position sensor is located at a side of the corresponding second linear motor stator far from the first guide rail 12, so that when the movable door 11 is in a door-closed state, the second linear motor mover 32 is located within a detection range of the second position sensor 5a corresponding to the second linear motor stator 31a close to the first guide rail 12 (i.e. the second position sensor 5a close to the first guide rail 12), so that the second position sensor 5a close to the first guide rail 12 can be used as a door-opening trigger sensor, and when the plurality of second hall elements of the second position sensor 5a close to the first guide rail 12 detect that the position of the second linear motor mover 32 is changed and the second linear motor mover 32 moves in a direction far from the first guide rail 12, the detection signal can be used as a door-opening trigger signal to control the first driving assembly 2 and the second driving assembly 3 to operate, the movable door 11 is opened.
In some exemplary embodiments, as shown in fig. 9, the door opening and closing control system further includes a first sensor 72 for detecting environmental information, and the control module 71 is configured to control the first driving assembly 2 and the second driving assembly 3 to operate to perform a door opening and closing action according to a detection signal of the first sensor 72.
When the external environment changes, the first sensor 72 can detect the change, and the control module 71 can control the first driving assembly 2 and the second driving assembly 3 to operate according to the detection signal of the first sensor 72, so that the movable door 11 can be opened and closed to adapt to the external environment.
In some exemplary embodiments, the first sensor 72 includes at least one of a temperature sensor, a pressure sensor, and a humidity sensor.
When the temperature, humidity or pressure of the external environment (such as a shower room) is too high and exceeds a preset range, the control module 71 determines that the detection signal of the temperature sensor, the pressure sensor or the humidity sensor is a door opening trigger signal, and controls the first driving assembly 2 and the second driving assembly 3 to work, so that the movable door 11 is opened, and automatic door opening and ventilation are realized. When the temperature, humidity or pressure of the external environment is within the preset range, the control module 71 determines that the detection signal of the temperature sensor, the pressure sensor or the humidity sensor is the door closing trigger signal, and controls the first driving assembly 2 and the second driving assembly 3 to operate, so that the movable door 11 is closed.
It should be understood that the door opening trigger signal and the door closing trigger signal are not limited to the above position signal, temperature, humidity or pressure signal, but may be other signals, such as: the detection signal can be a detection signal of a proximity sensor to detect whether a person approaches the inward moving door 1, and the movable door 11 is controlled to be automatically opened and closed according to the detection signal; or can be a control signal of a remote switch, and the movable door 11 is controlled to be automatically opened and closed according to the control signal; or, after the movable door 11 is continuously in the door-open state for a set time period (i.e., after the door-open state for the set time period), the movable door 11 is controlled to be automatically opened and closed.
In some exemplary embodiments, as shown in fig. 1 to fig. 3, the door opening and closing device includes two door opening and closing driving devices symmetrically arranged, the two door opening and closing driving devices are arranged to respectively drive the movable doors 11 of the two inward moving doors 1 symmetrically arranged to open and close, and the door opening and closing control system is arranged to control the two door opening and closing driving devices to be linked.
When the two inward sliding doors 1 are symmetrically arranged, the two inward sliding doors 1 form a substantially U-shaped structure, and the first guide rails 12 of the two inward sliding doors 1 may be connected to form an integral structure or a split structure. In order to drive the movable doors 11 of the two inward moving doors 1 to be opened and closed, the door opening and closing device comprises two door opening and closing driving devices which are symmetrically arranged, and the door opening and closing control system can control the two door opening and closing driving devices to be linked so as to realize the linkage of the two movable doors 11 and achieve the effect of simplifying the door opening and closing operation.
Of course, two opening/closing door control systems may be provided to control the opening and closing of the two movable doors 11, respectively.
The embodiment of the present application further provides a door assembly, as shown in fig. 1 to 3 and 12, including an inward moving door 1 and a door opening and closing device of the inward moving door 1 in any one of the above embodiments.
Through the door opening and closing device, the automatic opening and closing of the inner sliding door 1 can be realized, so that the door body assembly is convenient to use.
In some exemplary embodiments, as shown in fig. 12, the door body assembly includes one inward moving door 1, and the inward moving door 1 is substantially L-shaped, so that the door body assembly is substantially L-shaped.
In other exemplary embodiments, as shown in fig. 1 to 3, the door body assembly includes two symmetrically disposed inward moving doors 1, and the inward moving doors 1 are substantially L-shaped, so that the door body assembly is substantially U-shaped.
The passing space of the two structures of the internal sliding door 1 can reach more than 75% of the span of the width of the door after the door is opened, thereby facilitating the entering and exiting, and being very beneficial to the permeability of the whole shower room using the door body assembly and the like.
In some exemplary embodiments, the movable door 11 of the inward moving door 1 is a glass door, a wooden door, a metal door, or the like.
In some exemplary embodiments, as shown in fig. 1, the inner sliding door 1 may further include a fixed door 16, and the fixed door 16 is disposed adjacent to the second guide rail 13 and substantially parallel to the second guide rail 13.
The embodiment of the application also provides a door opening and closing control method of the inward moving door 1, which is realized by the door opening and closing device of the inward moving door 1 in any embodiment. The door opening and closing control method of the inward moving door 1 comprises the following steps:
determining the detected signal as a door opening trigger signal or a door closing trigger signal;
when the detected signal is a door opening trigger signal, controlling the first driving assembly 2 and the second driving assembly 3 to act, so that the first end of the movable door 11 of the inward moving door 1 moves towards the direction close to the second guide rail 13 along the first guide rail 12, and the second end of the movable door 11 moves towards the direction far away from the first guide rail 12 along the second guide rail 13, so as to open the door;
when the detected signal is a door closing trigger signal, the first driving assembly 2 and the second driving assembly 3 are controlled to move, so that the first end of the movable door 11 of the inward moving door 1 moves along the first guide rail 12 in a direction away from the second guide rail 13, and the second end of the movable door 11 moves along the second guide rail 13 in a direction close to the first guide rail 12, so as to close the door.
In the method, the control module 71 firstly determines whether the detected signal is a door opening trigger signal or a door closing trigger signal, and if the detected signal is the door opening trigger signal, the control module controls the first driving assembly 2 and the second driving assembly 3 to act so as to open the movable door 11 of the inward moving door 1; and if the detected signal is a door closing trigger signal, controlling the first driving assembly 2 and the second driving assembly 3 to act so as to close the movable door 11 of the inward moving door 1.
In some exemplary embodiments, the detected signals include a position signal of the first linear motor mover 22 of the first drive assembly 2 and a position signal of the second linear motor mover 32 of the second drive assembly 3; and/or the detected signal comprises a detected signal of the environmental information.
The detected signals include a position signal of the first linear motor mover 22 of the first drive assembly 2 and a position signal of the second linear motor mover 32 of the second drive assembly 3. If the first position sensor 4 close to the second guide rail 13 detects that the position of the first linear motor mover 22 changes and the first linear motor mover 22 moves away from the second guide rail 13, the detected position signal of the first linear motor mover 22 is a door closing trigger signal; when the second position sensor close to the first guide rail 12 detects that the position of the second linear motor mover 32 changes from 5a and the second linear motor mover 32 moves in a direction away from the first guide rail 12, the detected position signal of the second linear motor mover 32 is a door opening trigger signal.
When the first sensor 72 detects that the temperature, humidity or pressure of the external environment (such as a shower room) is too high and exceeds a preset range, the control module 71 determines that the detection signal of the first sensor 72 is a door opening trigger signal, and controls the first driving assembly 2 and the second driving assembly 3 to work, so that the movable door 11 is opened, and automatic door opening and ventilation are realized. When the first sensor 72 detects that the temperature, humidity or pressure of the external environment is within a preset range, the control module 71 determines that the detection signal of the first sensor 72 is a door closing trigger signal, and controls the first driving assembly 2 and the second driving assembly 3 to operate, so that the movable door 11 is closed.
In some exemplary embodiments, when the detected signal is a door opening trigger signal, the step of controlling the first driving assembly 2 and the second driving assembly 3 to act includes:
controlling a plurality of second linear motor stators 31a-31c of the second driving assembly 3 to sequentially work according to the sequence from the direction close to the first guide rail 12 to the direction far away from the first guide rail 12, and driving a second linear motor rotor 32 to push the movable door 11 towards the door opening direction until the movable door 11 moves to the door opening state;
when the second linear motor stator 31c far from the first guide rail 12 is operated, the first linear motor stator 21 of the first driving assembly 2 is controlled to operate, and the first linear motor 22 is driven to push the movable door 11 in the door opening direction.
During the door opening process, the plurality of second linear motor stators 31a to 31c of the second driving assembly 3 are sequentially operated in the order from the approach to the direction away from the first guide rail 12 (i.e., in the order of the second linear motor stator 31a → the second linear motor stator 31b → the second linear motor stator 31 c) so that the plurality of second linear motor stators 31a to 31c sequentially provide the driving force to the second linear motor mover 32 to move the movable door 11 to the door opened state.
When the second linear motor stator 31c far from the first guide rail 12 operates, the first linear motor stator 21 of the first driving assembly 2 is controlled to operate simultaneously, and the first linear motor 22 is driven to push the movable door 11 in the door opening direction. Specifically, it is found that the first linear motor mover 22 starts to enter the action range of the first linear motor stator 21 according to the detection signal of the second position sensor 5c far from the first guide rail 12, and at this time, the first linear motor stator 21 and the second linear motor stator 31c cooperate to respectively push the first linear motor mover 22 and the second linear motor mover 32.
In some exemplary embodiments, during the opening of the movable door 11, when the second linear motor mover 32 moves to be simultaneously driven by two adjacent second linear motor stators 31b and 31c away from the first guide rail 12, the second linear motor mover 32 is in a constant speed operation stage;
before the uniform speed operation stage, the second linear motor rotor 32 is in an acceleration operation stage;
after the uniform speed operation stage, the second linear motor mover 32 is in a deceleration operation stage.
In the door opening process of the movable door 11, under the independent driving of the second linear motor stator 31a, under the common driving of the second linear motor stator 31a and the second linear motor stator 31b, and under the independent driving of the second linear motor stator 31b, the second linear motor mover 32 is in an acceleration operation stage; under the common drive of the second linear motor stator 31b and the second linear motor stator 31c, the second linear motor rotor 32 is in a constant-speed operation stage; under the separate driving of the second linear motor stator 31c, the second linear motor mover 32 is in a deceleration operation stage.
In some exemplary embodiments, when the detected signal is a door closing trigger signal, the step of controlling the first driving assembly 2 and the second driving assembly 3 to act includes:
controlling the first linear motor stator 21 of the first driving assembly 2 to work, and driving the first linear motor 22 to push the movable door 11 in the door closing direction;
when the movable door 11 moves to an included angle α (see fig. 2) with the first guide rail 12, which is within a preset angle range, controlling a second linear motor stator 31c far away from the first guide rail 12 among the plurality of second linear motor stators 31a-31c of the second driving assembly 3 to start working, and driving a second linear motor mover 32 to push the movable door 11 in a door closing direction;
the other second linear motor stators 31a and 31b of the second driving assembly 3 are controlled to sequentially operate in the order of the direction from the first guide rail 12 to the direction close to the first guide rail 12 (i.e., in the order of the second linear motor stator 31b → the second linear motor stator 31 a), and the second linear motor mover 32 is driven to push the movable door 11 in the door closing direction until the movable door 11 moves to the door closing state.
In the door closing process, firstly, the first linear motor stator 21 works to drive the first linear motor electronic 22 to push the movable door 11 towards the door closing direction; when the included angle α between the movable door 11 and the first guide rail 12 is within the preset angle range, the plurality of second linear motor stators 31a to 31c of the second driving assembly 3 are controlled to start to operate, and the plurality of second linear motor stators 31a to 31c operate sequentially in the order from the direction away from the first guide rail 12 to the direction close to the first guide rail 12 (i.e., in the order of the second linear motor stators 31c → the second linear motor stators 31b → the second linear motor stators 31 a), so that the plurality of second linear motor stators 31a to 31c sequentially provide driving force to the second linear motor mover 32 to move the movable door 11 to the door-open state.
For the right-angle inward-moving door 1, when the movable door 11 is in the door-opening state, the included angle α between the movable door 11 and the first guide rail 12 is close to 75 °, and if the second linear motor stator 31c far from the first guide rail 12 starts to operate in the initial stage of door closing, the thrust provided by the second linear motor mover 32 to the movable door 11 causes a large extrusion component force to be generated between the movable door 11 and the first guide rail 12, resulting in a large friction force between the movable door 11 and the first guide rail 12, and further resulting in that the first linear motor mover 22 is not easy to drive the first end of the movable door 11 to move. Therefore, when the included angle between the movable door 11 and the first guide rail 12 is within the preset angle range, the second linear motor stator 31c away from the first guide rail 12 starts to operate and operates simultaneously with the first linear motor stator 21.
In some exemplary embodiments, the predetermined angle ranges from 45 ° to 55 °. Of course, the preset angle range is not limited to 45-55 degrees, and can be adjusted according to requirements.
In some exemplary embodiments, the second linear motor mover 32 is switched from the acceleration operation stage to the deceleration operation stage when the second linear motor mover 32 is moved to be driven by the middle one of the at least three second linear motor stators 31a-31c alone during the closing of the movable door 11.
When the second linear motor mover 32 moves to be driven by the second linear motor stator 31b alone during the closing of the movable door 11, the second linear motor mover 32 is switched from the acceleration operation stage to the deceleration operation stage. During the door closing process of the movable door 11, under the independent driving of the first linear motor stator 21, under the common driving of the first linear motor stator 21 and the second linear motor stator 31c, under the independent driving of the second linear motor stator 31c, under the common driving of the second linear motor stator 31c and the second linear motor stator 31b, the first linear motor mover 22 and the second linear motor mover 32 are in an acceleration operation stage; the second linear motor mover 32 is in a deceleration operation stage under the individual driving of the second linear motor stator 31b, under the common driving of the second linear motor stator 31b and the second linear motor stator 31a, and under the individual driving of the second linear motor stator 31 a.
The following describes a door opening and closing control method of the inward sliding door 1 according to the embodiment of the present application with reference to the drawings.
The door opening control method of the inward sliding door 1 comprises the following steps:
1. as shown in fig. 11(B1), at the position B of the movable door 11 in the closed state, the movable door 11 is pushed, and the control module 71 starts to drive the second linear motor mover 32 to push the movable door 11 in the door opening direction by using a position change signal obtained by the second position sensor 51a (the second position sensor 51a corresponds to the second linear motor stator 31 a) mounted on the second linear motor stator 31a as a door opening trigger signal;
2. the second linear motor rotor 32 pushes the movable door 11 to move towards the door opening direction under the action of the second linear motor stator 31 a;
3. when the second linear motor mover 32 runs to the coverage areas (action ranges) of the second linear motor stator 31b and the second linear motor stator 31a, the second linear motor mover 32 is driven by the second linear motor stator 31b and the second linear motor stator 31a together and is continuously accelerated;
4. when the second linear motor mover 32 runs into the range covered by the second linear motor stator 31b alone, the second linear motor mover 32 is still in an acceleration state;
5. when the second linear motor rotor 32 moves to the coverage area of the second linear motor stator 31b and the second linear motor stator 31c, the second linear motor rotor 32 is driven by the second linear motor stator 31b and the second linear motor stator 31c together and moves at a constant speed;
6. when the second linear motor mover 32 moves to an individual coverage area of the second linear motor stator 31c, and the control module 71 calculates and obtains that the first linear motor mover 22 starts to enter the coverage area of the first linear motor stator 21 according to a position change signal detected by the second position sensor 51c (the second position sensor 51c corresponds to the second linear motor stator 31 c) carried by the second linear motor stator 31c, the first linear motor stator 21 and the second linear motor stator 31c cooperate to respectively push the first linear motor mover 22 and the second linear motor mover 32, and at this time, the first linear motor mover 22 and the second linear motor mover 32 operate at a reduced speed to operate the movable door 11 at a reduced speed;
7. when the movable door 11 moves to the door opening stop position (i.e. in the door opening state), at this time, the first linear motor 22 moves to the detection range of the first position sensor 4 carried by the first linear motor stator 21 (the first position sensor 4 corresponds to the first linear motor stator 21), and the control module 71 confirms the stop position and completes the door opening driving.
During the door opening process, the closed door state of the movable door 11 shown in fig. 11(b1) gradually changes to the open door state shown in fig. 11(b 5).
The door closing control method of the inner sliding door 1 comprises the following steps:
1. as shown in fig. 10(a1), when the movable door 11 is pushed at the position a of the movable door 11 in the door-open state, the control module 71 starts to drive the first linear motor stator 21 to push the movable door 11 in the door-closing direction by using the position change signal obtained by the first position sensor 4 mounted on the first linear motor stator 21 as the door-closing trigger signal;
2. the first linear motor 22 pushes the movable door 11 to move in the door closing direction under the action of the first linear motor stator 21, and the second position sensor 51c mounted on the second linear motor stator 31c starts to detect a position change signal, and the signal is collected to the control module 71 and processed to obtain the position and speed data of the movable door 11 in operation.
3. When the movable door 11 moves to a proper position, that is, an included angle between the movable door 11 and the first guide rail 12 is within a preset angle range, the first linear motor stator 21 and the second linear motor stator 31c work cooperatively to respectively push the first linear motor mover 22 and the second linear motor mover 32, so that the movable door 11 continues to close;
4. when the first linear motor rotor 22 goes out of the coverage of the first linear motor stator 21, the second linear motor stator 31c continues to push the second linear motor rotor 32, so that the movable door 11 continues to close;
5. the second linear motor rotor 32 continues to operate, the coverage range of the second linear motor stator 31c spans to the coverage range of the second linear motor stator 31b (namely the second linear motor rotor 32 operates to the interval of the double-stator combined pushing), the second linear motor rotor 32 is always in an accelerated operation state, and the operation acceleration of the movable door 11 is positive;
6. when the second linear motor rotor 32 moves into the single coverage range of the second linear motor stator 31b, the second linear motor rotor 32 is switched from the acceleration state to the deceleration state, and at this time, the movable door 11 approaches the door closing stop position;
7. when the second linear motor mover 32 travels to the coverage areas of the second linear motor stator 31b and the second linear motor stator 31a, the second linear motor mover 32 is continuously decelerating;
8. when the second linear motor rotor 32 moves to the single coverage area of the second linear motor stator 31a, the second linear motor stator 31a decelerates the second linear motor rotor 32 to stop, and stops at the brake, at this time, one end of the first linear motor rotor 22 contacts with the buffer rubber mat, and the movable door 11 is in a door closing state for a stable door closing stop position.
During the closing process, the door opening state of the movable door 11 shown in fig. 10(a1) gradually changes to the door closing state shown in fig. 10(a 5).
In the description of the present application, the term "plurality" refers to two as well as more than two.
Although the embodiments disclosed in the present application are described above, the descriptions are only for the convenience of understanding the present application, and are not intended to limit the present application. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims.

Claims (17)

1. A door opening and closing device of an inward-moving door comprises a movable door, a first guide rail and a second guide rail, wherein an included angle is formed between the first guide rail and the second guide rail, a first sliding assembly in sliding fit with the first guide rail is installed at the first end of the movable door, and a second sliding assembly in sliding fit with the second guide rail is installed at the second end of the movable door; it is characterized in that the preparation method is characterized in that,
the door opening and closing device comprises a door opening and closing driving device and a door opening and closing control system, the door opening and closing driving device comprises a first driving assembly and a second driving assembly, the door opening and closing control system comprises a control module, the control module is arranged to control the first driving assembly to drive the first sliding assembly to be along the first guide rail slides and controls the second driving assembly to drive the second sliding assembly to be along the second guide rail slides to open and close the door.
2. The door opening and closing device for an inner sliding door according to claim 1, wherein the first driving assembly includes at least one first linear motor stator and a first linear motor mover, at least one of the first linear motor stators being disposed along an extending direction of the first guide rail, the first linear motor mover being disposed to be connected to the first sliding assembly and being movable by the first linear motor stator;
the second driving assembly comprises a plurality of second linear motor stators and a second linear motor rotor, the second linear motor stators are sequentially arranged along the extending direction of the second guide rail, and the second linear motor rotor is connected to the second sliding assembly and can move under the action of the second linear motor stators.
3. The door opening and closing device for the inward-moving door according to claim 2, wherein the first linear motor stator is provided to be located at a side close to the second guide rail, and the first linear motor stator and the first linear motor mover are each provided with a length smaller than a sliding stroke of the first sliding assembly;
the first linear motor stator and the second linear motor stator are the same in length, the second linear motor rotor is longer than the first linear motor rotor, at least three second linear motor stators are arranged, the second linear motor stators are located far away from adjacent two of one side of the first guide rail, the distance between the second linear motor stators is larger than the distance between the other adjacent two second linear motor stators.
4. The door opening and closing device for the inward-moving door according to claim 2, wherein the door opening and closing device control system further comprises a position sensor, and the control module is configured to control the operating parameters of the first driving assembly and the second driving assembly according to the detection result of the position sensor;
the position sensor includes at least one of a first position sensor disposed to detect a position of the first linear motor mover and a second position sensor disposed to detect a position of the second linear motor mover.
5. The door opening and closing device for an inner sliding door according to claim 4, wherein the position sensor includes a plurality of second position sensors arranged in series along an extending direction of the second guide rail, a length of the second linear motor mover is not less than a distance between any adjacent two of the second position sensors,
and, the second linear motor mover is provided to: when the movable door is in a door opening state, the movable door is in a detection range of the second position sensor far away from the first guide rail; when the movable door is in a door closing state, the movable door is within a detection range of the second position sensor close to the first guide rail.
6. The door opening and closing device for an inward moving door according to claim 4, wherein the position sensor includes at least one first position sensor, at least one first position sensor corresponds to at least one first linear motor stator one by one, and the first position sensor is located on a side of the corresponding first linear motor stator close to the second guide rail, the first position sensor includes a plurality of first hall elements sequentially arranged along an extending direction of the first guide rail, and the first hall elements cooperate with a magnetic element of the first linear motor mover to perform position detection;
the position sensor comprises a plurality of second position sensors, the second position sensors are in one-to-one correspondence with the second linear motor stators, the second position sensors are located on one sides of the second linear motor stators, which are far away from the first guide rail, the second position sensors comprise a plurality of second Hall elements, which are sequentially arranged along the extending direction of the second guide rail, and the second Hall elements are matched with the magnetic elements of the second linear motor rotor to perform position detection.
7. The door opening and closing device for an inward-moving door according to claim 6, wherein the control module is configured to control operation of a second linear motor stator adjacent to the second linear motor stator corresponding to the second position sensor based on a detection signal of the second position sensor.
8. The door opening and closing device for an inwardly-moving door according to claim 6, wherein the first position sensor corresponding to the first linear motor stator adjacent to the second guide rail is configured to also serve as a door-closing trigger sensor, and the control module is configured to control the first driving assembly and the second driving assembly to perform a door-closing action according to a door-closing trigger signal of the door-closing trigger sensor;
the second position sensor corresponding to the second linear motor stator close to the first guide rail is also used as a door opening trigger sensor, and the control module is used for controlling the first driving assembly and the second driving assembly to open a door according to a door opening trigger signal of the door opening trigger sensor.
9. The door opening and closing device for an inward-moving door according to any one of claims 1 to 8, wherein the door opening and closing device further comprises a first sensor for detecting environmental information, the first sensor comprises at least one of a temperature sensor, a pressure sensor and a humidity sensor, and the control module is configured to control the first driving assembly and the second driving assembly to operate to perform a door opening and closing action according to a detection signal of the first sensor.
10. The door opening and closing device for the inward-moving door according to any one of claims 1 to 8, wherein the door opening and closing device comprises two door opening and closing driving devices which are symmetrically arranged, the two door opening and closing driving devices are arranged to respectively drive the movable doors of the two inward-moving doors which are symmetrically arranged to open and close, and the door opening and closing control system is arranged to control the two door opening and closing driving devices to be linked.
11. A door assembly comprising an inwardly moving door and an opening and closing door apparatus for the inwardly moving door of any one of claims 1 to 10.
12. A door opening and closing control method for an inward-moving door, which is implemented by the door opening and closing device for the inward-moving door of any one of claims 1 to 10, and comprises the following steps:
determining the detected signal as a door opening trigger signal or a door closing trigger signal;
when the detected signal is a door opening trigger signal, controlling the first driving assembly and the second driving assembly to act, so that the first end of the movable door of the inward moving door moves towards the direction close to the second guide rail along the first guide rail, and the second end of the movable door moves towards the direction far away from the first guide rail along the second guide rail, so as to open the door;
when the detected signal is a door closing trigger signal, the first driving assembly and the second driving assembly are controlled to act, so that the first end of the movable door of the inward moving door moves towards the direction far away from the second guide rail along the first guide rail, and the second end of the movable door moves towards the direction close to the first guide rail along the second guide rail, and the door is closed.
13. The door opening and closing control method of an inward moving door according to claim 12, wherein the detected signals include a position signal of a first linear motor mover of a first driving assembly and a position signal of a second linear motor mover of a second driving assembly; and/or the detected signal comprises a detected signal of environmental information.
14. The door opening and closing control method for the inward-moving door according to claim 12, wherein the controlling the first driving assembly and the second driving assembly to act when the detected signal is the door opening trigger signal comprises:
controlling a plurality of second linear motor stators of the second driving assembly to sequentially work in a direction from the position close to the first guide rail to the position far away from the first guide rail, and driving second linear motor rotors to push the movable door in the door opening direction until the movable door moves to the door opening state;
when the second linear motor stator far away from the first guide rail works, the first linear motor stator of the first driving assembly is controlled to work, and the first linear motor stator is driven to push the movable door to the door opening direction.
15. The door opening and closing control method of the inward moving door according to claim 14, wherein in the door opening process of the movable door, when the second linear motor mover moves to be simultaneously driven by two adjacent second linear motor stators away from the first guide rail, the second linear motor mover is in a constant speed operation stage;
before the uniform-speed operation stage, the rotor of the second linear motor is in an acceleration operation stage;
and after the uniform speed operation stage, the rotor of the second linear motor is in a deceleration operation stage.
16. The door opening and closing control method for the inward-moving door according to any one of claims 12 to 15, wherein when the detected signal is a door closing trigger signal, the control of the first driving assembly and the second driving assembly comprises:
controlling a first linear motor stator of the first driving assembly to work, and driving a first linear motor to drive an electronic device to push the movable door to the door closing direction;
when the movable door moves to the position where the included angle between the movable door and the first guide rail is within the preset angle range, controlling a second linear motor stator far away from the first guide rail to start working in a plurality of second linear motor stators of the second driving assembly, and driving a second linear motor rotor to push the movable door to the door closing direction;
and controlling other second linear motor stators of the second driving assembly to sequentially work in the direction from far away from the first guide rail to close to the first guide rail, and driving a second linear motor rotor to push the movable door in the door closing direction until the movable door moves to the door closing state.
17. The door opening and closing control method of an inward moving door according to claim 16, wherein the second linear motor mover is switched from an acceleration operation stage to a deceleration operation stage when the second linear motor mover is moved to be driven by a middle one of the at least three second linear motor stators alone during the door closing of the movable door.
CN202110563964.7A 2021-05-24 2021-05-24 Door opening and closing device of inner moving door, door opening and closing control method and door body assembly Active CN113279653B (en)

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CN202110563964.7A CN113279653B (en) 2021-05-24 2021-05-24 Door opening and closing device of inner moving door, door opening and closing control method and door body assembly

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Application Number Priority Date Filing Date Title
CN202110563964.7A CN113279653B (en) 2021-05-24 2021-05-24 Door opening and closing device of inner moving door, door opening and closing control method and door body assembly

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CN113279653A true CN113279653A (en) 2021-08-20
CN113279653B CN113279653B (en) 2023-09-01

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CN206522049U (en) * 2017-01-09 2017-09-26 福建西河卫浴科技有限公司 A kind of shower house synchro switch door and shower house
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Publication number Priority date Publication date Assignee Title
CN115142756A (en) * 2022-07-30 2022-10-04 上海驰助汽车零部件有限公司 Vehicle side sliding door driving mechanism
CN115142756B (en) * 2022-07-30 2024-04-26 上海驰助汽车零部件有限公司 Side sliding door driving mechanism of vehicle

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