CN203361052U - Scissor-type door gate machine with door plate opened and closed under direct driving of motor - Google Patents
Scissor-type door gate machine with door plate opened and closed under direct driving of motor Download PDFInfo
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- CN203361052U CN203361052U CN 201320457179 CN201320457179U CN203361052U CN 203361052 U CN203361052 U CN 203361052U CN 201320457179 CN201320457179 CN 201320457179 CN 201320457179 U CN201320457179 U CN 201320457179U CN 203361052 U CN203361052 U CN 203361052U
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Abstract
The utility model discloses a scissor-type door gate machine with a door plate opened and closed under direct driving of a motor. The scissor-type door gate machine comprises a motor, a door plate and a rack, wherein the motor is fixed on the rack; a rotary center of the door plate is sleeved on a rotary shaft of the motor; the motor is electrically connected with a current detecting module and a rotation speed position detecting module respectively; the current detecting module and the rotation speed position detecting module are electrically connected with a control unit; the control unit is used for controlling the motor to rotate. In a opening and closing process, the gate has higher requirements on toque and rotation speed of the motor, and therefore, the door plate is mainly driven to open and close by connecting mechanisms including a connecting rod and the like through the driving of the motor; the opening and closing speed of the door plate is controlled by a reduction gear and a speed feedback device, wherein the reduction gear is usually complex in structure and is easy to produce high noise while being installed incorrectly. According to the scissor-type door gate machine disclosed by the utility model, the original reduction gear and link mechanism are saved, so that direct driving of the motor to the door plate of the scissor-type door gate machine is realized, and the structure is simplified.
Description
Technical field
The utility model relates to gate, particularly the gate of a kind of electric-machine directly-driven door-plate folding.
background technology
In the gate moving process, the torque and rotational speed of motor is controlled and had relatively high expectations, in prior art, be mainly to drive the door-plate folding by bindiny mechanisms such as motor drive link, control the speed of door-plate folding to meet the required torque request of switching gate plate and current demand for security by deceleration device and speed feedback device, deceleration device is complex structure often, and Rig up error easily produces larger noise.Just like publication number, be also that the disclosed name of CN202530401U is called and directly drives the oscillating gate passage Chinese patent, in its scheme with the motor direct-drive access door, but this access door is for patting door, drive the door-plate folding by a drive post, and be not suitable for the scissors door, also the folding speed of uncontrollable scissors door, can not meet the safe passing demand.
summary of the invention
Problem to be solved in the utility model is to provide the gate of a kind of electric-machine directly-driven door-plate folding, has saved original deceleration device and linkage, realizes the direct driving of motor to shearing type door gate machine used door-plate, simplifies the structure.
In order to solve the problems of the technologies described above, the utility model adopts following technical scheme: a kind of electric-machine directly-driven door-plate folding shearing type door gate machine used, comprise motor, door-plate and frame, described motor is fixed on frame, the center of rotation of described door-plate is placed in the rotating shaft of described motor, described motor is electrically connected to respectively current detection module and rotor-position and speed detector, described current detection module and rotor-position all are connected a control module with speed detector, and described control module is controlled electric machine rotation.Detect current position and the rotor velocity signal of rotor by rotor-position and speed detector, described control module can calculate current required motor torque and rotating speed according to signal and the rotor angle tach signal of rotor current location, and then send corresponding control instruction by control module to the control circuit of motor, so can realize the real-time control to motor, linkage and deceleration device have been saved, can accurately obtain maintaining torque and the rotating speed of door-plate motion according to experiment, for the selection of motor type provides Data support, convenient design.Motor torque is relevant with the size of power, the power of motor value is relevant with the size of current of motor output, detect the current signal of motor by current detection module, control module obtains maintaining torque and the rotating speed of door-plate motion according to experiment, the rotating speed of motor and the power output of motor are carried out to closed-loop control.Square being directly proportional of the electric current of the power output of motor and motor output, control required desired electrical acc power according to control module the size of current of motor output controlled, and control instruction is sent in the control circuit of motor.Coordinate with current detection module and detect motor angular velocity by rotor-position and speed detector, rotor-position and current signal, obtain the current rotating speed of motor according to the relation of angular velocity and rotating speed, and by control module to motor speed, the control circuit of motor is controlled and be sent in to output power of motor and current signal, the control of realization to motor torque, meanwhile, current detection module also passes through the detection of current of electric and the control of control module, reduce the pulsation of motor torque, avoided the motor operation short circuit to occur, the failure condition such as ground connection or overload, guaranteed the safety of motor device operation.
As preferably, described motor is DC brushless motor.The DC brushless motor torque is large, and rotating speed is little, during zero rotating speed, torque is arranged and can carry out at short notice the operation of acceleration and deceleration rapidly, while meeting the folding of electric-machine directly-driven door-plate to the requirement of motor performance.
As further optimization, described rotor-position and speed detector comprise position sensor and the velocity sensor be connected on motor rotor shaft, described position sensor and velocity sensor all are connected to the input of a RC filter circuit, and the output of described RC filter circuit is connected in control module.Described position sensor and velocity sensor are respectively used to detect position signalling and the rotor velocity signal of rotor, by following motor torque formula, and horse-power formula and angular velocity formula:
T=(9550×P)/n；
P=I
2×Z×cosφ；
ω=2πn；
T-torque; P-power; I-motor output current; Z-motor output impedance; Cos φ-power factor (PF); N-rotating speed; ω-angular velocity;
Known, relation by described angular velocity and rotating speed is converted to corresponding tach signal by the rotor velocity signal detected through control module, according to the desired speed curve that maintains the door-plate motion of experiment gained, the rotating speed that control module completes motor by closed-loop control is controlled.Realize the control of motor torque, also required power drive circuit and inverter circuit.Become the speed control principle of corresponding relation with rotor-position according to the DC brushless motor square wave current, process and obtain corresponding switching signal by the logical relation in control module, trigger the power switch component work of inverter circuit by corresponding switching signal, the power that power driving circuit is driven is distributed, distribute the power of gained to be provided in the motor winding in motor, relevant with the power output of rotating speed and motor according to the known motor torque of above-mentioned motor torque formula, control module calculates the torque when front motor.Control module only keeps door-plate to rotate required torque data the rotating speed of motor and the power output of motor are carried out to closed-loop control according to the experiment gained.From above-mentioned horse-power formula, output power of motor is relevant with the motor output current, therefore can detect by current detection module the current signal of motor, the power of motor required according to motor by control module controlled the size of current of motor, meanwhile, current detection module also can, by detecting the current signal of motor, prevent that the faults such as short circuit, ground connection or overload from appearring in motor torque ripple and motor operation.Current detection module comprises that an end connects the sampling resistor of armature winding output, and the other end of described sampling resistor is connected in control module.Change the sample rate current of corresponding windings into the sampled voltage Input Control Element by sampling resistor, and judge by control module whether the motor output current exceeds the permissible value of power driving circuit, the power switch component in the protection inverter circuit, debugging ircuit fault.
As a preferred version, described door-plate is the rubber door-plate and is provided with metal sheet in inside, in described rubber door-plate, also is provided with hollow cavity.The door-plate of described elastomeric material is comparatively soft, have the pedestrian to rush by force lock or ticketing service normal and, in the situations such as gate door fault, be difficult for crushing the pedestrian by the gate door-plate, and described rubber door-plate lighter weight, reduced the required power consumption of electric-machine directly-driven door-plate.For guaranteeing the intensity of door-plate, in the inside of described rubber door-plate, also be provided with metal sheet.For being beneficial to motor, the weight that further alleviates door-plate can directly drive, in the situation that guarantee that door-plate intensity can arrange hollow cavity on door-plate.
Further improvement as end of door plate, described metal sheet comprises upper metal sheet and the lower metal sheet of mutual fastening, be respectively equipped with groove corresponding to opposite direction position on described two metal sheets, the groove fit on described two metal sheets surrounds described hollow cavity.The manufacture process of described door-plate is as follows, at first the groove of upper metal sheet and lower metal sheet is fastened and forms a hollow cavity, then by the mould of door-plate, realizes the integrated injection molding of door-plate.So, set metal sheet has not only guaranteed the intensity of door-plate, and helps to have alleviated the weight of door-plate, meanwhile, uses the mould integrated injection moulding, and technique is made simple.
Another technical scheme as end of door plate, described door-plate comprises upper door-plate and the lower door-plate of the symmetry connected as one, described metal sheet is fixed between described upper door-plate and lower door-plate, and described upper door-plate and lower door-plate are equipped with groove, and described groove and metal sheet surround described hollow cavity.Groove has alleviated the weight of door-plate, has reduced the power consumption of electric-machine directly-driven door-plate.
As further optimization, described metal sheet is provided with through hole, in described through hole, through a connection piece, connects respectively described upper door-plate and lower door-plate.Described connector can be identical with the material of described rubber door-plate, when integrated injection molding, can through described through hole, form by liquid rubber, guaranteed the firm and stable of door-plate.
As further improving, described groove is fan-shaped, and described groove has several, along radially equidistantly laying of described door-plate, form the raised line of arc between adjacent grooves, at least be provided with a described through hole in the zone of corresponding each raised line of metal sheet, the raised line of the raised line of upper door-plate and lower door-plate is connected as a single entity by described connector.Guaranteed the intensity of door-plate by arranging of raised line.
As preferably, between described door-plate and frame, be provided with spring.In the situation that the gate outage, the pulling force produced by spring is pulled to door opening state by door-plate automatically, guarantees the normal current of pedestrian, and described spring can adopt extension spring or torsion spring.
As preferably, described frame is provided with the close the door electromagnet of position of restriction door-plate, described door-plate be provided with door-plate close the door position can with the irony block of described electromagnetic actuation.For avoiding the pedestrian to rush by force lock, in the process of electric-machine directly-driven door-plate folding, usually need large torque to resist the pedestrian and open by force the torque that the gate door produces, to motor performance require high.For the pedestrian being rushed by force to the consideration of lock, usually need to improve the requirement to motor performance in the type selecting process to motor, increased equipment cost.Increase electromagnet and the irony block of the position of closing the door, increased the locked power of the position of closing the door, effectively prevented that the pedestrian from rushing lock.So motor only needs to select only enough to maintain the door-plate required torque of moving and get final product in the type selecting process, has solved and has needed the problem of raising to the performance requirement of motor because prevent, has reduced equipment cost.
After adopting technique scheme, the utlity model has following advantage:
Use rotor-position and speed detector and current detection module to detect position signalling, angular velocity signal and the current signal of the current rotor of motor, the torque and the rotary speed data that maintain the door-plate motion by control module according to the experiment gained, by closed loop, output power of motor, rotating speed and current signal are controlled, realized that motor only need maintain the move control of required torque and rotational speed of door-plate.For reducing the requirement to motor performance, by the optimization of end of door plate structure, alleviated door-plate weight, reduced the required power consumption of electric-machine directly-driven door-plate.
The accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is described further:
Fig. 1 is structural representation of the present utility model;
The door-plate sectional view that Fig. 2 is the utility model embodiment 1;
The internal construction schematic diagram that Fig. 3 is the utility model embodiment 2 door-plates;
The another kind of structural representation in the inside that Fig. 4 is the utility model embodiment 2 door-plates;
Fig. 5 is the shearing type door gate machine used view of closing the door of the present utility model;
Fig. 6 is the motor speed-angle Curve of applicable gate.
The specific embodiment
As shown in Figure 1, a kind of electric-machine directly-driven door-plate folding shearing type door gate machine used, comprise motor 1, door-plate 2 and frame 3, described motor 1 is fixed on frame 3, the center of rotation of described door-plate 2 is placed in the rotating shaft of described motor 1, described motor 1 is electrically connected to respectively current detection module and rotor-position and speed detector, and described current detection module and rotor-position and speed detector all are electrically connected to a control module, and described control module is controlled motor 1 and rotated.As preferably, described motor 1 adopts DC brushless motor.The DC brushless motor torque is large, and rotating speed is little, and torque and acceleration and deceleration operation are rapidly at short notice arranged during zero rotating speed, when meeting motor 1 and directly driving door-plate 2 folding to the requirement of motor 1 performance.Be provided with spring 4 between described door-plate 2 and frame 3.In the situation that the gate system outage is opened door-plate 2 by the pulling force effect of generations such as extension spring, button spring or saucerspring, keep the normal of pedestrian to pass through.
Under the shearing type door gate machine used state of closing the door (referring to Fig. 5), described frame 3 is provided with the close the door electromagnet of position of restriction door-plate 2, and described door-plate 2 is provided with at the close the door irony block (the inboard Fig. 5 that all is arranged in door-plate due to electromagnet and irony block does not make a check mark) of position and described electromagnetic actuation of door-plate.For avoiding the pedestrian to rush by force lock, directly drive in the process of door-plate 2 foldings and usually need large torque to resist the pedestrian to open by force the torque that the gate door produces at motor 1, in the type selecting process to motor 1, for the pedestrian being rushed by force to the consideration of lock, usually need to improve electricity, the requirement of 1 performance, increased equipment cost.Increase electromagnet and the irony block of the position of closing the door, increased the locked power of the position of closing the door, effectively prevented that the pedestrian from rushing lock.Motor 1 like this only needs to select only enough to maintain the required torque of door-plate 2 motion and gets final product in the type selecting process, has solved and has needed to improve the problem to the performance requirement of motor 1 because of preventing, has reduced equipment cost.
As the further optimization to described rotor-position and speed detector and current detection module, described rotor-position and speed detector comprise velocity sensor and the position sensor be connected on motor 1 rotor shaft, described position sensor and velocity sensor all are connected the input of a RC filter circuit, and the output of described RC filter circuit is connected in control module.Described current detection module comprises that an end is connected in the sampling resistor of motor 1 armature winding output, the other end connection control unit of described sampling resistor.Described position sensor can be hall position sensor, and velocity sensor can adopt photoelectric encoder, can be other sensors with identical function certainly.For reducing high-frequency interferencing signal and the dither signal of the moment generation of hall position sensor switch, by described RC filter circuit, carry out anti-interference and anti-shake processing.Described position sensor and velocity sensor detect position signalling and the rotor velocity signal of rotor, by torque formula, horse-power formula and angular velocity formula:
T=(9550×P)/n；
P=I
2×Z×cosφ；
ω=2πn；
T-torque; P-power; I-motor output current; Z-motor output impedance; Cos φ-power factor (PF); N-rotating speed; ω-angular velocity;
Known, relation by described angular velocity omega and rotation speed n is converted to corresponding rotation speed n signal by the rotor velocity ω signal detected through control module, speed curves (specifically referring to Fig. 6) according to the most applicable gate that maintains door-plate 2 motion of experiment gained, described motor speed n is divided into three phases with corner ψ change procedure: i.e. the even acceleration of rotation speed n is risen, is at the uniform velocity descended with even deceleration, and the rotating speed that can complete motor 1 by closed-loop control by control module is controlled.Realize the control of motor 1 torque, also required power drive circuit and inverter circuit.Become the speed control principle of corresponding relation with rotor-position according to the DC brushless motor square wave current, process and obtain corresponding switching signal by the logical relation in control module, trigger the power switch component work of inverter circuit by corresponding switching signal, the power that power driving circuit is driven is distributed, the power of motor 1 gained is provided in to motor 1 winding, according to above-mentioned motor 1 torque formula, known motor torque T is relevant with the power output P of rotation speed n and motor, and control module calculates the torque T when front motor.Control module carries out closed-loop control according to the required torque T data of door-plate 2 rotation that only keep of experiment gained to the rotation speed n of motor and the power output P of motor.From above-mentioned horse-power formula, output power of motor P is relevant with motor output current I, therefore can detect by current detection module the current signal of motor, by control module, according to motor, distribute required power of motor to be controlled the size of current of motor, meanwhile, current detection module also can, by detecting the current signal of motor, prevent that the faults such as short circuit, ground connection or overload from appearring in motor torque ripple and motor operation.Current detection module comprises that an end connects the sampling resistor of armature winding output, and the other end of described sampling resistor is connected in control module.Change the sample rate current of corresponding windings into the sampled voltage Input Control Element by sampling resistor, and judge by control module whether the motor output current exceeds the permissible value of power driving circuit, the power switch component in the protection inverter circuit, debugging ircuit fault.
Described control module is control chip, as preferably, and the DSP control chip of the TMS320C2000 that control chip described in the present embodiment is TI company.Described inverter circuit is by PWM1, the PWM3 of the task manager A of TMS320C2000 chip, PWM5 input, then by PWM2, the PWM4 of the task manager A of chip, the relevant parameter that motor 1 is controlled in PWM6 output.
Described motor 1 directly drives the shearing type door gate machine used of door-plate 2 foldings symmetrical two, forms the gate road of walk.
Directly drive the required power consumption of door-plate 2 foldings for reducing motor 1, described door-plate 2 is for the rubber door-plate and be provided with metal sheet in inside, also is provided with hollow cavity 23 in described door-plate 2.Described rubber door-plate is more soft, and there iing the pedestrian to rush by force lock or ticketing service when normal and, in the situations such as gate door fault, be difficult for crushing the pedestrian, and rubber door-plate lighter weight, reduce motor 1 and directly driven the required power consumption of door-plate 2.In this preferred embodiment, described metal sheet is aluminium alloy plate.The door-plate 1 of quality of rubber materials forms by mold injection, and the volume production cost is low.Described aluminium alloy plate intensity can reach the requirement of door-plate 2 load-bearing, and quality is light.
As the further optimization of end of door plate, can adopt following two kinds of embodiments, but be not limited to illustrated embodiment.
Embodiment 1:
As shown in Figure 2, described metal sheet comprises upper metal sheet 21 and the lower metal sheet 22 of mutual fastening, on described two metal sheets, is respectively equipped with groove corresponding to opposite direction position, and the groove fit on described two metal sheets surrounds described hollow cavity 23.At first upper metal sheet 21 is fastened and forms a hollow cavity with lower metal sheet 22, then form by the mould integrated injection molding.Can guarantee the intensity of door-plate 2 and alleviate the quality of door-plate 2, technique is easy to make.
Embodiment 2:
Described door-plate 2 comprises upper door-plate 24 and the lower door-plate of the symmetry connected as one, referring to Fig. 3, upper door-plate 24 internal construction schematic diagrames, specifically provided the structure of itself and metal sheet contact surface, described door-plate also comprises the metal sheet be fixed between described upper door-plate 24 and lower door-plate, door-plate 24 is equipped with groove 26 with lower door-plate on described, and described groove and metal sheet surround described hollow cavity.Described metal sheet is provided with through hole, in described through hole, through a connection piece, connects respectively described upper door-plate 24 and lower door-plate.Described groove 26 is fan-shaped, and several are arranged, along radially equidistantly laying of described door-plate 2, form the raised line 25 of arc between adjacent grooves 26, at least be provided with a described through hole in the zone of corresponding each raised line 25 of metal sheet, the raised line 25 of upper door-plate and the raised line 25 of lower door-plate are connected as a single entity by described connector.Described rubber door-plate forms by the mould integrated injection molding, and described groove produces by mould in door-plate integrated injection molding process.The sector shape that the strip that described raised line 25 is arc or (specifically as shown in Figure 4), spacing was larger, in the process of integrated injection molding, rubber forms described connector by through hole, so upper door-plate 24 is connected with lower door-plate, guarantee the strength and stability of door-plate 2, formed a complete scissors door board.
Except above preferred embodiment, the utility model also has other embodiment, those skilled in the art can make various changes and distortion according to the utility model, only otherwise break away from spirit of the present utility model, all should belong to the defined scope of the utility model claims.
Claims (10)
1. electric-machine directly-driven door-plate folding is shearing type door gate machine used, comprise motor (1), door-plate (2) and frame (3), described motor (1) is fixed on frame (3), it is characterized in that: the center of rotation of described door-plate (2) is placed in the rotating shaft of described motor (1), described motor (1) is electrically connected to respectively current detection module and rotor-position and speed detector, described current detection module and rotor-position all are connected a control module with speed detector, and described control module is controlled motor (1) and rotated.
2. electric-machine directly-driven door-plate according to claim 1 folding is shearing type door gate machine used, it is characterized in that: described motor (1) is DC brushless motor.
3. electric-machine directly-driven door-plate according to claim 2 folding is shearing type door gate machine used, it is characterized in that: described rotor-position and speed detector comprise position sensor and the velocity sensor be connected on motor (1) rotor shaft, described position sensor and velocity sensor all are connected to the input of a RC filter circuit, and the output of described RC filter circuit is connected in control module.
4. electric-machine directly-driven door-plate according to claim 1 folding is shearing type door gate machine used, it is characterized in that: described door-plate (2) is for the rubber door-plate and be provided with metal sheet in inside, also is provided with hollow cavity (23) in described rubber door-plate (2).
5. electric-machine directly-driven door-plate according to claim 4 folding is shearing type door gate machine used, it is characterized in that: described metal sheet comprises upper metal sheet (21) and the lower metal sheet (22) of mutual fastening, be respectively equipped with groove corresponding to opposite direction position (26) on described two metal sheets, groove (26) cooperation on described two metal sheets surrounds described hollow cavity (23).
6. electric-machine directly-driven door-plate according to claim 4 folding is shearing type door gate machine used, it is characterized in that: described rubber door-plate (2) comprises upper door-plate (24) and the lower door-plate of the symmetry connected as one, described metal sheet is fixed between described upper door-plate (24) and lower door-plate, be equipped with groove (26) on described upper door-plate (24) and lower door-plate, described groove (26) surrounds described hollow cavity (23) with metal sheet.
7. electric-machine directly-driven door-plate according to claim 6 folding is shearing type door gate machine used, and it is characterized in that: described metal sheet is provided with through hole, in described through hole, through a connection piece, connects respectively described upper door-plate (24) and lower door-plate.
8. electric-machine directly-driven door-plate according to claim 7 folding is shearing type door gate machine used, it is characterized in that: described groove (26) is for fan-shaped, and described groove (26) has several radially equidistantly laying along described door-plate (2), form the raised line (25) of arc between adjacent grooves (26), at least be provided with a described through hole in the zone of corresponding each raised line of metal sheet (25), the raised line (25) of the raised line of upper door-plate (25) and lower door-plate is connected as a single entity by described connector.
9. electric-machine directly-driven door-plate according to claim 1 folding is shearing type door gate machine used, it is characterized in that: between described door-plate (2) and frame (3), be provided with spring (4).
10. electric-machine directly-driven door-plate according to claim 1 folding is shearing type door gate machine used, it is characterized in that: described frame (3) is provided with the close the door electromagnet of position of restriction door-plate (2), described door-plate (2) be provided with door-plate close the door position can with the irony block of described electromagnetic actuation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320457179 CN203361052U (en) | 2013-07-26 | 2013-07-26 | Scissor-type door gate machine with door plate opened and closed under direct driving of motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320457179 CN203361052U (en) | 2013-07-26 | 2013-07-26 | Scissor-type door gate machine with door plate opened and closed under direct driving of motor |
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|---|---|
| CN203361052U true CN203361052U (en) | 2013-12-25 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320457179 Expired - Lifetime CN203361052U (en) | 2013-07-26 | 2013-07-26 | Scissor-type door gate machine with door plate opened and closed under direct driving of motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104464829A (en) * | 2014-10-20 | 2015-03-25 | 佛山市禾才科技服务有限公司 | Right-angled-u-type composite mechanical arm |
| CN106836061A (en) * | 2017-02-21 | 2017-06-13 | 重庆永重重工有限公司 | Banister |
| CN109457639A (en) * | 2018-12-07 | 2019-03-12 | 杭州亚美利嘉科技有限公司 | Vehicle road gate device and its control method |
| CN112598832A (en) * | 2020-12-29 | 2021-04-02 | 广州航天海特系统工程有限公司 | Gate detection method, device, equipment and storage medium |
-
2013
- 2013-07-26 CN CN 201320457179 patent/CN203361052U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103410108B (en) * | 2013-07-26 | 2015-08-12 | 浙江众合机电股份有限公司 | A kind of electric-machine directly-driven door-plate folding shearing type door gate machine used |
| CN104464829A (en) * | 2014-10-20 | 2015-03-25 | 佛山市禾才科技服务有限公司 | Right-angled-u-type composite mechanical arm |
| CN106836061A (en) * | 2017-02-21 | 2017-06-13 | 重庆永重重工有限公司 | Banister |
| CN109457639A (en) * | 2018-12-07 | 2019-03-12 | 杭州亚美利嘉科技有限公司 | Vehicle road gate device and its control method |
| CN109457639B (en) * | 2018-12-07 | 2023-08-29 | 杭州亚美利嘉科技有限公司 | Vehicle barrier gate device and control method thereof |
| CN112598832A (en) * | 2020-12-29 | 2021-04-02 | 广州航天海特系统工程有限公司 | Gate detection method, device, equipment and storage medium |
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| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 310052 Binjiang District, Hangzhou, Jianghan Road, No. 1785, Shuangcheng international building, floor 17, No. 4 Patentee after: ZHEJIANG ZHONGHE SCIENCE & TECHNOLOGY CO., LTD. Address before: 310000 Hangzhou science and Technology Park, high tech Zone, Zhejiang venture Road, No. 8 Patentee before: Zhejiang Zhonghe Electromechanical Co., Ltd. |