CN115434597A - Door opening structure of robot cabinet - Google Patents

Abstract

The invention provides a robot cabinet door opening structure, which includes a first track, a second track, a door body, a drive module and a limit module. The limit module set at the connection of the track conducts and closes the two groups of door body conveying channels, so that when the door body is turned on in one group of door body conveying channels, the other group of door body conveying channels is in a locked state. A single limit module performs opening and closing operations on two channels, avoiding the problem that multiple doors are independently provided with locking devices, and the locking devices fail when the doors are not in the point locking position.

Description

A robot cabinet door opening structure

technical field

The invention relates to the technical field of robot structures, in particular to a robot cabinet door opening structure.

Background technique

In recent years, the continuous development of automated operation equipment has made service robots more and more integrated into production and life scenarios. A large number of walking robots are used in transportation and display, such as food transfer in restaurants and exhibitions. The relatively simple transfer and operation can be replaced by robots with automatic pathfinding or walking according to the predetermined trajectory, which greatly reduces the work intensity and repetitive labor of the on-site service personnel.

However, during the actual use of the equipment, due to the difference in the types of transshipment items and the people who receive the items, when the designated cabinet is opened by the corresponding designated group, such as the technical solution of 202220805807.2, since the cabinet door locking structure of the cabinet is mostly set in On the cabinet door or on the track in the lock area of the cabinet door, when the cabinet door is not in the locked position, it is very easy for the picker to open the wrong cabinet door and take the wrong item.

Contents of the invention

In view of the above problems, the object of the present invention is to provide a robot cabinet door opening structure to solve the problem that the cabinet door locking structures of the cabinet in the prior art are mostly arranged on the cabinet door or on the track of the cabinet door locking area. In the case of not being in the locked position, it is very easy for the picker to open the wrong cabinet door and take the wrong item.

In order to solve the above problems, the inventor provides a robot cabinet door opening structure, the robot cabinet door opening structure is arranged at the cabinet opening of the walking robot, including the first track, the second track, the door body, the driving module and the limit module ;

The number of the first track and the second track is two, the two first tracks and the two second tracks are arranged in a row, and one end of the first track and the second track communicates with each other, and the first track and the second track Form two groups of portal conveying channels;

The door body is slidably connected to the first track or the second track;

The drive module is connected to the door body in transmission;

The limit module is arranged at the connection between the first track and the second track, and includes a first limit piece and a second limit piece. The limit module is used for the door body to contact the first limit piece or the second limit piece. When the stopper is used, the second stopper and the first stopper communicate with one group of door body delivery passages.

As a preferred embodiment of the present application, the door conveying channel formed by the first track and the second track is formed by connecting the first track and the second track in non-coaxial directions.

As a preferred embodiment of the present application, the limit module includes a first transmission part, a second transmission part and a third transmission part, the first transmission part is connected with the first limit part, and the third transmission part It is connected with the second limiting member, and the second transmission member is connected with the first transmission member and the third transmission member, and is used to drive the first transmission member and the third transmission member to rotate in opposite directions. By setting the first transmission member, the second transmission member and the third transmission member, relying on the second transmission member to drive the first transmission member and the third transmission member to rotate in opposite directions, so that the first limiting member and the second limiting member can Rotation realizes conduction to one group of door body conveying channels.

As a preferred embodiment of the present application, the first transmission member, the second transmission member and the third transmission member are gears. By setting the first transmission member, the second transmission member and the third transmission member as gears, it is convenient to transmit the rotational force and ensure that the first transmission member and the third transmission member rotate in opposite directions, driving the first limiting member and the second The conduction of the limit piece to one of the door conveying channels.

As a preferred embodiment of the present application, any one or more of the first transmission member and the third transmission member selects fan teeth. By arranging the fan teeth, the rotation angle is limited, so as to avoid the failure of the locking function of the first limiting member and the second limiting member due to excessive rotation angles of the first transmission member and the third transmission member.

As a preferred embodiment of the present application, the position limiting module further includes a guard plate, and the guard plate is arranged on a surface of the position limiting module. By setting the guard plate of the limit module, it is convenient to protect the limit module and prevent the impact force from damaging the limit module.

As a preferred embodiment of the present application, the drive module includes a motor, a transmission belt and a driven wheel, the power output shaft of the motor is provided with a pulley, the pulley and the driven wheel are connected through a transmission belt, and the door body is connected with the transmission belt. By setting the motor, the transmission belt and the driven wheel, it is convenient to use the displacement of the transmission belt to drive the door body to move.

As a preferred embodiment of the present application, there are two door bodies and driving modules, and the two door bodies are respectively arranged in two groups of door body conveying channels formed by the first track and the second track.

As a preferred embodiment of the present application, the first limiting member and the second limiting member are plate structures.

As a preferred embodiment of the present application, a guide flange is provided at the connection between the first track and the second track. By setting the guide flange, it is convenient for the door body to lead into the connection between the first track and the second track.

Different from the prior art, the above technical solution has the following advantages: by setting two sets of first rails and second rails, relying on the limit module set at the connection between the first rails and the second rails, the two groups of door body conveying channels are guided. Opening and closing, so that when the door body is in the conduction of one group of door body conveying channels, the other group of door body conveying channels is in a locked state, relying on a single limit module to open and close the two channels, avoiding the need for multiple doors The locking device is set independently, and the locking device fails when the door body is not in the point locking position.

The relevant descriptions of the above-mentioned content of the invention are only an overview of the technical solution of the present application. In order to allow those skilled in the art to understand the technical solution of the application more clearly, it can be implemented according to the text of the description and the content recorded in the drawings, and in order to let those skilled in the art The above purpose and other purposes, features and advantages of the present application can be more easily understood, and will be described below in conjunction with specific implementation methods and accompanying drawings of the present application.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

Fig. 1 is the schematic diagram of the overall mechanism of the door opening structure of the robot cabinet in the embodiment of the present invention;

Fig. 2 is a schematic diagram of the first working state of the limit module in the embodiment of the present invention;

Fig. 3 is a schematic diagram of the second working state of the limit module in the embodiment of the present invention;

4 is a schematic diagram of the detailed structure of the driving module in the embodiment of the present invention;

Fig. 5 is a schematic diagram of the detailed structure of the limit module in the embodiment of the present invention.

The reference numerals involved in the above-mentioned drawings are explained as follows:

10. The first track;

20. The second track;

30. Door body;

40. Drive module;

41. Motor; 42. Transmission belt; 43. Driven wheel;

50. Limit module;

51. The first limiting member; 52. The second limiting member; 53. The first transmission member;

54. The second transmission part; 55. The third transmission part; 56. Guard plate;

60. Door body conveying channel;

61. Guide hemming.

detailed description

In order to describe in detail the possible application scenarios, technical principles, specific solutions that can be implemented, goals and effects that can be achieved, etc., the following will be described in detail in conjunction with the listed specific embodiments and accompanying drawings. The embodiments described herein are only used to illustrate the technical solutions of the present application more clearly, so they are only examples, and cannot be used to limit the protection scope of the present application.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The word "embodiment" appearing in various positions in the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or relationship with other embodiments. In principle, in this application, as long as there is no technical contradiction or conflict, each technical feature mentioned in each embodiment can be combined in any way to form a corresponding implementable technical solution.

Unless otherwise defined, the meanings of the technical terms used herein are the same as those commonly understood by those skilled in the art to which the application belongs; the use of relevant terms herein is only to describe specific embodiments, and is not intended to limit the application .

In the description of this application, the term "and/or" is an expression used to describe the logical relationship between objects, indicating that there may be three relationships, such as A and/or B, which means: there is A, there is B, and There are three situations A and B at the same time. In addition, the character "/" in this article generally indicates that the contextual objects are a logical relationship of "or".

In this application, terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. Any actual quantitative, primary or sequential relationship.

Without further limitation, in this application, the words "including", "comprising", "having" or other similar expressions are intended to cover a non-exclusive inclusion, and these expressions do not exclude Additional elements may also be present in a process, method, or product that includes the stated elements, so that a process, method, or product that includes a series of elements may include not only those defined elements, but also other elements that are not explicitly listed , or also include elements inherent in such a process, method, or product.

The same as the understanding in the "Examination Guidelines", in this application, expressions such as "greater than", "less than" and "exceeding" are understood to not include the original number; expressions such as "above", "below" and "within" are understood to include This number. In addition, in the description of the embodiments of the present application, "multiple" means more than two (including two), and similar expressions related to "many" are also understood in this way, such as "multiple groups", " many times", etc., unless otherwise expressly and specifically defined.

In the description of the embodiments of the present application, expressions related to space used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", " Left, right, vertical, horizontal, vertical, top, bottom, inner, outer, clockwise, counterclockwise, axial, radial, circumferential, etc. The indicated orientation or positional relationship is based on the specific embodiment or the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the specific embodiment of the application or for the reader’s understanding, rather than indicating or implying that the referred device or component must Having a specific position, a specific orientation, or being constructed or operated in a specific orientation should not be construed as limiting the embodiments of the present application.

Unless otherwise clearly specified or limited, in the description of the embodiments of the present application, terms such as "installation", "connection", "connection", "fixation" and "setting" should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated arrangement; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or a Connected indirectly through an intermediary; it may be an internal communication between two elements or an interactive relationship between two elements. Those skilled in the technical field to which the present application belongs can understand the specific meanings of the above terms in the embodiments of the present application according to specific situations.

Please refer to Fig. 1 to Fig. 5 together, a kind of robot cabinet body door opening structure, the robot cabinet body body opening structure is arranged at the cabinet body opening of walking robot (specifically, walking robot includes walking device, and walking device is controlled by computer or wireless module) It is controlled by data interaction and driven by the power of the battery. It also includes a storage cabinet assembled on the top of the walking device. The storage cabinet has an opening). A track 10 , a second track 20 , a door body 30 , a driving module 40 and a limit module 50 . The number of the first track 10 and the second track 20 is two, the two first tracks 10 and the two second tracks 20 are arranged in a row, and one end of the first track 10 and the second track 20 is oppositely arranged and communicated with each other, And two groups of door conveying channels 60 are formed on the first track 10 and the second track 20 (the positive and negative directions of the lines indicated by the arrows in FIG. 3 form a group of door conveying channels). The door body 30 is slidably connected to the first track 10 or the second track 20 . The driving module 40 is in transmission connection with the door body 30 . The limiting module 50 is arranged at the connection between the first track 10 and the second track 20, and includes a first limiting member 51 and a second limiting member 52. The limiting module 50 is used for the door body 30 to contact the first When the limiting member 51 or the second limiting member 52 is used, the second limiting member 52 and the first limiting member 51 communicate with one of the group of door conveying passages 60 .

According to the above structure, during the actual use of the robot cabinet door opening structure, the user places items in the cabinet space corresponding to each door of the walking robot, and then the robot moves to the designated item distribution area through the walking device. When the picker needs to pick up the items behind the specified door body, the drive module drives the door body to move, the end of the door body first contacts the first limiter, the first limiter drives the second limiter to rotate, and makes the first The ends of the limiting member and the second limiting member are parallel to each other, and point the ends to the side wall where the first track and the second track communicate, leading to the door body conveying channel. And during the conduction process of the door body conveying channel, the conduction of another group of door body conveying channels is blocked by the plate surfaces of the first limiting member and the second limiting member. The door body is opened through the conductive door body conveying channel, so that the user can extract the articles in the storage cabinet space behind the opened door body. When the operator misoperates and tries to open another door body, the end of the door body is blocked by the plate surface of the first limiter and the second limiter during the movement process, so as to prevent the operator from opening the cabinet door by mistake. And when the other door body is driven to open, when firstly contacting the second limiting member to conduct another door conveying passage, first contacting the first restricting member conducting door conveying passage, at this moment, the first restricting member and the second restricting member The two limiting parts rotate in opposite directions and block the door body. By setting two sets of first track and second track, and relying on the limit module set at the connection between the first track and the second track, the two sets of door body conveying channels are conducted and closed, so that the door body is in one set of door body When the conveying channel is turned on, the other group of door body conveying channels is in the locked state, relying on a single limit module to open and close the two channels, avoiding the independent setting of locking devices for multiple doors, and when the door body is not in point lock The problem of the failure of the locking device when stopping.

Please refer to Fig. 1 to Fig. 5 together. In the above embodiment, the door conveying channel 60 formed by the first track 10 and the second track 20 is communicated by the first track 10 and the second track 20 in the non-coaxial direction. Forming, specifically, two sets of door conveying passages can be alternately arranged at the junction of the first track 10 and the second track 20, and the door conveying can be limited by the rotation of the first stopper 51 and the second stopper 52. Channel opening and closing.

Please refer to FIGS. 1 to 5 together. As a preferred embodiment of the present application, the limit module 50 includes a first transmission member 53, a second transmission member 54 and a third transmission member 55. The first transmission 53 is connected with one side of the first limiting member 51, so that the first transmission member 53 can drive the first limiting member 51 to rotate, and the third transmission member 55 is connected with the second limiting member 52, so that the third transmission The member 55 can drive the second limiting member 52 to rotate, and the second transmission member 54 is in transmission connection with the first transmission member 53 and the third transmission member 55, and is used to drive the first transmission member 53 and the third transmission member 55 in opposite directions. direction rotation (in this embodiment, the first transmission member 53, the second transmission member 54 and the third transmission member 55 can be gears meshed in sequence to achieve the driving effect). By setting the first transmission member, the second transmission member and the third transmission member, relying on the second transmission member to drive the first transmission member and the third transmission member to rotate in opposite directions, so that the first limiting member and the second limiting member can Rotation realizes conduction to one group of door body conveying channels.

Please refer to FIG. 1 to FIG. 5 together. As a preferred embodiment of the present application, the first transmission member 53 , the second transmission member 54 and the third transmission member 55 are gears. By setting the first transmission member, the second transmission member and the third transmission member as gears, it is convenient to transmit the rotational force and ensure that the first transmission member and the third transmission member rotate in opposite directions, driving the first limiting member and the second The conduction of the limit piece to one of the door conveying channels.

Please refer to FIG. 1 to FIG. 5 together. As a preferred embodiment of the present application, any one or more of the first transmission member 53 and the third transmission member 55 selects fan teeth. By setting the fan teeth, the rotation angle is limited. When the rotation angle is too large, the bevel teeth can be separated from the gear transmission of the second transmission part to realize re-returning, avoiding the excessive rotation angle of the first transmission part and the third transmission part. The locking and conduction functions of the first limiter and the second limiter are invalid.

Please refer to FIG. 1 to FIG. 5 together. As a preferred embodiment of the present application, the limiting module 50 further includes a guard plate 56 disposed on the surface of the limiting module 50 . By setting the guard plate of the limit module, it is convenient to protect the limit module and prevent the impact force from damaging the limit module.

Please refer to Fig. 1 to Fig. 5 together, as a kind of preferred embodiment of the present application, described drive module 40 comprises motor 41, transmission belt 42 and driven wheel 43, and the power output shaft of motor 41 is provided with pulley, and pulley and driven wheel 43 is driven and connected through the transmission belt 42, and the door body 30 is connected with the transmission belt 42 (specifically, an adapter can be inserted or assembled on the transmission belt, and the adapter is connected with the door body). By setting the motor, the transmission belt and the driven wheel, it is convenient to use the displacement of the transmission belt to drive the door body to move.

Please refer to FIGS. 1 to 5 together. As a preferred embodiment of the present application, the number of the door body 30 and the driving module 40 is two, and the two door bodies 30 are respectively arranged on the first track and the second track. In the two groups of door body delivery channels formed. In this embodiment, when there are two door bodies, due to the existence of the limit module, the door body conveying channel realizes the track changing ability on the two first tracks and the second track, and the two door bodies can be moved at the same time. It is arranged on the first track and the second track with the opening of the cabinet body facing outside or inside, so that the door body is on the same plane when it is closed. Compared with the traditional doors that are always maintained on their respective tracks, there are gaps between the doors and the thickness of the doors is exposed, keeping the opening area of the cabinet clean.

Please refer to FIG. 1 to FIG. 5 together. As a preferred embodiment of the present application, the first limiting member 51 and the second limiting member 52 are plate structures.

Please refer to FIG. 1 to FIG. 5 together. As a preferred embodiment of the present application, a guide flange 61 is provided at the connection between the first rail 10 and the second rail 20 . By setting the guide flange, it is convenient for the door body to lead into the connection between the first track and the second track.

Please refer to FIG. 1 to FIG. 5 together. In the above embodiment, the guide flange 61 can be adapted to the center of the first transmission member 53 and the third transmission member 55 to the distance between the guide flange 61 and the adapted guide flange 61, Guarantee the guiding effect.

Please refer to FIGS. 1 to 5 together. In the above embodiment, the contact area between the door body 30 and the first limiting member 51 and the second limiting member 52 can be provided with structures such as abutting columns or abutting blocks. Increase the contact area of the first limiting member and the second limiting member with the limiting plate.

Finally, it should be noted that although the above-mentioned embodiments have been described in the specification text and drawings of the present application, the scope of protection of the patent of the present application cannot be limited thereby. Any technical solution based on the substantive concept of this application, using the equivalent structure or equivalent process replacement or modification of the content recorded in the text and drawings of this application, and directly or indirectly implementing the technical solutions of the above embodiments in Other relevant technical fields, etc., are included in the patent protection scope of this application.

Claims (10)

1. A robot cabinet door-opening structure, the robot cabinet door-opening structure is arranged at the cabinet opening of the walking robot, is characterized in that, comprises a first track, a second track, a door body, a drive module and a limit module; The number of the first track and the second track is two, the two first tracks and the two second tracks are arranged in a row, and one end of the first track and the second track communicates with each other, and the first track and the second track Form two groups of portal conveying channels; The door body is slidably connected to the first track or the second track; The drive module is connected to the door body in transmission; The limit module is arranged at the connection between the first track and the second track, and includes a first limit piece and a second limit piece. The limit module is used for the door body to contact the first limit piece or the second limit piece. When the stopper is used, the second stopper and the first stopper communicate with one group of door body delivery passages. 2. The robot cabinet door opening structure according to claim 1, characterized in that, the door transport channel formed by the first track and the second track is formed by connecting the first track and the second track in non-coaxial directions. 3. The robot cabinet door opening structure according to claim 1, characterized in that, the limit module includes a first transmission member, a second transmission member and a third transmission member, and the first transmission member and the first limiter The position piece is connected, the third transmission piece is connected with the second limit piece, and the second transmission piece is connected with the first transmission piece and the third transmission piece, and is used to drive the first transmission piece and the third transmission piece to the opposite direction. turn. 4. The robot cabinet door opening structure according to claim 3, characterized in that, the first transmission member, the second transmission member and the third transmission member are gears. 5. The door-opening structure of the robot cabinet according to claim 4, characterized in that, any one or more of the first transmission member and the third transmission member adopts fan teeth. 6 . The robot cabinet door opening structure according to claim 1 , wherein the position limiting module further comprises a guard plate, and the guard plate is arranged on a surface of the position limiting module. 7 . 7. The door-opening structure of the robot cabinet according to claim 1, wherein the drive module includes a motor, a transmission belt and a driven wheel, the power output shaft of the motor is provided with a pulley, and the pulley and the driven wheel are connected through a transmission belt, so The door body is connected with the transmission belt. 8. The door opening structure of the robot cabinet according to claim 1, wherein the number of the door body and the driving module is two, and the two door bodies are respectively arranged on the two groups formed by the first track and the second track. In the conveying channel of the door body. 9. The robot cabinet door opening structure according to claim 1, characterized in that, the first limiting member and the second limiting member are plate structures. 10. The robot cabinet door-opening structure according to claim 1, characterized in that, the connection between the first track and the second track is provided with a guide flange.

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