A pickup door linkage mechanism

Abstract

The present invention discloses a pickup door linkage mechanism, including a warehouse door, a support plate and a connecting rod. The warehouse door can be moved left and right on a fixed frame through a guide mechanism 1, the support plate can be moved forward and backward on a fixed frame through a guide mechanism 2, and the connecting rod is fixed to the warehouse door through one end thereof; a D-shaped guide groove is provided on the support plate, and a guide block matching the D-shaped guide groove is provided on the other end of the connecting rod; the forward and backward movement of the support plate is driven by a driving device, and the guide block moves along the D-shaped guide groove and drives the warehouse door to move left and right through the connecting rod, thereby realizing the opening and closing of the warehouse door. The present invention is arranged on a self-service vending machine and can automatically push the support plate with food placed on it out of the pickup port, without the need for a person to reach into the pickup port, which is not only convenient and intuitive, but also can effectively avoid hurting the arm; pushing out the goods and closing randomly can effectively prevent garbage, sundries, etc. from entering the equipment through the pickup port to damage the equipment, reduce the maintenance and repair frequency, extend the service life of the equipment, and save operating costs.

Description

Technical Field

[0001] The present invention relates to the field of self-service vending equipment, and in particular to a linkage mechanism for a pickup door. Background Art

[0002] Self-service food vending machines are commercial automation equipment that have appeared in recent years. They are not restricted by time or location and can be placed in communities, office buildings and other places to provide food to people at any time. They not only bring convenience to people, but also greatly save labor costs. They are a new form of commercial retail.

[0003] When taking out the food from the common self-service food vending machines, people need to reach into the take-out port to take out the food. On the one hand, it is not convenient for observation and it is easy to hurt the arm; on the other hand, people intentionally or unintentionally throw debris into the take-out port, which often causes damage to the equipment such as jamming, increasing the operation and maintenance costs. Therefore, the design of the take-out door is a key point in the design of self-service food vending machines. It not only takes into account the safety of consumers to avoid injuries, but also takes into account the equipment itself to avoid mechanical failures such as jamming caused by debris entering. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a cargo pickup door linkage mechanism.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0006] A cargo pickup door linkage mechanism comprises a warehouse door, a support plate and a connecting rod, wherein the warehouse door is arranged on a fixed frame so as to be movable leftward and rightward through a first guide mechanism, the support plate is arranged on the fixed frame so as to be movable forward and backward through a second guide mechanism, and the connecting rod is fixed to the warehouse door through one end thereof;

[0007] The support plate is provided with a D-shaped guide groove, the linear guide groove portion of the D-shaped guide groove is parallel to the movable direction of the support plate, the other end of the connecting rod is provided with a guide block matching the D-shaped guide groove, and the D-shaped guide groove is provided with a one-way control device;

[0008] The warehouse door is provided with a clearance gap for the front of the pallet to pass through; or, a gap is provided under the warehouse door for the front of the pallet to pass through; a cargo placement position is provided at the front of the pallet, and the pallet is driven to move forward and backward by a driving device, and the guide block moves along the D-shaped guide groove and drives the warehouse door to move left and right through a connecting rod, thereby realizing the opening and closing of the warehouse door.

[0009] Preferably, the one-way control device comprises a one-way mechanism provided at one end of the D-shaped guide groove close to the door and a chamfer provided on the inner side of one end of the linear guide groove portion of the D-shaped guide groove away from the door;

[0010] The one-way mechanism includes an elastic recovery arm arranged on the inner side of the D-shaped guide groove and a roller arranged at one end of the elastic recovery arm. Under the action of the elastic recovery force of the elastic recovery arm, the roller is pressed tightly in the straight guide groove part of the D-shaped guide groove; to overcome the elastic recovery force of the elastic recovery arm, the roller can move to the intersection of the straight guide groove part and the circular guide groove part at one end of the D-shaped guide groove close to the warehouse door, and the guide block can move from the straight guide groove part at one end of the D-shaped guide groove close to the warehouse door to the circular guide groove part.

[0011] Further preferably, the elastic recovery arm includes a "<" shaped arm and a tension spring, the "<" shaped arm is hinged to the support plate through its inflection point, the roller is arranged at one end of the "<" shaped arm, the other end of the "<" shaped arm is connected to the tension spring, one end of the tension spring is fixed to the support plate, and the tension spring provides elastic recovery force for the "<" shaped arm.

[0012] Preferably, the guide block is a rotating column rotatably arranged at one end of the connecting rod through a bearing.

[0013] Preferably, the warehouse door, connecting rod and guide block are symmetrically arranged in pairs, and the support plate is provided with an inverted D-shaped guide groove symmetrical to the D-shaped guide groove.

[0014] Further preferably, the support plate is in a convex shape, and the symmetrically arranged D-shaped guide groove and the reverse D-shaped guide groove are located on both sides of the rear portion of the support plate.

[0015] Preferably, the driving device comprises a motor and a rack and pinion transmission mechanism, and the motor drives the support plate to move forward and backward through the rack and pinion transmission mechanism.

[0016] Preferably, the pickup door linkage mechanism also includes a cargo sensing device for sensing whether there is cargo at the cargo placement position.

[0017] Further preferably, the cargo sensing device comprises a light-through hole opened at the cargo placement position and a diffuse reflection sensor fixed to a fixing frame; when the pallet moves to the rearmost position, the diffuse reflection sensor faces the light-through hole.

[0018] Preferably, the pickup door linkage mechanism also includes a limit sensor device for sensing the forward and backward movement of the pallet to reach the extreme position.

[0019] Further preferably, the limit sensing device includes a photoelectric sensor arranged on the pallet and baffles 1 and 2 fixed to the fixing frame, and the positions of baffles 1 and 2 sensed by the photoelectric sensor correspond to the limit positions of the pallet moving backward and forward respectively.

[0020] Preferably, the fixing frame is provided with a fixing plate, and the fixing plate is provided with a fixing platform; the second guide mechanism comprises a guide rail and a slider, and the guide rail is fixed on the fixing platform.

[0021] Through the above configuration, the present invention has at least the following beneficial effects:

[0022] 1. The self-service vending machine can automatically push the food tray out of the pickup port without the need for people to reach into the pickup port. It is not only convenient and intuitive, but also can effectively avoid hurting the arm. It pushes out the goods and closes randomly, which can effectively prevent garbage and debris from entering the pickup port, prevent debris from entering the equipment and damaging the equipment, reduce the frequency of maintenance and repair, extend the service life of the equipment, and save operating costs.

[0023] 2. The design of the one-way control mechanism / device can realize the path selection of the guide block in the D-shaped guide groove, so that the guide block selects the corresponding path according to the push-out or retracted state of the pallet, and then the warehouse door is opened first and then closed or maintained in a closed state according to the needs of shipping or picking up goods. The structure is simple and the performance is stable and reliable;

[0024] 3. It has a compact structure, scientific and reasonable design, high degree of automation, stable and reliable performance. It is installed in automated food vending equipment and can automatically pick up and deliver food. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the structure of the pallet in the main viewing direction;

[0027] Figure 3 It is a schematic diagram of the structure in which the door and the diffuse reflection sensor are arranged on a fixed frame;

[0028] Figure 4 It is a schematic diagram of the structure of the one-way mechanism in the main viewing direction;

[0029] Figure 5 This is a schematic diagram of the state where the guide block moves to the front end of the D-shaped guide groove;

[0030] Figure 6 It is a schematic diagram of the three-dimensional structure in which the guide block is arranged at the (other) end of the connecting rod;

[0031] Figure 7 It is a schematic diagram of the drive device structure. DETAILED DESCRIPTION

[0032] The present invention is preferably described below in conjunction with the accompanying drawings and specific embodiments.

[0033] Reference Figures 1 to 7A cargo pickup door linkage mechanism includes a warehouse door 10, a support plate 20 and a connecting rod 30. The warehouse door 10 is movably arranged on a fixed frame 40 through a guide mechanism 1, and the support plate 20 is movably arranged on the fixed frame 40 through a guide mechanism 2. The connecting rod 30 is fixed to the warehouse door 10 through one end. The support plate 20 is provided with a D-shaped guide groove 201, and a linear guide groove portion 2011 (such as Figure 2 The other end of the connecting rod 30 is provided with a guide block 301 which matches with the D-shaped guide groove 201, and the D-shaped guide groove 201 is provided with a one-way control device. The warehouse door 10 is provided with a clearance gap 101 for the front part 202 of the supporting plate to pass through, as shown in FIG. Figure 3 Alternatively, a gap is provided below the door 10 for the front portion 202 of the pallet to pass through. The front portion 202 of the pallet is provided with a cargo placement position 203, as shown in FIG. Figure 2 The driving device drives the support plate 20 to move forward and backward, and the guide block 301 moves along the D-shaped guide groove 201 and drives the door 10 to move left and right through the connecting rod 30, thereby realizing the opening and closing of the door 10.

[0034] When the support plate 20 retracts, that is, when the support plate 20 moves from front to back, the guide block 301 moves from the rear end of the linear guide groove portion 2011 of the D-shaped guide groove 201 to the front end, and the guide block 301 does not move in the left-right direction, so the door 10 remains stationary. When the support plate 20 moves to the final position, the guide block 301 reaches the front intersection of the linear guide groove portion 2011 and the arc guide groove portion 2012, and the one-way control device transitions the guide block 301 from the linear guide groove portion 2011 of the D-shaped guide groove 201 to the arc guide groove portion 2012, as shown in FIG. Figure 2 As shown. When the support plate 20 extends, that is, when the support plate 20 moves from the back to the front, the guide block 301 moves from the front end to the rear end of the arc guide groove portion 2012 of the D-shaped guide groove 201. The guide block 301 first moves to the right along the front half of the arc guide groove portion 2012, and then moves to the left along the rear half of the arc guide groove portion 2012 to return to the original position. In this process, the guide block 301 drives the warehouse door 10 to move to the right first through the connecting rod 30 to open the warehouse door, and then moves to the left to close the warehouse door.

[0035] In the specific implementation, only one warehouse door can be set, or two warehouse doors can be symmetrically set as in the following embodiments. In the case of setting one warehouse door, opening and closing are achieved by moving the warehouse door relative to the door frame; in the case of symmetrically setting two warehouse doors, opening and closing are achieved by the relative distance and approach of the two symmetrical warehouse doors. Among them, the one-way control device is used to transition the guide block 301 from the linear guide groove part 2011 to the arc guide groove part 2012 when the pallet 20 is retracted and moved to the rear end; when the pallet 20 is extended and moved to the front end, the guide block 301 is transitioned from the arc guide groove part 2012 to the linear guide groove part 2011, so as to ensure that the warehouse door 10 is opened first and then closed during the extension of the pallet 20; during the retraction of the pallet 20, the warehouse door 10 remains closed. Specifically, the function of the one-way control device in this scheme can be realized by setting a mechanical fork, a sensor, a control device, etc., which can be achieved by those skilled in the art using the existing technology, and will not be described in detail here.

[0036] Through the above arrangement, the present invention can automatically push food out of the door, without having to put one's hands into the door to take the goods, which can effectively prevent injuries to the arms; in the process of pushing out the pallet (goods), the door 10 is opened first, and then immediately closed after the goods are pushed out, which can prevent debris from being thrown into the equipment by humans, thereby preventing mechanical failures such as jamming; in the process of retracting the pallet, the debris left on the front part 202 of the pallet can be scraped off through the door, further ensuring that debris cannot enter the equipment and ensuring the stable operation of the equipment.

[0037] In one embodiment, the one-way control device includes a one-way mechanism disposed at one end of the D-shaped guide groove 201 close to the door 10 and a chamfer 2013 (such as Figure 2As shown). The setting of the chamfer 2013 allows the guide block 301 to slide into the linear guide groove portion 2011 along the chamfer 2013 after it moves to the rear end along the arc guide groove portion 2012 and then moves forward (the movement of the guide block 301 along the D-shaped guide groove 201 mentioned in the embodiment refers to relative movement). The structure is simple and the performance is reliable. The one-way mechanism includes an elastic recovery arm arranged on the inner side of the D-shaped guide groove 201 and a roller 2014 arranged at one end of the elastic recovery arm. The roller 2014 can also be conventionally replaced with a slider. Under the action of the elastic recovery force of the elastic recovery arm, the roller 2014 is pressed tightly into the linear guide groove portion 2011 of the D-shaped guide groove 201. Overcoming the elastic restoring force of the elastic restoring arm, the roller 2014 can move to the intersection of the linear guide groove part 2011 and the arc guide groove part 2012 at one end of the D-shaped guide groove 201 close to the door, and the guide block 301 can move from the linear guide groove part 2011 at one end of the D-shaped guide groove 201 close to the door 10 to the arc guide groove part 2012. Thus, the path selection and unidirectional movement of the guide block 301 in the D-shaped guide groove 201 are realized through a purely mechanical structure, with a simple structure and reliable performance. Figure 4 As shown, the elastic restoring arm includes a "<" shaped arm 2015 and a tension spring 2016, the "<" shaped arm 2015 is hinged to the support plate 20 through its inflection point, a roller 2014 is arranged at one end of the "<" shaped arm 2015, and the other end of the "<" shaped arm 2015 is connected to the tension spring 2016, and one end of the tension spring 2016 is fixed to the support plate 20, and the tension spring 2016 provides elastic restoring force for the "<" shaped arm 2015, which is convenient for assembly and disassembly, and the performance is more reliable. Figure 5 As shown, a cover plate 2017 is provided at the front end intersection of the linear guide groove portion 2011 and the circular arc guide groove portion 2012, and a "<"-shaped arm 2015 and a tension spring 2016 are provided below the cover plate 2017. The front end intersection of the linear guide groove portion 2011 and the circular arc guide groove portion 2012 and the nearby guide groove channel are composed of the outer wall of the D-shaped guide groove 201 and the edge of the cover plate 2017 (in other embodiments, this arrangement may not be required. For example, the front end intersection of the linear guide groove portion 2011 and the circular arc guide groove portion 2012 and the nearby guide groove channel are the same as other parts of the D-shaped guide groove 201, and are pre-opened on the support plate 20. Even without the cover plate 2017, the working principle of the present invention can still be implemented). The cover plate 2017 is detachable for easy disassembly and maintenance. The guide block 301 is a rotating column rotatably arranged at one end of the connecting rod 30 through a bearing 3011, such as Figure 6 As shown, the friction resistance of the guide block 301 moving in the D-shaped guide groove 201 is effectively reduced, and the machine runs more smoothly.

[0038] In one embodiment, two doors, connecting rods and guide blocks are symmetrically arranged, and the support plate is provided with an inverted D-shaped guide groove symmetrical to the D-shaped guide groove. The two symmetrical doors are relatively far away and close to each other to achieve opening and closing. Under the condition that the moving speed of the support plate 20 remains unchanged, this double door design can make the doors open and close faster and with a larger movement range, thereby improving efficiency. The support plate 20 is convex, and the symmetrically arranged D-shaped guide groove 201 and the inverted D-shaped guide groove are located on both sides of the rear of the support plate, with a more reasonable layout and a more compact structure. Figure 7 As shown, the driving device includes a motor 501 and a rack and pinion transmission mechanism 502 , and the motor 501 drives the support plate 20 to move forward and backward through the rack and pinion transmission mechanism 502 .

[0039] In one embodiment, the pickup door linkage mechanism further includes a cargo sensor device for sensing whether there is cargo at the cargo placement position. When cargo is placed at the cargo placement position, a signal is sent to the control system of the self-service food vending machine. The cargo sensor device includes a light hole 2021 (such as a light hole 2021) opened at the cargo placement position 203. Figure 2 ) and a diffuse reflection sensor 60 (as shown) fixed to the fixing frame 40 Figure 3 As shown, those skilled in the art should understand that the same effect can be achieved by replacing the diffuse reflection sensor with other sensors with the same function. Therefore, all equivalent replacements belong to the protection scope of the present invention); the support plate 20 moves to the rear, and the diffuse reflection sensor 60 is opposite to the light hole 2021.

[0040] The pickup door linkage mechanism also includes a limit position sensing device for sensing the forward and backward movement of the pallet 20 to reach the limit position. The limit position sensing device includes a photoelectric sensor 70 provided on the pallet 20 and a baffle 1 71 and a baffle 2 72 fixed to the fixing frame 40. The photoelectric sensor 70 senses the positions of the baffle 1 71 and the baffle 2 72 corresponding to the limit positions of the backward and forward movement of the pallet 20, respectively. When the photoelectric sensor 70 senses the position of the baffle 1 71 or the baffle 2 72, a feedback signal is given to the control system of the self-service food vending machine.

[0041] In one embodiment, a fixing plate 401 is provided on the fixing frame 40, and a fixing platform 402 is provided on the fixing plate 401. The second guide mechanism includes a guide rail and a slider, the guide rail is fixed on the fixing platform 402, and the slider is fixed under the pallet 20, and the pallet 20 moves forward and backward by moving the slider along the guide rail. The cargo placement position 203 is a circular groove opened on the front part 202 of the pallet, so as to facilitate positioning when placing a circular container. The diffuse reflection sensor 60, the induction baffle 1 71 and the baffle 2 72 are all fixed on the fixing plate 401.

[0042] Based on the above embodiments, the working principle of the present invention is as follows:

[0043] In the final stage of the backward movement (retraction) of the support plate 20, the guide block 301 (relative to the guide groove) in the linear guide groove portion 2011 moves from the back to the front and pushes the roller 2014 to rotate around the hinge point of the "<"-shaped arm 2015 and the support plate 20. When the guide block 301 moves to the front intersection of the linear guide groove portion 2011 and the arc guide groove portion 2012, a certain gap is generated between the guide block 301 and the roller 2014, and the roller 2014 is reset under the action of the "<"-shaped arm 2015 and the tension spring 2016, and the roller 2014 blocks the return channel of the guide block 301 from the linear guide groove portion 2011 of the D-shaped guide groove 201, as shown in FIG. Figure 5 When the support plate 20 moves forward, the guide block 301 slides over the edge of the roller 2014 and enters the arc guide groove portion 2012.

[0044] When the pallet 20 is fully retracted, the food is placed on the cargo placement position 203 by a manipulator or a conveying device provided inside the self-service food vending machine. After the diffuse reflection sensor 60 below the cargo placement position 203 senses through the light hole 2021 that the food has been placed on the cargo placement position 203, it feeds back a signal to the control system of the self-service food vending machine. The control system controls the motor to rotate and drives the pallet 20 to move forward (extend) through the gear rack mechanism. As described above, during the process of the pallet 20 moving forward, the guide block 301 moves relative to the pallet 20 along the arc guide groove portion 2012 of the D-shaped guide groove 201, and the guide block 301 drives the warehouse door 10 to gradually open first and then gradually close through the connecting rod 30. From the opening to the closing of the warehouse door 10, the food placed on the pallet 20 has been pushed out of the warehouse door. When the support plate 20 is extended to the limit state, the door 10 is closed, and the guide block 301 reaches the intersection of the arc guide groove part 2012 and the linear guide groove part 2011 at the rear end of the D-shaped guide groove 201, the photoelectric sensor 70 senses the second baffle 72 and feeds back a signal to the control system, and the control system controls the motor 501 to stop running. The consumer can then take the food from the extended front part 202 of the support plate.

[0045] When the next consumer needs to buy food and touches the corresponding control button, the motor 501 reverses and the support plate 20 retracts. In the second half of the extension of the support plate 20 and the movement of the guide block 301 along the circular arc guide groove portion 2012, the guide block 301 is close to the outer side wall 20121 of the circular arc guide groove portion 2012. When the guide block 301 moves along the outer side wall 20121 of the circular arc guide groove portion 2012 to the end (the intersection of the rear ends of the circular arc guide groove portion 2012 and the linear guide groove portion 2011), the guide block 301 has actually crossed over the intersection of the inner side wall 20122 of the circular arc guide groove portion 2012 and the chamfer 2013. When the support plate 20 moves backward and retracts, the guide block 301 will fall on the chamfer 2013 and slide along the chamfer 2013 until it enters the linear guide groove portion 2011. The guide block 301 will not generate left and right displacement during the movement along the linear guide groove portion 2011. Therefore, during the retraction of the support plate 20, the door 10 will remain closed, and the debris on the support plate 20 will be scraped off by the closed door 10 to avoid entering the interior of the equipment.

[0046] When the support plate 20 is fully retracted, the photoelectric sensor 70 moves to the rear and senses the baffle 1 71. The photoelectric sensor 70 feeds back a sensing signal to the control system, and the control system controls the motor to stop rotating. Then, the process of placing and pushing out food begins again, thus completing a working cycle of the present invention.

[0047] The above records are only used to illustrate the technical solution of the present invention, but the present invention is not limited to this embodiment. Those skilled in the art should understand that the D-shaped guide groove recorded in the embodiment is not limited to the guide groove structure, but also includes equivalent replacements such as guide rails and guide rods that can realize the guiding function; although this scheme is explained with the self-service food vending machine as the background, and the self-service food vending machine pickup door is used as an embodiment for explanation, those skilled in the art should understand that the present invention can be used not only as a pickup door for a self-service food vending machine, but also as a pickup door for other self-service vending equipment; the various sensors / sensors recorded can be replaced with sensing devices with the same functions. Therefore, within the scope of knowledge possessed by the technical personnel in the relevant technical field, without departing from the purpose of the present invention, starting from the above-mentioned conception, without creative labor, any modifications, equivalent replacements, improvements, etc., should fall within the scope of protection of the present invention.

Claims

1. A pickup door linkage mechanism, characterized in that: It includes a warehouse door, a supporting plate and a connecting rod, wherein the warehouse door is arranged on a fixed frame so as to be movable leftward and rightward through a first guide mechanism, the supporting plate is arranged on the fixed frame so as to be movable forward and backward through a second guide mechanism, and the connecting rod is fixed to the warehouse door through one end thereof; The support plate is provided with a D-shaped guide groove, the linear guide groove portion of the D-shaped guide groove is parallel to the movable direction of the support plate, the other end of the connecting rod is provided with a guide block matching the D-shaped guide groove, and the D-shaped guide groove is provided with a one-way control device; The door is provided with a clearance gap for the front of the pallet to pass through; or, a gap is provided below the door for the front of the pallet to pass through; a cargo placement position is provided at the front of the pallet; the driving device drives the pallet to move forward and backward, the guide block moves along the D-shaped guide groove and drives the door to move left and right through the connecting rod, thereby realizing the opening and closing of the door; The one-way control device comprises a one-way mechanism arranged at one end of the D-shaped guide groove close to the door and a chamfer arranged on the inner side of one end of the linear guide groove portion of the D-shaped guide groove away from the door; The one-way mechanism comprises an elastic restoring arm arranged on the inner side of the D-shaped guide groove and a roller arranged at one end of the elastic restoring arm, and under the action of the elastic restoring force of the elastic restoring arm, the roller is pressed tightly in the linear guide groove part of the D-shaped guide groove; overcoming the elastic restoring force of the elastic restoring arm, the roller can move to the intersection of the linear guide groove part and the circular guide groove part at one end of the D-shaped guide groove close to the warehouse door, and the guide block can move from the linear guide groove part at one end of the D-shaped guide groove close to the warehouse door to the circular guide groove part; The warehouse door, the connecting rod and the guide block are all symmetrically arranged in two, and the supporting plate is provided with an inverted D-shaped guide groove which is symmetrical to the D-shaped guide groove.

2. The pickup door linkage mechanism according to claim 1, characterized in that :The elastic recovery arm includes a "<" shaped arm and a tension spring. The "<" shaped arm is hinged on the support plate through its inflection point. The roller is arranged at one end of the "<" shaped arm. The other end of the "<" shaped arm is connected to the tension spring. One end of the tension spring is fixed to the support plate, and the tension spring provides elastic recovery force for the "<" shaped arm.

3. The pickup door linkage mechanism according to claim 1, characterized in that : The guide block is a rotating column rotatably arranged at one end of the connecting rod through a bearing.

4. The pickup door linkage mechanism according to claim 1, characterized in that The support plate is in a convex shape, and the symmetrically arranged D-shaped guide groove and the reverse D-shaped guide groove are located on both sides of the rear part of the support plate.

5. The pickup door linkage mechanism according to claim 1, characterized in that The driving device includes a motor and a gear rack transmission mechanism, and the motor drives the pallet to move forward and backward through the gear rack transmission mechanism.

6. The pickup door linkage mechanism according to claim 1, characterized in that : Also includes a cargo sensing device for sensing whether there is cargo at the cargo placement position.

7. The pickup door linkage mechanism according to claim 1, characterized in that : Also includes a limit sensing device for sensing the forward and backward movement of the pallet reaching the extreme position.

8. The pickup door linkage mechanism according to claim 1, characterized in that : The fixed frame is provided with a fixed plate, and the fixed plate is provided with a fixed platform; the second guide mechanism includes a guide rail and a slider, and the guide rail is fixed on the fixed platform.

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