Door opening and closing mechanism and service robot

Abstract

The present disclosure provides a door opening and closing mechanism, which includes: a door, which is set to rotate along a preset axis; a driving mechanism, which is used to provide a driving force; and a lever, which is rotated by the driving force of the driving mechanism, wherein when the lever is driven to rotate by the driving mechanism, the door is driven to rotate to achieve the opening and closing of the door; wherein a circular arc-shaped touch block is formed in the middle of the lever, and the arc of the touch block takes the rotation center of the lever as the center of the circle; when the lever rotates to a predetermined position, the side of the touch block contacts the limit sensor and triggers the limit sensor. The present disclosure also provides a service robot.

Description

Technical Field

[0001] The present invention relates to a door opening and closing mechanism and a service robot. Background Art

[0002] At this stage, with the rapid development of science and technology, logistics and transportation technology is gradually transforming towards automation and intelligence. In the industrial field, autonomous navigation mobile robots with different load capacities are common, and they act as porters every day in actual factories. In the field of life consumption, service robots for different purposes can also be often seen in major shopping malls, office buildings, hotels and other places, performing tasks such as autonomous shopping and automatic delivery of goods. Relevant data show that the total number of working population in my country is gradually declining, which makes my country's labor costs also rise year by year. In order to reduce labor costs, increasing the application of robots in multiple fields to replace manual labor is becoming a newer development trend in my country. The widespread application of intelligent robots has greatly facilitated people's daily production and life, liberated labor, reduced labor costs, and improved work efficiency.

[0003] As a branch of the robotics field, delivery service robots are mainly used in some occasions such as the automated delivery of daily necessities, medical equipment, and catering. Usually, this kind of delivery robot is equipped with a warehouse or tray in the mechanical structure. After the items are placed in place manually and the robot delivery target point is determined, the robot will automatically deliver the items according to the route planned by the system.

[0004] In the existing technology, considering the difficulty, safety, reliability and R&D cost of mechanism design, most delivery robots do not have a door opening and closing mechanism to protect items. However, in some special occasions, such as when the delivered items involve privacy issues, some catering and medical supplies need to be protected during the delivery process to prevent foreign objects from invading and causing adverse effects on the cleanliness of the items. Therefore, it is necessary for the delivery service robot to be equipped with a safe, reliable and practical door opening and closing mechanism and service robot. Summary of the invention

[0005] In order to solve one of the above technical problems, the present disclosure provides a door opening and closing mechanism and a service robot.

[0006] According to one aspect of the present disclosure, there is provided a door opening and closing mechanism, characterized in that it comprises:

[0007] A door, wherein the door is configured to rotate along a preset axis;

[0008] a driving mechanism, the driving mechanism being used to provide a driving force; and

[0009] A lever, the lever being rotated by the driving force of the driving mechanism, wherein when the lever is driven to rotate by the driving mechanism, the door is driven to rotate to realize opening and closing of the door;

[0010] A circular arc-shaped touch block is formed in the middle of the lever, and the arc of the touch block takes the rotation center of the lever as the center of the circle; when the lever rotates to a predetermined position, the side surface of the touch block contacts the limit sensor and triggers the limit sensor.

[0011] According to the door opening and closing mechanism of at least one embodiment of the present disclosure, one end of the lever is fixed to the driving mechanism, and the other end of the lever cooperates with the door.

[0012] According to the door opening and closing mechanism of at least one embodiment of the present disclosure, the number of the limit sensors is two. When the lever rotates clockwise to a predetermined position, the side of the touch block of the lever triggers one of the two limit sensors; when the lever rotates counterclockwise to a predetermined position, the side of the touch block of the lever triggers the other of the two limit sensors.

[0013] The door opening and closing mechanism according to at least one embodiment of the present disclosure further includes a stopper, which is used to limit the movement stroke of the lever.

[0014] According to the door opening and closing mechanism of at least one embodiment of the present disclosure, the door is provided with a groove, and the other end of the lever is inserted into the groove.

[0015] According to at least one embodiment of the door opening and closing mechanism of the present disclosure, it also includes a damper, one end of the lever is mounted on the damper; the damper is used to receive the driving force from the driving mechanism and the resistance from the door, when the resistance of the door is greater than a preset value, the damper slides to stop the door.

[0016] The door opening and closing mechanism according to at least one embodiment of the present disclosure further includes a speed reduction mechanism connected to the driving mechanism and the damper;

[0017] The damper comprises an upper part and a lower part, the upper part of the damper is fixed to the output shaft of the speed reduction mechanism through a motor shaft fixing plate, and the lower part of the damper is fixed to one end of the shifting rod.

[0018] According to another aspect of the present disclosure, a service robot is provided, comprising the above-mentioned door opening and closing mechanism.

[0019] The service robot according to at least one embodiment of the present disclosure further includes:

[0020] a robot body, the robot body enabling the service robot to move to a predetermined position; and

[0021] An upper loading platform, the upper loading platform is used to place objects so that the objects can be delivered to a predetermined position by the service robot;

[0022] Wherein, the side wall of the robot body is provided with an opening, and when the door is driven to rotate, the door can open or close the opening.

[0023] According to the service robot of at least one embodiment of the present disclosure, the robot body includes an upper mounting plate, and the driving mechanism is fixed to the upper mounting plate.

[0024] According to the service robot of at least one embodiment of the present disclosure, the driving mechanism and the shifting rod are respectively located on the upper side and the lower side of the upper mounting plate.

[0025] According to a service robot of at least one embodiment of the present disclosure, the robot body includes:

[0026] A lower track is formed with a lower guide portion, and when the door rotates, the lower end of the door is guided by the lower guide portion.

[0027] According to the service robot of at least one embodiment of the present disclosure, the lower guide portion is a lower guide groove, a lower roller is installed at the lower end of the door, at least a portion of the lower roller is located in the lower guide groove, and the lower roller is rollingly matched with the lower guide portion.

[0028] According to the service robot of at least one embodiment of the present disclosure, the axis center line of the lower roller is arranged horizontally.

[0029] According to a service robot of at least one embodiment of the present disclosure, the robot body includes:

[0030] An upper track is formed with an upper guide portion, and when the door rotates, the upper end of the door is guided by the upper guide portion.

[0031] According to the service robot of at least one embodiment of the present disclosure, the upper guide portion is an upper guide groove, an upper roller is installed at the upper end of the door, at least a portion of the upper roller is located in the upper guide groove, and the upper roller is rollingly matched with the upper track.

[0032] According to the service robot of at least one embodiment of the present disclosure, the axis of the upper roller is vertically arranged. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0034] Figure 1 It is a structural schematic diagram of a door opening and closing mechanism according to one embodiment of the present disclosure.

[0035] Figure 2 and Figure 3 It is a schematic structural diagram of a door opening and closing mechanism from another angle according to an embodiment of the present disclosure.

[0036] Figure 4 It is a schematic cross-sectional structural diagram of a door opening and closing mechanism according to an embodiment of the present disclosure.

[0037] Figure 5 It is a structural schematic diagram of a lever according to an embodiment of the present disclosure.

[0038] Figure 6 It is a schematic structural diagram of a door according to one embodiment of the present disclosure.

[0039] Figure 7 It is a schematic diagram of the structure of a service robot according to one embodiment of the present disclosure.

[0040] The specific reference numerals in the figure are:

[0041] 100 Door opening and closing mechanism

[0042] 110 Driving mechanism

[0043] 120 lever

[0044] 121 Touch Block

[0045] 130 Limit sensor

[0046] 140 doors

[0047] 150 Stopper

[0048] 160 Damper

[0049] 161 upper

[0050] 162 lower part

[0051] 170 reduction mechanism

[0052] 180 Motor shaft fixing plate

[0053] 190 Lower roller

[0054] 195 Upper roller

[0055] 200 Robot body

[0056] 210 Upper mounting plate

[0057] 220 Lower track

[0058] 230 On Track

[0059] 300 on the stage. DETAILED DESCRIPTION

[0060] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0061] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0062] Unless otherwise specified, the exemplary embodiments / embodiments shown will be understood as providing exemplary features of various details of some ways in which the technical concept of the present disclosure can be implemented in practice. Therefore, unless otherwise specified, the features of the various embodiments / embodiments can be combined, separated, interchanged and / or rearranged without departing from the technical concept of the present disclosure.

[0063] The use of cross-hatching and / or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise specified, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process sequence can be performed in a different order than described. For example, two successively described processes can be performed substantially simultaneously or in an order opposite to the described order. In addition, the same figure numbers represent the same components.

[0064] When a component is referred to as being "on" or "over," "connected to," or "coupled to" another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being "directly on," "directly connected to," or "directly coupled to" another component, there are no intervening components. For this purpose, the term "connected" may refer to a physical connection, an electrical connection, etc., with or without intervening components.

[0065] For descriptive purposes, the present disclosure may use spatially relative terms such as "under," "beneath," "under," "down," "over," "upper," "above," "higher," and "side (e.g., as in "sidewall")," to describe the relationship of one component to another (other) component as shown in the accompanying drawings. The spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the accompanying drawings. For example, if the device in the accompanying drawings is turned over, components described as "under" or "beneath" other components or features would subsequently be positioned "over" the other components or features. Thus, the exemplary term "under" can encompass both the "above" and "below" orientations. Furthermore, the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0066] The terms used here are for the purpose of describing specific embodiments, and are not intended to be restrictive. As used here, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, it is explained that there are stated features, integral bodies, steps, operations, parts, assemblies and / or their groups, but it is not excluded that there are or add one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups. It should also be noted that, as used here, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values ​​and / or the values ​​provided that will be recognized by those of ordinary skill in the art.

[0067] Figure 1 is a schematic structural diagram of a door opening and closing mechanism 100 according to an embodiment of the present disclosure.

[0068] like Figure 1 The door opening and closing mechanism 100 shown comprises:

[0069] The door 140 is configured to rotate along a preset axis; wherein the preset axis may be the axis of the door;

[0070] a driving mechanism 110, wherein the driving mechanism 110 is used to provide a driving force; and

[0071] A lever 120, wherein the lever 120 is rotated by the driving force of the driving mechanism 110, wherein when the lever 120 drives the door 140 to rotate, the door 140 can be opened and closed;

[0072] Among them, an arc-shaped touch block 121 is formed in the middle of the lever 120, and the arc of the touch block 121 takes the rotation center of the lever 120 as the center; when the lever 120 rotates to a predetermined position, the side of the touch block 121 contacts the limit sensor 130 and triggers the limit sensor 130.

[0073] In the present disclosure, one end of the lever 120 is fixed to the driving mechanism 110 , and the other end of the lever 120 cooperates with the door 140 , so that when the driving mechanism 110 is in a working state, the driving mechanism 110 drives the lever 120 to rotate.

[0074] Preferably, the number of the limit sensors 130 is two. When the lever 120 rotates clockwise to a predetermined position, the side of the touch block 121 of the lever 120 triggers one of the two limit sensors 130; when the lever 120 rotates counterclockwise to a predetermined position, the side of the touch block 121 of the lever 120 triggers the other of the two limit sensors 130.

[0075] In the present disclosure, the limit sensor 130 is a micro switch, and the trigger of the micro switch is directed toward the touch block 121 of the lever, so that when one end of the touch block 121 of the lever contacts with the trigger of the micro switch, the micro switch is closed, thereby making a feedback signal to the robot control system, and the robot control system controls the drive mechanism to slow down and stop continuing the action; and during the continuous rotation of the lever, the trigger of the micro switch continues to contact with the touch block of the lever, so that the micro switch is always in a closed state.

[0076] In the present disclosure, when the door opening and closing mechanism performs an opening or closing action, during the execution of the action, when the touch block 121 on the lever touches the corresponding limit sensor, the limit sensor will be triggered, thereby timely providing an electrical signal feedback to the robot control system, and the robot control system controls the drive mechanism to decelerate and stop the action. The touch block has a certain width to ensure that the door opening and closing mechanism has a certain continuous triggering stroke during the stop operation stage, which facilitates the control of deceleration and avoids the lever directly colliding with the stop block 150 as a hard limit.

[0077] The purpose of the stopper 150 is to prevent the mechanism from overshooting during the opening and closing process when abnormal movement occurs, thereby avoiding unnecessary impact on the door opening and closing mechanism, thereby affecting the reliability and service life of the entire mechanism.

[0078] In the present disclosure, the door opening and closing mechanism 100 further includes a stopper 150 , and the stopper 150 is used to limit the movement stroke of the lever 120 .

[0079] The door 140 is provided with a groove, and the other end of the lever 120 is inserted into the groove. In turn, the other end of the lever 120 forms a sliding fit with the groove of the door through narrow sides on both sides, and the narrow sides form a working surface for pushing the door to open and close the door.

[0080] In the present disclosure, the door can be formed into a cover, which is an open columnar fan-shaped structure, and the material is a semi-transparent acrylic material to facilitate observation.

[0081] The door opening and closing mechanism 100 also includes a damper 160, and one end of the lever 120 is installed on the damper 160; the damper 160 is used to receive the driving force from the driving mechanism 110 and the resistance from the door. When the resistance of the door is greater than a preset value, the damper slides to stop the door.

[0082] Preferably, the door opening and closing mechanism 100 further includes a speed reduction mechanism 170, and the speed reduction mechanism 170 is connected to the driving mechanism 110 and the damper 160;

[0083] The damper 160 includes an upper portion 161 and a lower portion 162 . The upper portion 161 of the damper 160 is fixed to the output shaft of the speed reduction mechanism 170 through a motor shaft fixing plate 180 , and the lower portion 162 of the damper 160 is fixed to one end of the shifting rod 120 .

[0084] There is a resistance torque with a constant torque value at the contact point between the upper part 161 and the lower part 162. When the upper part 161 is fixed and the lower part 162 is subjected to external torque, if the external torque is less than the resistance torque of the damper, the lower part 162 will not rotate relative to the upper part 161. Only when the external torque exceeds its resistance torque will the lower part 162 deflect relative to the upper part 161.

[0085] In the present disclosure, the motor shaft fixing plate 180 is fixedly mounted on the output shaft of the reduction mechanism by means of screws.

[0086] As an implementation form, the deceleration mechanism 170 and the driving mechanism 110 constitute a deceleration motor, and the driving mechanism 110 can adopt a brushless DC motor to ensure the service life of the driving components.

[0087] The reduction mechanism 170 can be a worm gear reducer, so that the axial space of the input side and the output side of the reduction mechanism 170 is arranged vertically at 90°, and the output shaft of the drive mechanism 110 is connected to the input side of the reduction mechanism 170. The axial motion output of the drive mechanism 110 is reversed after passing through the reduction mechanism, thereby reducing the height size of the entire door opening mechanism so as to save more installation space.

[0088] According to another aspect of the present disclosure, a service robot is provided, comprising the door opening and closing mechanism 100 described above.

[0089] Preferably, the service robot further comprises:

[0090] a robot body 200, wherein the robot body 200 enables the service robot to move to a predetermined position; and

[0091] an upper loading platform 300, wherein the upper loading platform 300 is used to place an object so that the object can be delivered to a predetermined position by the service robot;

[0092] The side wall of the robot body 200 is provided with an opening, and when the door 140 is driven to rotate, the door 140 can open or close the opening.

[0093] In the present disclosure, the robot body 200 includes an upper mounting plate 210 , and the driving mechanism 110 is fixed to the upper mounting plate 210 .

[0094] For example, the speed reduction mechanism 170 is fixed to the upper mounting plate 210 , and the driving mechanism 110 is fixed to the speed reduction mechanism 170 .

[0095] Alternatively, when the driving mechanism 110 and the reduction mechanism 170 constitute a reduction motor, the reduction motor is fixedly mounted on the motor support plate via the flange end surface on the output side of the reduction mechanism, and the motor support plate is fixed to the upper mounting plate 210 via screws.

[0096] Furthermore, the driving mechanism 110 and the shifting rod 120 are respectively located on the upper side and the lower side of the upper mounting plate 210 .

[0097] In the present disclosure, the robot body 200 includes:

[0098] The lower rail 220 is formed with a lower guide portion, and when the door 140 rotates, the lower end of the door 140 is guided by the lower guide portion.

[0099] Preferably, the lower guide portion is a lower guide groove, and a lower roller 190 is installed at the lower end of the door 140, at least a portion of the lower roller 190 is located in the lower guide groove, and the lower roller 190 is in rolling cooperation with the lower guide portion; and the lower guide groove can also limit the movement position of the door, that is, by setting the end of the lower guide groove, the door is prevented from moving excessively.

[0100] In the present disclosure, the axis of the lower roller 190 is horizontally arranged so that the weight of the door can be supported by the lower roller 190 .

[0101] On the other hand, the robot body 200 includes:

[0102] The upper rail 230 is formed with an upper guide portion, and when the door 140 rotates, the upper end of the door 140 is guided by the upper guide portion.

[0103] Preferably, the upper guide portion is an upper guide groove, an upper roller 195 is installed at the upper end of the door 140 , at least a portion of the upper roller 195 is located in the upper guide groove, and the upper roller 195 is in rolling cooperation with the upper track 230 .

[0104] Preferably, the upper rail 230 is fixed to the upper mounting plate 210, and the centers of the upper guide groove and the lower guide groove are located on the rotation axis of the door.

[0105] The axis of the upper roller 195 is vertically arranged so that the door can only rotate along its axis through the upper roller 195 .

[0106] In the present disclosure, the above-mentioned structure greatly reduces the frictional resistance of the door when it moves, making it smoother to rotate. At the same time, since the rotational resistance of the door is small, the torque value of the damper in the door opening and closing mechanism can also be selected to be relatively smaller, as long as it is ensured that the door can perform the opening and closing movement normally. The lower the torque value of the damper, the better the safety protection when the mechanism is in operation.

[0107] When the service robot disclosed in the present invention is in use, the driving force generated by the driving mechanism causes the lever to swing after passing through the damper; since the front end of the lever forms a sliding fit with the groove of the door, the door is pushed to rotate around its axis, thereby realizing the opening and closing action of the door opening and closing mechanism.

[0108] If the door is touched by an external object during its movement, the damper will immediately disconnect from the drive unit because its torque value is not large and its action response is relatively sensitive, thus ensuring the safety of the mechanism during operation.

[0109] The door opening and closing mechanism 100 has a simple and compact structure, low manufacturing cost, and is convenient to integrate with the upper loading platform 300 of the robot body 200. When the robot performs the door opening and closing action, it does not occupy the external space, thereby avoiding the collision between the door body and external objects during movement, thereby greatly improving the space utilization rate.

[0110] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0111] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0112] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A door opening and closing mechanism, characterized in that: include: A door, wherein the door is configured to rotate along a preset axis; A driving mechanism, wherein the driving mechanism is used to provide a driving force; as well as A lever, the lever being rotated by the driving force of the driving mechanism, wherein when the lever is driven to rotate by the driving mechanism, the door is driven to rotate to realize opening and closing of the door; A damper, one end of the lever is mounted on the damper; the damper is used to receive the driving force from the driving mechanism and the resistance from the door, and when the resistance of the door is greater than a preset value, the damper slides to stop the door; the other end of the lever cooperates with the door; A circular arc-shaped touch block is formed in the middle of the lever, and the arc of the touch block takes the rotation center of the lever as the center of the circle; when the lever rotates to a predetermined position, the side surface of the touch block contacts the limit sensor and triggers the limit sensor.

2. The door opening and closing mechanism according to claim 1, characterized in that: There are two limit sensors. When the lever rotates clockwise to a predetermined position, the side of the touch block of the lever triggers one of the two limit sensors; when the lever rotates counterclockwise to another predetermined position, the side of the touch block of the lever triggers the other of the two limit sensors.

3. The door opening and closing mechanism according to claim 1, characterized in that: It also includes a stopper, which is used to limit the movement stroke of the shifting rod.

4. The door opening and closing mechanism according to claim 1, characterized in that: The door is provided with a groove, and the other end of the lever is inserted into the groove.

5. The door opening and closing mechanism according to claim 1, characterized in that: Also includes a speed reduction mechanism, the speed reduction mechanism is connected to the driving mechanism and the damper; The damper comprises an upper part and a lower part, the upper part of the damper is fixed to the output shaft of the speed reduction mechanism through a motor shaft fixing plate, and the lower part of the damper is fixed to one end of the shifting rod.

6. A service robot, comprising the door opening and closing mechanism according to any one of claims 1 to 5.

7. The service robot according to claim 6, characterized in that: Also includes: A robot body, wherein the robot body enables the service robot to move to a predetermined position; as well as An upper loading platform, the upper loading platform is used to place objects so that the objects can be delivered to a predetermined position by the service robot; Wherein, the side wall of the robot body is provided with an opening, and when the door is driven to rotate, the door can open or close the opening.

8. The service robot according to claim 7, characterized in that: The robot body comprises an upper mounting plate, and the driving mechanism is fixed to the upper mounting plate.

9. The service robot according to claim 8, characterized in that: The driving mechanism and the shifting rod are respectively located on the upper side and the lower side of the upper mounting plate.

10. The service robot according to claim 8, characterized in that: The robot body comprises: A lower track is formed with a lower guide portion, and when the door rotates, the lower end of the door is guided by the lower guide portion.

11. The service robot according to claim 10, characterized in that: The lower guide portion is a lower guide groove, and a lower roller is installed at the lower end of the door. At least a part of the lower roller is located in the lower guide groove, and the lower roller is in rolling cooperation with the lower guide portion.

12. The service robot according to claim 11, characterized in that: The axis center line of the lower roller is arranged horizontally.

13. The service robot according to claim 8, characterized in that: The robot body comprises: An upper track is formed with an upper guide portion, and when the door rotates, the upper end of the door is guided by the upper guide portion.

14. The service robot according to claim 13, characterized in that: The upper guide portion is an upper guide groove, an upper roller is installed at the upper end of the door, at least a part of the upper roller is located in the upper guide groove, and the upper roller is in rolling cooperation with the upper track.

15. The service robot according to claim 14, characterized in that: The axis of the upper roller is arranged vertically.

Images