A door opening structure

Abstract

The present invention provides a door opening structure, including: a cabin assembly; a guide rail assembly, the guide rail assembly includes a guide rail, and the guide rail is respectively arranged along the upper and lower edges of the cabin assembly; a door assembly, the door assembly includes a door body and rollers respectively arranged at the upper and lower ends, and the rollers are in contact with the guide rails; a push plate assembly, the push plate assembly includes a push plate and a connecting block, and the push plate is connected to the door body through the connecting block; a transmission assembly, the transmission assembly is arranged on the outer wall of the cabin assembly, the transmission assembly is connected to the push plate, and the push plate pushes the door body under the drive of the transmission assembly. In the door opening structure, by arranging the guide rail assembly at the upper and lower edges of the cabin assembly, the push plate assembly pushes the door body to move along the guide rail, thereby realizing the opening and closing of the door body. And the movement trajectory of the door body also moves along the edge of the cabin assembly, so that the opening and closing of the door body will not affect the internal space of the cabin, so that the internal space of the cabin can be fully utilized.

Description

Technical Field

[0001] The invention relates to a robot, and in particular to a door opening structure. Background Art

[0002] Since the birth of robots, they have been involved in all areas of life. In recent years, the intelligence level of robots has been continuously improved, and they are rapidly changing people's lifestyles.

[0003] At present, the cabin door of the robot with cabin is opened in the same way as the common door opening method, that is, it is opened by door shaft or hinge, which occupies more external or internal space. In addition, most of the existing cabin doors are arc-shaped, which makes the available space inside the cabin small. Summary of the invention

[0004] The technical problem to be solved by the present invention is: to provide a door opening structure to address the technical defects in the prior art that the robot cabin door occupies the internal or external space of the cabin when opened, and the arc-shaped door makes the available space inside the cabin small.

[0005] To solve the above technical problems, the present invention provides a door opening structure, including: a cabin assembly; a guide rail assembly, the guide rail assembly includes guide rails, and the guide rails are respectively arranged along the upper and lower edges of the cabin assembly; a door assembly, the door assembly includes a door body and rollers respectively arranged at the upper and lower ends, and the rollers are in contact with the guide rails; a push plate assembly, the push plate assembly includes a push plate and a connecting block, and the push plate is connected to the door body through the connecting block; a transmission assembly, the transmission assembly is arranged on the outer wall of the cabin assembly, the transmission assembly is connected to the push plate, and the push plate pushes the door body under the drive of the transmission assembly.

[0006] The door opening structure provided by the present invention may also have the following feature: the door opening structure also includes a grating sensor assembly, and the grating sensor assembly is arranged on the inner side wall of the cabin assembly.

[0007] The door opening structure provided by the present invention may also have the following features: the guide rail is an I-shaped rail, and groove structures are provided on both sides; and the roller is clamped in the groove of the I-shaped rail.

[0008] The door opening structure provided by the present invention may also have the following feature: the guide rail assembly further includes a guide rail cover plate, and the guide rail cover plate covers the outside of the guide rail.

[0009] The door opening structure provided by the present invention may also have the following features: the push plate assembly further includes a latch and a travel baffle, the connecting block is connected to the push plate via the latch, and the travel baffle is arranged on the latch.

[0010] The door opening structure provided by the present invention may also have the following features: the transmission assembly includes a motor, a synchronous shaft, and a track, the motor is arranged on the back of the cabin assembly, the track is connected to the motor through the synchronous shaft, and is respectively arranged on both side surfaces of the cabin assembly.

[0011] The door opening structure provided by the present invention may also have the following feature: the synchronous shaft is connected to the motor through a motor synchronous belt.

[0012] The door opening structure provided by the present invention may also have the following feature: the track includes an upper track and a lower track, and a synchronous wheel is arranged between the upper track and the lower track.

[0013] The door opening structure provided by the present invention may also have the following feature: the synchronous shaft is connected to the synchronous wheel through a track synchronous belt.

[0014] The door opening structure provided by the present invention may also have the following features: the upper end and the lower end of the push plate pass through the upper track and the lower track of the track respectively, and are connected to the track synchronous belt.

[0015] The door opening structure provided by the present invention may also have the following features: the door body includes a left door and a right door, and when the cabin is opened, the left door and the right door open to the left and right sides of the cabin assembly along the guide rails.

[0016] The beneficial effects of the present invention are:

[0017] In the door opening structure of the present invention, guide rail assemblies are arranged on the upper and lower edges of the cabin assembly, and then the door body is brought into contact with the guide rails of the guide rail assembly through rollers, and then the push plate assembly is connected to the door body, and then driven by the transmission assembly, the push plate assembly pushes the door body to move along the guide rails, thereby realizing the opening and closing of the door body. Since the guide rails are arranged along the upper and lower edges of the cabin assembly, the movement trajectory of the door body also moves along the edge of the cabin assembly, so that the opening and closing of the door body will not affect the internal space of the cabin, so that the internal space of the cabin can be fully utilized. At the same time, the opening and closing of the door body will not occupy the outer space of the cabin assembly, so that the interference of the door body with other objects outside the cabin is avoided when opening and closing the door.

[0018] In addition, the door opening structure is also provided with a grating sensor assembly, which is arranged on the inner side of the cabin assembly. The grating sensor assembly can detect whether there is an object blocking the front of the cabin, play a hand-pinch prevention function, and thus protect the operator.

[0019] In addition, in this door opening structure, the guide rail structure is an I-shaped guide rail, and the roller of the door body is stuck in the middle groove where the track groove is opened. This side grooving method can allow the roller to clamp the side groove of the I-shaped track, and can also effectively prevent dust and debris from falling in and blocking the track, thereby avoiding the situation where the door body cannot open and close smoothly.

[0020] In addition, the door body of the door opening structure includes two doors, left and right, and the opening and closing of the two doors are completed by a transmission assembly, so that a power source can make the left and right doors achieve the door opening effect, with a simple structure, low noise and high efficiency. In addition, the left and right doors realize the door opening path through the guide rails on the upper and lower edges of the cabin assembly, so that the opening and closing of the door body is not restricted by the shape and arc angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of a door opening structure in an embodiment of the present invention;

[0022] Figure 2 is a schematic structural diagram of a door opening structure in an embodiment of the present invention;

[0023] Figure 3 is a partial enlarged view of a guide rail assembly in an embodiment of the present invention;

[0024] Figure 4 is a schematic structural diagram of a push plate assembly in an embodiment of the present invention;

[0025] Figure 5 Schematic diagram of the structure of the transmission assembly in the embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] In this embodiment, the door opening structure 100 is a door opening structure applied to an intelligent robot.

[0028] The door opening structure 100 includes a cabin assembly 10 , a guide rail assembly 20 , a door assembly 30 , a push plate assembly 40 , a transmission assembly 50 , a grating sensor assembly 60 and a control module 70 .

[0029] The cabin assembly 10 includes an upper cover plate 11, a cabin 12 and a lower cover plate 13. The upper cover plate 11 and the lower cover plate 13 are respectively provided at the upper end and the lower end of the cabin 12. The interior of the cabin 12 is a hollow structure. The areas of the upper cover plate 12 and the lower cover plate 13 are both larger than the bottom area of ​​the cabin 12. When the upper cover plate 12 and the lower cover plate 13 are fixed to the cabin 12, the edges of the upper cover plate 12 and the lower cover plate 13 are both beyond the upper end and the lower end of the cabin 12.

[0030] The guide rail assembly 20 includes two guide rails 21 and two guide rail covers 22. One of the guide rails 21 is arranged along the edge of the upper cover 11 that exceeds the upper end of the cabin 12. The other guide rail 21 is arranged along the edge of the lower cover 13 that exceeds the lower end of the cabin 12. The structures of the two guide rails 21 are similar, and one of them is taken as an example for detailed description. Figure 3 As shown, the guide rail 21 is an I-shaped guide rail, and groove structures are formed on both sides of the I-shaped guide rail.

[0031] The two guide rail covers 22 cover the outer sides of the two guide rails 21 respectively to prevent foreign objects from entering the guide rails 21 .

[0032] The door assembly 30 includes a door body 31 and a roller 32. The door body 31 includes two doors, a left door and a right door. The upper and lower ends of the two doors of the door body 31 are connected to the roller 32 through a movable shaft. Figure 3 As shown, the roller 32 can be clamped in the grooves on both sides of the guide rail 21.

[0033] There are two push plate assemblies 40, and the two push plate assemblies 40 are respectively connected to the left door and the right door of the door body 31. The connection between one push plate assembly 40 and one door is taken as an example for detailed description.

[0034] like Figure 4 As shown, the push plate assembly 40 includes a connection block 41, a push plate 42, a latch 43 and a travel stopper 44. One end of the push plate 42 is connected to two connection blocks 41, one end of the two connection blocks is connected to the upper end and the lower end of one end of the push plate 42 through the latch 43. The other ends of the two connection blocks 41 are connected to one door of the door body.

[0035] like Figure 5 As shown, the transmission assembly 50 includes a motor 51, a synchronous shaft 52, two rails 53, two guide rail fixing blocks 54, a synchronous wheel 55, a motor synchronous belt 56, a rail synchronous belt 57 and a pre-tensioning module (not shown in the figure).

[0036] The motor 51 is arranged on the back of the outside of the cabin 12, opposite to the opening of the cabin 12. The motor 51 is connected to the middle of the synchronous shaft 52 through the motor synchronous belt 56. The two tracks 53 are respectively fixedly arranged at both ends of the synchronous shaft 52 and are respectively located on the two side surfaces outside the cabin 12. The structures and connection relationships of the two tracks 53 are the same, and one of them is taken as an example for detailed description.

[0037] One end of the track 53 is fixed to the synchronous shaft 52 through the guide rail fixing block 54, and the other end is fixed to the side of the cabin 12 through the guide rail fixing block 54. The track 53 includes an upper track 531 and a lower track 532. The left end of the upper track 531 is fixedly connected to the left end of the lower track 532, and the right end of the upper track 531 is fixedly connected to the right end of the lower track 532. One end of the fixed upper track 531 and the lower track 532 is connected to one end of the synchronous shaft 52, and a synchronous wheel 55 is provided in the middle of the connection of the other end. The synchronous wheel 55 is connected to the synchronous shaft 52 through a track synchronous belt 57.

[0038] The upper end and the lower end of the inner side of the push plate 42 pass through the upper track 531 and the lower track 532 of the track 53 respectively, and are fixed to the track synchronous belt 57 by screws.

[0039] The pre-tightening module is connected to the motor synchronous belt 56 and the track synchronous belt 57 respectively, and is used to pre-tighten the motor synchronous belt 56 and the track synchronous belt 57.

[0040] The grating sensor assembly 60 is disposed on the inner side of the cabin 12 near the opening of the cabin 12, and is used to detect whether there is an object blocking the opening of the cabin 12. The grating sensor assembly 60 can play a role in preventing fingers from being pinched.

[0041] The control module 70 is respectively connected with the motor 51 and the grating sensor assembly 60 to control the movement of the push plate assembly 40 , the transmission assembly 50 , and the grating sensor assembly 60 .

[0042] The working principle of the door opening structure 100 is as follows: the motor 51 is connected to an external power source and rotates under the control of the external power source and the control module 70, and the motor timing belt 56 is driven by the motor 51 to rotate according to the Figure 5 The arrow A in the figure rotates up and down, driving the synchronous shaft 52 to rotate; then the rotation of the synchronous shaft 52 causes the track synchronous belt 57 connected to both ends of the synchronous shaft 52 to rotate back and forth in the direction of the arrow B. Since the push plate 42 is fixed to the track synchronous belt 57, the push plate 42 moves back and forth under the rotation of the track synchronous belt 57; thereafter, the left door and the right door respectively connected to the push plate 42 are driven by the forward and backward movement of the push plate 42, and are pushed forward or pulled backward, thereby realizing the closing and opening of the left door and the right door.

[0043] In addition, when the door opening mechanism 100 is closing the door, if the grating sensor assembly 60 detects that there is an object blocking the opening of the cabin body 12, the detection result will be sent to the control module 70, and then the control module 70 controls the motor 51 to stop the door closing action, thereby preventing fingers from being pinched.

[0044] In the door opening structure of the above embodiment, by setting the guide rail assembly on the upper and lower edges of the cabin assembly, the door body is then brought into contact with the guide rail of the guide rail assembly through the roller, and then the push plate assembly is connected to the door body, and then driven by the transmission assembly, the push plate assembly pushes the door body to move along the guide rail, thereby realizing the opening and closing of the door body. Since the guide rail is set along the upper and lower edges of the cabin assembly, the movement trajectory of the door body also moves along the edge of the cabin assembly, so that the opening and closing of the door body will not affect the internal space of the cabin, so that the internal space of the cabin can be fully utilized. At the same time, the opening and closing of the door body will not occupy the outer space of the cabin assembly, thus avoiding the interference of the door body with other objects outside the cabin when opening and closing the door.

[0045] In addition, the door opening structure is also provided with a grating sensor assembly, which is arranged on the inner side of the cabin assembly. The grating sensor assembly can detect whether there is an object blocking the front of the cabin, play a hand-pinch prevention function, and thus protect the operator.

[0046] In addition, in this door opening structure, the guide rail structure is an I-shaped guide rail, and the roller of the door body is stuck in the middle groove where the track groove is opened. This side grooving method can allow the roller to clamp the side groove of the I-shaped track, and can also effectively prevent dust and debris from falling in and blocking the track, thereby avoiding the situation where the door body cannot open and close smoothly.

[0047] In addition, the door body of the door opening structure includes two doors, left and right, and the opening and closing of the two doors are completed by a transmission assembly, so that a power source can make the left and right doors achieve the door opening effect, with a simple structure, low noise and high efficiency. In addition, the left and right doors realize the door opening path through the guide rails on the upper and lower edges of the cabin assembly, so that the opening and closing of the door body is not restricted by the shape and arc angle.

[0048] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and the equivalent technology, the present application is also intended to include these modifications and variations.

Claims

1. A door opening structure, characterized in that: include: Cabin components; A guide rail assembly, the guide rail assembly comprising guide rails, the guide rails being respectively arranged along the upper and lower edges of the cabin assembly; A door assembly, the door assembly comprising a door body and rollers respectively arranged at an upper edge and a lower edge, the rollers being in contact with the guide rail; A push plate assembly, the push plate assembly comprising a push plate and a connecting block, the push plate being connected to the door body via the connecting block; A transmission assembly, wherein the transmission assembly is arranged on the outer wall of the cabin assembly, the transmission assembly is connected to the push plate, and the push plate pushes the door body under the drive of the transmission assembly. The transmission assembly includes a motor, a synchronous shaft, and a track. The motor is arranged on the back of the cabin assembly, and the synchronous shaft is connected to the motor through a motor synchronous belt. The track is connected to the motor through the synchronous shaft and is respectively arranged on both sides of the cabin assembly, and the two tracks are respectively arranged at both ends of the synchronous shaft. The push plate assemblies are respectively arranged on both sides of the cabin body and are respectively slidably connected to the rails. The door body includes a left door and a right door, which are respectively connected to the push plate assemblies on both side surfaces. The motor drives the push plate assemblies on the two tracks to slide through the motor synchronous belt and the synchronous shaft.

2. The door opening structure according to claim 1, characterized in that: The door opening structure also includes a grating sensor component, and the grating sensor component is arranged on the inner wall of the cabin body component.

3. The door opening structure according to claim 1, characterized in that: The guide rail is an I-shaped rail with groove structures on both sides; The roller is clamped in the groove of the I-shaped track.

4. The door opening structure according to claim 1, characterized in that: The guide rail assembly further includes a guide rail cover plate, which covers the outside of the guide rail.

5. The door opening structure according to claim 1, characterized in that: The push plate assembly also includes a latch and a travel stopper. The connecting block is connected to the push plate via the latch, The travel stopper is arranged on the latch.

6. The door opening structure according to claim 1, characterized in that: The track comprises an upper track and a lower track, and a synchronous wheel is arranged between the upper track and the lower track.

7. The door opening structure according to claim 6, characterized in that: The synchronous shaft is connected with the synchronous wheel through a track synchronous belt.

8. The door opening structure according to claim 7, characterized in that: The upper end and the lower end of the push plate pass through the upper track and the lower track of the track respectively, and are connected with the track synchronous belt.

9. The door opening structure according to claim 1, characterized in that: The door body includes a left door and a right door. When the cabin body is opened, the left door and the right door are opened along the guide rails toward the left and right sides of the cabin body assembly.

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