A robot cabinet door opening structure

Abstract

The present invention provides a robot cabinet door opening structure, comprising a first track, a second track, a door body, a driving module and a limit module. By setting two groups of first tracks and second tracks, the two groups of door body conveying channels are connected and closed by relying on the limit module set at the connection between the first track and the second track, so that when one group of door body conveying channels is connected, the other group of door body conveying channels is in a locked state, and the two channels are opened and closed by relying on a single limit module, thereby avoiding the problem of independent locking devices for multiple door bodies and the failure of the locking devices when the door bodies are not in the point locking position.

Description

Technical Field

[0001] The present invention relates to the technical field of robot structures, and in particular to a robot cabinet door opening structure. Background Art

[0002] In recent years, the continuous development of automated 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 transportation in restaurants and brochure distribution at exhibitions. Relatively simple transportation and operation can be replaced by robots with automatic path finding or walking according to predetermined trajectories, which greatly reduces the workload and repetitive work of on-site service personnel.

[0003] However, in the actual use of the equipment, due to the differences in the types of transferred items and the groups of people who receive the items, when the designated group of people opens the designated cabinet, such as the technical solution of 202220805807.2, since the cabinet door locking structure of the cabinet is mostly set on the cabinet door or on the track in the cabinet door locking area, when the cabinet door is not in the locked position, it is very easy for the extracting personnel to open the wrong cabinet door and take the wrong items. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a robot cabinet door opening structure to solve the problem that the cabinet door locking structure of the cabinet in the prior art is mostly set on the cabinet door or on the track in the cabinet door locking area. When the cabinet door is not in the locked position, it is very easy for the extraction personnel to open the wrong cabinet door and take the wrong items.

[0005] In order to solve the above problems, the inventor provides a robot cabinet door opening structure, which is arranged at the cabinet opening of the walking robot and includes a first track, a second track, a door body, a driving module and a limit module;

[0006] The number of the first track and the second track is two, the two first tracks and the two second tracks are arranged in parallel, one end of the first track and the second track are connected to each other, and two sets of door conveying channels are formed on the first track and the second track;

[0007] The door body is slidably connected to the first track or the second track;

[0008] The driving module is drivingly connected to the door body;

[0009] The limit module is arranged at the connection point between the first track and the second track, and includes a first limit member and a second limit member. The limit module is used to connect the second limit member and the first limit member to one group of door conveying channels when the door body contacts the first limit member or the second limit member.

[0010] 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.

[0011] As a preferred embodiment of the present application, the limit module includes a first transmission member, a second transmission member and a third transmission member, the first transmission member is connected to the first limit member, the third transmission member is connected to the second limit member, and the second transmission member is connected to 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, the first transmission member and the third transmission member are driven to rotate in opposite directions by the second transmission member, so that the first limit member and the second limit member can be rotated to realize the conduction of one group of door body conveying channels.

[0012] 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 limit member and the second limit member to open one group of door body conveying channels.

[0013] As a preferred embodiment of the present application, at least one of the first transmission member and the third transmission member is provided with a sector tooth. By providing the sector tooth, the rotation angle is limited to avoid the first and second limit members from having a locking function failure caused by the rotation angle of the first and third transmission members being too large.

[0014] As a preferred embodiment of the present application, the position limiting module further comprises a guard plate, which is arranged on the surface of the position limiting module. By arranging the guard plate of the position limiting module, the position limiting module can be protected to prevent the position limiting module from being damaged by impact force.

[0015] As a preferred embodiment of the present application, the driving 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 to the transmission belt. By providing a motor, a transmission belt and a driven wheel, it is convenient to use the displacement of the transmission belt to drive the door body to move.

[0016] As a preferred embodiment of the present application, the number of the door bodies and the driving modules is two, 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.

[0017] As a preferred embodiment of the present application, the first limiting member and the second limiting member are plate structures.

[0018] As a preferred embodiment of the present application, a guide fold is provided at the connection point between the first track and the second track. By providing the guide fold, it is convenient to guide the door body into the connection point between the first track and the second track.

[0019] Different from the prior art, the above technical solution has the following advantages: by setting two groups of first rails and second rails, the two groups of door body conveying channels are opened and closed by relying on the limit module set at the connection point of the first rail and the second rail, so that when one group of door body conveying channels is opened, the other group of door body conveying channels is in a locked state, and the two channels are opened and closed by relying on a single limit module, which avoids the problem of independent setting of locking devices for multiple door bodies and failure of the locking devices when the door bodies are not in the point locking position.

[0020] The above-mentioned records related to the invention content are only an overview of the technical solution of the present application. In order to enable ordinary technicians in the field to more clearly understand the technical solution of the present application, and then implement it according to the text of the specification and the contents recorded in the drawings, and to make the above-mentioned purpose and other purposes, features and advantages of the present application easier to understand, the following is an explanation in combination with the specific implementation mode and drawings of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 Schematic diagram of the overall structure of the robot cabinet door opening structure in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of a first working state of a limit module in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of a second working state of the limit module in an embodiment of the present invention;

[0025] Figure 4 is a schematic diagram of the detailed structure of a driving module in an embodiment of the present invention;

[0026] Figure 5 Schematic diagram of the detailed structure of the limit module in the embodiment of the present invention.

[0027] The reference numerals in the above drawings are described as follows:

[0028] 10. First track;

[0029] 20. Second track;

[0030] 30. Door body;

[0031] 40. Driver module;

[0032] 41. Motor; 42. Transmission belt; 43. Driven wheel;

[0033] 50. Limit module;

[0034] 51. first limiting member; 52. second limiting member; 53. first transmission member;

[0035] 54. second transmission member; 55. third transmission member; 56. guard plate;

[0036] 60. Door conveying channel;

[0037] 61. Guide the folding edge. DETAILED DESCRIPTION

[0038] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0039] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0040] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0041] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0042] In the present application, terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0043] Without further limitations, in this application, the words "include", "comprises", "has" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0044] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0045] In the description of the embodiments of the present application, space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0046] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms such as "install", "connect", "connect", "fix", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For technicians in the technical field to which the present application belongs, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0047] Please also read Figures 1 to 5 A robot cabinet door opening structure, the robot cabinet door opening structure is arranged at the cabinet opening of a walking robot (specifically, the walking robot includes a walking device, the walking device is controlled by a computer or a wireless module through data interaction, and is driven by the power of a battery, and also includes a storage cabinet installed above the walking device, and the storage cabinet is provided with an opening), the robot cabinet door opening structure is arranged at the opening of the storage cabinet and the area around the opening, including a first 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 an array, one end of the first track 10 and the second track 20 is arranged opposite to each other and connected to each other, and two groups of door body conveying channels 60 are formed on the first track 10 and the second track 20 (such as Figure 3 The positive and negative directions of the lines indicated by the arrows form a group of door body conveying channels. The door body 30 is slidably connected to the first track 10 or the second track 20. The driving module 40 is transmission-connected to 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 connecting the second limiting member 52 and the first limiting member 51 to one of the door body conveying channels 60 when the door body 30 contacts the first limiting member 51 or the second limiting member 52.

[0048] According to the above structure, during the actual use of the robot cabinet door opening structure, the user places the 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 extractor needs to extract the items behind the designated door, the driving module drives the door to move, and the end of the door first contacts the first limiter, and the first limiter drives the second limiter to rotate, and makes the ends of the first limiter and the second limiter parallel to each other, and points the ends to the side wall where the first track and the second track are connected, and the door conveying channel is connected. And in the process of the door conveying channel being connected, the first limiter and the second limiter are used to block the connection of another group of door conveying channels. The door passes through the connected door conveying channel and opens, so that the user can extract the items in the storage cabinet space behind the opened door. When the operator makes an error and tries to open another door, the end of the door is blocked by the first limiter and the second limiter during the movement of the door, so as to prevent the operator from opening the cabinet door by mistake. When the other door is driven to open and contacts the second stopper first to connect the other door conveying channel, it contacts the door conveying channel connected by the first stopper first. At this time, the first stopper and the second stopper rotate in opposite directions and block the door. By setting two sets of first and second tracks, the two sets of door conveying channels are connected and closed by means of a stopper module set at the connection between the first and second tracks, so that when one set of door conveying channels is connected, the other set of door conveying channels is in a locked state, and a single stopper module is used to open and close the two channels, thereby avoiding the problem of multiple door bodies being independently provided with locking devices and the failure of the locking devices when the door bodies are not in the point locking position.

[0049] Please also read Figures 1 to 5 In the above embodiment, the door body conveying channel 60 formed by the first track 10 and the second track 20 is formed by connecting the first track 10 and the second track 20 in non-coaxial directions. Specifically, the two groups of door body conveying channels can be staggered at the connecting point of the first track 10 and the second track 20, and the opening and closing of the door body conveying channels can be limited by the rotation of the first limit member 51 and the second limit member 52.

[0050] Please also read Figures 1 to 5As 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 member 53 is connected to one side of the first limit member 51, so that the first transmission member 53 can drive the first limit member 51 to rotate. The third transmission member 55 is connected to the second limit member 52, so that the third transmission member 55 can drive the second limit member 52 to rotate. The second transmission member 54 is connected to the first transmission member 53 and the third transmission member 55 for driving the first transmission member 53 and the third transmission member 55 to rotate in opposite directions (in this embodiment, the first transmission member 53, the second transmission member 54 and the third transmission member 55 can be selected from gears meshing in sequence to achieve a driving effect). By setting the first transmission member, the second transmission member and the third transmission member, the first transmission member and the third transmission member are driven to rotate in opposite directions by the second transmission member, so that the first limit member and the second limit member can be rotated to achieve the conduction of one group of door body conveying channels.

[0051] Please also read Figures 1 to 5 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 limit member and the second limit member to conduct one group of door body conveying channels.

[0052] Please also read Figures 1 to 5 As a preferred embodiment of the present application, at least one of the first transmission member 53 and the third transmission member 55 is provided with a sector tooth. By providing the sector tooth, the rotation angle is limited. When the rotation angle is too large, the gear transmission of the second transmission member can be disengaged by the bevel tooth to realize resetting, thereby preventing the first and second limit members from losing their locking and conducting functions due to the excessive rotation angle of the first and third transmission members.

[0053] Please also read Figures 1 to 5 As a preferred embodiment of the present application, the position limiting module 50 further includes a guard plate 56, which is disposed on the surface of the position limiting module 50. By providing the guard plate of the position limiting module, the position limiting module can be protected to prevent the impact force from damaging the position limiting module.

[0054] Please also read Figures 1 to 5As a preferred embodiment of the present application, the driving module 40 includes a motor 41, a transmission belt 42 and a driven wheel 43. The power output shaft of the motor 41 is provided with a pulley, and the pulley is connected to the driven wheel 43 through the transmission belt 42. The door body 30 is connected to the transmission belt 42 (specifically, an adapter can be plugged or assembled on the transmission belt, and the adapter is connected to the door body). By providing a motor, a transmission belt and a driven wheel, it is convenient to use the displacement of the transmission belt to drive the door body to move.

[0055] Please also read Figures 1 to 5 As a preferred embodiment of the present application, the number of the door bodies 30 and the driving modules 40 is two, and the two door bodies 30 are respectively arranged in two groups of door body conveying channels formed by the first track and the second track. In this embodiment, when the door bodies are set to two, due to the existence of the limit module, the door body conveying channel realizes the ability to change tracks on the two first tracks and the second track, and the two door bodies can be simultaneously arranged on the first track and the second track facing the outside or inside of the cabinet opening, so that the door bodies are in the same plane when closed. Compared with the traditional door bodies that always remain on their respective tracks, there is a gap between the door bodies and the thickness of the door bodies is exposed, keeping the cabinet opening area clean.

[0056] Please also read Figures 1 to 5 As a preferred embodiment of the present application, the first limiting member 51 and the second limiting member 52 are plate structures.

[0057] Please also read Figures 1 to 5 As a preferred embodiment of the present application, a guide fold 61 is provided at the connection between the first track 10 and the second track 20. By providing the guide fold, it is convenient to guide the door body into the connection between the first track and the second track.

[0058] Please also read Figures 1 to 5 In the above embodiment, the guide fold 61 can adapt to the distance from the center of the first transmission member 53 and the third transmission member 55 to the guide fold 61 and the distance from the guide fold 61 to ensure the guiding effect.

[0059] Please also read Figures 1 to 5 In the above embodiment, the contact area between the door body 30 and the first limit member 51 and the second limit member 52 can be provided with abutment columns or abutment blocks and other structures to increase the contact area with the first limit member and the second limit member and the limit plate.

[0060] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concept of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A robot cabinet door opening structure, which is arranged at the cabinet opening of a walking robot, characterized in that: It includes a first track, a second track, a door body, a driving 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 parallel, one end of the first track and the second track are connected to each other, and two sets of door conveying channels are formed on the first track and the second track; The number of the door bodies and the driving modules is two, 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; The driving module is drivingly connected to the door body; The limit module is arranged at the connection point between the first track and the second track, and includes a first limit piece and a second limit piece. When the door body contacts the first limit piece or the second limit piece, the limit module makes the second limit piece and the first limit piece connect one group of door body conveying channels, and relies on the plate surface of the first limit piece and the second limit piece to block the conduction of the other group of door body conveying channels.

2. The robot cabinet door opening structure according to claim 1, characterized in that: 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.

3. The robot cabinet door opening structure according to claim 1, characterized in that: The limiting module includes a first transmission member, a second transmission member and a third transmission member, the first transmission member is connected to the first limiting member, the third transmission member is connected to the second limiting member, and the second transmission member is connected to the first transmission member and the third transmission member, for driving the first transmission member and the third transmission member to rotate in opposite directions.

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 robot cabinet door opening structure according to claim 4, characterized in that: At least one of the first transmission member and the third transmission member may be a sector tooth.

6. The robot cabinet door opening structure according to claim 1, characterized in that: The limiting module further comprises a guard plate, and the guard plate is arranged on the surface of the limiting module.

7. The robot cabinet door opening structure according to claim 1, characterized in that: The driving module comprises 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. The door body is connected to the transmission belt.

8. 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.

9. The robot cabinet door opening structure according to claim 1, characterized in that: A guide fold is provided at the connection point between the first track and the second track.

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