Automatic door closing control structure and control method of intelligent battery replacement cabinet

Abstract

The application discloses an automatic door closing control structure and control method of an intelligent battery replacement cabinet, and comprises a warehouse body, a warehouse door is arranged on one side wall of the warehouse body, one end of the warehouse door is arranged in a self-rebound electromagnetic lock, the other end of the warehouse door is connected with one end of a door push rod, the other end of the door push rod is rotatably connected with one end of a piston connecting rod, and the other end of the piston connecting rod is arranged in a cylinder and connected with an elastic assembly. After receiving an opening door signal of a controller, the self-rebound electromagnetic lock opens the lock hook, and the controller controls the electromagnet to generate magnetism to attract the electromagnetic suction plate to be close to the electromagnet. At this time, the piston connecting rod is driven to move to the inside of the cylinder body by the electromagnetic suction plate, drives the piston to move, and further causes the large spring to be squeezed and deformed, so that the warehouse door can be closed by the elastic force of the large spring.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent cabinets, in particular to an automatic door closing control structure and control method of an intelligent battery replacement cabinet. BACKGROUND

[0002] The existing intelligent battery replacement cabinet is designed with multiple battery storage, charging and replacement positions, each of which is provided with a door lock. The door lock is an electronic self-opening structure, which can only automatically open the door, but cannot automatically close the door. In actual application, many battery replacement customers frequently forget to close the door due to busy work and tight time, which causes the work flow of the battery replacement cabinet to be incomplete.

[0003] Patent No. CN202022306086.4 discloses a battery replacement cabinet that can automatically close the door, but the automatic door closing mechanism still needs a motor to provide the closing power. Once the motor is damaged or the power is insufficient, the automatic door closing cannot be realized. Patent No. CN202210083443.6 discloses a box automatic door closing device, but it still needs to be equipped with a special high-pressure gas generating device and a special air inlet and exhaust pipeline, which has high equipment cost and complex structure. Therefore, we provide an automatic door closing lock control structure of an intelligent battery replacement cabinet. SUMMARY

[0004] The purpose of the present application is to provide an automatic door closing control structure and control method of an intelligent battery replacement cabinet, which can automatically close the cabinet door after completing the access to the goods, thereby avoiding the loss of people's property.

[0005] To achieve the above purpose, the present application adopts the following technical solutions:

[0006] An automatic door closing control structure of an intelligent battery replacement cabinet, comprising a cabinet body, a cabinet door is arranged on one side wall of the cabinet body, one side of the cabinet door can rotate around a hinge seat to realize the opening and closing of the cabinet body, the other side of the cabinet door is deeply inserted into a self-opening electromagnetic lock in the closed state, one end of a door push rod is fixedly connected to one side of the cabinet door close to the hinge seat, an installation point is arranged on the door push rod, the door push rod is rotatably arranged on the hinge seat at the installation point, the other end of the door push rod is rotatably connected to one end of a piston connecting rod, the other end of the piston connecting rod is inserted into a cylinder and connected to an elastic assembly.

[0007] Preferably, the self-opening electromagnetic lock and the hinge seat are arranged on the opposite two side walls of the cabinet body, respectively, and a cabinet door guide plate is further arranged between the cabinet door and the door push rod.

[0008] Preferably, the air cylinder comprises an air cylinder upper cover, an air cylinder body and an air cylinder bottom cover, one end of the air cylinder body is closed by the air cylinder upper cover, the other end of the air cylinder body extends into the air cylinder bottom cover and is connected with the air cylinder bottom cover in a buckling manner, and the tail of the air cylinder bottom cover is rotatably connected with the base which is fixedly arranged on the outer wall of the cabinet body.

[0009] Preferably, the air cylinder body is sequentially provided with a piston, a piston nut, an electromagnetic chuck and a chuck nut in the direction in which the piston connecting rod extends, the outer side of the piston is provided with a sealing ring, the middle part of the piston connecting rod is screwed with the piston nut, the piston is fixedly connected with the piston nut, the tail of the piston connecting rod is screwed with the chuck nut, and the electromagnetic chuck is fixedly connected with the chuck nut.

[0010] Preferably, the contact part of the air cylinder body and the air cylinder bottom cover is sequentially provided with a first boss and a second boss with gradually decreasing inner diameters, and the elastic assembly is a large spring arranged between the piston and the first boss, and the two ends of the large spring are fixedly connected with the piston and the first boss respectively.

[0011] Preferably, the outer diameter of the electromagnetic chuck is smaller than the inner diameter of the second boss.

[0012] Preferably, the air cylinder bottom cover is provided with an electromagnet, and a small spring is arranged between the bottom of the air cylinder bottom cover and the electromagnet.

[0013] Preferably, the outer diameter of the electromagnet is larger than the inner diameter of the second boss.

[0014] Preferably, decompression air holes are arranged on the piston, the electromagnetic chuck and the electromagnet.

[0015] Preferably, a controller for controlling the on-off electricity of the electromagnet and the opening and closing of the self-rebound electronic lock is arranged on the side wall of the cabinet body.

[0016] The application further provides a control method of the automatic door closing control structure of the intelligent battery replacement cabinet, comprising the following steps:

[0017] S1. Preliminary opening of the cabinet door: after the self-rebound electromagnetic lock receives the door opening signal of the controller, the lock hook is opened, the controller controls the electromagnet to generate magnetism by being electrified, the electromagnetic chuck is attracted to the electromagnet, the piston connecting rod is moved to the inside of the air cylinder under the action of the electromagnetic chuck, the piston is moved to extrude the large spring, and the door push rod and the cabinet door are rotated to open the door;

[0018] S2. Complete opening of the cabinet door: the cabinet door is manually pushed to extrude the small spring and the large spring for the second time, at this time, the cabinet body can be accessed, and after the access is completed, the cabinet door is automatically returned to the preliminary opening state.

[0019] S3. Closing of the cabinet door, the closing process is manual closing of S31 or automatic closing of S32.

[0020] S31. Manual closing of storage door: Manually close the storage door after storage or retrieval is complete;

[0021] S32. Automatic door closing: If the door is left open and remains in the initially open state for a certain period of time, the controller will de-energize the electromagnet, releasing the electromagnetic chuck and the large spring, and the large spring will close automatically due to its own elasticity.

[0022] The beneficial effects of this invention are as follows:

[0023] 1. The automatic door closing structure mainly utilizes the compression of a large spring when the door is opened, causing it to compress and generate elastic force as the power to close the door automatically. It has the advantages of simple structure and reliable use.

[0024] 2. Automatic and manual door closing do not conflict with each other. Operators can choose to close the door manually. Even if the operator forgets to close the door, the large spring will provide the power for automatic closing, thus preventing the loss of items inside the compartment.

[0025] 3. The storage door has two states: partially open and fully open. When storing or retrieving small items, simply opening the door to the partially open state is sufficient. However, when storing or retrieving large items, the door needs to be manually pushed to the fully open state, thus improving the applicability of storage and retrieval. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the closed state of the compartment door according to the present invention;

[0027] Figure 2 This is a schematic diagram of the initial open state of the compartment door of the present invention;

[0028] Figure 3 This is a schematic diagram of the fully open state of the compartment door of the present invention;

[0029] Figure 4 This is a cross-sectional view of the compartment door of the present invention in its initial open state;

[0030] Figure 5 This is a schematic diagram of the inside of the cylinder in the initial open state of the compartment door of the present invention;

[0031] Figure 6 This is a schematic diagram of the piston and electromagnetic chuck of the present invention;

[0032] Figure 7 This is a schematic diagram of the piston connecting rod of the present invention;

[0033] Figure 8 This is a cross-sectional view of the cylinder of the present invention;

[0034] Figure 9This is a circuit diagram of the controller of the present invention. Detailed Implementation

[0035] The invention will now be further described with reference to the accompanying drawings.

[0036] like Figure 1 As shown in Figure 3, the automatic closing control structure of the intelligent battery swapping cabinet in this embodiment of the invention includes a compartment body 1. A compartment door 2 is provided on one side wall of the compartment body 1. One side of the compartment door 2 can rotate around the hinge seat 21 to realize the opening and closing of the compartment body 1. The other side of the compartment door 2 is inserted into the self-spring electromagnetic lock 4 when the door is closed. One end of the door push rod 19 is fixedly connected to the side of the compartment door 2 near the hinge seat 21. The door push rod 19 is provided with an installation point. The door push rod 19 is rotatably set on the hinge seat 21 at the installation point. The installation point is located on the side of the door push rod 19 near the compartment door 2 (or the compartment door guide plate 18). The other end of the door push rod 19 is rotatably connected to one end of the piston connecting rod 17. The other end of the piston connecting rod 17 extends into the cylinder and connects to the elastic component. The cylinder is rotatably hinged to the fixed base 3. When the compartment door 2 is opened, it compresses and deforms the elastic component. The elastic component automatically drives the compartment door 2 to return to its closed position under its own elastic force. The elastic component can be a spring, hydraulic rod, or other parts. It can store energy through its own deformation. After the external force disappears, it can use the stored energy to achieve elastic reset of its deformation, thereby achieving automatic closing of the compartment door 2. The cylinder can rotate along the fixed base 3, making the opening and closing of the compartment door 2 smoother and preventing it from jamming during the opening and closing process.

[0037] like Figure 1 As shown, the self-springing electromagnetic lock 4 and the hinge seat 21 are respectively disposed on two opposite side walls of the compartment body 1. A compartment door guide plate 18 is also disposed between the compartment door 2 and the door push rod 19. The compartment door 2 is connected to the door push rod 19 through the compartment door guide plate 18. The compartment door 2, the compartment door guide plate 18, and the door push rod 19 are fixedly connected. Since the connection between the door push rod 19 and the hinge seat 21 is rotatable, the compartment door 2 and the compartment door guide plate 18 connected to the door push rod 19 can both rotate around the pivot of the door push rod 21 along the pivot of the hinge seat 21, thereby realizing the opening and closing of the compartment door 2. The self-springing electromagnetic lock 4 and the hinge seat 21 are disposed opposite each other on both sides of the compartment body 1. When the compartment door 2 rotates to the closed position along the hinge seat 21, the compartment door 2 contacts the self-springing electromagnetic lock 4, thereby closing the door.

[0038] like Figure 1 , Figure 8As shown, the cylinder includes a cylinder upper cover 8, a cylinder body 7 and a cylinder bottom cover 5, one end of the cylinder body 7 is closed by the cylinder upper cover 8, the other end of the cylinder body 7 extends into the cylinder bottom cover 5 and is connected with the cylinder bottom cover 5, after the cylinder body 7 extends into the cylinder bottom cover 5, the locking pin 6 is inserted to realize the fixed connection of the two, the tail of the cylinder bottom cover 5 is rotatably connected with the base 3, so that the whole cylinder can rotate along the base 3, when the door 2 is opened and closed, the rotation of the cylinder can prevent the door 2 from being stuck and affecting the use experience, and the base 3 is fixedly arranged on the outer wall of the cabinet body 1.

[0039] As shown in Figure 4 , Figure 5 , Figure 7 As shown, the piston 15, the piston nut 14, the electromagnetic chuck 12 and the chuck nut 11 are sequentially arranged in the cylinder body 7 along the extension direction of the piston connecting rod 17, the outer side of the piston 15 is provided with a sealing ring 16, the sealing ring 16 is not used for sealing, but only for protecting the stability and support of the piston 15 in the cylinder, the middle part of the piston connecting rod 17 is screwed with the piston nut 14, the piston 15 is fixedly connected with the piston nut 14, the tail of the piston connecting rod 17 is screwed with the chuck nut 11, the electromagnetic chuck 12 is fixedly connected with the chuck nut 11, when the electromagnet 9 is electrified and has magnetism, the electromagnetic chuck 12 is attracted to move downward to approach and contact the electromagnet 9, in this process, the electromagnetic chuck 12 drives the chuck nut 11 to move downward, and drives the piston connecting rod 17 screwed therewith to move downward, the piston connecting rod 17 moves, so that the piston nut 14 screwed therewith moves synchronously, and the piston 15 connected therewith moves downward synchronously, when the piston 15 moves downward, the large spring 13 fixed at the first boss 23 cannot move, when the piston 15 moves downward, the large spring 13 is compressed under stress, at this time, the door is in a preliminary opening state, at this time, the electromagnetic chuck 12 is attracted to the surface of the electromagnet 9, under the electrified state of the electromagnet 9, the large spring 13 is continuously compressed, which is a stable opening state. The contact parts of the cylinder body 7 and the cylinder bottom cover 5 are sequentially provided with the first boss 23 and the second boss 24 with gradually decreasing inner diameters, the elastic assembly is the large spring 13 arranged between the piston 15 and the first boss 23, and the two ends of the large spring 13 are fixedly connected with the piston 15 and the first boss 23 respectively. The outer diameter of the electromagnetic chuck 12 is smaller than the inner diameter of the second boss 24 and also smaller than the inner diameter of the large spring 13, so that the electromagnetic chuck 12 can freely move in the large spring 13 without interference and collision, and can be attracted to the surface of the electromagnet 9 through the second boss 23.

[0040] As shown in Figure 4 , Figure 5As shown, the electromagnetic iron 9 is arranged in the cylinder bottom cover 5, and a small spring 10 is arranged between the bottom of the cylinder bottom cover 5 and the electromagnetic iron 9. After the door is preliminarily opened, in order to store or take out the articles in the storage body 1, the door 2 needs to be manually opened completely. At this time, the door 2 is manually opened, and the pressure is conducted to the piston connecting rod 17 through the door guide plate 18 and the door push rod 19 in stages. The piston connecting rod 17 continues to move into the cylinder under the action of the pressure, and drives the piston 15 and the electromagnetic chuck 12 to move synchronously. The movement of the piston 15 forms secondary extrusion to the large spring 13, and the movement of the electromagnetic chuck 12 drives the movement of the electromagnetic iron 9, and forms extrusion deformation to the small spring 10. This is the completely opened state of the door. After the storage or taking out of the articles is completed, the pressure is not manually applied to the door 2 any more. At this time, the small spring 10 and the large spring 13 are reset under the action of the elastic force of themselves, and drive the piston 15, the piston connecting rod 17, the electromagnetic chuck 12 and the electromagnetic iron 9 to move synchronously until the electromagnetic iron 9 is pushed to abut against the second boss 24. This is the initial position of the electromagnetic iron 9. At this time, the door is preliminarily opened. The outer diameter of the electromagnetic iron 9 is greater than the inner diameter of the second boss 24, so that the electromagnetic iron 9 cannot enter the inside of the cylinder body 7 through the cylinder bottom cover 5.

[0041] As shown in the drawings, Figure 6 The piston 15, the electromagnetic chuck 12 and the electromagnetic iron 9 are all provided with pressure relief holes. When the three move in the cylinder, the gas inside the moving direction can be conveniently discharged, so that the thrust generated in the extrusion process is prevented, and the movement of the three is affected. The middle part of the electromagnetic iron 9 is also provided with a through hole through which the piston connecting rod 17 passes. When the piston connecting rod 17 moves, the tail end thereof can conveniently pass out of the electromagnetic iron 9.

[0042] As shown in the drawings, Figure 9 The side wall of the storage body 1 is provided with a controller 30 for controlling the on-off of the electromagnetic iron 9 and the opening and closing of the self-rebound electronic lock 4. The self-rebound electronic lock 4 is provided with a position switch. When the locking hook of the door 2 strikes into the lock opening of the self-rebound electronic lock 4, the position switch provides the signal that the door 2 is locked to the controller 30. When the locking hook is separated from the lock opening, the position switch provides the signal that the door 2 is opened to the controller 30. At the same time, the controller 30 controls the electromagnetic iron 9 to be electrified, and the electromagnetic chuck 12 is attracted to make the door preliminarily opened.

[0043] The application also provides a control method of the automatic door closing control structure of the intelligent battery replacement cabinet.

[0044] S1. Preliminary opening of the door: after the self-rebound electromagnetic lock 4 receives the opening signal of the controller 30, the locking hook is opened, and at the same time, the controller 30 controls the electromagnetic iron 9 to be electrified to generate magnetism, and the electromagnetic chuck 12 is attracted to move close to the electromagnetic iron 9. At this time, the piston connecting rod 17 is driven to move into the cylinder under the action of the electromagnetic chuck 12, not only drives the piston 15 to move to extrude the large spring 13, but also drives the door push rod 19 and the door 2 to rotate to open the door.

[0045] The personnel hold the key or scan the code to open the lock, and the controller 30 receives the opening signal and transmits it to the self-ejecting electromagnetic lock 4 to open the lock, and at the same time the controller 30 controls the electromagnet 9 to be powered to generate a magnetic force to attract the electromagnetic suction cup 12 to move towards the electromagnet 9, in turn driving the suction cup nut 11, the piston connecting rod 17, the piston nut 14, and the piston 15 connected thereto to move synchronously, and when the piston 15 moves, it exerts pressure on the large spring 13 to deform, and the piston connecting rod 17 moves to drive the door push rod 19 to move, and the door guide plate 18 and the door 2 move synchronously, so that the door 2 is in a preliminary opening state, and at this time the electromagnet 9 attracts the electromagnetic suction cup 12, and the large spring 13 cannot return to its original position, so the door 2 can be stably opened in the preliminary opening state.

[0046] S2. The door is completely opened: manually push the door 2 to open, and squeeze the small spring 10 while squeezing the large spring 13, at this time the items can be accessed into the storage body 1, and after the access is completed, the door 2 is automatically returned to the preliminary opening state.

[0047] Generally speaking, in the preliminary opening state, the door 2 cannot be opened to access large items into the storage body 1 due to the small opening angle, at this time, the door 2 needs to be further opened manually by external force to drive the door guide plate 18, the door push rod 19, and the piston connecting rod 17 to move synchronously, and drive the piston nut 14 and the piston 15, the suction cup nut 11 and the electromagnetic suction cup 12 to move towards the bottom of the cylinder, squeeze the small spring 10, and further squeeze the large spring 13, which is the completely opened state of the door 2, and after the access is completed, the door 2 is released, and the elastic force of the large spring 13 and the small spring 10 drives the piston connecting rod 17 and the door push rod 19, the door guide plate 18 and the like connected thereto to return to the initial position of the electromagnet 9, and the electromagnet 9 cannot move, so the electromagnetic suction cup 12 cannot move, and the piston connecting rod 17 is fixed at this position and cannot continue to move out of the cylinder, which is the preliminary opening state of the door 2.

[0048] S3. The door is closed, and the closing process is S31 manual closing or S32 automatic closing.

[0049] S31. The door is manually closed: after the access is completed, the door 2 is manually closed.

[0050] S32. The door is automatically closed: in the case of forgetting to manually close the door, when the door 2 stays in the preliminary opening state for a certain period of time, the controller 30 controls the electromagnet 9 to be de-energized to release the electromagnetic suction cup 12 and the large spring 13, and the large spring 13 automatically closes the door by its own elastic force.

[0051] When the door 2 is closed, there are two cases. One is that the person manually closes the door, holds the key or scans the code to close the door, and then the controller 30 controls the electromagnet 9 to lose electricity and lose magnetism, releases the electromagnetic suction cup 12, and under the elastic force of the large spring 13, drives the piston 15 and the piston nut 14, the piston connecting rod 17 to move to the outside of the cylinder, and then makes the door push rod 19, the door guide plate 18 and the door 2 move to the closing side. Due to the fast moving speed, under the influence of inertia, the lock hook on the door 2 will be hit into the lock hole of the self-rebound electromagnetic lock 4, so as to realize the closing of the door 2. If the person forgets to close the door, when the door 2 stays in the initial opening state for a certain period of time (which can be pre-set to 10s or 15s), the controller 30 judges that the access process has been completed, at this time the controller 30 controls the electromagnet 9 to lose electricity and lose magnetism, releases the electromagnetic suction cup 12, and achieves the purpose of automatic closing of the door.

[0052] The embodiments are not intended to limit the shape, material, structure, etc. of the present application in any form. Any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application are within the protection scope of the technical scheme of the present application.

[0053] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the protection scope of the present application.

[0054] If the terms "first", "second" and the like are used herein to limit parts, those skilled in the art should know that the use of "first", "second" is only for the convenience of describing the present application and simplifying the description, and the above terms have no special meaning unless otherwise stated.

[0055] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An automatic door closing control structure for an intelligent battery swapping cabinet, comprising a compartment body, a door provided on one side wall of the compartment body, one side of the door being rotatable around a hinge seat to open and close the compartment body, and the other side of the door being recessed into a self-springing electromagnetic lock when closed, characterized in that, One end of the door push rod is fixedly connected to the side of the door near the hinge seat. The door push rod has an installation point and is rotatably mounted on the hinge seat at the installation point. The other end of the door push rod is rotatably connected to one end of the piston connecting rod. The other end of the piston connecting rod extends into the cylinder and connects to the elastic component. The cylinder is rotatably hinged to the fixed base. The cylinder includes a cylinder top cover, a cylinder body, and a cylinder bottom cover. One end of the cylinder body is closed by the cylinder top cover, and the other end of the cylinder body extends into the cylinder bottom cover and is fastened to the cylinder bottom cover. The tail of the cylinder bottom cover is rotatably connected to a base, and the base is fixedly installed on the outer wall of the chamber. The cylinder body is provided with a piston, a piston nut, an electromagnetic chuck, and a chuck nut in sequence along the extension direction of the piston connecting rod. A sealing ring is provided on the outside of the piston. The middle part of the piston connecting rod is screwed to the piston nut. The piston and the piston nut are fixedly connected. The tail part of the piston connecting rod is screwed to the chuck nut. The electromagnetic chuck is fixedly connected to the chuck nut. The contact area between the cylinder body and the cylinder bottom cover is provided with a first boss and a second boss with gradually decreasing inner diameter. The elastic component is a large spring disposed between the piston and the first boss, and the two ends of the large spring are fixedly connected to the piston and the first boss, respectively.

2. The automatic door closing control structure of an intelligent battery swapping cabinet according to claim 1, characterized in that, The self-springing electromagnetic lock and the hinge seat are respectively installed on two opposite side walls of the compartment body, and a compartment door guide plate is also provided between the compartment door and the door push rod.

3. The automatic door closing control structure for an intelligent battery swapping cabinet according to claim 1, characterized in that, An electromagnet is installed inside the cylinder bottom cover, and a small spring is installed between the bottom of the cylinder bottom cover and the electromagnet.

4. The automatic door closing control structure of an intelligent battery swapping cabinet according to claim 3, characterized in that, The outer diameter of the electromagnetic chuck is smaller than the inner diameter of the second boss, and the outer diameter of the electromagnet is larger than the inner diameter of the second boss.

5. The automatic door closing control structure of an intelligent battery swapping cabinet according to claim 3, characterized in that, The piston, the electromagnetic chuck, and the electromagnet are all provided with pressure-reducing vents.

6. The automatic door closing control structure of an intelligent battery swapping cabinet according to claim 3, characterized in that, The side wall of the compartment is equipped with a controller for controlling the on / off state of the electromagnet and the opening and closing of the self-springing electronic lock.

7. The control method for the automatic door closing control structure of an intelligent battery swapping cabinet according to claim 6, characterized in that, Includes the following steps: S1. Initial opening of the compartment door: After the self-springing electromagnetic lock receives the door opening signal from the controller, the lock hook opens. At the same time, the controller controls the electromagnet to be energized to generate magnetism, attracting the electromagnetic chuck to approach the electromagnet. At this time, the piston connecting rod moves into the cylinder under the action of the electromagnetic chuck, which not only drives the piston to move and squeeze the large spring, but also drives the door push rod and the compartment door to rotate and open the door. S2. Fully open the compartment door: Manually push open the compartment door, squeeze the small spring and squeeze the large spring a second time. At this time, you can put or take items into the compartment. After you have finished putting or taking items in, release your hand and the compartment door will automatically return to the initial open position. S3. The door is closed. The closing process is either manual closing in S31 or automatic closing in S32. S31. Manual closing of storage door: Manually close the storage door after storage or retrieval is complete; S32. Automatic door closing: If the door is left open and remains in the initially open state for a certain period of time, the controller will de-energize the electromagnet, releasing the electromagnetic chuck and the large spring, and the large spring will close automatically due to its own elasticity.

Images