Robot upper door mounting structure suitable for being opened and closed in small space

Abstract

The invention relates to the technical field of robots, and discloses a robot upper door mounting structure suitable for opening and closing in a small space, the robot upper door mounting structure comprises a fixed door plate, a telescopic door plate is slidably connected in the fixed door plate, and a folding mechanism is hinged to the side, away from the fixed door plate, of the telescopic door plate and comprises a folding door plate. An inserting groove is formed in the folding door plate, a lower reinforcing rod is hinged to the inner wall of the inserting groove, an upper reinforcing rod is hinged to the outer side of the lower reinforcing rod, and a locking mechanism is installed on the outer side of the folding mechanism. According to the robot upper door mounting structure suitable for opening and closing in the small space, a driving wheel rotates reversely through a control switch, the driving wheel drives a protection plate to slide into an insertion groove through a tooth groove, at the moment, a telescopic door plate is pushed to slide into a fixed door plate, the door opening space is saved, and meanwhile a folding door plate can be pushed to swing relative to the telescopic door plate; therefore, the effects of being suitable for small-space opening and closing and convenient to use are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a robot upper door structure suitable for opening and closing a small space. Background Art

[0002] Robots can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand and extend the scope of human activities and capabilities. Among them, logistics handling robots play an important role in the logistics industry, especially in the current state of high pressure in the logistics industry. The value embodied by handling robots is immeasurable. As a kind of highly intelligent equipment, this equipment can not only realize unmanned operation, but also achieve efficient and low-cost operation, which brings benefits to logistics companies.

[0003] The upper doors of existing logistics handling robots are relatively simple, and most of them are of the straight-open and straight-close type. Although they are easy to open and close, they require a large space to open the door. When encountering narrow locations, the door is difficult to open and inconvenient to use. At the same time, some use folding doors. Although they can save space, the strength of the door body is low, the ability to withstand collisions is poor, and the transportation safety is poor. Summary of the invention

[0004] In order to achieve the above purposes of being suitable for opening and closing small spaces, being easy to use, having high door body strength, strong anti-collision performance, being able to switch door opening modes according to needs, and having a wide range of applications, the present invention is achieved through the following technical solutions: a robot-mounted door structure suitable for opening and closing small spaces, comprising a fixed door panel, a telescopic door panel being slidably connected to the interior of the fixed door panel, a side of the telescopic door panel away from the fixed door panel being hinged with a folding mechanism, the folding mechanism comprising a folding door panel, the folding door panel being hinged to the side of the telescopic door panel away from the fixed door panel, a slot being provided inside the folding door panel, a fixed slide groove, a movable slide groove and a tooth groove being provided on the inner wall of the slot, A lower reinforcing rod is hingedly connected, an upper reinforcing rod is hingedly connected to the outer side of the lower reinforcing rod, a driving wheel is meshed inside the tooth groove, a protective plate is fixedly connected to the back side of the driving wheel, an electromagnet is fixedly connected to the inner side of the protective plate, a retaining spring is fixedly connected to the side of the electromagnet close to the tooth groove, a retaining rod is fixedly connected to the side of the retaining spring close to the tooth groove, a locking mechanism is installed on the outer side of the folding mechanism, the locking mechanism includes a lock head and a lock body, a control switch is fixedly connected to the inner side of the lock head, a locking groove is provided on the inner wall of the lock body, a locking rod is inserted into the inner side of the lock body, a locking block is fixedly connected to the outer side of the lock rod, and a switching switch is fixedly connected to the outer side of the lock head.

[0005] Furthermore, the fixed door panel, telescopic door panel and folding mechanism are divided into two groups, and the fixed door panel is hinged on the robot, while the lock head and the lock body are respectively installed on the two groups of folding mechanisms.

[0006] Furthermore, an anti-slip block is fixedly connected to one side of the telescopic door panel located inside the fixed door panel to prevent the telescopic door panel from separating from the fixed door panel.

[0007] Furthermore, a storage cavity is opened inside the slot, and the width of the storage cavity is greater than the width of the upper reinforcing rod. At the same time, a power-off switch is fixedly connected to the inside of the slot, and the power-off switch is located at the opening of the slot. The power-off switch can only be triggered when the protective plate is fully extended and fully stored, so that the device can run stably.

[0008] Furthermore, the hinges of the upper reinforcing rods and the lower reinforcing rods are fixedly connected to the limited blocks, and there are no less than eight groups of upper reinforcing rods and lower reinforcing rods, and the eight groups of upper reinforcing rods and lower reinforcing rods are hinged to each other, and at the same time, the hinges are slidably connected in the fixed slide grooves, and a group of upper reinforcing rods close to the protective plate is hinged to the protective plate, so that when the protective plate is extended, the strength of the folding door panel remains unchanged.

[0009] Furthermore, the movable slide groove is designed to be inclined on one side close to the inside of the slot, so as to facilitate the upper reinforcing rod and the lower reinforcing rod to slide in the movable slide groove.

[0010] Furthermore, the protective plate is slidably connected inside the slot for easy storage.

[0011] Furthermore, the control switch and the switching switch are connected in series with the stepping motor on the back of the driving wheel through a wire, and the control switch controls the forward and reverse rotation of the stepping motor, and the control is stable.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The robot-mounted door structure suitable for opening and closing small spaces pulls the lock rod away from the lock head, controls the switch to energize the stepper motor and reverse, and the stepper motor drives the driving wheel to reverse. The driving wheel drives the protective plate to slide into the slot through the tooth groove, and then pushes the telescopic door panel to slide into the fixed door panel, saving the door opening space. At the same time, the folding door panel can be pushed to swing relative to the telescopic door panel, and the folding door panel and the fixed door panel are used in coordination, so as to achieve the effect of being suitable for opening and closing small spaces and being easy to use.

[0014] 2. The robot upper door structure suitable for opening and closing small spaces is connected inside the lock head through a lock rod. The lock rod triggers the control switch. The control switch causes the driving wheel to rotate forward. The driving wheel drives the protective plate to slide out of the slot. The protective plate reinforces the telescopic door panel. At the same time, the protective plate drives the upper reinforcing rod and the lower reinforcing rod to swing. The upper reinforcing rod and the lower reinforcing rod swing at a certain angle under the action of the limit block, and are slidably connected in the movable slide groove away from the hinge at one end of the fixed slide groove. The upper reinforcing rod and the lower reinforcing rod are unfolded to reinforce the folding door panel, thereby achieving the effect of high door body strength and strong anti-collision performance.

[0015] 3. The robot-mounted door structure suitable for opening and closing small spaces cuts off the power supply of the device by switching the switch, and the drive wheel cannot rotate. When the door needs to be opened, the protective plate will not retract into the slot. The protective plate limits the movement of the telescopic door panel and the swing of the folding door panel. At this time, the whole door swings open together, which is suitable for rapid opening in normal space, thereby achieving the effect of being able to switch the door opening method according to needs and having a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0017] Figure 2 This is a top view schematic diagram of the structure of the present invention with the door closed;

[0018] Figure 3 It is a schematic diagram of a top view and cross-section of the overall structure of the present invention;

[0019] Figure 4 It is a schematic diagram of the folding mechanism of the structure of the present invention;

[0020] Figure 5 It is a schematic diagram of the reinforcing rod part of the structure of the present invention;

[0021] Figure 6 It is a cross-sectional schematic diagram of the structural protection plate of the present invention;

[0022] Figure 7 It is a cross-sectional schematic diagram of the structural locking mechanism of the present invention;

[0023] Figure 8 It is a schematic diagram of the overall folding of the structure of the present invention;

[0024] Fig. 9 It is a schematic diagram of folding the structural folding mechanism of the present invention.

[0025] In the figure: 1. fixed door panel; 2. telescopic door panel; 3. folding mechanism; 31. folding door panel; 32. slot; 33. upper reinforcing rod; 34. lower reinforcing rod; 35. fixed slide; 36. movable slide; 37. tooth groove; 38. driving wheel; 39. protective plate; 310. electromagnet; 311. retaining spring; 312. retaining rod; 4. locking mechanism; 41. lock head; 42. control switch; 43. lock body; 44. locking slot; 45. locking rod; 46. locking block; 47. switching switch. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The embodiment of the robot upper door structure suitable for opening and closing a small space is as follows:

[0028] See also Figure 1-Figure 9 , a robot upper door structure suitable for opening and closing a small space comprises a fixed door panel 1, a telescopic door panel 2 is slidably connected inside the fixed door panel 1, a side of the telescopic door panel 2 located inside the fixed door panel 1 is fixedly connected with an anti-slip block to prevent the telescopic door panel 2 from separating from the fixed door panel 1, a side of the telescopic door panel 2 away from the fixed door panel 1 is hinged with a folding mechanism 3, the fixed door panel 1, the telescopic door panel 2, and the folding mechanism 3 are each divided into two groups, and the fixed door panel 1 is hinged on the robot, and a lock head 41 and a lock body 43 are respectively installed on the two groups of folding mechanisms 3, the folding mechanism 3 comprises a folding door panel 31, the folding door panel 31 is hinged on the side of the telescopic door panel 2 away from the fixed door panel 1, a slot 32 is opened inside the folding door panel 31, a storage cavity is opened inside the slot 32, and the width of the storage cavity is greater than the width of the upper reinforcing rod 33, and a power-off switch is fixedly connected inside the slot 32, and the power-off switch is located at the opening of the slot 32, and the power-off switch can only be triggered when the protective plate 39 is fully extended and fully stored, so that the device runs stably.

[0029] The telescopic door panel 2 is pushed to move to the inside of the fixed door panel 1, which saves the door opening space. At the same time, the folding door panel 31 can be pushed to swing relative to the telescopic door panel 2, which further saves the door opening space. It is suitable for opening and closing small spaces.

[0030] The inner wall of the slot 32 is provided with a fixed slide groove 35, a movable slide groove 36 and a tooth groove 37. The movable slide groove 36 is designed to be inclined on one side close to the inside of the slot 32, so that the upper reinforcing rod 33 and the lower reinforcing rod 34 can slide in the movable slide groove 36. The inner wall of the slot 32 is hinged with the lower reinforcing rod 34. The hinges of the upper reinforcing rod 33 and the lower reinforcing rod 34 are fixedly connected to the limited block, and there are no less than eight groups of upper reinforcing rods 33 and lower reinforcing rods 34, and the eight groups of upper reinforcing rods 33 and lower reinforcing rods 34 are hinged to each other, and at the same time, the hinges are slidably connected in the fixed slide groove 35. A group of upper reinforcing rods 33 close to the protective plate 39 is hinged to the protective plate 39, so that when the protective plate 39 is extended, the strength of the folding door panel 31 remains unchanged, and the outer side of the lower reinforcing rod 34 is hinged with the upper reinforcing rod 33.

[0031] When the protective plate 39 is extended, it drives the upper reinforcing rod 33 and the lower reinforcing rod 34 to swing. The upper reinforcing rod 33 and the lower reinforcing rod 34 swing at a certain angle under the action of the limit block, so that the upper reinforcing rod 33 and the lower reinforcing rod 34 are slidably connected in the fixed slide groove 35 and the movable slide groove 36 at the same time. The upper reinforcing rod 33 and the lower reinforcing rod 34 are unfolded to reinforce the folding door panel 31, thereby improving the anti-collision ability of the door body.

[0032] A driving wheel 38 is meshed inside the tooth groove 37, and a protective plate 39 is fixedly connected to the back of the driving wheel 38. The protective plate 39 is slidably connected to the inside of the slot 32 for easy storage. An electromagnet 310 is fixedly connected to the inside of the protective plate 39, and a retaining spring 311 is fixedly connected to the side of the electromagnet 310 close to the tooth groove 37, and a clamping rod 312 is fixedly connected to the side of the retaining spring 311 close to the tooth groove 37. A locking mechanism 4 is installed on the outside of the folding mechanism 3, and the locking mechanism 4 includes a lock head 41 and a lock body 43. A control switch 42 is fixedly connected to the inside of the lock head 41. The control switch 42 and the switching switch 47 are connected in series with the stepping motor on the back of the driving wheel 38 through a wire, and the control switch 42 controls the forward and reverse rotation of the stepping motor, and the control is stable. A locking groove 44 is opened on the inner wall of the lock body 43, and a locking rod 45 is inserted into the inside of the lock body 43. A locking block 46 is fixedly connected to the outside of the lock rod 45, and a switching switch 47 is fixedly connected to the outside of the lock head 41.

[0033] Working principle: when it is necessary to open and close the door in a small space, the lock rod 45 is rotated, the lock rod 45 drives the lock block 46 away from the lock slot 44, and then the lock rod 45 is pulled away from the lock head 41, and the lock rod 45 is away from the control switch 42. The control switch 42 energizes the stepper motor to reverse, and at the same time, the electromagnet 310 is energized to generate magnetic force, and the electromagnet 310 drives the clamping rod 312 away from the tooth groove 37. At this time, the stepper motor reverses and drives the driving wheel 38 to reverse, and the driving wheel 38 drives the protective plate 39 to slide into the slot 32. When the protective plate 39 is completely stored in the slot 32, the power-off switch is triggered, the driving wheel 38 stops rotating, the electromagnet 310 loses its magnetic force, and the clamping spring 311 drives the clamping rod 312 to be clamped in the tooth groove 37. The clamping rod 312 fixes the protective plate 39, and then pushes the telescopic door panel 2 to move to the inside of the fixed door panel 1, saving the door opening space, and at the same time, it can push the folding door panel 31 to swing relative to the telescopic door panel 2, further saving the door opening space, which is suitable for opening and closing in a small space.

[0034] When closing the door, the telescopic door panel 2 is pulled out, and then the locking rod 45 is inserted into the lock head 41, and the locking rod 45 is rotated, the locking block 46 fixes the locking rod 45, and at the same time, the locking rod 45 touches the control switch 42, at this time, the control switch 42 makes the driving wheel 38 energized and rotates forward, and the driving wheel 38 drives the protective plate 39 to slide to the outside of the slot 32. When the protective plate 39 is fully extended, the protective plate 39 touches the power-off switch again, the driving wheel 38 stops rotating, the card rod 312 fixes the protective plate 39, and at the same time, the protective plate 39 is against the fixed door panel. 1, the protective plate 39 restricts the movement of the telescopic door panel 2 while reinforcing the telescopic door panel 2, so that the device locks the door stably, and the protective plate 39 extends while driving the upper reinforcing rod 33 and the lower reinforcing rod 34 to swing. The upper reinforcing rod 33 and the lower reinforcing rod 34 swing at a certain angle under the action of the limit block, so that the upper reinforcing rod 33 and the lower reinforcing rod 34 are slidably connected in the fixed slide groove 35 and the movable slide groove 36 at the same time, and the upper reinforcing rod 33 and the lower reinforcing rod 34 are unfolded to reinforce the folding door panel 31, thereby improving the anti-collision ability of the door body.

[0035] When the robot is used in a normal space, the switching switch 47 cuts off the power supply of the device, and the driving wheel 38 cannot rotate. When the door needs to be opened, the protective plate 39 will not retract into the slot 32. The protective plate 39 limits the movement of the telescopic door panel 2 and the swinging of the folding door panel 31. At this time, the whole door swings open together, which is suitable for quick opening in a normal space.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot mounted door structure suitable for opening and closing a small space, comprising a fixed door panel (1), characterized in that: The fixed door panel (1) is slidably connected to a telescopic door panel (2) on the inside, and a folding mechanism (3) is hingedly connected to the side of the telescopic door panel (2) away from the fixed door panel (1). The folding mechanism (3) comprises a folding door panel (31). The folding door panel (31) is hingedly connected to the side of the telescopic door panel (2) away from the fixed door panel (1). A slot (32) is provided inside the folding door panel (31). A fixed slide groove (35), a movable slide groove (36) and a tooth groove (37) are provided on the inner wall of the slot (32). A lower reinforcing rod (34) is hingedly connected to the inner wall of the slot (32). An upper reinforcing rod (33) is hingedly connected to the outer side of the lower reinforcing rod (34). A driving wheel (38) is meshed inside the tooth groove (37). A protective wheel (38) is fixedly connected to the back of the driving wheel (38). The protective plate (39) is fixedly connected to an electromagnet (310) inside the protective plate (39), a retaining spring (311) is fixedly connected to a side of the electromagnet (310) close to the tooth groove (37), a retaining spring (311) is fixedly connected to a retaining rod (312) on a side of the retaining spring (311) close to the tooth groove (37), a locking mechanism (4) is installed on the outside of the folding mechanism (3), the locking mechanism (4) comprises a lock head (41) and a lock body (43), a control switch (42) is fixedly connected to the inside of the lock head (41), a locking groove (44) is provided on the inner wall of the lock body (43), a locking rod (45) is inserted into the inside of the lock body (43), a locking block (46) is fixedly connected to the outside of the locking rod (45), and a switching switch (47) is fixedly connected to the outside of the lock head (41).

2. The robot mounted door structure suitable for opening and closing a small space according to claim 1, characterized in that: The fixed door panel (1), the telescopic door panel (2) and the folding mechanism (3) are divided into two groups, and the fixed door panel (1) is hinged on the robot, while the lock head (41) and the lock body (43) are respectively installed on the two groups of folding mechanisms (3).

3. The robot mounted door structure suitable for opening and closing a small space according to claim 1, characterized in that: An anti-drop block is fixedly connected to one side of the telescopic door panel (2) located inside the fixed door panel (1).

4. The robot mounted door structure suitable for opening and closing a small space according to claim 1, characterized in that: The slot (32) has a storage cavity inside, and the width of the storage cavity is greater than the width of the upper reinforcing rod (33). At the same time, a power-off switch is fixedly connected inside the slot (32), and the power-off switch is located at the opening of the slot (32). The power-off switch can only be triggered when the protective plate (39) is fully extended and fully retracted.

5. The robot mounted door structure suitable for opening and closing a small space according to claim 1, characterized in that: The hinges of the upper reinforcing rod (33) and the lower reinforcing rod (34) are fixedly connected to the limited block, and there are no less than eight groups of the upper reinforcing rod (33) and the lower reinforcing rod (34), and the eight groups of the upper reinforcing rod (33) and the lower reinforcing rod (34) are hinged to each other, and the hinges are slidably connected in the fixed sliding groove (35), and a group of upper reinforcing rods (33) close to the protective plate (39) is hinged to the protective plate (39).

6. The robot mounted door structure suitable for opening and closing a small space according to claim 1, characterized in that: The movable slide groove (36) is designed to be inclined on one side close to the inside of the slot (32).

7. The robot mounted door structure suitable for opening and closing a small space according to claim 1, characterized in that: The protection plate (39) is slidably connected inside the slot (32).

8. The robot mounted door structure suitable for opening and closing a small space according to claim 1, characterized in that: The control switch (42) and the switching switch (47) are connected in series with the stepping motor on the back of the driving wheel (38) through a wire, and the control switch (42) controls the forward and reverse rotation of the stepping motor.

Images