Automatic folding robot square cabin

Abstract

The invention discloses an automatic folding robot square cabin, and relates to the technical field of constructional engineering. The shelter comprises a shelter body which is configured to be foldable; the driving motors are arranged on the square cabin body and used for driving the square cabin body to be unfolded or folded; and the controller is used for controlling starting and stopping and / or steering and / or rotating speed of the driving motor. The shelter body comprises a folding frame body and a plate body arranged on at least one face of the folding frame body. The folding frame body comprises a bottom frame, a top frame and a supporting frame arranged between the bottom frame and the top frame. The supporting frame is used for lifting the top frame when the supporting frame is unfolded so that the folding frame body can have the height, and the supporting frame is further used for retracting the top frame downwards when the supporting frame is stored so that the height of the folding frame body can be reduced. By the adoption of the technical scheme, the folding chair has the advantage of being capable of being automatically folded and unfolded.

Description

Technical Field

[0001] The invention relates to the technical field of construction engineering, and in particular to an automatic folding robot cabin. Background Art

[0002] Fangcang was first used in military operations. It refers to a box-type workroom that is organically combined with various solid materials, with a fixed or expandable volume, and has protective properties and can be transported. The most well-known Fangcang is Fangcang Hospital. Fangcang Hospital is a set of field mobile medical platforms that can be quickly deployed with medical Fangcang as the carrier and integrated medical and medical technical support functions.

[0003] However, the folding and unfolding of existing foldable cabins require manual assistance, which is inefficient and labor-intensive, and is in urgent need of improvement. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic folding robot cabin with the advantage of being able to fold and unfold automatically in view of the defects and shortcomings of the prior art.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is: an automatic folding robot cabin, comprising:

[0006] A shelter body, which is configured to be foldable;

[0007] There are multiple drive motors, which are arranged on the shelter body and are used to drive the shelter body to unfold or fold; and

[0008] The controller is used to control the start and stop and / or the direction and / or the speed of the driving motor.

[0009] The present invention further provides that the cabin body comprises: a folding frame, and a plate body arranged on at least one surface of the folding frame.

[0010] The present invention further provides that the folding frame includes: a bottom frame, a top frame, and a support frame arranged between the bottom frame and the top frame; the support frame is used to support the top frame when unfolded so that the folding frame has a height, and is also used to retract the top frame when folded so as to reduce the height of the folding frame;

[0011] The left side and the right side of the bottom frame are connected via two front and rear rotating shafts;

[0012] The left side and the right side of the top frame are connected via two front and rear rotating shafts;

[0013] The left side and the right side of the support frame are connected by two front and rear rotating shafts;

[0014] The rotating shaft is driven by the driving motor.

[0015] The present invention is further arranged that the support frame includes: two oppositely arranged side folding brackets; the two side folding brackets are connected by two front and rear rotating shafts; the side folding bracket includes: an upper bracket and a lower bracket; one end of the upper bracket is hinged to the top frame, and the other end is hinged to the lower bracket; one end of the lower bracket is hinged to the bottom frame, and the other end is hinged to the upper bracket.

[0016] The present invention is further provided that locking structures are provided at least at two hinges between the upper bracket and the lower bracket, between the upper bracket and the top frame, and between the lower bracket and the bottom frame, and the locking structures are used to lock the upper bracket and the lower bracket when the upper bracket and the lower bracket are unfolded to a set position; an unlocking structure is provided on the locking structure, and the unlocking structure is used to unlock the locking structure so that the side folding bracket can be folded.

[0017] The present invention is further arranged that the side folding bracket also includes: a bottom movable support rotatably arranged on the lower side of the lower bracket.

[0018] The present invention further provides that the automatic folding robot cabin is also provided with an angle sensor, and the automatic folding robot cabin can automatically identify the indoor angle, control the rotation of the bottom movable support, and always keep the interior of the automatic folding robot cabin level.

[0019] The present invention is further provided that there are four bottom movable supports, which are respectively arranged on the lower sides of both ends of the two side folding brackets; the bottom movable supports are in the shape of long strips, and each of the bottom movable supports can be rotated independently, and can adapt to uneven ground through the rotation adjustment of the four bottom movable supports.

[0020] The present invention is further arranged that a rocker drive wheel is arranged on the lower side of the cabin body.

[0021] The present invention is further configured that a folding structure is provided in the middle of the bottom frame and the top frame of the folding frame; a second rotating shaft is also provided between the left and right sides of the bottom frame and located between the front and rear rotating shafts; a second motor is provided on the bottom frame and at least one end of the second rotating shaft.

[0022] After adopting the above technical scheme, the beneficial effect of the present invention is: the operation of the driving motor is controlled by the controller, and then the folding and unfolding of the cabin body is controlled by the driving motor. No manual operation is required, and the cabin can be automatically folded and unfolded, which saves manpower and is highly efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 is a schematic diagram of the structure of the cabin in the first embodiment in which the plate body is omitted and the cabin is folded;

[0025] Figure 2 is a schematic diagram of the structure of the square cabin in the first embodiment in which the plate body is omitted and is in a semi-folded and semi-expanded state;

[0026] Figure 3 is a schematic diagram of the structure of the square cabin in the first embodiment in which the plate body is omitted and is deployed;

[0027] Figure 4 is a schematic diagram of the structure of the side cabin in the folded state in the first embodiment;

[0028] Figure 5 This is a schematic diagram of the open structure of the side cabin in the first embodiment in a semi-folded and semi-expanded state;

[0029] Figure 6 is a schematic diagram of the side cabin in the first embodiment in the deployed structure;

[0030] Figure 7 is a schematic diagram of the structure of the cabin in the folded state with the plate body omitted in the second embodiment;

[0031] Figure 8 is a schematic diagram of the structure of the square cabin in the second embodiment in which the plate body is omitted and is in a semi-folded and semi-expanded state;

[0032] Fig. 9 is a schematic diagram of the structure of the expanded square cabin in the second embodiment in which the plate body is omitted;

[0033] Fig.10 This is a schematic diagram of the effect of the side cabin being folded in the second embodiment;

[0034] Fig.11 This is a schematic diagram of the effect of the side cabin being deployed in the second embodiment;

[0035] Fig.12 This is a schematic diagram of the effect of the use of the side cabin in the third embodiment adapted to the flat ground;

[0036] Fig.13 This is a schematic diagram of the effect of the use of the square cabin in the third embodiment to adapt to the slope;

[0037] Fig.14 This is a schematic diagram of the effect of the use of the side cabin in the third embodiment to adapt to the pothole terrain;

[0038] Fig.15 2 is a schematic diagram of a structure in which the cabin in the fourth embodiment can be further folded with the middle of the bottom frame and the top frame as the axis;

[0039] Fig.16 is a schematic diagram of the structure of the cabin in the folded state in the fourth embodiment;

[0040] Fig.17 It is a schematic diagram of the structure of the expanded side cabin in the fourth embodiment.

[0041] Explanation of the accompanying drawings: 1. driving motor; 2. folding frame; 3. front plate; 4. rear plate; 5. upper plate; 6. lower plate; 7. left roller blind; 8. right roller blind; 9. driving wheel; 10. rotating shaft; 11. second rotating shaft; 12. second motor; 21. bottom frame; 22. top frame; 23. supporting frame; 231. side folding bracket; 2311. upper bracket; 2312. lower bracket; 24. bottom fixed support; 25. bottom movable support. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0043] This specific embodiment is only an explanation of the present invention, and it is not a limitation of the present invention. After reading this specification, those skilled in the art can make non-creative modifications to this embodiment as needed, but as long as it is within the scope of the claims of the present invention, it is protected by the patent law.

[0044] Embodiment 1: This embodiment relates to an automatic folding robot cabin, such as Figure 1-Figure 3 As shown, it includes: a cabin body, multiple drive motors 1 and a controller. The cabin body is configured to be foldable; the drive motor 1 is arranged on the cabin body, and is used to drive the cabin body to unfold or fold; the controller is used to control the opening and closing and / or the steering and / or the speed of the drive motor 1. The automatic folding robot cabin can control the folding and unfolding of the cabin body through the controller, and can also control the controller through a remote control, thereby controlling the folding and unfolding of the cabin body.

[0045] Specifically in this embodiment, Figure 4-Figure 6 As shown, the cabin body includes: a folding frame 2, a front plate 3 and a rear plate 4 which are foldable in the middle and are arranged on the front and rear surfaces of the folding frame 2, an upper plate 5 and a lower plate 6 which are arranged on the upper and lower surfaces of the folding frame 2, and a left roller blind 7 and a right roller blind 8 which are arranged on the left and right surfaces of the folding frame 2.

[0046] These panels can be made of materials with thermal insulation, waterproof, explosion-proof and bullet-proof properties. At the same time, water channels, electrical circuits, air-conditioning lines, network data cables, etc. can be preset inside the panels.

[0047] The folding frame 2 includes: a bottom frame 21, a top frame 22, and a support frame 23 disposed between the bottom frame 21 and the top frame 22. The support frame 23 is used to support the top frame 22 when unfolded so that the folding frame 2 has a height, and is also used to retract the top frame 22 when stored so as to reduce the height of the folding frame 2. Figure 3 As shown, the left and right sides of the bottom frame 21 are connected by two front and rear rotating shafts 10; the left and right sides of the top frame 22 are connected by two front and rear rotating shafts 10; the left and right sides of the support frame 23 are connected by two front and rear rotating shafts 10; the rotating shafts 10 are driven by a driving motor 1. Adjacent rotating shafts 10 rotate in opposite directions.

[0048] The support frame 23 includes: two side folding supports 231 arranged opposite to each other. The two side folding supports 231 are connected by two front and rear rotating shafts 10. The side folding supports 231 also include: an upper support 2311 and a lower support 2312. One end of the upper support 2311 is hinged to the top frame 22, and the other end is hinged to the lower support 2312. One end of the lower support 2312 is hinged to the bottom frame 21, and the other end is hinged to the upper support 2311. In this embodiment, parallel folding is adopted between the bottom frame 21 and the support frame 23, and between the top frame 22 and the support frame 23; in some other embodiments, the bottom frame 21 and the support frame 23, and between the top frame 22 and the support frame 23 can also be inlaid folding; in some other embodiments, parallel folding and inlaid folding can also be used in combination.

[0049] Specifically in this embodiment, Figure 3 As shown, twelve drive motors 1 are provided. Four of them are provided at the four corners of the bottom frame 21 and are located at the hinged joints with the lower bracket 2312; four are provided at the four corners of the top frame 22 and are located at the hinged joints with the upper bracket 2311; the remaining four drive motors 1 are provided in pairs in the side folding bracket 231, at the junction of the upper bracket 2311 and the lower bracket 2312; that is, a drive motor 1 is provided on both sides of each rotating shaft 10. Furthermore, among the twelve drive motors 1, six drive motors 1 are driven in the forward direction, and the remaining six drive motors 1 are driven in the reverse direction. The two drive motors 1 on both sides of each rotating shaft 10 rotate in opposite directions, and the rotation directions of adjacent rotating shafts 10 are also opposite, so as to ensure the normal unfolding and storage of the entire folding frame 2.

[0050] Of course, in some embodiments, other numbers of drive motors 1 may be provided. In some embodiments, a drive motor 1 is provided only on one side of each rotating shaft 10, but such a configuration requires adjustment of the output power of the drive motor 1. In some embodiments, drive motors 1 are provided on both sides of some rotating shafts 10, and drive motors 1 are provided on one side of the remaining rotating shafts 10. In addition, in some embodiments, only the two rotating shafts 10 between the bottom frame 21 and the two rotating shafts 10 between the support frame 23 may be provided with a drive motor 1; in some embodiments, only the two rotating shafts 10 between the top frame 22 and the two rotating shafts 10 between the support frame 23 may be provided with a drive motor 1; in some embodiments, only the two rotating shafts 10 between the bottom frame 21 and the two rotating shafts 10 between the top frame 22 may be provided with a drive motor 1; in some embodiments, only one rotating shaft 10 between the top frame 22, the two rotating shafts 10 between the support frame 23, and one rotating shaft 10 between the bottom frame 21 may be provided with a drive motor 1; in some embodiments, only the two rotating shafts 10 between the bottom frame 21, one rotating shaft 10 between the support frame 23, and one rotating shaft 10 between the top frame 22 may be provided with a drive motor 1.

[0051] In order to make the foldable frame 2 smaller in volume after folding, in the foldable frame, the upper frame 2311 and the lower frame 2312 are set to have the same length, and are both half of the bottom frame 21 or the top frame 22. With such a length setting, after folding, the upper frame 2311 can be completely parallel to the lower frame 2312 and completely pressed between the bottom frame 21 and the top frame 22.

[0052] In addition, at least two hinges between the upper bracket 2311 and the lower bracket 2312, between the upper bracket 2311 and the top frame 22, and between the lower bracket 2312 and the bottom frame 21 are provided with locking structures. The locking structure is used to lock the upper bracket 2311 and the lower bracket 2312 when the upper bracket 2311 and the lower bracket 2312 are unfolded to the set position, thereby ensuring the stability of the unfolded folding frame 2. Since the locking structure is a relatively conventional design, it is not described in detail here. Of course, an unlocking structure is also provided on the locking structure. The unlocking structure is used to unlock the locking structure so that the side folding bracket 231 can be unlocked and folded when it needs to be folded.

[0053] Embodiment 2: This embodiment relates to an automatic folding robot cabin, such as Figure 7-Figure 9As shown, different from the first embodiment, the side folding bracket 231 also includes: a bottom fixed support 24 fixedly arranged on the lower side of the lower bracket 2312. In this embodiment, the bottom fixed support 24 is located on the extension line of the lower bracket 2312. By additionally providing the bottom fixed support 24 (it can also be understood that the lower bracket 2312 is provided with an extension downward), the bottom frame 21 can be lifted off the ground when the automatic folding robot cabin is unfolded. For example, the bottom fixed support 24 is 300mm high. Figure 10-11 As shown, the automatic folding robot cabin is usually pre-buried 300mm below the ground surface, and the ground surface can be a normal road, which does not affect the normal passage of pedestrians and bicycles. When the automatic folding robot cabin is needed, the controller controls the drive motor 1 to operate, and the automatic folding robot cabin is unfolded. The bottom fixed support 24 is also controlled by its corresponding motor, and the bottom frame 21 is lifted to the same height as the ground. The unfolding and folding of other positions are consistent with the cabin of the first embodiment.

[0054] Embodiment 3: This embodiment relates to an automatic folding robot cabin, such as Figure 12-14 As shown, different from the first embodiment, the side folding bracket 231 also includes: a bottom movable support 25 rotatably arranged on the lower side of the lower bracket 2312. The bottom movable support 25 can rotate at any angle to actively level the lower plate 6 to adapt to various terrains such as flat land, slopes and potholes. Furthermore, by providing an angle sensor, etc., the cabin can automatically identify the indoor angle, control the rotation of the bottom movable support 25, and always keep the interior of the cabin level. When the automatic folding robot cabin is unfolded, the bottom movable support 25 is also controlled by its corresponding motor, which will lift the bottom frame 21 to the same height as the ground, and the unfolding and folding of other positions are consistent with the cabin of the first embodiment.

[0055] Embodiment 4: This embodiment relates to an automatic folding robot cabin, such as Figure 15-17 As shown, unlike the previous three embodiments, a driving wheel 9 is provided on the lower side of the cabin body. The driving wheel 9 is provided to facilitate the movement and transportation of the automatic folding robot cabin. Furthermore, the driving wheel 9 is an adjustable height driving wheel group. The adjustable height driving wheel group is provided with at least three rocker driving wheels, so that the rocker angle of each rocker driving wheel can be automatically adjusted according to the slope and unevenness of the ground, so that the cabin bottom frame 21 remains horizontal. The rocker driving wheel can specifically be a hub motor.

[0056] In addition, in this embodiment, Figure 15-17As shown, the middle parts of the bottom frame 21 and the top frame 22 of the folding frame 2 are both provided with folding structures, so that after the support frame 23 is folded, the cabin can be further folded with the middle parts of the bottom frame 21 and the top frame 22 as the axis until the bottom frame 21 is close together. A second rotating shaft 11 is also provided between the left and right sides of the bottom frame 21 and located between the front and rear rotating shafts 10; a second motor 12 is provided on the bottom frame 21 and at least one end of the second rotating shaft 11. The second motor 12 is used to drive the second rotating shaft 11 to rotate, so that the automatic folding robot cabin can be further folded and folded into a shape as shown in FIG. Fig.15 shown.

[0057] The working principle of the present invention is as follows: the operation of the driving motor 1 is controlled by the controller, and then the folding and unfolding of the cabin body is controlled by the driving motor 1. No manual operation is required, and the cabin can be automatically folded and unfolded, which saves manpower and is highly efficient; by adopting special plate materials, it has the functions of heat preservation, waterproof, explosion-proof, etc.; by presetting water, electricity, air conditioning network and other lines inside the plate, the automatic folding robot cabin can have these functions after being unfolded; by providing a bottom fixed support 24, it can be pre-buried under the surface and can be used when needed. Then the automatic folding robot cabin is unfolded; by providing a bottom movable support 25, the bottom plate can be actively leveled to adapt to various terrains such as flat land, sloping land and potholes; by providing a driving wheel 9, it can be easy to move, and further providing the driving wheel 9 as a rocker driving wheel can also actively level the bottom plate to adapt to various terrains such as flat land, sloping land and potholes; on the basis of the rocker driving wheel, a folding structure is provided in the middle of the bottom frame 21 and the top frame 22, so that after the support frame 23 is folded, the cabin can be further folded with the middle of the bottom frame 21 and the top frame 22 as the axis.

[0058] The above is only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. An automatic folding robot shelter, characterized in that: include: A shelter body, which is configured to be foldable; There are multiple drive motors (1), which are arranged on the cabin body and are used to drive the cabin body to unfold or fold; as well as A controller is used to control the start and stop and / or the direction and / or the speed of the driving motor (1).

2. The automatic folding robot shelter according to claim 1, characterized in that: The cabin body comprises: a folding frame (2) and a plate body arranged on at least one surface of the folding frame (2).

3. The automatic folding robot shelter according to claim 2, characterized in that: The folding frame (2) comprises: a bottom frame (21), a top frame (22), and a support frame (23) arranged between the bottom frame (21) and the top frame (22); the support frame (23) is used to support the top frame (22) when unfolded so that the folding frame (2) has a height, and is also used to retract the top frame (22) when folded so as to reduce the height of the folding frame (2); The left side and the right side of the bottom frame (21) are connected via two front and rear rotating shafts (10); The left side and the right side of the top frame (22) are connected via two front and rear rotating shafts (10); The left side and the right side of the support frame (23) are connected via two front and rear rotating shafts (10); The rotating shaft (10) is driven by the driving motor (1).

4. The automatic folding robot shelter according to claim 3, characterized in that: The support frame (23) comprises: two side folding frames (231) arranged opposite to each other; the two side folding frames (231) are connected via two front and rear rotating shafts (10); the side folding frames (231) comprise: an upper frame (2311) and a lower frame (2312); one end of the upper frame (2311) is hinged to the top frame (22), and the other end is hinged to the lower frame (2312); one end of the lower frame (2312) is hinged to the bottom frame (21), and the other end is hinged to the upper frame (2311).

5. The automatic folding robot shelter according to claim 4, characterized in that: At least two of the hinges between the upper bracket (2311) and the lower bracket (2312), between the upper bracket (2311) and the top frame (22), and between the lower bracket (2312) and the bottom frame (21) are provided with locking structures, and the locking structures are used to lock the upper bracket (2311) and the lower bracket (2312) when the upper bracket (2311) and the lower bracket (2312) are unfolded to a set position; and the locking structures are provided with unlocking structures, and the unlocking structures are used to unlock the locking structures so that the side folding bracket (231) can be folded.

6. The automatic folding robot shelter according to claim 4, characterized in that: The side folding support (231) further comprises: a bottom movable support (25) rotatably arranged on the lower side of the lower support (2312).

7. The automatic folding robot shelter according to claim 6, characterized in that: The automatic folding robot cabin is also provided with an angle sensor, and the automatic folding robot cabin can automatically identify the indoor angle, control the rotation of the bottom movable support (25), and always keep the interior of the automatic folding robot cabin level.

8. The automatic folding robot shelter according to claim 6, characterized in that: There are four bottom movable supports (25), which are respectively arranged at the lower sides of the two ends of the two side folding brackets (231); the bottom movable supports (25) are in the shape of long strips, and each of the bottom movable supports (25) can be rotated independently, and the four bottom movable supports (25) can be rotated and adjusted to adapt to uneven ground.

9. The automatic folding robot shelter according to any one of claims 3 to 8, characterized in that: A rocker drive wheel is arranged at the lower side of the cabin body; the rocker angle of the rocker drive wheel is automatically adjusted according to the slope and unevenness of the ground, so that the cabin bottom frame (21) is kept horizontal; and the rocker of the rocker drive wheel can be locked and fixed.

10. The automatic folding robot shelter according to claim 9, characterized in that: A folding structure is provided in the middle of the bottom frame (21) and the top frame (22) of the folding frame (8); a second rotating shaft (11) is provided between the left and right sides of the bottom frame (21) and is located between the front and rear rotating shafts (10); and a second motor (12) is provided on the bottom frame (21) and at least one end of the second rotating shaft (11).

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